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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-05-22 21:40:32 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-05-25 11:38:12 -0400 |
| commit | 3799f40f29ea1941ba3600a30b4d37249e8288f7 (patch) | |
| tree | fceadc442ee82ba2af5062fa80ba1c0c14c13fc0 /klippy | |
| parent | 739d37feac5cb1563df43b2e5ffd0731e36094d1 (diff) | |
| download | kutter-3799f40f29ea1941ba3600a30b4d37249e8288f7.tar.gz kutter-3799f40f29ea1941ba3600a30b4d37249e8288f7.tar.xz kutter-3799f40f29ea1941ba3600a30b4d37249e8288f7.zip | |
tmc2130: Configure stealthchop velocity limit
Change stealhchop config option to a stealthchop_threshold
configuration option.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/tmc2130.py | 21 |
1 files changed, 17 insertions, 4 deletions
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index 995f297a..3e0f6d58 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -5,6 +5,8 @@ # This file may be distributed under the terms of the GNU GPLv3 license. import math +TMC_FREQUENCY=13200000. + class tmc2130: def __init__(self, config): printer = config.get_printer() @@ -26,9 +28,10 @@ class tmc2130: sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.) steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4, '8': 5, '4': 6, '2': 7, '1': 8} - microsteps = config.getchoice('microsteps', steps) + self.mres = config.getchoice('microsteps', steps) interpolate = config.getboolean('interpolate', True) - stealthchop = config.getboolean('stealthchop', False) + sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.) + sc_threshold = self.velocity_to_clock(config, sc_velocity) iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15) tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255) blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1, @@ -45,15 +48,17 @@ class tmc2130: irun = self.current_bits(run_current, sense_resistor, vsense) ihold = self.current_bits(hold_current, sense_resistor, vsense) # configure GCONF - self.add_config_cmd(0x00, stealthchop << 2) + self.add_config_cmd(0x00, (sc_velocity > 0.) << 2) # configure CHOPCONF self.add_config_cmd( 0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15) - | (vsense << 17) | (microsteps << 24) | (interpolate << 28)) + | (vsense << 17) | (self.mres << 24) | (interpolate << 28)) # configure IHOLD_IRUN self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16)) # configure TPOWERDOWN self.add_config_cmd(0x11, tpowerdown) + # configure TPWMTHRS + self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold))) def add_config_cmd(self, addr, val): self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % ( self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True) @@ -65,6 +70,14 @@ class tmc2130: cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5) return max(0, min(31, cs)) + def velocity_to_clock(self, config, velocity): + if not velocity: + return 0 + stepper_name = config.get_name().split()[1] + stepper_config = config.getsection(stepper_name) + step_dist = stepper_config.getfloat('step_distance') + step_dist_256 = step_dist / (1 << self.mres) + return int(TMC_FREQUENCY * step_dist_256 / velocity + .5) def load_config_prefix(config): return tmc2130(config) |