diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/tmc.py | 12 | ||||
| -rw-r--r-- | klippy/stepper.py | 43 |
2 files changed, 51 insertions, 4 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 7b9280dd..c14a5f0f 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -1,9 +1,10 @@ # Common helper code for TMC stepper drivers # -# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2018-2020 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, collections +import stepper ###################################################################### @@ -263,9 +264,14 @@ class TMCMicrostepHelper: def __init__(self, config, mcu_tmc): self.mcu_tmc = mcu_tmc self.fields = mcu_tmc.get_fields() + stepper_name = " ".join(config.get_name().split()[1:]) + stepper_config = ms_config = config.getsection(stepper_name) + if stepper_config.get('microsteps', None, note_valid=False) is None: + # Older config format with microsteps in tmc config section + ms_config = config steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4, '8': 5, '4': 6, '2': 7, '1': 8} - mres = config.getchoice('microsteps', steps) + mres = ms_config.getchoice('microsteps', steps) self.fields.set_field("MRES", mres) self.fields.set_field("intpol", config.getboolean("interpolate", True)) def get_microsteps(self): @@ -287,7 +293,7 @@ def TMCStealthchopHelper(config, mcu_tmc, tmc_freq): if velocity: stepper_name = " ".join(config.get_name().split()[1:]) stepper_config = config.getsection(stepper_name) - step_dist = stepper_config.getfloat('step_distance', note_valid=False) + step_dist = stepper.parse_step_distance(stepper_config) 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))) diff --git a/klippy/stepper.py b/klippy/stepper.py index a8ab2298..1b1ad7ad 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -183,7 +183,7 @@ def PrinterStepper(config, units_in_radians=False): step_pin_params = ppins.lookup_pin(step_pin, can_invert=True) dir_pin = config.get('dir_pin') dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True) - step_dist = config.getfloat('step_distance', above=0.) + step_dist = parse_step_distance(config, units_in_radians, True) mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist, units_in_radians) # Support for stepper enable pin handling @@ -194,6 +194,47 @@ def PrinterStepper(config, units_in_radians=False): force_move.register_stepper(mcu_stepper) return mcu_stepper +# Parse stepper gear_ratio config parameter +def parse_gear_ratio(config, note_valid): + gear_ratio = config.get('gear_ratio', None, note_valid=note_valid) + if gear_ratio is None: + return 1. + result = 1. + try: + gears = gear_ratio.split(',') + for gear in gears: + g1, g2 = [float(v.strip()) for v in gear.split(':')] + result *= g1 / g2 + except: + raise config.error("Unable to parse gear_ratio: %s" % (gear_ratio,)) + return result + +# Obtain "step distance" information from a config section +def parse_step_distance(config, units_in_radians=None, note_valid=False): + if units_in_radians is None: + # Caller doesn't know if units are in radians - infer it + rd = config.get('rotation_distance', None, note_valid=False) + gr = config.get('gear_ratio', None, note_valid=False) + units_in_radians = rd is None and gr is not None + if units_in_radians: + rotation_dist = 2. * math.pi + config.get('gear_ratio', note_valid=note_valid) + else: + rotation_dist = config.getfloat('rotation_distance', None, + above=0., note_valid=note_valid) + if rotation_dist is None: + # Older config format with step_distance + return config.getfloat('step_distance', above=0., note_valid=note_valid) + # Newer config format with rotation_distance + microsteps = config.getint('microsteps', minval=1, note_valid=note_valid) + full_steps = config.getint('full_steps_per_rotation', 200, minval=1, + note_valid=note_valid) + if full_steps % 4: + raise config.error("full_steps_per_rotation invalid in section '%s'" + % (config.get_name(),)) + gearing = parse_gear_ratio(config, note_valid) + return rotation_dist / (full_steps * microsteps * gearing) + ###################################################################### # Stepper controlled rails |