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Merge 3c10d9dd72 into 8b58aa1302

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HonestBrothers 2025-12-23 17:16:44 +09:00 • committed by GitHub
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1 changed files with 18 additions and 11 deletions
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29
klippy/extras/tmc5160.py
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@ -2,6 +2,8 @@
#
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
#
# Modified by Honest Brothers (C) 2024
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
from . import bus, tmc, tmc2130
@ -246,6 +248,7 @@ Fields["THIGH"] = {
"thigh": 0xfffff << 0
}
SignedFields = ["cur_a", "cur_b", "sgt", "xactual", "vactual", "pwm_scale_auto"]
FieldFormatters = dict(tmc2130.FieldFormatters)
@ -260,7 +263,7 @@ FieldFormatters.update({
######################################################################
VREF = 0.325
MAX_CURRENT = 10.000 # Maximum dependent on board, but 10 is safe sanity check
MAX_CURRENT = 10.000 # Maximum dependent on board; 10 is safe sanity check
class TMC5160CurrentHelper:
def __init__(self, config, mcu_tmc):
@ -272,6 +275,7 @@ class TMC5160CurrentHelper:
above=0., maxval=MAX_CURRENT)
hold_current = config.getfloat('hold_current', MAX_CURRENT,
above=0., maxval=MAX_CURRENT)
self.cs = config.getint('driver_cs', 31, -1)
self.req_hold_current = hold_current
self.sense_resistor = config.getfloat('sense_resistor', 0.075, above=0.)
gscaler, irun, ihold = self._calc_current(run_current, hold_current)
@ -279,23 +283,26 @@ class TMC5160CurrentHelper:
self.fields.set_field("ihold", ihold)
self.fields.set_field("irun", irun)
def _calc_globalscaler(self, current):
globalscaler = int((current * 256. * math.sqrt(2.)
* self.sense_resistor / VREF) + .5)
cs = self._calc_current_bits(current)
globalscaler = int(math.ceil(
(current * 256.0 * math.sqrt(2.0) * self.sense_resistor * 32 / (
VREF * (1 + cs)))))
globalscaler = max(32, globalscaler)
if globalscaler >= 256:
globalscaler = 0
return globalscaler
def _calc_current_bits(self, current, globalscaler):
if not globalscaler:
globalscaler = 256
cs = int((current * 256. * 32. * math.sqrt(2.) * self.sense_resistor)
/ (globalscaler * VREF)
- 1. + .5)
def _calc_current_bits(self, current):
if self.cs == -1:
Ipeak = current * math.sqrt(2)
Rsens = self.sense_resistor
cs = int(math.ceil(Rsens * 32 * Ipeak / 0.32) - 1)
else:
cs = self.cs
return max(0, min(31, cs))
def _calc_current(self, run_current, hold_current):
gscaler = self._calc_globalscaler(run_current)
irun = self._calc_current_bits(run_current, gscaler)
ihold = self._calc_current_bits(min(hold_current, run_current), gscaler)
irun = self._calc_current_bits(run_current)
ihold = int(min((hold_current / run_current) * irun, irun))
return gscaler, irun, ihold
def _calc_current_from_field(self, field_name):
globalscaler = self.fields.get_field("globalscaler")