diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/tmc5160.py | 26 |
1 files changed, 22 insertions, 4 deletions
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py index cfdd75e8..4eaaadcc 100644 --- a/klippy/extras/tmc5160.py +++ b/klippy/extras/tmc5160.py @@ -19,7 +19,7 @@ Registers = { "FACTORY_CONF": 0x08, "SHORT_CONF": 0x09, "DRV_CONF": 0x0A, - "GLOBAL_SCALER": 0x0B, + "GLOBALSCALER": 0x0B, "OFFSET_READ": 0x0C, "IHOLD_IRUN": 0x10, "TPOWERDOWN": 0x11, @@ -149,6 +149,9 @@ Fields["GSTAT"] = { "drv_err": 0x01 << 1, "uv_cp": 0x01 << 2 } +Fields["GLOBALSCALER"] = { + "GLOBALSCALER": 0xFF << 0 +} Fields["IHOLD_IRUN"] = { "IHOLD": 0x1F << 0, "IRUN": 0x1F << 8, @@ -237,6 +240,7 @@ class TMC5160CurrentHelper: hold_current = config.getfloat('hold_current', run_current, above=0., maxval=MAX_CURRENT) self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.) + self._set_globalscaler(run_current) irun, ihold = self._calc_current(run_current, hold_current) self.fields.set_field("IHOLD", ihold) self.fields.set_field("IRUN", irun) @@ -244,8 +248,19 @@ class TMC5160CurrentHelper: gcode.register_mux_command( "SET_TMC_CURRENT", "STEPPER", self.name, self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help) + def _set_globalscaler(self, current): + globalscaler = int((current * 256. * math.sqrt(2.) + * self.sense_resistor / VREF) + .5) + globalscaler = max(32, globalscaler) + if globalscaler >= 256: + globalscaler = 0 + self.fields.set_field("GLOBALSCALER", globalscaler) def _calc_current_bits(self, current): - cs = int(32. * current * self.sense_resistor * math.sqrt(2.) / VREF + globalscaler = self.fields.get_field("GLOBALSCALER") + if not globalscaler: + globalscaler = 256 + cs = int((current * 256. * 32. * math.sqrt(2.) * self.sense_resistor) + / (globalscaler * VREF) - 1. + .5) return max(0, min(31, cs)) def _calc_current(self, run_current, hold_current): @@ -253,9 +268,12 @@ class TMC5160CurrentHelper: ihold = self._calc_current_bits(min(hold_current, run_current)) return irun, ihold def _calc_current_from_field(self, field_name): + globalscaler = self.fields.get_field("GLOBALSCALER") + if not globalscaler: + globalscaler = 256 bits = self.fields.get_field(field_name) - current = ((bits + 1) * VREF - / (32. * math.sqrt(2.) * self.sense_resistor)) + current = (globalscaler * (bits + 1) * VREF + / (256. * 32. * math.sqrt(2.) * self.sense_resistor)) return round(current, 2) cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver" def cmd_SET_TMC_CURRENT(self, params): |