mirror of https://github.com/Desuuuu/klipper.git
tmc2130: Rework current selection to prefer vsense=1
It is preferable to program the tmc drivers with an irun (or cs) setting near 31, as otherwise the driver may have reduced microstep precision. It was possible for the driver to be programmed with irun=16 or irun=17 when it could have been configured with irun=31 with vsense=1 instead. This would occur on tmc2130/tmc2208/tmc2209 drivers for values around 0.900 to 1.000 amps (when using a typical sense_resistor settings of 0.110 Ohms). Change the code to prefer using vsense=1 to avoid this issue. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -8,6 +8,12 @@ All dates in this document are approximate.
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## Changes
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20220116: The tmc2130, tmc2208, tmc2209, and tmc2660 `run_current`
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calculation code has changed. For some `run_current` settings the
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drivers may now be configured differently. This new configuration
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should be more accurate, but it may invalidate previous tmc driver
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tuning.
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20211230: Scripts to tune input shaper (`scripts/calibrate_shaper.py`
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and `scripts/graph_accelerometer.py`) were migrated to use Python3
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by default. As a result, users must install Python3 versions of certain
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@ -116,30 +116,33 @@ class TMCCurrentHelper:
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vref = 0.32
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if vsense:
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vref = 0.18
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cs = int(32. * current * sense_resistor * math.sqrt(2.) / vref
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- 1. + .5)
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cs = int(32. * sense_resistor * current * math.sqrt(2.) / vref + .5) - 1
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return max(0, min(31, cs))
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def _calc_current(self, run_current, hold_current):
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vsense = False
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irun = self._calc_current_bits(run_current, vsense)
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ihold = self._calc_current_bits(min(hold_current, run_current),
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vsense)
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if irun < 16 and ihold < 16:
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vsense = True
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irun = self._calc_current_bits(run_current, vsense)
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ihold = self._calc_current_bits(min(hold_current, run_current),
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vsense)
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return vsense, irun, ihold
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def _calc_current_from_field(self, field_name):
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bits = self.fields.get_field(field_name)
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def _calc_current_from_bits(self, cs, vsense):
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sense_resistor = self.sense_resistor + 0.020
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vref = 0.32
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if self.fields.get_field("vsense"):
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if vsense:
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vref = 0.18
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return (bits + 1) * vref / (32 * sense_resistor * math.sqrt(2.))
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return (cs + 1) * vref / (32. * sense_resistor * math.sqrt(2.))
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def _calc_current(self, run_current, hold_current):
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vsense = True
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irun = self._calc_current_bits(run_current, True)
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if irun == 31:
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cur = self._calc_current_from_bits(irun, True)
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if cur < run_current:
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irun2 = self._calc_current_bits(run_current, False)
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cur2 = self._calc_current_from_bits(irun2, False)
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if abs(run_current - cur2) < abs(run_current - cur):
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vsense = False
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irun = irun2
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ihold = self._calc_current_bits(min(hold_current, run_current), vsense)
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return vsense, irun, ihold
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def get_current(self):
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run_current = self._calc_current_from_field("irun")
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hold_current = self._calc_current_from_field("ihold")
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irun = self.fields.get_field("irun")
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ihold = self.fields.get_field("ihold")
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vsense = self.fields.get_field("vsense")
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run_current = self._calc_current_from_bits(irun, vsense)
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hold_current = self._calc_current_from_bits(ihold, vsense)
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return run_current, hold_current, self.req_hold_current, MAX_CURRENT
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def set_current(self, run_current, hold_current, print_time):
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self.req_hold_current = hold_current
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@ -136,17 +136,26 @@ class TMC2660CurrentHelper:
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def _calc_current_bits(self, current, vsense):
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vref = 0.165 if vsense else 0.310
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cs = int(32 * current * self.sense_resistor * math.sqrt(2.) / vref
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- 1. + .5)
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sr = self.sense_resistor
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cs = int(32. * sr * current * math.sqrt(2.) / vref + .5) - 1
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return max(0, min(31, cs))
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def _calc_current_from_bits(self, cs, vsense):
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vref = 0.165 if vsense else 0.310
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return (cs + 1) * vref / (32. * self.sense_resistor * math.sqrt(2.))
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def _calc_current(self, run_current):
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vsense = False
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cs = self._calc_current_bits(run_current, vsense)
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if cs < 16:
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vsense = True
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cs = self._calc_current_bits(run_current, vsense)
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return vsense, cs
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vsense = True
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irun = self._calc_current_bits(run_current, True)
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if irun == 31:
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cur = self._calc_current_from_bits(irun, True)
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if cur < run_current:
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irun2 = self._calc_current_bits(run_current, False)
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cur2 = self._calc_current_from_bits(irun2, False)
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if abs(run_current - cur2) < abs(run_current - cur):
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vsense = False
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irun = irun2
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return vsense, irun
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def _handle_printing(self, print_time):
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print_time -= 0.100 # Schedule slightly before deadline
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