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| author | Kevin O'Connor <kevin@koconnor.net> | 2021-10-28 17:10:10 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2021-11-04 12:06:27 -0400 |
| commit | 689231df3a6c1ed606d227cce7115703b153193b (patch) | |
| tree | 28c550dfb5d9140403ee3b5b13e081d8906ad873 /klippy/extras/tmc.py | |
| parent | 4acfd8d7c8973f6cc7b8a3eaa8ea9e82a92b018b (diff) | |
| download | kutter-689231df3a6c1ed606d227cce7115703b153193b.tar.gz kutter-689231df3a6c1ed606d227cce7115703b153193b.tar.xz kutter-689231df3a6c1ed606d227cce7115703b153193b.zip | |
stepper: Add support for stepping on both edges of a step pulse
Add an optimized step function for drivers that support stepping on
both rising and falling edges of the step pin. Enable this
optimization on 32bit ARM micro-controllers. Automatically detect
this capability in the host code and enable on TMC drivers running in
SPI/UART mode.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/extras/tmc.py')
| -rw-r--r-- | klippy/extras/tmc.py | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 7a6b4fa5..6a59bbfb 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -224,6 +224,8 @@ class TMCCommandHelper: self.stepper_enable = self.printer.load_object(config, "stepper_enable") self.printer.register_event_handler("stepper:sync_mcu_position", self._handle_sync_mcu_pos) + self.printer.register_event_handler("klippy:mcu_identify", + self._handle_mcu_identify) self.printer.register_event_handler("klippy:connect", self._handle_connect) # Set microstep config options @@ -345,6 +347,12 @@ class TMCCommandHelper: self.echeck_helper.stop_checks() except self.printer.command_error as e: self.printer.invoke_shutdown(str(e)) + def _handle_mcu_identify(self): + # Lookup stepper object + force_move = self.printer.lookup_object("force_move") + self.stepper = force_move.lookup_stepper(self.stepper_name) + # Note pulse duration and step_both_edge optimizations available + self.stepper.setup_default_pulse_duration(.000000100, True) def _handle_stepper_enable(self, print_time, is_enable): if is_enable: cb = (lambda ev: self._do_enable(print_time)) @@ -352,9 +360,10 @@ class TMCCommandHelper: cb = (lambda ev: self._do_disable(print_time)) self.printer.get_reactor().register_callback(cb) def _handle_connect(self): - # Lookup stepper object - force_move = self.printer.lookup_object("force_move") - self.stepper = force_move.lookup_stepper(self.stepper_name) + # Check if using step on both edges optimization + pulse_duration, step_both_edge = self.stepper.get_pulse_duration() + if step_both_edge: + self.fields.set_field("dedge", 1) # Check for soft stepper enable/disable enable_line = self.stepper_enable.lookup_enable(self.stepper_name) enable_line.register_state_callback(self._handle_stepper_enable) |