Merge branch 'main' into add_siboor_14sth20-1004a

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
@@ -87,7 +88,11 @@ 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
@@ -235,7 +240,19 @@ 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.
@@ -294,7 +311,8 @@ 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
@@ -46,6 +53,14 @@ holding_torque: 0.4
 max_current: 1.68
 steps_per_revolution: 200
 
+[motor_constants ldo-36sth17-0354ahg]
+# Basically a LDO-36STH17-1004AHG but 0.35A rated
+resistance: 10.8
+inductance: 0.006
+holding_torque: 0.06
+max_current: 0.35
+steps_per_revolution: 200
+
 ## NEMA 17
 
 [motor_constants ldo-42sth40-1684l300e]
@@ -113,13 +128,6 @@ holding_torque: 0.44
 max_current: 2.0
 steps_per_revolution: 400
 
-[motor_constants ldo-42sth48-2004ac]
-resistance: 1.6
-inductance: 0.003
-holding_torque: 0.59
-max_current: 2.0
-steps_per_revolution: 200
-
 [motor_constants ldo-42sth40-1004a]
 #Prusa Mk3 steppers XYE axis
 #https://cfl.prusa3d.com/display/PI3M3/Stepper+motors
@@ -129,19 +137,21 @@ holding_torque: 0.49
 max_current: 1
 steps_per_revolution: 200
 
+[motor_constants ldo-42sth34-1004l321e]
+# Prusa Mk3 steppers Z axis
+resistance: 8.00
+inductance: 0.0095
+holding_torque: 107.7
+max_current: 1.00
+steps_per_revolution: 200
+
 [motor_constants ldo-42sth40-1004mah]
 resistance: 4.1
 inductance: 0.0115
 holding_torque: 0.39
 max_current: 1
 steps_per_revolution: 400
 
-[motor_constants ldo-42sth40-2004mah]
-resistance: 1.1
-inductance: 0.0028
-holding_torque: 0.35
-max_current: 2
-steps_per_revolution: 400
 
 [motor_constants ldo-42sth20-1004ash]
 resistance: 7.2
@@ -173,6 +183,14 @@ holding_torque: 0.85
 max_current: 2
 steps_per_revolution: 200
 
+[motor_constants ldo-42sth25-1404ac]
+# Microswiss NG extruder
+resistance: 2.4
+inductance: 0.0055
+holding_torque: 0.23
+max_current: 1.4
+steps_per_revolution: 200
+
 ### Moons Motors ###
 
 ## NEMA 14
@@ -277,6 +295,13 @@ holding_torque: 0.4
 max_current: 1.5
 steps_per_revolution: 200
 
+[motor_constants omc-14hr07-1004vrn]
+resistance: 3.9
+inductance: 0.002
+holding_torque: 0.09
+max_current: 1.00
+steps_per_revolution: 400
+
 # Adding the two stepper motors for the original V0 release:
 # OMC 14HS17-0504S (A/B/Z)
 # OMC 14HS10-0404S (Clockwork)
@@ -311,12 +336,6 @@ holding_torque: 0.42
 max_current: 1.50
 steps_per_revolution: 200
 
-[motor_constants omc-17he19-2004s]
-resistance: 1.30
-inductance: 0.0024
-holding_torque: 0.55
-max_current: 2.0
-steps_per_revolution: 200
 
 [motor_constants omc-17hs15-1504s]
 resistance: 2.30
@@ -435,6 +454,20 @@ holding_torque: 0.42
 max_current: 1.5
 steps_per_revolution: 200
 
+[motor_constants fysetc-35hsh7402-24b-60b]
+resistance: 2.8
+inductance: 0.0055
+holding_torque: 0.42
+max_current: 1.5
+steps_per_revolution: 200
+
+[motor_constants fysetc-42hsc1433b-200n8]
+resistance: 8
+inductance: 0.01
+holding_torque: 0.35
+max_current: 1
+steps_per_revolution: 200
+
 #NEMA 17
 [motor_constants fysetc-42hsc1404b-200n8]
 resistance: 29
@@ -535,6 +568,14 @@ holding_torque: 0.12
 max_current: 1.88
 steps_per_revolution: 200
 
+[motor_constants siboor-42sth28-0804a]
+#Siboor BOM Voron 0.2 Z integrated leadscrew stepper (metal version)
+resistance: 5.5
+inductance: 0.0066
+holding_torque: 0.26
+max_current: 1.0
+steps_per_revolution: 200
+
 [motor_constants wantai-42byghw811]
 # Wantai Stepper Motor 42BYGHW811 and 42BYGHW811-X11
 resistance: 1.25
@@ -543,6 +584,32 @@ holding_torque: 0.48
 max_current: 2.50
 steps_per_revolution: 200
 
+# QIDI motors
+
+[motor_constants qidi-BJ42D29-28V07]
+# used for X/Y-axis on QIDI X MAX 3
+resistance: 1.4
+inductance: 0.0026
+holding_torque: 0.41
+max_current: 1.5
+steps_per_revolution: 200
+
+[motor_constants qidi-BJ42D29-22V08]
+# used for Z-Axis on QIDI X MAX 3
+resistance: 4.7
+inductance: 0.011
+holding_torque: 0.6
+max_current: 1.2
+steps_per_revolution: 200
+
+[motor_constants qidi-BJY36D12-04V13]
+# used for extruder on QIDI X MAX 3
+resistance: 2.0
+inductance: 0.0012
+holding_torque: 0.09
+max_current: 1.0
+steps_per_revolution: 200
+
 # Creality motors
 
 [motor_constants creality-42-34]
@@ -567,6 +634,14 @@ holding_torque: 0.57
 max_current: 1.0
 steps_per_revolution: 200
 
+[motor_constants creality-42-60]
+#Creality Ender 7 (X,Y) - RB Step Motor 17HDC8033-32B - https://14.23.50.34/en/biaozhunshihunheshibujindianji/41
+resistance: 1.2
+inductance: 0.0034
+holding_torque: 0.76
+max_current: 2.00
+steps_per_revolution: 200
+
 [motor_constants BJ42D09-20V02]
 #Creality Sprite Pro https://user-images.githubusercontent.com/862951/235050029-79124b76-81d3-4f77-9501-6404f7c38336.png
 resistance: 1.75
@@ -758,3 +833,26 @@ inductance: 0.0028
 holding_torque: 0.65
 max_current: 2
 steps_per_revolution: 200
+
+
+[motor_constants act-17hs4417]
+resistance: 1.5
+inductance: 0.0028
+holding_torque: 0.40
+max_current: 1.7
+steps_per_revolution: 200
+
+[motor_constants jkong-jk42hS40-1704]
+resistance: 1.65
+inductance: 0.0032 
+holding_torque: 0.4
+max_current: 1.7
+steps_per_revolution: 200
+
+[motor_constants biqu-35BYGF0713-A-10HZT]
+resistance: 2.3
+inductance: 0.0020 
+holding_torque: 0.11
+max_current: 1.5
+steps_per_revolution: 200
+