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tmc: Track requested hold_current so SET_TMC_CURRENT doesn't reduce it

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The code automatically reduces the hold_current so that it is no
greater than the run_current.  However, this could lead to confusing
behavior if one reduced and then increased the run_current via
SET_TMC_CURRENT commands.  To avoid that, this change adds support for
tracking the requested hold_current - thus changes to run_current
don't subtly alter the hold_current.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-10-24 20:03:42 -04:00
parent 627c1c5d2a
commit 86fee2d517
5 changed files with 20 additions and 17 deletions
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6
klippy/extras/tmc2130.py
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@@ -103,8 +103,9 @@ class TMCCurrentHelper:
self.fields = mcu_tmc.get_fields()
run_current = config.getfloat('run_current',
above=0., maxval=MAX_CURRENT)
hold_current = config.getfloat('hold_current', run_current,
hold_current = config.getfloat('hold_current', MAX_CURRENT,
above=0., maxval=MAX_CURRENT)
self.req_hold_current = hold_current
self.sense_resistor = config.getfloat('sense_resistor', 0.110, above=0.)
vsense, irun, ihold = self._calc_current(run_current, hold_current)
self.fields.set_field("vsense", vsense)
@@ -139,8 +140,9 @@ class TMCCurrentHelper:
def get_current(self):
run_current = self._calc_current_from_field("irun")
hold_current = self._calc_current_from_field("ihold")
return run_current, hold_current, MAX_CURRENT
return run_current, hold_current, self.req_hold_current, MAX_CURRENT
def set_current(self, run_current, hold_current, print_time):
self.req_hold_current = hold_current
vsense, irun, ihold = self._calc_current(run_current, hold_current)
if vsense != self.fields.get_field("vsense"):
val = self.fields.set_field("vsense", vsense)