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tmc2660: Add vsense_resistor config parameter 

Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
This commit is contained in:
Florian Heilmann 2019-03-01 19:44:35 +00:00 committed by KevinOConnor
parent 975b0dbd84
commit 4541f16cd9
2 changed files with 21 additions and 18 deletions
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3
config/example-extras.cfg
View File

@ -1050,6 +1050,9 @@
#run_current: #run_current:
# The amount of current (in ampere) used by the driver during stepper # The amount of current (in ampere) used by the driver during stepper
# movement. This parameter must be provided. # movement. This parameter must be provided.
#sense_resistor: 0.051
# The resistance (in ohms) of the motor sense resistor. The default
# is 0.051 ohms.
#idle_current_percent: 100 #idle_current_percent: 100
# The percentage of the run_current the stepper driver will be # The percentage of the run_current the stepper driver will be
# lowered to when the idle timeout expires (you need to set up the # lowered to when the idle timeout expires (you need to set up the

36
klippy/extras/tmc2660.py
View File

@ -1,13 +1,11 @@
# TMC2660 configuration # TMC2660 configuration
# #
# Copyright (C) 2018 Florian Heilmann <Florian.Heilmann@gmx.net> # Copyright (C) 2018-2019 Florian Heilmann <Florian.Heilmann@gmx.net>
# #
# 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 bus import bus
CURRENT_MAX = 2.4
CURRENT_MIN = 0.1
REG_DRVCONF = 0xe << 16 REG_DRVCONF = 0xe << 16
REG_SGCSCONF = 0xc << 16 REG_SGCSCONF = 0xc << 16
REG_SMARTEN = 0xa << 16 REG_SMARTEN = 0xa << 16
@ -20,9 +18,10 @@ def get_bits(reg, field, value):
def read_field(bits, reg, field): def read_field(bits, reg, field):
return (bits & reg[field][1]) >> reg[field][0] return (bits & reg[field][1]) >> reg[field][0]
def current_to_reg(current): def current_to_reg(current, sense_resistor, vsense_on):
current_constrained = min(CURRENT_MAX, max(CURRENT_MIN, current)) vsense = 0.165 if vsense_on else 0.310
return int((32 * 1000 * current_constrained - 1600)/3236) # Taken from RRF cs = int(32 * current * sense_resistor * math.sqrt(2.) / vsense - 1. + .5)
return max(0, min(31, cs))
DRVCTRL = { DRVCTRL = {
"INTPOL" : (9, 0x00100), "INTPOL" : (9, 0x00100),
@ -96,8 +95,8 @@ class TMC2660:
'8': 5, '4': 6, '2': 7, '1': 8} '8': 5, '4': 6, '2': 7, '1': 8}
self.driver_mres = config.getchoice('microsteps', steps) self.driver_mres = config.getchoice('microsteps', steps)
self.driver_intpol = config.getboolean('interpolate', default=True) self.driver_intpol = config.getboolean('interpolate', default=True)
self.current = config.getfloat('run_current', minval=CURRENT_MIN, self.current = config.getfloat('run_current', minval=0.1,
maxval=CURRENT_MAX) maxval=2.4)
self.driver_dedge = config.getboolean('driver_DEDGE', default=False) self.driver_dedge = config.getboolean('driver_DEDGE', default=False)
# CHOPCONF # CHOPCONF
@ -141,12 +140,6 @@ class TMC2660:
self.driver_semin = config.getint('driver_SEMIN', default=0, self.driver_semin = config.getint('driver_SEMIN', default=0,
minval=0, maxval=15) minval=0, maxval=15)
# SGSCONF
self.driver_sfilt = config.getboolean('driver_SFILT', default=True)
self.driver_sgt = config.getint('driver_sgt', default=-64,
minval=-64, maxval=63) + 64
self.driver_cs = current_to_reg(self.current)
# DRVCONF # DRVCONF
slph = {'min': 0, 'min_tc': 1, 'med_tc': 2, 'max': 3} slph = {'min': 0, 'min_tc': 1, 'med_tc': 2, 'max': 3}
self.driver_slph = config.getchoice('driver_SLPH', slph, default='min') self.driver_slph = config.getchoice('driver_SLPH', slph, default='min')
@ -160,8 +153,15 @@ class TMC2660:
vsense = {'low': 0, 'high': 1} vsense = {'low': 0, 'high': 1}
self.driver_vsense = config.getchoice('driver_VSENSE', vsense, self.driver_vsense = config.getchoice('driver_VSENSE', vsense,
default='high') default='high')
self.sense_resistor = config.getfloat('sense_resistor', default=0.051)
self.driver_rdsel = 0 # Microsteps (used by endstop phase) self.driver_rdsel = 0 # Microsteps (used by endstop phase)
# SGSCONF
self.driver_sfilt = config.getboolean('driver_SFILT', default=True)
self.driver_sgt = config.getint('driver_sgt', default=-64,
minval=-64, maxval=63) + 64
self.driver_cs = current_to_reg(self.current, self.sense_resistor, self.driver_vsense)
# Build and send registers # Build and send registers
self.reg_drvconf = REG_DRVCONF | \ self.reg_drvconf = REG_DRVCONF | \
get_bits(DRVCONF, "TST", 0) | \ get_bits(DRVCONF, "TST", 0) | \
@ -238,7 +238,7 @@ class TMC2660:
* self.current / 100)) * self.current / 100))
def set_current(self, print_time, current): def set_current(self, print_time, current):
self.driver_cs = current_to_reg(current) self.driver_cs = current_to_reg(self.current, self.sense_resistor, self.driver_vsense)
reg = self.reg_sgcsconf reg = self.reg_sgcsconf
reg &= ~(SGCSCONF["CS"][1]) reg &= ~(SGCSCONF["CS"][1])
reg |= get_bits(SGCSCONF, "CS", self.driver_cs) reg |= get_bits(SGCSCONF, "CS", self.driver_cs)
@ -248,12 +248,12 @@ class TMC2660:
cmd_SET_TMC_CURRENT_help = ( cmd_SET_TMC_CURRENT_help = (
"Set the current of a TMC2660 driver (between %d and %d)" % ( "Set the current of a TMC2660 driver (between %d and %d)" % (
CURRENT_MIN, CURRENT_MAX)) 0.1, 2.4))
def cmd_SET_TMC_CURRENT(self, params): def cmd_SET_TMC_CURRENT(self, params):
gcode = self.printer.lookup_object('gcode') gcode = self.printer.lookup_object('gcode')
if 'CURRENT' in params: if 'CURRENT' in params:
self.current = gcode.get_float( self.current = gcode.get_float(
'CURRENT', params, minval=CURRENT_MIN, maxval=CURRENT_MAX) 'CURRENT', params, minval=0.1, maxval=2.4)
self.set_current( self.set_current(
self.printer.lookup_object('toolhead').get_last_move_time(), self.printer.lookup_object('toolhead').get_last_move_time(),
self.current) self.current)