diff options
| -rw-r--r-- | docs/Config_Changes.md | 7 | ||||
| -rw-r--r-- | docs/Config_Reference.md | 4 | ||||
| -rw-r--r-- | klippy/stepper.py | 5 |
3 files changed, 11 insertions, 5 deletions
diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md index e91ff465..11447d4d 100644 --- a/docs/Config_Changes.md +++ b/docs/Config_Changes.md @@ -16,9 +16,10 @@ use the older (typically less accurate) definition, define a custom `resistance1: 100000`, and `beta: 3950`. 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. +been removed. The default step duration for TMC drivers configured in +UART or SPI mode is now 100ns. 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 diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index 67d8d036..36302664 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -157,7 +157,9 @@ microsteps: # 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). +# The default is 0.000000100 (100ns) for TMC steppers that are +# configured in UART or SPI mode, and the default is 0.000002 (which +# is 2us) for all other steppers. 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 2e6655ef..4a4f9ea4 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -14,6 +14,8 @@ class error(Exception): # Steppers ###################################################################### +MIN_BOTH_EDGE_DURATION = 0.000000200 + # Interface to low-level mcu and chelper code class MCU_stepper: def __init__(self, name, step_pin_params, dir_pin_params, step_dist, @@ -70,7 +72,8 @@ class MCU_stepper: self._step_pulse_duration = .000002 invert_step = self._invert_step sbe = int(self._mcu.get_constants().get('STEPPER_BOTH_EDGE', '0')) - if self._req_step_both_edge and sbe: + if (self._req_step_both_edge and sbe + and self._step_pulse_duration <= MIN_BOTH_EDGE_DURATION): # Enable stepper optimized step on both edges self._step_both_edge = True self._step_pulse_duration = 0. |