Merge branch 'main' of https://github.com/andrewmcgr/klipper_tmc_auto…

…tune

autotune_tmc.py

@@ -1,5 +1,6 @@
 import math, logging, os
 from enum import Enum
+from inspect import signature
 from . import tmc
 
 # Autotune config parameters
@@ -32,10 +33,10 @@
 FAST_STANDSTILL = True
 SMALL_HYSTERESIS = False
 SEMIN = 2
-SEMAX = 2
+SEMAX = 4
 SEUP = 3
 SEDN = 2
-SEIMIN = 0 # If we drop to 1/4 current, high accels don't work right
+SEIMIN = 1 # If we drop to 1/4 current, high accels don't work right
 SFILT = 0
 IHOLDDELAY = 12
 IRUNDELAY = 0
@@ -88,7 +89,11 @@ def __init__(self, config):
             raise config.error(
                 "Could not find any TMC driver config section for '%s' required by TMC autotuning"
                 % (self.name))
-
+        # TMCtstepHelper may have two signatures, let's pick an implementation
+        if 'pstepper' in signature(tmc.TMCtstepHelper).parameters:
+            self._set_driver_velocity_field = self._set_driver_velocity_field_new
+        else:
+            self._set_driver_velocity_field = self._set_driver_velocity_field_old
         # AutotuneTMC config parameters
         self.motor = config.get('motor')
         self.motor_name = "motor_constants " + self.motor
@@ -250,7 +255,19 @@ def _set_driver_field(self, field, arg):
         val = tmco.fields.set_field(field, arg)
         tmco.mcu_tmc.set_register(register, val, None)
 
-    def _set_driver_velocity_field(self, field, velocity):
+    def _set_driver_velocity_field_new(self, field, velocity):
+        tmco = self.tmc_object
+        register = tmco.fields.lookup_register(field, None)
+        # Just bail if the field doesn't exist.
+        if register is None:
+            return
+        arg = tmc.TMCtstepHelper(tmco.mcu_tmc, velocity,
+                                 pstepper=self.tmc_cmdhelper.stepper)
+        logging.info("autotune_tmc set %s %s=%s(%s)",
+                     self.name, field, repr(arg), repr(velocity))
+        tmco.fields.set_field(field, arg)
+
+    def _set_driver_velocity_field_old(self, field, velocity):
         tmco = self.tmc_object
         register = tmco.fields.lookup_register(field, None)
         # Just bail if the field doesn't exist.
@@ -309,7 +326,8 @@ def _pwmthrs(self, vmaxpwm, coolthrs):
         else:
             # We do not have SG4, so this makes the world safe for
             # sensorless homing in the presence of CoolStep
-            return 0.5 * coolthrs
+            # return 0.5 * coolthrs
+            return 0.5 * vmaxpwm
 
     def _setup_pwm(self, tgoal, pwmthrs):
         motor = self.motor_object

motor_database.cfg

@@ -16,6 +16,13 @@ holding_torque: 0.10
 max_current: 1.0
 steps_per_revolution: 200
 
+[motor_constants ldo-36sth20-1004ahg-9T]
+resistance: 2.4
+inductance: 0.0014
+holding_torque: 0.10
+max_current: 1.0
+steps_per_revolution: 200
+
 [motor_constants ldo-36sth20-1004ahg]
 resistance: 2.1
 inductance: 0.0016