From ed8dca8df08924e7df9291d5e4ff88c9fee4ca4e Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Tue, 14 May 2024 22:23:06 +0200
Subject: [PATCH] tmc: Implement high_velocity_threshold for drivers that
support it
Signed-off-by: Alex Voinea <voinea.dragos.alexandru@gmail.com>
---
docs/Config_Reference.md | 24 ++++++++++++++++++++++++
klippy/extras/tmc.py | 17 +++++++++++++++++
klippy/extras/tmc2130.py | 1 +
klippy/extras/tmc2240.py | 1 +
klippy/extras/tmc5160.py | 4 ++++
5 files changed, 47 insertions(+)
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index d48715d87..9a26556f0 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -3324,6 +3324,14 @@ run_current:
# - if coolstep_threshold is set and "sensorless homing" is used,
# then one must ensure that the homing speed is above the coolstep
# threshold! The default is to not enable the coolstep feature.
+#high_velocity_threshold:
+# The velocity (in mm/s) to set the TMC driver internal "high
+# velocity" threshold (THIGH) to. This is typically used to disable
+# the "CoolStep" feature at high speeds. Important - if
+# high_velocity_threshold is set and "sensorless homing" is used,
+# then one must ensure that the homing speed is below the high
+# velocity threshold! The default is to not set a TMC "high
+# velocity" threshold.
#driver_MSLUT0: 2863314260
#driver_MSLUT1: 1251300522
#driver_MSLUT2: 608774441
@@ -3635,6 +3643,14 @@ run_current:
# - if coolstep_threshold is set and "sensorless homing" is used,
# then one must ensure that the homing speed is above the coolstep
# threshold! The default is to not enable the coolstep feature.
+#high_velocity_threshold:
+# The velocity (in mm/s) to set the TMC driver internal "high
+# velocity" threshold (THIGH) to. This is typically used to disable
+# the "CoolStep" feature at high speeds. Important - if
+# high_velocity_threshold is set and "sensorless homing" is used,
+# then one must ensure that the homing speed is below the high
+# velocity threshold! The default is to not set a TMC "high
+# velocity" threshold.
#driver_MSLUT0: 2863314260
#driver_MSLUT1: 1251300522
#driver_MSLUT2: 608774441
@@ -3763,6 +3779,14 @@ run_current:
# - if coolstep_threshold is set and "sensorless homing" is used,
# then one must ensure that the homing speed is above the coolstep
# threshold! The default is to not enable the coolstep feature.
+#high_velocity_threshold:
+# The velocity (in mm/s) to set the TMC driver internal "high
+# velocity" threshold (THIGH) to. This is typically used to disable
+# the "CoolStep" feature at high speeds. Important - if
+# high_velocity_threshold is set and "sensorless homing" is used,
+# then one must ensure that the homing speed is below the high
+# velocity threshold! The default is to not set a TMC "high
+# velocity" threshold.
#driver_MSLUT0: 2863314260
#driver_MSLUT1: 1251300522
#driver_MSLUT2: 608774441
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py
index e7c0239f0..366e00b15 100644
--- a/klippy/extras/tmc.py
+++ b/klippy/extras/tmc.py
@@ -632,3 +632,20 @@ def TMCVcoolthrsHelper(config, mcu_tmc):
tcoolthrs = TMCtstepHelper(step_dist, mres,
mcu_tmc.get_tmc_frequency(), velocity)
fields.set_field("tcoolthrs", tcoolthrs)
+
+# Helper to configure StallGuard and CoolStep maximum velocity and
+# SpreadCycle-FullStepping (High velocity) mode threshold.
+def TMCVhighHelper(config, mcu_tmc):
+ fields = mcu_tmc.get_fields()
+ velocity = config.getfloat('high_velocity_threshold', None, minval=0.)
+ thigh = 0
+
+ if velocity is not None:
+ stepper_name = " ".join(config.get_name().split()[1:])
+ sconfig = config.getsection(stepper_name)
+ rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
+ step_dist = rotation_dist / steps_per_rotation
+ mres = fields.get_field("mres")
+ thigh = TMCtstepHelper(step_dist, mres,
+ mcu_tmc.get_tmc_frequency(), velocity)
+ fields.set_field("thigh", thigh)
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index 44d4342ba..20a25c66c 100644
--- a/klippy/extras/tmc2130.py
+++ b/klippy/extras/tmc2130.py
@@ -298,6 +298,7 @@ class TMC2130:
tmc.TMCWaveTableHelper(config, self.mcu_tmc)
tmc.TMCStealthchopHelper(config, self.mcu_tmc)
tmc.TMCVcoolthrsHelper(config, self.mcu_tmc)
+ tmc.TMCVhighHelper(config, self.mcu_tmc)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
# CHOPCONF
diff --git a/klippy/extras/tmc2240.py b/klippy/extras/tmc2240.py
index 3989b9021..1e2a49157 100644
--- a/klippy/extras/tmc2240.py
+++ b/klippy/extras/tmc2240.py
@@ -366,6 +366,7 @@ class TMC2240:
self.fields.set_config_field(config, "offset_sin90", 0)
tmc.TMCStealthchopHelper(config, self.mcu_tmc)
tmc.TMCVcoolthrsHelper(config, self.mcu_tmc)
+ tmc.TMCVhighHelper(config, self.mcu_tmc)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
# GCONF
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
index 97d2d6f94..02e16cd4d 100644
--- a/klippy/extras/tmc5160.py
+++ b/klippy/extras/tmc5160.py
@@ -242,6 +242,9 @@ Fields["TCOOLTHRS"] = {
Fields["TSTEP"] = {
"tstep": 0xfffff << 0
}
+Fields["THIGH"] = {
+ "thigh": 0xfffff << 0
+}
SignedFields = ["cur_a", "cur_b", "sgt", "xactual", "vactual", "pwm_scale_auto"]
@@ -337,6 +340,7 @@ class TMC5160:
tmc.TMCWaveTableHelper(config, self.mcu_tmc)
tmc.TMCStealthchopHelper(config, self.mcu_tmc)
tmc.TMCVcoolthrsHelper(config, self.mcu_tmc)
+ tmc.TMCVhighHelper(config, self.mcu_tmc)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
# GCONF