Update tmc2130.py

KalicoCrew · Dec 19, 2024 · 97bb473 · 97bb473
1 parent b3d0dac
commit 97bb473
Showing 1 changed file with 9 additions and 5 deletions.
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
@@ -201,6 +201,7 @@ class TMC2130CurrentHelper(tmc.BaseTMCCurrentHelper):
     def __init__(self, config, mcu_tmc):
         super().__init__(config, mcu_tmc, MAX_CURRENT)
 
+        self.cs = config.getint('driver_cs', None, maxval=31, minval=0)
         vsense, irun, ihold = self._calc_current(
             self.req_run_current, self.req_hold_current
         )
@@ -213,10 +214,13 @@ def _calc_current_bits(self, current, vsense):
         vref = 0.32
         if vsense:
             vref = 0.18
-        cs = (
-            int(32.0 * sense_resistor * current * math.sqrt(2.0) / vref + 0.5)
-            - 1
-        )
+        if self.cs is None:
+            cs = (
+                int(32.0 * sense_resistor * current * math.sqrt(2.0) / vref + 0.5)
+                - 1
+            )
+        else:
+            cs = self.cs
         return max(0, min(31, cs))
 
     def _calc_current_from_bits(self, cs, vsense):
@@ -237,7 +241,7 @@ def _calc_current(self, run_current, hold_current):
                 if abs(run_current - cur2) < abs(run_current - cur):
                     vsense = False
                     irun = irun2
-        ihold = self._calc_current_bits(min(hold_current, run_current), vsense)
+        ihold = int(min((hold_current / run_current) * irun, irun))
         return vsense, irun, ihold
 
     def get_current(self):