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tmc2130: Configure stealthchop velocity limit 

Change stealhchop config option to a stealthchop_threshold
configuration option.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-05-22 21:40:32 -04:00
parent 739d37feac
commit 3799f40f29
2 changed files with 27 additions and 9 deletions
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15
config/example-extras.cfg
View File

@ -424,9 +424,11 @@
# default is to not scale the 'channel_x' parameters. # default is to not scale the 'channel_x' parameters.
# Configure a TMC2130 stepper motor driver (one may define any number # Configure a TMC2130 stepper motor driver via SPI bus. To use this
# of sections with a "tmc2130" prefix). # feature, define a config section with a "tmc2130" prefix followed by
#[tmc2130 my_name] # the name of the corresponding stepper config section (for example,
# "[tmc2130 stepper_x]").
#[tmc2130 stepper_x]
#cs_pin: #cs_pin:
# The pin corresponding to the TMC2130 chip select line. This pin # The pin corresponding to the TMC2130 chip select line. This pin
# will be set to low at the start of SPI messages and raised to high # will be set to low at the start of SPI messages and raised to high
@ -448,8 +450,11 @@
#sense_resistor: 0.110 #sense_resistor: 0.110
# The resistance (in ohms) of the motor sense resistor. The default # The resistance (in ohms) of the motor sense resistor. The default
# is 0.110 ohms. # is 0.110 ohms.
#stealthchop: False #stealthchop_threshold: 0
# Enable "stealthChop" mode. The default is False. # The velocity (in mm/s) to set the "stealthChop" threshold to. When
# set, "stealthChop" mode will be enabled if the stepper motor
# velocity is below this value. The default is 0, which disables
# "stealthChop" mode.
#driver_IHOLDDELAY: 8 #driver_IHOLDDELAY: 8
#driver_TPOWERDOWN: 0 #driver_TPOWERDOWN: 0
#driver_BLANK_TIME_SELECT: 1 #driver_BLANK_TIME_SELECT: 1

21
klippy/extras/tmc2130.py
View File

@ -5,6 +5,8 @@
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import math import math
TMC_FREQUENCY=13200000.
class tmc2130: class tmc2130:
def __init__(self, config): def __init__(self, config):
printer = config.get_printer() printer = config.get_printer()
@ -26,9 +28,10 @@ class tmc2130:
sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.) sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4, steps = {'256': 0, '128': 1, '64': 2, '32': 3, '16': 4,
'8': 5, '4': 6, '2': 7, '1': 8} '8': 5, '4': 6, '2': 7, '1': 8}
microsteps = config.getchoice('microsteps', steps) self.mres = config.getchoice('microsteps', steps)
interpolate = config.getboolean('interpolate', True) interpolate = config.getboolean('interpolate', True)
stealthchop = config.getboolean('stealthchop', False) sc_velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
sc_threshold = self.velocity_to_clock(config, sc_velocity)
iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15) iholddelay = config.getint('driver_IHOLDDELAY', 8, minval=0, maxval=15)
tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255) tpowerdown = config.getint('driver_TPOWERDOWN', 0, minval=0, maxval=255)
blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1, blank_time_select = config.getint('driver_BLANK_TIME_SELECT', 1,
@ -45,15 +48,17 @@ class tmc2130:
irun = self.current_bits(run_current, sense_resistor, vsense) irun = self.current_bits(run_current, sense_resistor, vsense)
ihold = self.current_bits(hold_current, sense_resistor, vsense) ihold = self.current_bits(hold_current, sense_resistor, vsense)
# configure GCONF # configure GCONF
self.add_config_cmd(0x00, stealthchop << 2) self.add_config_cmd(0x00, (sc_velocity > 0.) << 2)
# configure CHOPCONF # configure CHOPCONF
self.add_config_cmd( self.add_config_cmd(
0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15) 0x6c, toff | (hstrt << 4) | (hend << 7) | (blank_time_select << 15)
| (vsense << 17) | (microsteps << 24) | (interpolate << 28)) | (vsense << 17) | (self.mres << 24) | (interpolate << 28))
# configure IHOLD_IRUN # configure IHOLD_IRUN
self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16)) self.add_config_cmd(0x10, ihold | (irun << 8) | (iholddelay << 16))
# configure TPOWERDOWN # configure TPOWERDOWN
self.add_config_cmd(0x11, tpowerdown) self.add_config_cmd(0x11, tpowerdown)
# configure TPWMTHRS
self.add_config_cmd(0x13, max(0, min(0xfffff, sc_threshold)))
def add_config_cmd(self, addr, val): def add_config_cmd(self, addr, val):
self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % ( self.mcu.add_config_cmd("spi_send oid=%d data=%02x%08x" % (
self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True) self.oid, (addr | 0x80) & 0xff, val & 0xffffffff), is_init=True)
@ -65,6 +70,14 @@ class tmc2130:
cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense cs = int(32. * current * sense_resistor * math.sqrt(2.) / vsense
- 1. + .5) - 1. + .5)
return max(0, min(31, cs)) return max(0, min(31, cs))
def velocity_to_clock(self, config, velocity):
if not velocity:
return 0
stepper_name = config.get_name().split()[1]
stepper_config = config.getsection(stepper_name)
step_dist = stepper_config.getfloat('step_distance')
step_dist_256 = step_dist / (1 << self.mres)
return int(TMC_FREQUENCY * step_dist_256 / velocity + .5)
def load_config_prefix(config): def load_config_prefix(config):
return tmc2130(config) return tmc2130(config)