tmc: Implement coolstep_threshold for drivers that support it

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

klippy/extras/tmc.py

@@ -616,3 +616,19 @@ def TMCStealthchopHelper(config, mcu_tmc):
     else:
         # TMC2208 uses en_spreadCycle
         fields.set_field("en_spreadcycle", not en_pwm_mode)
+
+# Helper to configure StallGuard and CoolStep minimum velocity
+def TMCVcoolthrsHelper(config, mcu_tmc):
+    fields = mcu_tmc.get_fields()
+    velocity = config.getfloat('coolstep_threshold', None, minval=0.)
+    tcoolthrs = 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")
+        tcoolthrs = TMCtstepHelper(step_dist, mres,
+                                   mcu_tmc.get_tmc_frequency(), velocity)
+    fields.set_field("tcoolthrs", tcoolthrs)

klippy/extras/tmc2130.py

@@ -297,6 +297,7 @@ class TMC2130:
         # Setup basic register values
         tmc.TMCWaveTableHelper(config, self.mcu_tmc)
         tmc.TMCStealthchopHelper(config, self.mcu_tmc)
+        tmc.TMCVcoolthrsHelper(config, self.mcu_tmc)
         # Allow other registers to be set from the config
         set_config_field = self.fields.set_config_field
         # CHOPCONF

klippy/extras/tmc2209.py

@@ -74,6 +74,7 @@ class TMC2209:
         # Setup basic register values
         self.fields.set_field("mstep_reg_select", True)
         tmc.TMCStealthchopHelper(config, self.mcu_tmc)
+        tmc.TMCVcoolthrsHelper(config, self.mcu_tmc)
         # Allow other registers to be set from the config
         set_config_field = self.fields.set_config_field
         # GCONF

klippy/extras/tmc2240.py

@@ -365,6 +365,8 @@ class TMC2240:
         tmc.TMCWaveTableHelper(config, self.mcu_tmc)
         self.fields.set_config_field(config, "offset_sin90", 0)
         tmc.TMCStealthchopHelper(config, self.mcu_tmc)
+        tmc.TMCVcoolthrsHelper(config, self.mcu_tmc)
+        # Allow other registers to be set from the config
         set_config_field = self.fields.set_config_field
         #   GCONF
         set_config_field(config, "multistep_filt", True)

klippy/extras/tmc5160.py

@@ -336,6 +336,8 @@ class TMC5160:
         # Setup basic register values
         tmc.TMCWaveTableHelper(config, self.mcu_tmc)
         tmc.TMCStealthchopHelper(config, self.mcu_tmc)
+        tmc.TMCVcoolthrsHelper(config, self.mcu_tmc)
+        # Allow other registers to be set from the config
         set_config_field = self.fields.set_config_field
         #   GCONF
         set_config_field(config, "multistep_filt", True)