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-rw-r--r--docs/Config_Changes.md5
-rw-r--r--docs/Config_Reference.md5
-rw-r--r--klippy/stepper.py17
-rw-r--r--src/Kconfig25
-rw-r--r--src/avr/Kconfig3
-rw-r--r--src/stepper.c110
6 files changed, 69 insertions, 96 deletions
diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md
index dc054b48..828094b0 100644
--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@@ -8,6 +8,11 @@ All dates in this document are approximate.
## Changes
+20211104: The "step pulse duration" option in "make menuconfig" has
+been removed. A new `step_pulse_duration` setting in the
+[stepper config section](Config_Reference.md#stepper) should be set
+for all steppers that need a custom pulse duration.
+
20211102: Several deprecated features have been removed. The stepper
`step_distance` option has been removed (deprecated on 20201222). The
`rpi_temperature` sensor alias has been removed (deprecated on
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 880a419b..2539def7 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -153,6 +153,11 @@ microsteps:
# gear_ratio is specified then rotation_distance specifies the
# distance the axis travels for one full rotation of the final gear.
# The default is to not use a gear ratio.
+#step_pulse_duration:
+# The minimum time between the step pulse signal edge and the
+# following "unstep" signal edge. This is also used to set the
+# minimum time between a step pulse and a direction change signal.
+# The default is 0.000002 (which is 2us).
endstop_pin:
# Endstop switch detection pin. If this endstop pin is on a
# different mcu than the stepper motor then it enables "multi-mcu
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 013d667b..c5f81382 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -17,9 +17,10 @@ class error(Exception):
# Interface to low-level mcu and chelper code
class MCU_stepper:
def __init__(self, name, step_pin_params, dir_pin_params, step_dist,
- units_in_radians=False):
+ step_pulse_duration=None, units_in_radians=False):
self._name = name
self._step_dist = step_dist
+ self._step_pulse_duration = step_pulse_duration
self._units_in_radians = units_in_radians
self._mcu = step_pin_params['chip']
self._oid = oid = self._mcu.create_oid()
@@ -58,9 +59,13 @@ class MCU_stepper:
sk = ffi_main.gc(getattr(ffi_lib, alloc_func)(*params), ffi_lib.free)
self.set_stepper_kinematics(sk)
def _build_config(self):
+ if self._step_pulse_duration is None:
+ self._step_pulse_duration = .000002
+ step_pulse_ticks = self._mcu.seconds_to_clock(self._step_pulse_duration)
self._mcu.add_config_cmd(
"config_stepper oid=%d step_pin=%s dir_pin=%s invert_step=%d"
- % (self._oid, self._step_pin, self._dir_pin, self._invert_step))
+ " step_pulse_ticks=%u" % (self._oid, self._step_pin, self._dir_pin,
+ self._invert_step, step_pulse_ticks))
self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0"
% (self._oid,), on_restart=True)
step_cmd_tag = self._mcu.lookup_command_tag(
@@ -73,9 +78,9 @@ class MCU_stepper:
"stepper_get_position oid=%c",
"stepper_position oid=%c pos=%i", oid=self._oid)
max_error = self._mcu.get_max_stepper_error()
+ max_error_ticks = self._mcu.seconds_to_clock(max_error)
ffi_main, ffi_lib = chelper.get_ffi()
- ffi_lib.stepcompress_fill(self._stepqueue,
- self._mcu.seconds_to_clock(max_error),
+ ffi_lib.stepcompress_fill(self._stepqueue, max_error_ticks,
self._invert_dir, step_cmd_tag, dir_cmd_tag)
def get_oid(self):
return self._oid
@@ -201,8 +206,10 @@ def PrinterStepper(config, units_in_radians=False):
dir_pin = config.get('dir_pin')
dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True)
step_dist = parse_step_distance(config, units_in_radians, True)
+ step_pulse_duration = config.getfloat('step_pulse_duration', None,
+ minval=0., maxval=.001)
mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist,
- units_in_radians)
+ step_pulse_duration, units_in_radians)
# Register with helper modules
for mname in ['stepper_enable', 'force_move', 'motion_report']:
m = printer.load_object(config, mname)
diff --git a/src/Kconfig b/src/Kconfig
index f1081907..43ab2bc6 100644
--- a/src/Kconfig
+++ b/src/Kconfig
@@ -73,31 +73,6 @@ config USB_SERIAL_NUMBER
string "USB serial number" if !USB_SERIAL_NUMBER_CHIPID
endmenu
-# Step timing customization
-config CUSTOM_STEP_DELAY
- bool "Specify a custom step pulse duration"
- depends on LOW_LEVEL_OPTIONS
-config STEP_DELAY
- int
- default 2
-config STEP_DELAY
- int "Step pulse duration (in microseconds)"
- depends on CUSTOM_STEP_DELAY
- help
- Specify the duration of the stepper step pulse time. This
- setting applies to all stepper drivers controlled by the
- micro-controller. If this value is set to zero (or less) then
- the code will "step" and "unstep" in the same C function.
-
- A setting of zero (or less) on 8-bit AVR micro-controllers
- results in a minimum step pulse time a little over 2us.
-
- A setting of zero on ARM micro-controllers typically results
- in a minimum step pulse time of 20 cpu cycles.
-
- The default for AVR is -1, for all other micro-controllers it
- is 2us.
-
config INITIAL_PINS
string "GPIO pins to set at micro-controller startup"
depends on LOW_LEVEL_OPTIONS
diff --git a/src/avr/Kconfig b/src/avr/Kconfig
index 260e5a84..fd24852d 100644
--- a/src/avr/Kconfig
+++ b/src/avr/Kconfig
@@ -13,9 +13,6 @@ config AVR_SELECT
select HAVE_GPIO_BITBANGING if !MACH_atmega168
select HAVE_STRICT_TIMING
-config STEP_DELAY
- default -1
-
config BOARD_DIRECTORY
string
default "avr"
diff --git a/src/stepper.c b/src/stepper.c
index e4a12693..5d69d9df 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -14,12 +14,11 @@
#include "stepper.h" // stepper_event
#include "trsync.h" // trsync_add_signal
-DECL_CONSTANT("STEP_DELAY", CONFIG_STEP_DELAY);
-
-
-/****************************************************************
- * Steppers
- ****************************************************************/
+#if CONFIG_INLINE_STEPPER_HACK && CONFIG_MACH_AVR
+ #define HAVE_AVR_OPTIMIZATION 1
+#else
+ #define HAVE_AVR_OPTIMIZATION 0
+#endif
struct stepper_move {
struct move_node node;
@@ -35,13 +34,8 @@ struct stepper {
struct timer time;
uint32_t interval;
int16_t add;
-#if CONFIG_STEP_DELAY <= 0
- uint_fast16_t count;
-#define next_step_time time.waketime
-#else
uint32_t count;
- uint32_t next_step_time;
-#endif
+ uint32_t next_step_time, step_pulse_ticks;
struct gpio_out step_pin, dir_pin;
uint32_t position;
struct move_queue_head mq;
@@ -53,8 +47,8 @@ struct stepper {
enum { POSITION_BIAS=0x40000000 };
enum {
- SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_HAVE_ADD=1<<3,
- SF_NEED_RESET=1<<4
+ SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_NEED_RESET=1<<3,
+ SF_SINGLE_SCHED=1<<4, SF_HAVE_ADD=1<<5
};
// Setup a stepper for the next move in its queue
@@ -70,18 +64,17 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
// Load next 'struct stepper_move' into 'struct stepper'
struct move_node *mn = move_queue_pop(&s->mq);
struct stepper_move *m = container_of(mn, struct stepper_move, node);
- s->next_step_time += m->interval;
s->add = m->add;
s->interval = m->interval + m->add;
- if (CONFIG_STEP_DELAY <= 0) {
- if (CONFIG_MACH_AVR)
- // On AVR see if the add can be optimized away
- s->flags = m->add ? s->flags|SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
+ if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED) {
+ s->time.waketime += m->interval;
+ s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
s->count = m->count;
} else {
// On faster mcus, it is necessary to schedule unstep events
// and so there are twice as many events. Also check that the
// next step event isn't too close to the last unstep.
+ s->next_step_time += m->interval;
if (unlikely(timer_is_before(s->next_step_time, min_next_time))) {
if ((int32_t)(s->next_step_time - min_next_time)
< (int32_t)(-timer_from_us(1000)))
@@ -104,14 +97,17 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
return SF_RESCHEDULE;
}
+#define AVR_STEP_INSNS 40 // minimum instructions between step gpio pulses
+
// AVR optimized step function
static uint_fast8_t
-stepper_event_avr(struct stepper *s)
+stepper_event_avr(struct timer *t)
{
+ struct stepper *s = container_of(t, struct stepper, time);
gpio_out_toggle_noirq(s->step_pin);
- uint_fast16_t count = s->count - 1;
+ uint16_t *pcount = (void*)&s->count, count = *pcount - 1;
if (likely(count)) {
- s->count = count;
+ *pcount = count;
s->time.waketime += s->interval;
gpio_out_toggle_noirq(s->step_pin);
if (s->flags & SF_HAVE_ADD)
@@ -123,42 +119,14 @@ stepper_event_avr(struct stepper *s)
return ret;
}
-// Optimized step function for stepping and unstepping in same function
-static uint_fast8_t
-stepper_event_nodelay(struct stepper *s)
-{
- gpio_out_toggle_noirq(s->step_pin);
- uint_fast16_t count = s->count - 1;
- if (likely(count)) {
- s->count = count;
- s->time.waketime += s->interval;
- s->interval += s->add;
- gpio_out_toggle_noirq(s->step_pin);
- return SF_RESCHEDULE;
- }
- uint_fast8_t ret = stepper_load_next(s, 0);
- gpio_out_toggle_noirq(s->step_pin);
- return ret;
-}
-
-// Timer callback - step the given stepper.
+// Regular "double scheduled" step function
uint_fast8_t
-stepper_event(struct timer *t)
+stepper_event_full(struct timer *t)
{
struct stepper *s = container_of(t, struct stepper, time);
- if (CONFIG_STEP_DELAY <= 0 && CONFIG_MACH_AVR)
- return stepper_event_avr(s);
- if (CONFIG_STEP_DELAY <= 0)
- return stepper_event_nodelay(s);
-
- // Normal step code - schedule the unstep event
- if (!CONFIG_HAVE_STRICT_TIMING)
- gpio_out_toggle_noirq(s->step_pin);
- uint32_t step_delay = timer_from_us(CONFIG_STEP_DELAY);
- uint32_t min_next_time = timer_read_time() + step_delay;
- if (CONFIG_HAVE_STRICT_TIMING)
- // Toggling gpio after reading the time is a micro-optimization
- gpio_out_toggle_noirq(s->step_pin);
+ gpio_out_toggle_noirq(s->step_pin);
+ uint32_t curtime = timer_read_time();
+ uint32_t min_next_time = curtime + s->step_pulse_ticks;
s->count--;
if (likely(s->count & 1))
// Schedule unstep event
@@ -178,20 +146,36 @@ reschedule_min:
return SF_RESCHEDULE;
}
+// Optimized entry point for step function (may be inlined into sched.c code)
+uint_fast8_t
+stepper_event(struct timer *t)
+{
+ if (HAVE_AVR_OPTIMIZATION)
+ return stepper_event_avr(t);
+ return stepper_event_full(t);
+}
+
void
command_config_stepper(uint32_t *args)
{
struct stepper *s = oid_alloc(args[0], command_config_stepper, sizeof(*s));
- if (!CONFIG_INLINE_STEPPER_HACK)
- s->time.func = stepper_event;
s->flags = args[3] ? SF_INVERT_STEP : 0;
s->step_pin = gpio_out_setup(args[1], s->flags & SF_INVERT_STEP);
s->dir_pin = gpio_out_setup(args[2], 0);
s->position = -POSITION_BIAS;
+ s->step_pulse_ticks = args[4];
move_queue_setup(&s->mq, sizeof(struct stepper_move));
+ if (HAVE_AVR_OPTIMIZATION) {
+ if (s->step_pulse_ticks <= AVR_STEP_INSNS)
+ s->flags |= SF_SINGLE_SCHED;
+ else
+ s->time.func = stepper_event_full;
+ } else if (!CONFIG_INLINE_STEPPER_HACK) {
+ s->time.func = stepper_event_full;
+ }
}
-DECL_COMMAND(command_config_stepper,
- "config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c");
+DECL_COMMAND(command_config_stepper, "config_stepper oid=%c step_pin=%c"
+ " dir_pin=%c invert_step=%c step_pulse_ticks=%u");
// Return the 'struct stepper' for a given stepper oid
static struct stepper *
@@ -256,7 +240,7 @@ command_reset_step_clock(uint32_t *args)
irq_disable();
if (s->count)
shutdown("Can't reset time when stepper active");
- s->next_step_time = waketime;
+ s->next_step_time = s->time.waketime = waketime;
s->flags &= ~SF_NEED_RESET;
irq_enable();
}
@@ -268,7 +252,7 @@ stepper_get_position(struct stepper *s)
{
uint32_t position = s->position;
// If stepper is mid-move, subtract out steps not yet taken
- if (CONFIG_STEP_DELAY <= 0)
+ if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED)
position -= s->count;
else
position -= s->count / 2;
@@ -297,10 +281,10 @@ stepper_stop(struct trsync_signal *tss, uint8_t reason)
{
struct stepper *s = container_of(tss, struct stepper, stop_signal);
sched_del_timer(&s->time);
- s->next_step_time = 0;
+ s->next_step_time = s->time.waketime = 0;
s->position = -stepper_get_position(s);
s->count = 0;
- s->flags = (s->flags & SF_INVERT_STEP) | SF_NEED_RESET;
+ s->flags = (s->flags & (SF_INVERT_STEP|SF_SINGLE_SCHED)) | SF_NEED_RESET;
gpio_out_write(s->dir_pin, 0);
gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP);
while (!move_queue_empty(&s->mq)) {
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-01 21:42:01 +0000