tmc5160: expose drive_cs and adjust gscaler calculation

README.md

@@ -60,6 +60,8 @@ See the [Danger Features document](https://dangerklipper.io/Danger_Features.html
 
 - [stepper: current_change_dwell_time](https://github.com/DangerKlippers/danger-klipper/pull/90)
 
+- [tmc5160: expose driver_cs](https://github.com/DangerKlippers/danger-klipper/pull/337)
+
 - [homing: post-home retract](https://github.com/DangerKlippers/danger-klipper/pull/65)
 
 - [homing: sensorless minimum home distance](https://github.com/DangerKlippers/danger-klipper/pull/65)

docs/Config_Reference.md

@@ -59,7 +59,7 @@ serial:
 #   reset itself. The default is 'arduino' if the micro-controller
 #   communicates over a serial port, 'command' otherwise.
 #is_non_critical: False
-#   Setting this to True will allow the mcu to be disconnected and 
+#   Setting this to True will allow the mcu to be disconnected and
 #   reconnected at will without errors. Helpful for USB-accelerometer boards
 #   and USB-probes
 ```
@@ -1383,12 +1383,12 @@ extended [G-Code command](G-Codes.md#z_tilt) becomes available.
 #   The height (in mm) that the head should be commanded to move to
 #   just prior to starting a probe operation. The default is 5.
 #min_horizontal_move_z: 1.0
-#   minimum value for horizontal move z 
+#   minimum value for horizontal move z
 #   (only used when adaptive_horizontal_move_z is True)
 #adaptive_horizontal_move_z: False
 #   if we should adjust horizontal move z after the first adjustment round,
 #   based on error.
-#   when set to True, initial horizontal_move_z is the config value, 
+#   when set to True, initial horizontal_move_z is the config value,
 #   subsequent iterations will set horizontal_move_z to
 #   the ceil of error, or min_horizontal_move_z - whichever is greater.
 #retries: 0
@@ -1506,12 +1506,12 @@ Where x is the 0, 0 point on the bed
 #   The height (in mm) that the head should be commanded to move to
 #   just prior to starting a probe operation. The default is 5.
 #min_horizontal_move_z: 1.0
-#   minimum value for horizontal move z 
+#   minimum value for horizontal move z
 #   (only used when adaptive_horizontal_move_z is True)
 #adaptive_horizontal_move_z: False
 #   if we should adjust horizontal move z after the first adjustment round,
 #   based on error.
-#   when set to True, initial horizontal_move_z is the config value, 
+#   when set to True, initial horizontal_move_z is the config value,
 #   subsequent iterations will set horizontal_move_z to
 #   the ceil of error, or min_horizontal_move_z - whichever is greater.
 #max_adjust: 4
@@ -4450,6 +4450,10 @@ run_current:
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
 #   above list.
+#driver_cs: 31
+#   Set the CS (Current Scale) value during the configuration of
+#   the TMC5160 chip. The tuning range is 0-31 and the default is 31.
+#   See the [tmc5160 "Calculation Sheet"](https://www.analog.com/media/en/engineering-tools/design-tools/tmc5160_calculations.xlsx) for more information.
 #diag0_pin:
 #diag1_pin:
 #   The micro-controller pin attached to one of the DIAG lines of the

docs/Danger_Features.md

@@ -7,6 +7,7 @@
 - [`[exclude_object]`](./Config_Reference.md#exclude_object) is enabled by default. Use `[exclude_object] enable_exclude_object: False` to disable it
 
 ## Additional configuration options
+
 - [`[mcu] is_non_critical`](./Config_Reference.md#mcu) enables marking of an mcu as optional - it can be freely disconnected and connected at will. (useful for MCU-based accelerometer boards, mcu-based probes that shut down in hot chambers, etc...)
 - [`[danger_options]`](./Config_Reference.md#danger-options) - New configuration options to adjust klipper values that were previously hidden
 - Additional kinematics versions enabled per-axis acceleration, see [limited_cartesian](./Config_Reference.md#⚠️-cartesian-kinematics-with-limits-for-x-and-y-axes) and [limited_corexy](./Config_Reference.md#⚠️-corexy-kinematics-with-limits-for-x-and-y-axes)
@@ -33,7 +34,9 @@
 - [`[z_tilt_ng]`](./Config_Reference.md#z_tilt_ng) adds enforced 3-point z tilt calibration
 - [`[z_tilt/quad_gantry_level] increasing_threshold`](./Config_Reference.md#z_tilt) allows you to customize the allowed variation when probing multiple times
 - [`[z_tilt/quad_gantry_level] adaptive_horizontal_move_z`](./Config_Reference.md#z_tilt) adaptively decrease horizontal_move_z based on resulting error - z_tilt and QGL faster and safer!
+
 ## Heaters, Fans, and PID changes
+
 - [Model Predictive Control](./MPC.md) is an advanced temperature control method that offers an alternative to traditional PID control.
 - [Velocity PID](./PID.md) can be more accurate than positional PID, but is more susceptible to noisy sensors and may require larger smoothing times
 - [`PID_PROFILE [LOAD/SAVE]`](./G-Codes.md#pid_profile) allows you to calibrate and save PID profiles at multiple temperatures and fan speeds, and later restore them. With some clever macros, automatic per-material pid tuning is within reach!
@@ -45,13 +48,18 @@
 - [`[temperature_fan] reverse: True`](./Config_Reference.md#temperature_fan) will let you control a fan in reverse to temperature control. The lower the temperature, the higher the fan runs.
 - Fans now normalize PWM power within `off_below` and `max_power`, so setting a fan to 10% will get you 10% fan speed within your configured off/max range.
 
+## Steppers / TMC Drivers
+
+- [`[tmc5160] driver_cs`](./Config_Reference.html#tmc5160) allows you to tune the CS (Current Scale) value.
+
 ## Macros
 
 - The jinja `do` extension has been enabled. You can now call functions in your macros without resorting to dirty hacks: `{% do array.append(5) %}`
 - The python [`math`](https://docs.python.org/3/library/math.html) library is available to macros. `{math.sin(math.pi * variable)}` and more!
 - New [`RELOAD_GCODE_MACROS`](./G-Codes.md#reload_gcode_macros) G-Code command to reload `[gcode_macro]` templates without requiring a restart.
 
 ## [Plugins](./Plugins.md)
+
 Extend your Danger Klipper installation with custom plugins.
 
 Your python plugins can now extend [`klippy/extras`](https://github.com/DangerKlippers/danger-klipper/tree/master/klippy/extras) adding new modules to klipper without causing updates to fail due to a "dirty" git tree.

klippy/extras/tmc5160.py

@@ -272,39 +272,46 @@ def __init__(self, config, mcu_tmc):
         self.sense_resistor = config.getfloat(
             "sense_resistor", 0.075, above=0.0
         )
-        gscaler, irun, ihold = self._calc_current(
-            self.req_run_current, self.req_hold_current
+
+        self.cs = config.getint("driver_cs", 31, maxval=31, minval=0)
+
+        gscaler = self._calc_globalscaler(self.req_run_current)
+        if gscaler < 32:
+            raise config.error(
+                f"""[{self.name}] GLOBALSCALER ({gscaler}) calculation out of bonds.
+                The target current can't be achieved with the given R_SENSE ({self.sense_resistor})
+                and CS ({self.cs}). Please adjust your configuration"""
+            )
+
+        ihold = self._calc_current_bits(
+            min(self.req_run_current, self.req_hold_current), gscaler
         )
+
         self.fields.set_field("globalscaler", gscaler)
         self.fields.set_field("ihold", ihold)
-        self.fields.set_field("irun", irun)
+        self.fields.set_field("irun", self.cs)
 
     def _calc_globalscaler(self, current):
         globalscaler = int(
-            (current * 256.0 * math.sqrt(2.0) * self.sense_resistor / VREF)
+            (current * 256.0 * self.sense_resistor * math.sqrt(2.0))
+            * ((self.cs + 1) / 32)
+            / VREF
             + 0.5
         )
-        globalscaler = max(32, globalscaler)
         if globalscaler >= 256:
             globalscaler = 0
         return globalscaler
 
     def _calc_current_bits(self, current, globalscaler):
         if not globalscaler:
             globalscaler = 256
-        cs = int(
+        bits = int(
             (current * 256.0 * 32.0 * math.sqrt(2.0) * self.sense_resistor)
             / (globalscaler * VREF)
             - 1.0
             + 0.5
         )
-        return max(0, min(31, cs))
-
-    def _calc_current(self, run_current, hold_current):
-        gscaler = self._calc_globalscaler(run_current)
-        irun = self._calc_current_bits(run_current, gscaler)
-        ihold = self._calc_current_bits(min(hold_current, run_current), gscaler)
-        return gscaler, irun, ihold
+        return max(0, min(31, bits))
 
     def _calc_current_from_field(self, field_name):
         globalscaler = self.fields.get_field("globalscaler")
@@ -330,13 +337,14 @@ def get_current(self):
         )
 
     def apply_current(self, print_time):
-        gscaler, irun, ihold = self._calc_current(
-            self.actual_current, self.req_hold_current
+        gscaler = self._calc_globalscaler(self.actual_current)
+        ihold = self._calc_current_bits(
+            min(self.actual_current, self.req_hold_current), gscaler
         )
         val = self.fields.set_field("globalscaler", gscaler)
         self.mcu_tmc.set_register("GLOBALSCALER", val, print_time)
         self.fields.set_field("ihold", ihold)
-        val = self.fields.set_field("irun", irun)
+        val = self.fields.set_field("irun", self.cs)
         self.mcu_tmc.set_register("IHOLD_IRUN", val, print_time)
 
 

test/klippy/action_log.cfg

@@ -78,4 +78,4 @@ max_z_accel: 100
 
 [gcode_macro ACTION_LOG]
 gcode:
-    {action_log("TEST")}
+    {action_log("TEST")}

test/klippy/tmc.cfg

@@ -46,6 +46,7 @@ home_current: .5
 current_change_dwell_time: 1
 sense_resistor: 0.220
 diag1_pin: !PK7
+driver_cs: 29
 
 [stepper_y1]
 step_pin: PA4