diff options
Diffstat (limited to 'klippy/extras/tmc2208.py')
| -rw-r--r-- | klippy/extras/tmc2208.py | 45 |
1 files changed, 6 insertions, 39 deletions
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py index aa11a21c..60bf5a20 100644 --- a/klippy/extras/tmc2208.py +++ b/klippy/extras/tmc2208.py @@ -3,7 +3,7 @@ # Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import math, logging, collections +import logging, collections import tmc2130 TMC_FREQUENCY=12000000. @@ -292,30 +292,14 @@ class TMC2208: self.fields.set_field("pdn_disable", True) self.fields.set_field("mstep_reg_select", True) self.fields.set_field("multistep_filt", True) - steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4, - '8': 5, '4': 6, '2': 7, '1': 8} - mres = config.getchoice('microsteps', steps) - self.fields.set_field("MRES", mres) - # Calculate current - 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 = 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 = tmc2130.get_config_current(config) self.fields.set_field("vsense", vsense) self.fields.set_field("IHOLD", ihold) self.fields.set_field("IRUN", irun) - # Setup stealthchop - sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.) - sc_threshold = self.velocity_to_clock(config, sc_velocity, mres) - self.fields.set_field("en_spreadCycle", not sc_velocity) - self.fields.set_field("TPWMTHRS", sc_threshold) + mres, en, thresh = tmc2130.get_config_stealthchop(config, TMC_FREQUENCY) + self.fields.set_field("MRES", mres) + self.fields.set_field("en_spreadCycle", not en) + self.fields.set_field("TPWMTHRS", thresh) # Allow other registers to be set from the config set_config_field = self.fields.set_config_field set_config_field(config, "toff", 3) @@ -332,23 +316,6 @@ class TMC2208: set_config_field(config, "pwm_autograd", True) set_config_field(config, "PWM_REG", 8) set_config_field(config, "PWM_LIM", 12) - 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, mres): - 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 << mres) - threshold = int(TMC_FREQUENCY * step_dist_256 / velocity + .5) - return max(0, min(0xfffff, threshold)) def build_config(self): bit_ticks = int(self.mcu.get_adjusted_freq() / 9000.) self.mcu.add_config_cmd( |