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tmc2130: Rework current selection to prefer vsense=1

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It is preferable to program the tmc drivers with an irun (or cs)
setting near 31, as otherwise the driver may have reduced microstep
precision.  It was possible for the driver to be programmed with
irun=16 or irun=17 when it could have been configured with irun=31
with vsense=1 instead.  This would occur on tmc2130/tmc2208/tmc2209
drivers for values around 0.900 to 1.000 amps (when using a typical
sense_resistor settings of 0.110 Ohms).

Change the code to prefer using vsense=1 to avoid this issue.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2022-01-12 23:43:11 -05:00
parent 89b4fecac4
commit 34a1ce4837
3 changed files with 45 additions and 27 deletions
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6
docs/Config_Changes.md
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@@ -8,6 +8,12 @@ All dates in this document are approximate.
## Changes
20220116: The tmc2130, tmc2208, tmc2209, and tmc2660 `run_current`
calculation code has changed. For some `run_current` settings the
drivers may now be configured differently. This new configuration
should be more accurate, but it may invalidate previous tmc driver
tuning.
20211230: Scripts to tune input shaper (`scripts/calibrate_shaper.py`
and `scripts/graph_accelerometer.py`) were migrated to use Python3
by default. As a result, users must install Python3 versions of certain