diff options
Diffstat (limited to 'klippy/extras/tmc.py')
| -rw-r--r-- | klippy/extras/tmc.py | 27 |
1 files changed, 20 insertions, 7 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index ba1bc41c..f9f2d150 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -538,20 +538,33 @@ def TMCMicrostepHelper(config, mcu_tmc): fields.set_field("mres", mres) fields.set_field("intpol", config.getboolean("interpolate", True)) -# Helper to configure "stealthchop" mode +# Helper for calculating TSTEP based values from velocity +def TMCtstepHelper(step_dist, mres, tmc_freq, velocity): + if velocity > 0.: + step_dist_256 = step_dist / (1 << mres) + threshold = int(tmc_freq * step_dist_256 / velocity + .5) + return max(0, min(0xfffff, threshold)) + else: + return 0xfffff + +# Helper to configure stealthChop-spreadCycle transition velocity def TMCStealthchopHelper(config, mcu_tmc, tmc_freq): fields = mcu_tmc.get_fields() en_pwm_mode = False - velocity = config.getfloat('stealthchop_threshold', 0., minval=0.) - if velocity: + velocity = config.getfloat('stealthchop_threshold', None, minval=0.) + tpwmthrs = 0xfffff + + if velocity is not None: + en_pwm_mode = True + 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 - step_dist_256 = step_dist / (1 << fields.get_field("mres")) - threshold = int(tmc_freq * step_dist_256 / velocity + .5) - fields.set_field("tpwmthrs", max(0, min(0xfffff, threshold))) - en_pwm_mode = True + mres = fields.get_field("mres") + tpwmthrs = TMCtstepHelper(step_dist, mres, tmc_freq, velocity) + fields.set_field("tpwmthrs", tpwmthrs) + reg = fields.lookup_register("en_pwm_mode", None) if reg is not None: fields.set_field("en_pwm_mode", en_pwm_mode) |