diff options
| -rw-r--r-- | docs/Config_Changes.md | 6 | ||||
| -rw-r--r-- | klippy/extras/tmc2130.py | 41 | ||||
| -rw-r--r-- | klippy/extras/tmc2660.py | 25 |
3 files changed, 45 insertions, 27 deletions
diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md index e9bcd120..ead2445c 100644 --- a/docs/Config_Changes.md +++ b/docs/Config_Changes.md @@ -8,6 +8,12 @@ All dates in this document are approximate. ## Changes +20220116: The tmc2130, tmc2208, tmc2209, and tmc2660 `run_current` +calculation code has changed. For some `run_current` settings the +drivers may now be configured differently. This new configuration +should be more accurate, but it may invalidate previous tmc driver +tuning. + 20211230: Scripts to tune input shaper (`scripts/calibrate_shaper.py` and `scripts/graph_accelerometer.py`) were migrated to use Python3 by default. As a result, users must install Python3 versions of certain diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index c6a54561..f2142d26 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -116,30 +116,33 @@ class TMCCurrentHelper: vref = 0.32 if vsense: vref = 0.18 - cs = int(32. * current * sense_resistor * math.sqrt(2.) / vref - - 1. + .5) + cs = int(32. * sense_resistor * current * math.sqrt(2.) / vref + .5) - 1 return max(0, min(31, cs)) - def _calc_current(self, run_current, hold_current): - vsense = False - irun = self._calc_current_bits(run_current, vsense) - ihold = self._calc_current_bits(min(hold_current, run_current), - vsense) - if irun < 16 and ihold < 16: - vsense = True - irun = self._calc_current_bits(run_current, vsense) - ihold = self._calc_current_bits(min(hold_current, run_current), - vsense) - return vsense, irun, ihold - def _calc_current_from_field(self, field_name): - bits = self.fields.get_field(field_name) + def _calc_current_from_bits(self, cs, vsense): sense_resistor = self.sense_resistor + 0.020 vref = 0.32 - if self.fields.get_field("vsense"): + if vsense: vref = 0.18 - return (bits + 1) * vref / (32 * sense_resistor * math.sqrt(2.)) + return (cs + 1) * vref / (32. * sense_resistor * math.sqrt(2.)) + def _calc_current(self, run_current, hold_current): + vsense = True + irun = self._calc_current_bits(run_current, True) + if irun == 31: + cur = self._calc_current_from_bits(irun, True) + if cur < run_current: + irun2 = self._calc_current_bits(run_current, False) + cur2 = self._calc_current_from_bits(irun2, False) + if abs(run_current - cur2) < abs(run_current - cur): + vsense = False + irun = irun2 + ihold = self._calc_current_bits(min(hold_current, run_current), vsense) + return vsense, irun, ihold def get_current(self): - run_current = self._calc_current_from_field("irun") - hold_current = self._calc_current_from_field("ihold") + irun = self.fields.get_field("irun") + ihold = self.fields.get_field("ihold") + vsense = self.fields.get_field("vsense") + run_current = self._calc_current_from_bits(irun, vsense) + hold_current = self._calc_current_from_bits(ihold, vsense) return run_current, hold_current, self.req_hold_current, MAX_CURRENT def set_current(self, run_current, hold_current, print_time): self.req_hold_current = hold_current diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py index c0d8fa9b..e873c608 100644 --- a/klippy/extras/tmc2660.py +++ b/klippy/extras/tmc2660.py @@ -136,17 +136,26 @@ class TMC2660CurrentHelper: def _calc_current_bits(self, current, vsense): vref = 0.165 if vsense else 0.310 - cs = int(32 * current * self.sense_resistor * math.sqrt(2.) / vref - - 1. + .5) + sr = self.sense_resistor + cs = int(32. * sr * current * math.sqrt(2.) / vref + .5) - 1 return max(0, min(31, cs)) + def _calc_current_from_bits(self, cs, vsense): + vref = 0.165 if vsense else 0.310 + return (cs + 1) * vref / (32. * self.sense_resistor * math.sqrt(2.)) + def _calc_current(self, run_current): - vsense = False - cs = self._calc_current_bits(run_current, vsense) - if cs < 16: - vsense = True - cs = self._calc_current_bits(run_current, vsense) - return vsense, cs + vsense = True + irun = self._calc_current_bits(run_current, True) + if irun == 31: + cur = self._calc_current_from_bits(irun, True) + if cur < run_current: + irun2 = self._calc_current_bits(run_current, False) + cur2 = self._calc_current_from_bits(irun2, False) + if abs(run_current - cur2) < abs(run_current - cur): + vsense = False + irun = irun2 + return vsense, irun def _handle_printing(self, print_time): print_time -= 0.100 # Schedule slightly before deadline |