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tmc: Track requested hold_current so SET_TMC_CURRENT doesn't reduce it

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The code automatically reduces the hold_current so that it is no
greater than the run_current.  However, this could lead to confusing
behavior if one reduced and then increased the run_current via
SET_TMC_CURRENT commands.  To avoid that, this change adds support for
tracking the requested hold_current - thus changes to run_current
don't subtly alter the hold_current.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-10-24 20:03:42 -04:00
parent 627c1c5d2a
commit 86fee2d517
5 changed files with 20 additions and 17 deletions
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19
klippy/extras/tmc.py
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@ -261,26 +261,25 @@ class TMCCommandHelper:
cmd_SET_TMC_CURRENT_help = "Set the current of a TMC driver"
def cmd_SET_TMC_CURRENT(self, gcmd):
ch = self.current_helper
prev_run_current, prev_hold_current, max_current = ch.get_current()
run_current = gcmd.get_float('CURRENT', None,
minval=0., maxval=max_current)
prev_cur, prev_hold_cur, req_hold_cur, max_cur = ch.get_current()
run_current = gcmd.get_float('CURRENT', None, minval=0., maxval=max_cur)
hold_current = gcmd.get_float('HOLDCURRENT', None,
above=0., maxval=max_current)
above=0., maxval=max_cur)
if run_current is not None or hold_current is not None:
if run_current is None:
run_current = prev_run_current
run_current = prev_cur
if hold_current is None:
hold_current = prev_hold_current
hold_current = req_hold_cur
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
ch.set_current(run_current, hold_current, print_time)
prev_run_current, prev_hold_current, max_current = ch.get_current()
prev_cur, prev_hold_cur, req_hold_cur, max_cur = ch.get_current()
# Report values
if prev_hold_current is None:
gcmd.respond_info("Run Current: %0.2fA" % (prev_run_current,))
if prev_hold_cur is None:
gcmd.respond_info("Run Current: %0.2fA" % (prev_cur,))
else:
gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (prev_run_current, prev_hold_current))
% (prev_cur, prev_hold_cur))
# Stepper phase tracking
def _get_phases(self):
return (256 >> self.fields.get_field("mres")) * 4