diff options
Diffstat (limited to 'klippy/extras/tmc2660.py')
| -rw-r--r-- | klippy/extras/tmc2660.py | 25 |
1 files changed, 17 insertions, 8 deletions
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 |