diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 4319a0568..eff6a2367 100644
--- a/docs/Config_Reference.md
+++ b/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
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py
index df3c705bd..519905368 100644
--- a/klippy/extras/tmc.py
+++ b/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()
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index f2142d26f..128c1d93f 100644
--- a/klippy/extras/tmc2130.py
+++ b/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,
- "MSLUTSTART": 0x69, "MSCNT": 0x6a, "MSCURACT": 0x6b, "CHOPCONF": 0x6c,
- "COOLCONF": 0x6d, "DCCTRL": 0x6e, "DRV_STATUS": 0x6f, "PWMCONF": 0x70,
- "PWM_SCALE": 0x71, "ENCM_CTRL": 0x72, "LOST_STEPS": 0x73,
+ "THIGH": 0x15, "XDIRECT": 0x2d, "MSLUT0": 0x60, "MSLUT1": 0x61,
+ "MSLUT2": 0x62, "MSLUT3": 0x63, "MSLUT4": 0x64, "MSLUT5": 0x65,
+ "MSLUT6": 0x66, "MSLUT7": 0x67, "MSLUTSEL": 0x68, "MSLUTSTART": 0x69,
+ "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
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
index 4d9702711..5d570958a 100644
--- a/klippy/extras/tmc5160.py
+++ b/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