diff options
Diffstat (limited to 'klippy/extras/tmc2130.py')
| -rw-r--r-- | klippy/extras/tmc2130.py | 88 |
1 files changed, 51 insertions, 37 deletions
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py index ac99edc4..acb1ca51 100644 --- a/klippy/extras/tmc2130.py +++ b/klippy/extras/tmc2130.py @@ -94,6 +94,50 @@ class FieldHelper: ###################################################################### +# Config reading helpers +###################################################################### + +def current_bits(current, sense_resistor, vsense_on): + sense_resistor += 0.020 + vsense = 0.32 + if vsense_on: + vsense = 0.18 + cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5) + return max(0, min(31, cs)) + +def get_config_current(config): + vsense = False + run_current = config.getfloat('run_current', above=0., maxval=2.) + hold_current = config.getfloat('hold_current', run_current, + above=0., maxval=2.) + sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.) + irun = current_bits(run_current, sense_resistor, vsense) + ihold = current_bits(hold_current, sense_resistor, vsense) + if irun < 16 and ihold < 16: + vsense = True + irun = current_bits(run_current, sense_resistor, vsense) + ihold = current_bits(hold_current, sense_resistor, vsense) + return vsense, irun, ihold + +def get_config_microsteps(config): + steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4, + '8': 5, '4': 6, '2': 7, '1': 8} + return config.getchoice('microsteps', steps) + +def get_config_stealthchop(config, tmc_freq): + mres = get_config_microsteps(config) + velocity = config.getfloat('stealthchop_threshold', 0., minval=0.) + if not velocity: + return mres, False, 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 << mres) + threshold = int(tmc_freq * step_dist_256 / velocity + .5) + return mres, True, max(0, min(0xfffff, threshold)) + + +###################################################################### # TMC2130 printer object ###################################################################### @@ -112,17 +156,10 @@ class TMC2130: "DUMP_TMC", "STEPPER", self.name, self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help) # Get config for initial driver settings - self.field_helper = FieldHelper(Fields) - run_current = config.getfloat('run_current', above=0., maxval=2.) - hold_current = config.getfloat('hold_current', run_current, - above=0., maxval=2.) - 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} - self.mres = config.getchoice('microsteps', steps) + self.fields = FieldHelper(Fields) interpolate = config.getboolean('interpolate', True) - sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.) - sc_threshold = self.velocity_to_clock(config, sc_velocity) + self.mres, en_pwm, sc_threshold = get_config_stealthchop( + config, TMC_FREQUENCY) 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, @@ -135,16 +172,9 @@ class TMC2130: pwm_freq = config.getint('driver_PWM_FREQ', 1, minval=0, maxval=3) pwm_grad = config.getint('driver_PWM_GRAD', 4, minval=0, maxval=255) pwm_ampl = config.getint('driver_PWM_AMPL', 128, minval=0, maxval=255) - # calculate current - vsense = False - irun = self.current_bits(run_current, sense_resistor, vsense) - ihold = self.current_bits(hold_current, sense_resistor, vsense) - if irun < 16 and ihold < 16: - vsense = True - irun = self.current_bits(run_current, sense_resistor, vsense) - ihold = self.current_bits(hold_current, sense_resistor, vsense) + vsense, irun, ihold = get_config_current(config) # Configure registers - self.reg_GCONF = (sc_velocity > 0.) << 2 + self.reg_GCONF = en_pwm << 2 self.set_register("GCONF", self.reg_GCONF) self.set_register("CHOPCONF", ( toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15) @@ -152,26 +182,10 @@ class TMC2130: self.set_register("IHOLD_IRUN", ihold | (irun << 8) | (iholddelay << 16)) self.set_register("TPOWERDOWN", tpowerdown) - self.set_register("TPWMTHRS", max(0, min(0xfffff, sc_threshold))) + self.set_register("TPWMTHRS", sc_threshold) self.set_register("COOLCONF", sgt << 16) self.set_register("PWMCONF", ( pwm_ampl | (pwm_grad << 8) | (pwm_freq << 16) | (pwm_scale << 18))) - def current_bits(self, current, sense_resistor, vsense_on): - sense_resistor += 0.020 - vsense = 0.32 - if vsense_on: - vsense = 0.18 - 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 setup_pin(self, pin_type, pin_params): if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop': raise pins.error("tmc2130 virtual endstop only useful as endstop") @@ -200,7 +214,7 @@ class TMC2130: logging.info("DUMP_TMC %s", self.name) for reg_name in ReadRegisters: val = self.get_register(reg_name) - msg = self.field_helper.pretty_format(reg_name, val) + msg = self.fields.pretty_format(reg_name, val) logging.info(msg) gcode.respond_info(msg) |