diff options
| -rw-r--r-- | docs/Config_Reference.md | 21 | ||||
| -rw-r--r-- | klippy/extras/tmc.py | 19 |
2 files changed, 23 insertions, 17 deletions
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index 9d5cb763..1338d46f 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -3327,11 +3327,8 @@ run_current: #high_velocity_threshold: # The velocity (in mm/s) to set the TMC driver internal "high # velocity" threshold (THIGH) to. This is typically used to disable -# the "CoolStep" feature at high speeds. Important - if -# high_velocity_threshold is set and "sensorless homing" is used, -# then one must ensure that the homing speed is below the high -# velocity threshold! The default is to not set a TMC "high -# velocity" threshold. +# the "CoolStep" feature at high speeds. The default is to not set a +# TMC "high velocity" threshold. #driver_MSLUT0: 2863314260 #driver_MSLUT1: 1251300522 #driver_MSLUT2: 608774441 @@ -3646,11 +3643,8 @@ run_current: #high_velocity_threshold: # The velocity (in mm/s) to set the TMC driver internal "high # velocity" threshold (THIGH) to. This is typically used to disable -# the "CoolStep" feature at high speeds. Important - if -# high_velocity_threshold is set and "sensorless homing" is used, -# then one must ensure that the homing speed is below the high -# velocity threshold! The default is to not set a TMC "high -# velocity" threshold. +# the "CoolStep" feature at high speeds. The default is to not set a +# TMC "high velocity" threshold. #driver_MSLUT0: 2863314260 #driver_MSLUT1: 1251300522 #driver_MSLUT2: 608774441 @@ -3782,11 +3776,8 @@ run_current: #high_velocity_threshold: # The velocity (in mm/s) to set the TMC driver internal "high # velocity" threshold (THIGH) to. This is typically used to disable -# the "CoolStep" feature at high speeds. Important - if -# high_velocity_threshold is set and "sensorless homing" is used, -# then one must ensure that the homing speed is below the high -# velocity threshold! The default is to not set a TMC "high -# velocity" threshold. +# the "CoolStep" feature at high speeds. The default is to not set a +# TMC "high velocity" threshold. #driver_MSLUT0: 2863314260 #driver_MSLUT1: 1251300522 #driver_MSLUT2: 608774441 diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 1a5059fa..a797b866 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -479,7 +479,7 @@ class TMCVirtualPinHelper: self.diag_pin_field = None self.mcu_endstop = None self.en_pwm = False - self.pwmthrs = self.coolthrs = 0 + self.pwmthrs = self.coolthrs = self.thigh = 0 # Register virtual_endstop pin name_parts = config.get_name().split() ppins = self.printer.lookup_object("pins") @@ -503,8 +503,8 @@ class TMCVirtualPinHelper: def handle_homing_move_begin(self, hmove): if self.mcu_endstop not in hmove.get_mcu_endstops(): return + # Enable/disable stealthchop self.pwmthrs = self.fields.get_field("tpwmthrs") - self.coolthrs = self.fields.get_field("tcoolthrs") reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: # On "stallguard4" drivers, "stealthchop" must be enabled @@ -518,12 +518,21 @@ class TMCVirtualPinHelper: self.fields.set_field("en_pwm_mode", 0) val = self.fields.set_field(self.diag_pin_field, 1) self.mcu_tmc.set_register("GCONF", val) + # Enable tcoolthrs (if not already) + self.coolthrs = self.fields.get_field("tcoolthrs") if self.coolthrs == 0: tc_val = self.fields.set_field("tcoolthrs", 0xfffff) self.mcu_tmc.set_register("TCOOLTHRS", tc_val) + # Disable thigh + reg = self.fields.lookup_register("thigh", None) + if reg is not None: + self.thigh = self.fields.get_field("thigh") + th_val = self.fields.set_field("thigh", 0) + self.mcu_tmc.set_register(reg, th_val) def handle_homing_move_end(self, hmove): if self.mcu_endstop not in hmove.get_mcu_endstops(): return + # Restore stealthchop/spreadcycle reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: tp_val = self.fields.set_field("tpwmthrs", self.pwmthrs) @@ -533,8 +542,14 @@ class TMCVirtualPinHelper: self.fields.set_field("en_pwm_mode", self.en_pwm) val = self.fields.set_field(self.diag_pin_field, 0) self.mcu_tmc.set_register("GCONF", val) + # Restore tcoolthrs tc_val = self.fields.set_field("tcoolthrs", self.coolthrs) self.mcu_tmc.set_register("TCOOLTHRS", tc_val) + # Restore thigh + reg = self.fields.lookup_register("thigh", None) + if reg is not None: + th_val = self.fields.set_field("thigh", self.thigh) + self.mcu_tmc.set_register(reg, th_val) ###################################################################### |