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tmc: Query the stepper step_distance from the stepper object 

Don't obtain the step_distance from the config, instead obtain
step_distance from the instantiated stepper object.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-01-05 18:07:51 -05:00
parent c36fe76d69
commit 67b2852249
2 changed files with 28 additions and 17 deletions
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4
klippy/extras/force_move.py
View File

@ -53,6 +53,10 @@ class ForceMove:
def register_stepper(self, stepper): def register_stepper(self, stepper):
name = stepper.get_name() name = stepper.get_name()
self.steppers[name] = stepper self.steppers[name] = stepper
def lookup_stepper(self, name):
if name not in self.steppers:
raise self.printer.config_error("Unknown stepper %s" % (name,))
return self.steppers[name]
def force_enable(self, stepper): def force_enable(self, stepper):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time() print_time = toolhead.get_last_move_time()

41
klippy/extras/tmc.py
View File

@ -274,21 +274,28 @@ class TMCMicrostepHelper:
return (1023 - mscnt) >> self.fields.get_field("MRES") return (1023 - mscnt) >> self.fields.get_field("MRES")
# Helper to configure "stealthchop" mode # Helper to configure "stealthchop" mode
def TMCStealthchopHelper(config, mcu_tmc, tmc_freq): class TMCStealthchopHelper:
fields = mcu_tmc.get_fields() def __init__(self, config, mcu_tmc, tmc_freq):
en_pwm_mode = False self.name = config.get_name()
velocity = config.getfloat('stealthchop_threshold', 0., minval=0.) self.fields = fields = mcu_tmc.get_fields()
if velocity: self.tmc_freq = tmc_freq
stepper_name = " ".join(config.get_name().split()[1:]) printer = config.get_printer()
stepper_config = config.getsection(stepper_name) self.force_move = printer.try_load_module(config, "force_move")
step_dist = stepper_config.getfloat('step_distance') en_pwm_mode = False
self.velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
if self.velocity:
printer.register_event_handler("connect", self.handle_connect)
en_pwm_mode = True
reg = fields.lookup_register("en_pwm_mode", None)
if reg is not None:
fields.set_field("en_pwm_mode", en_pwm_mode)
else:
# TMC2208 uses en_spreadCycle
fields.set_field("en_spreadCycle", not en_pwm_mode)
def handle_connect(self):
stepper_name = " ".join(self.name.split()[1:])
stepper = self.force_move.lookup_stepper(stepper_name)
step_dist = stepper.get_step_dist()
step_dist_256 = step_dist / (1 << fields.get_field("MRES")) step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
threshold = int(tmc_freq * step_dist_256 / velocity + .5) threshold = int(self.tmc_freq * step_dist_256 / self.velocity + .5)
fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold))) self.fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold)))
en_pwm_mode = True
reg = fields.lookup_register("en_pwm_mode", None)
if reg is not None:
fields.set_field("en_pwm_mode", en_pwm_mode)
else:
# TMC2208 uses en_spreadCycle
fields.set_field("en_spreadCycle", not en_pwm_mode)