diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/tmc2660.py | 53 |
1 files changed, 32 insertions, 21 deletions
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py index fbc9b2bc..52a38d50 100644 --- a/klippy/extras/tmc2660.py +++ b/klippy/extras/tmc2660.py @@ -6,11 +6,19 @@ import math, collections, logging import bus, tmc2130 -def current_to_reg(current, sense_resistor, vsense_on): +def current_bits(current, sense_resistor, vsense_on): vsense = 0.165 if vsense_on else 0.310 cs = int(32 * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5) return max(0, min(cs, 31)) +def get_config_current(run_current, sense_resistor): + vsense = False + cs = current_bits(run_current, sense_resistor, vsense) + if cs < 16: + vsense = True + cs = current_bits(run_current, sense_resistor, vsense) + return cs, vsense + Registers = { "DRVCONF": 0xE, "SGCSCONF": 0xC, "SMARTEN": 0xA, "CHOPCONF": 0x8, "DRVCTRL": 0x0 @@ -157,7 +165,7 @@ class TMC2660: set_config_field(config, "RNDTF", 0) set_config_field(config, "HDEC", 0) set_config_field(config, "CHM", 0) - set_config_field(config, "HEND", 6) + set_config_field(config, "HEND", 3) set_config_field(config, "HSTRT", 3) set_config_field(config, "TOFF", 4) if not self.fields.get_field("CHM"): @@ -171,24 +179,25 @@ class TMC2660: set_config_field(config, "SEUP", 0) set_config_field(config, "SEMIN", 0) + # SGSCONF + set_config_field(config, "SFILT", 1) + set_config_field(config, "SGT", 0) + self.current = config.getfloat('run_current', minval=0.1, + maxval=2.4) + self.sense_resistor = config.getfloat('sense_resistor') + (self.driver_cs, + self.driver_vsense) = get_config_current(self.current, + self.sense_resistor) + self.fields.set_field("CS", self.driver_cs) + # DRVCONF set_config_field(config, "SLPH", 0) set_config_field(config, "SLPL", 0) set_config_field(config, "DISS2G", 0) set_config_field(config, "TS2G", 3) - set_config_field(config, "VSENSE", 1) + self.fields.set_field("VSENSE", self.driver_vsense) self.fields.set_field("RDSEL", 0) # needed for phase calculations self.fields.set_field("SDOFF", 0) # only step/dir mode supported - self.sense_resistor = config.getfloat('sense_resistor') - - # SGSCONF - set_config_field(config, "SFILT", 1) - set_config_field(config, "SGT", 0) - self.current = config.getfloat('run_current', minval=0.1, - maxval=2.4) - self.driver_cs = current_to_reg(self.current, self.sense_resistor, - self.fields.get_field("VSENSE")) - self.fields.set_field("CS", self.driver_cs) # Init Registers self._init_registers(self) @@ -234,11 +243,15 @@ class TMC2660: * self.current / 100)) def set_current(self, print_time, current): - self.driver_cs = current_to_reg(current, self.sense_resistor, - self.fields.get_field("VSENSE")) + (self.driver_cs, + self.driver_vsense) = get_config_current(current, self.sense_resistor) self.fields.set_field("CS", self.driver_cs) clock = self.spi.get_mcu().print_time_to_clock(print_time) self.set_register("SGCSCONF", self.regs["SGCSCONF"], min_clock=clock) + # Only update VSENSE if we need to + if self.driver_vsense != self.fields.get_field("VSENSE"): + self.fields.set_field("VSENSE", self.driver_vsense) + self.set_register("DRVCONF", self.regs["DRVCONF"], min_clock=clock) cmd_SET_TMC_CURRENT_help = "Set the current of a TMC2660 driver" def cmd_SET_TMC_CURRENT(self, params): @@ -268,8 +281,8 @@ class TMC2660: cmd_INIT_TMC_help = "Initialize TMC stepper driver registers" def cmd_INIT_TMC(self, params): logging.info("INIT_TMC 2660 %s", self.name) - print_time = self.printer.lookup_object('toolhead').get_last_move_time() - min_clock = self.spi.get_mcu().print_time_to_clock(print_time) + pt = self.printer.lookup_object('toolhead').get_last_move_time() + min_clock = self.spi.get_mcu().print_time_to_clock(pt) self._init_registers(min_clock) cmd_SET_TMC_FIELD_help = "Set a register field of a TMC2660 driver" @@ -279,13 +292,11 @@ class TMC2660: 'VALUE' not in params): raise gcode.error("Invalid command format") field = gcode.get_str('FIELD', params) - if field == "CS": - raise gcode.error("Use SET_TMC_CURRENT to set CS") reg = self.fields.field_to_register[field] value = gcode.get_int('VALUE', params) self.fields.set_field(field, value) - print_time = self.printer.lookup_object('toolhead').get_last_move_time() - clock = self.spi.get_mcu().print_time_to_clock(print_time) + pt = self.printer.lookup_object('toolhead').get_last_move_time() + clock = self.spi.get_mcu().print_time_to_clock(pt) self.set_register(reg, self.regs[reg], min_clock=clock) def load_config_prefix(config): |