Module util 

Utility functions for TMC2209 calculations.

This module provides helper functions for common calculations like RMS current, velocity conversions, etc.

Constants

DEFAULT_FCLK

Default TMC2209 internal clock frequency (12 MHz).

DEFAULT_RSENSE

Default sense resistor value in ohms (common value).

VREF

Internal voltage reference for current sensing (in volts).

Functions

calculate_current_settings

Calculate CS and VSENSE for a target RMS current.

cs_to_current

Calculate the RMS current for a given CS value.

current_to_cs

Calculate the CS (current scale) value for a given RMS current.

optimal_vsense

Determine optimal VSENSE setting for a given RMS current.

tstep_to_velocity

Convert TSTEP register value to velocity in steps/second.

velocity_to_tpwmthrs

Calculate TPWMTHRS for a given velocity threshold.

velocity_to_vactual

Convert velocity in steps/second to VACTUAL register value.