tmc: Configurable microstep lookup table (#5920)

Make all the microstep lookup table registers configurable via the
config file. It also loads the default values.
TMC220x and TMC2660 do not support this feature.

Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com>

docs/Config_Reference.md

@@ -3073,6 +3073,30 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 0
 #driver_TBL: 1
@@ -3328,6 +3352,30 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
 #driver_IHOLDDELAY: 6
 #driver_TPOWERDOWN: 10
 #driver_TBL: 2

klippy/extras/tmc.py

@@ -501,6 +501,27 @@ class TMCVirtualPinHelper:
 # Config reading helpers
 ######################################################################
 
+# Helper to initialize the wave table from config or defaults
+def TMCWaveTableHelper(config, mcu_tmc):
+    set_config_field = mcu_tmc.get_fields().set_config_field
+    set_config_field(config, "mslut0", 0xAAAAB554)
+    set_config_field(config, "mslut1", 0x4A9554AA)
+    set_config_field(config, "mslut2", 0x24492929)
+    set_config_field(config, "mslut3", 0x10104222)
+    set_config_field(config, "mslut4", 0xFBFFFFFF)
+    set_config_field(config, "mslut5", 0xB5BB777D)
+    set_config_field(config, "mslut6", 0x49295556)
+    set_config_field(config, "mslut7", 0x00404222)
+    set_config_field(config, "w0", 2)
+    set_config_field(config, "w1", 1)
+    set_config_field(config, "w2", 1)
+    set_config_field(config, "w3", 1)
+    set_config_field(config, "x1", 128)
+    set_config_field(config, "x2", 255)
+    set_config_field(config, "x3", 255)
+    set_config_field(config, "start_sin", 0)
+    set_config_field(config, "start_sin90", 247)
+
 # Helper to configure and query the microstep settings
 def TMCMicrostepHelper(config, mcu_tmc):
     fields = mcu_tmc.get_fields()

klippy/extras/tmc2130.py

@@ -11,10 +11,12 @@ TMC_FREQUENCY=13200000.
 Registers = {
     "GCONF": 0x00, "GSTAT": 0x01, "IOIN": 0x04, "IHOLD_IRUN": 0x10,
     "TPOWERDOWN": 0x11, "TSTEP": 0x12, "TPWMTHRS": 0x13, "TCOOLTHRS": 0x14,
-    "THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUTSEL": 0x68,
+    "THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUT1": 0x61,
-    "MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
+    "MSLUT2": 0x62, "MSLUT3": 0x63, "MSLUT4": 0x64, "MSLUT5": 0x65,
-    "COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
+    "MSLUT6": 0x66, "MSLUT7": 0x67, "MSLUTSEL": 0x68, "MSLUTSTART": 0x69,
-    "PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
+    "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c, "COOLCONF": 0x6d,
+    "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70, "PWM_SCALE": 0x71,
+    "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
 }
 
 ReadRegisters = [
@@ -45,6 +47,27 @@ Fields["TSTEP"] = { "tstep": 0xfffff }
 Fields["TPWMTHRS"] = { "tpwmthrs": 0xfffff }
 Fields["TCOOLTHRS"] = { "tcoolthrs": 0xfffff }
 Fields["THIGH"] = { "thigh": 0xfffff }
+Fields["MSLUT0"] = { "mslut0": 0xffffffff }
+Fields["MSLUT1"] = { "mslut1": 0xffffffff }
+Fields["MSLUT2"] = { "mslut2": 0xffffffff }
+Fields["MSLUT3"] = { "mslut3": 0xffffffff }
+Fields["MSLUT4"] = { "mslut4": 0xffffffff }
+Fields["MSLUT5"] = { "mslut5": 0xffffffff }
+Fields["MSLUT6"] = { "mslut6": 0xffffffff }
+Fields["MSLUT7"] = { "mslut7": 0xffffffff }
+Fields["MSLUTSEL"] = {
+    "x3":                       0xFF << 24,
+    "x2":                       0xFF << 16,
+    "x1":                       0xFF << 8,
+    "w3":                       0x03 << 6,
+    "w2":                       0x03 << 4,
+    "w1":                       0x03 << 2,
+    "w0":                       0x03 << 0,
+}
+Fields["MSLUTSTART"] = {
+    "start_sin":                0xFF << 0,
+    "start_sin90":              0xFF << 16,
+}
 Fields["MSCNT"] = { "mscnt": 0x3ff }
 Fields["MSCURACT"] = { "cur_a": 0x1ff, "cur_b": 0x1ff << 16 }
 Fields["CHOPCONF"] = {
@@ -268,6 +291,7 @@ class TMC2130:
         self.get_phase_offset = cmdhelper.get_phase_offset
         self.get_status = cmdhelper.get_status
         # Setup basic register values
+        tmc.TMCWaveTableHelper(config, self.mcu_tmc)
         tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
         # Allow other registers to be set from the config
         set_config_field = self.fields.set_config_field

klippy/extras/tmc5160.py

@@ -171,6 +171,27 @@ Fields["IOIN"] = {
 Fields["LOST_STEPS"] = {
     "lost_steps":               0xfffff << 0
 }
+Fields["MSLUT0"] = { "mslut0": 0xffffffff }
+Fields["MSLUT1"] = { "mslut1": 0xffffffff }
+Fields["MSLUT2"] = { "mslut2": 0xffffffff }
+Fields["MSLUT3"] = { "mslut3": 0xffffffff }
+Fields["MSLUT4"] = { "mslut4": 0xffffffff }
+Fields["MSLUT5"] = { "mslut5": 0xffffffff }
+Fields["MSLUT6"] = { "mslut6": 0xffffffff }
+Fields["MSLUT7"] = { "mslut7": 0xffffffff }
+Fields["MSLUTSEL"] = {
+    "x3":                       0xFF << 24,
+    "x2":                       0xFF << 16,
+    "x1":                       0xFF << 8,
+    "w3":                       0x03 << 6,
+    "w2":                       0x03 << 4,
+    "w1":                       0x03 << 2,
+    "w0":                       0x03 << 0,
+}
+Fields["MSLUTSTART"] = {
+    "start_sin":                0xFF << 0,
+    "start_sin90":              0xFF << 16,
+}
 Fields["MSCNT"] = {
     "mscnt":                    0x3ff << 0
 }
@@ -299,6 +320,7 @@ class TMC5160:
         self.get_phase_offset = cmdhelper.get_phase_offset
         self.get_status = cmdhelper.get_status
         # Setup basic register values
+        tmc.TMCWaveTableHelper(config, self.mcu_tmc)
         tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
         #   CHOPCONF
         set_config_field = self.fields.set_config_field