diff options
| -rw-r--r-- | docs/Config_Reference.md | 28 | ||||
| -rw-r--r-- | klippy/extras/tmc.py | 16 | ||||
| -rw-r--r-- | klippy/extras/tmc2130.py | 1 | ||||
| -rw-r--r-- | klippy/extras/tmc2209.py | 1 | ||||
| -rw-r--r-- | klippy/extras/tmc2240.py | 2 | ||||
| -rw-r--r-- | klippy/extras/tmc5160.py | 2 |
6 files changed, 50 insertions, 0 deletions
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index ee09bf2c..d48715d8 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -3317,6 +3317,13 @@ run_current: # set, "stealthChop" mode will be enabled if the stepper motor # velocity is below this value. The default is 0, which disables # "stealthChop" mode. +#coolstep_threshold: +# The velocity (in mm/s) to set the TMC driver internal "CoolStep" +# threshold to. When set, the coolstep feature will be enabled if +# the stepper motor velocity is near or above this value. Important +# - if coolstep_threshold is set and "sensorless homing" is used, +# then one must ensure that the homing speed is above the coolstep +# threshold! The default is to not enable the coolstep feature. #driver_MSLUT0: 2863314260 #driver_MSLUT1: 1251300522 #driver_MSLUT2: 608774441 @@ -3456,6 +3463,13 @@ run_current: #sense_resistor: 0.110 #stealthchop_threshold: 0 # See the "tmc2208" section for the definition of these parameters. +#coolstep_threshold: +# The velocity (in mm/s) to set the TMC driver internal "CoolStep" +# threshold to. When set, the coolstep feature will be enabled if +# the stepper motor velocity is near or above this value. Important +# - if coolstep_threshold is set and "sensorless homing" is used, +# then one must ensure that the homing speed is above the coolstep +# threshold! The default is to not enable the coolstep feature. #uart_address: # The address of the TMC2209 chip for UART messages (an integer # between 0 and 3). This is typically used when multiple TMC2209 @@ -3614,6 +3628,13 @@ run_current: # set, "stealthChop" mode will be enabled if the stepper motor # velocity is below this value. The default is 0, which disables # "stealthChop" mode. +#coolstep_threshold: +# The velocity (in mm/s) to set the TMC driver internal "CoolStep" +# threshold to. When set, the coolstep feature will be enabled if +# the stepper motor velocity is near or above this value. Important +# - if coolstep_threshold is set and "sensorless homing" is used, +# then one must ensure that the homing speed is above the coolstep +# threshold! The default is to not enable the coolstep feature. #driver_MSLUT0: 2863314260 #driver_MSLUT1: 1251300522 #driver_MSLUT2: 608774441 @@ -3735,6 +3756,13 @@ run_current: # set, "stealthChop" mode will be enabled if the stepper motor # velocity is below this value. The default is 0, which disables # "stealthChop" mode. +#coolstep_threshold: +# The velocity (in mm/s) to set the TMC driver internal "CoolStep" +# threshold to. When set, the coolstep feature will be enabled if +# the stepper motor velocity is near or above this value. Important +# - if coolstep_threshold is set and "sensorless homing" is used, +# then one must ensure that the homing speed is above the coolstep +# threshold! The default is to not enable the coolstep feature. #driver_MSLUT0: 2863314260 #driver_MSLUT1: 1251300522 #driver_MSLUT2: 608774441 diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 4ce9466a..e7c0239f 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -616,3 +616,19 @@ def TMCStealthchopHelper(config, mcu_tmc): else: # TMC2208 uses en_spreadCycle fields.set_field("en_spreadcycle", not en_pwm_mode) + +# Helper to configure StallGuard and CoolStep minimum velocity +def TMCVcoolthrsHelper(config, mcu_tmc): + fields = mcu_tmc.get_fields() + velocity = config.getfloat('coolstep_threshold', None, minval=0.) + tcoolthrs = 0 + + if velocity is not None: + stepper_name = " ".join(config.get_name().split()[1:]) + sconfig = config.getsection(stepper_name) + rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig) + step_dist = rotation_dist / steps_per_rotation + mres = fields.get_field("mres") + tcoolthrs = TMCtstepHelper(step_dist, mres, + mcu_tmc.get_tmc_frequency(), velocity) + fields.set_field("tcoolthrs", tcoolthrs) diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index f995fb7a..44d4342b 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -297,6 +297,7 @@ class TMC2130: # Setup basic register values tmc.TMCWaveTableHelper(config, self.mcu_tmc) tmc.TMCStealthchopHelper(config, self.mcu_tmc) + tmc.TMCVcoolthrsHelper(config, self.mcu_tmc) # Allow other registers to be set from the config set_config_field = self.fields.set_config_field # CHOPCONF diff --git a/klippy/extras/tmc2209.py b/klippy/extras/tmc2209.py index ac997a81..fbd8d1c1 100644 --- a/klippy/extras/tmc2209.py +++ b/klippy/extras/tmc2209.py @@ -74,6 +74,7 @@ class TMC2209: # Setup basic register values self.fields.set_field("mstep_reg_select", True) tmc.TMCStealthchopHelper(config, self.mcu_tmc) + tmc.TMCVcoolthrsHelper(config, self.mcu_tmc) # Allow other registers to be set from the config set_config_field = self.fields.set_config_field # GCONF diff --git a/klippy/extras/tmc2240.py b/klippy/extras/tmc2240.py index f4c75aa9..3989b902 100644 --- a/klippy/extras/tmc2240.py +++ b/klippy/extras/tmc2240.py @@ -365,6 +365,8 @@ class TMC2240: tmc.TMCWaveTableHelper(config, self.mcu_tmc) self.fields.set_config_field(config, "offset_sin90", 0) tmc.TMCStealthchopHelper(config, self.mcu_tmc) + tmc.TMCVcoolthrsHelper(config, self.mcu_tmc) + # Allow other registers to be set from the config set_config_field = self.fields.set_config_field # GCONF set_config_field(config, "multistep_filt", True) diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py index e37435e6..97d2d6f9 100644 --- a/klippy/extras/tmc5160.py +++ b/klippy/extras/tmc5160.py @@ -336,6 +336,8 @@ class TMC5160: # Setup basic register values tmc.TMCWaveTableHelper(config, self.mcu_tmc) tmc.TMCStealthchopHelper(config, self.mcu_tmc) + tmc.TMCVcoolthrsHelper(config, self.mcu_tmc) + # Allow other registers to be set from the config set_config_field = self.fields.set_config_field # GCONF set_config_field(config, "multistep_filt", True) |