diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/tmc.py | 59 |
1 files changed, 22 insertions, 37 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 366e00b1..1a5059fa 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -278,16 +278,14 @@ class TMCCommandHelper: raise gcmd.error("Unknown field name '%s'" % (field_name,)) value = gcmd.get_int('VALUE', None) velocity = gcmd.get_float('VELOCITY', None, minval=0.) - tmc_frequency = self.mcu_tmc.get_tmc_frequency() - if tmc_frequency is None and velocity is not None: - raise gcmd.error("VELOCITY parameter not supported by this driver") if (value is None) == (velocity is None): raise gcmd.error("Specify either VALUE or VELOCITY") if velocity is not None: - step_dist = self.stepper.get_step_dist() - mres = self.fields.get_field("mres") - value = TMCtstepHelper(step_dist, mres, tmc_frequency, - velocity) + if self.mcu_tmc.get_tmc_frequency() is None: + raise gcmd.error( + "VELOCITY parameter not supported by this driver") + value = TMCtstepHelper(self.mcu_tmc, velocity, + pstepper=self.stepper) reg_val = self.fields.set_field(field_name, value) print_time = self.printer.lookup_object('toolhead').get_last_move_time() self.mcu_tmc.set_register(reg_name, reg_val, print_time) @@ -583,13 +581,21 @@ def TMCMicrostepHelper(config, mcu_tmc): fields.set_field("intpol", config.getboolean("interpolate", True)) # Helper for calculating TSTEP based values from velocity -def TMCtstepHelper(step_dist, mres, tmc_freq, velocity): - if velocity > 0.: - step_dist_256 = step_dist / (1 << mres) - threshold = int(tmc_freq * step_dist_256 / velocity + .5) - return max(0, min(0xfffff, threshold)) - else: +def TMCtstepHelper(mcu_tmc, velocity, pstepper=None, config=None): + if velocity <= 0.: return 0xfffff + if pstepper is not None: + step_dist = pstepper.get_step_dist() + else: + stepper_name = " ".join(config.get_name().split()[1:]) + sconfig = config.getsection(stepper_name) + rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig) + step_dist = rotation_dist / steps_per_rotation + mres = mcu_tmc.get_fields().get_field("mres") + step_dist_256 = step_dist / (1 << mres) + tmc_freq = mcu_tmc.get_tmc_frequency() + threshold = int(tmc_freq * step_dist_256 / velocity + .5) + return max(0, min(0xfffff, threshold)) # Helper to configure stealthChop-spreadCycle transition velocity def TMCStealthchopHelper(config, mcu_tmc): @@ -600,14 +606,7 @@ def TMCStealthchopHelper(config, mcu_tmc): if velocity is not None: en_pwm_mode = True - - stepper_name = " ".join(config.get_name().split()[1:]) - sconfig = config.getsection(stepper_name) - rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig) - step_dist = rotation_dist / steps_per_rotation - mres = fields.get_field("mres") - tpwmthrs = TMCtstepHelper(step_dist, mres, mcu_tmc.get_tmc_frequency(), - velocity) + tpwmthrs = TMCtstepHelper(mcu_tmc, velocity, config=config) fields.set_field("tpwmthrs", tpwmthrs) reg = fields.lookup_register("en_pwm_mode", None) @@ -622,15 +621,8 @@ def TMCVcoolthrsHelper(config, mcu_tmc): fields = mcu_tmc.get_fields() velocity = config.getfloat('coolstep_threshold', None, minval=0.) tcoolthrs = 0 - if velocity is not None: - stepper_name = " ".join(config.get_name().split()[1:]) - sconfig = config.getsection(stepper_name) - rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig) - step_dist = rotation_dist / steps_per_rotation - mres = fields.get_field("mres") - tcoolthrs = TMCtstepHelper(step_dist, mres, - mcu_tmc.get_tmc_frequency(), velocity) + tcoolthrs = TMCtstepHelper(mcu_tmc, velocity, config=config) fields.set_field("tcoolthrs", tcoolthrs) # Helper to configure StallGuard and CoolStep maximum velocity and @@ -639,13 +631,6 @@ def TMCVhighHelper(config, mcu_tmc): fields = mcu_tmc.get_fields() velocity = config.getfloat('high_velocity_threshold', None, minval=0.) thigh = 0 - if velocity is not None: - stepper_name = " ".join(config.get_name().split()[1:]) - sconfig = config.getsection(stepper_name) - rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig) - step_dist = rotation_dist / steps_per_rotation - mres = fields.get_field("mres") - thigh = TMCtstepHelper(step_dist, mres, - mcu_tmc.get_tmc_frequency(), velocity) + thigh = TMCtstepHelper(mcu_tmc, velocity, config=config) fields.set_field("thigh", thigh) |