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stepper: Calculate step_distance from rotation_distance

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Add support for automatically calculating the internal step_distance
from new config parameters - rotation_distance, microsteps,
full_steps_per_rotation, and gear_ratio.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-01-05 20:19:43 -05:00
parent 4a41d228eb
commit 7dcc778b6c
11 changed files with 128 additions and 60 deletions
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12
klippy/extras/tmc.py
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@ -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)))