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Add unit tests covering the save/restore invariant of TMCVirtualPinHelper (pwmthrs, tcoolthrs, thigh, en_pwm_mode, diag_pin_field) and the Kalico home_current switching logic in BaseTMCCurrentHelper. Establishes a baseline so the upstream TMC cleanup/refactor PRs (#7154, #7193) cannot silently regress the behavior. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
Currently TMC spi just drop the data that could be useful. Export that data. Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Reported by @poernahi. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This register is readable and contains the overvoltage and overtemp threshold settings. Signed-off-by: Hendrik Poernama <poernahi@gmail.com>
Code movement only; no code changes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move shutdown checking from _do_enable() and _dos_disable() to new enable_disable_cb(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's possible for a motor disable request to occur while processing a previous motor enable. Use a reactor mutex to ensure the two events are processed serially. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The event handler is registered with an incorrect event name, causing the handler to never be called. Signed-off-by: Maksim Bolgov maksim8024@gmail.com
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com> Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com> Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Upstream Klipper does not use Ruff; cherry-picks into Kalico need a format pass to match the project style (double quotes, line wrapping, blank lines between class members). This commit applies ruff-format over the files touched by the #6592/#6987/#7154/#7159/#7193 sync. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
If the first homing_move() raises (e.g. endstop never triggers during sensorless homing), the first try/finally only resets acceleration and leaves the stepper at home_current. The subsequent restore on success/second-home never executes, so the printer runs with home_current instead of run_current until the next successful home. Mirror the existing pattern from the second-home finally (restore both accel and current) so the failure path is symmetric. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
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Cherry-picks the TMC catchup chain that brings Kalico's TMC drivers up to date with upstream Klipper, culminating in TMC2240 StealthChop (SG4) sensorless homing support.
Upstream commits included (in cherry-pick / merge order):
2cbb89597tmc2240: AddOTW_OV_VTHto ReadRegistersOTW_OV_VTHFieldFormattersTMCCommandHelpercleanupstepper:set_dir_invertedevent handler typoKalico-side commits on top:
test/test_tmc_homing.py: baseline unit tests (15) covering theTMCVirtualPinHelpersave/restore round trip and Kalico'shome_currentswitching logic, so the homing refactor cannot silently regress.homing.pyfirst-homefinallynow restores run current on failure (was only resetting accel; failed sensorless homing left the stepper athome_currentuntil the next successful home).