diff options
| -rw-r--r-- | docs/Benchmarks.md | 80 | ||||
| -rw-r--r-- | docs/G-Codes.md | 16 | ||||
| -rw-r--r-- | docs/MCU_Commands.md | 17 | ||||
| -rw-r--r-- | klippy/mcu.py | 2 | ||||
| -rw-r--r-- | klippy/stepper.py | 3 | ||||
| -rw-r--r-- | src/stepper.c | 16 |
6 files changed, 58 insertions, 76 deletions
diff --git a/docs/Benchmarks.md b/docs/Benchmarks.md index ebec62f6..faf2ed1b 100644 --- a/docs/Benchmarks.md +++ b/docs/Benchmarks.md @@ -92,9 +92,9 @@ The following configuration sequence is used on AVR chips: ``` PINS arduino allocate_oids count=3 -config_stepper oid=0 step_pin=ar29 dir_pin=ar28 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=ar27 dir_pin=ar26 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=ar23 dir_pin=ar22 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=ar29 dir_pin=ar28 invert_step=0 +config_stepper oid=1 step_pin=ar27 dir_pin=ar26 invert_step=0 +config_stepper oid=2 step_pin=ar23 dir_pin=ar22 invert_step=0 finalize_config crc=0 ``` @@ -114,9 +114,9 @@ results match tests on both a 16Mhz at90usb and a 16Mhz atmega2560). The following configuration sequence is used on the Due: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PB27 dir_pin=PA21 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PB26 dir_pin=PC30 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PA21 dir_pin=PC30 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PB27 dir_pin=PA21 invert_step=0 +config_stepper oid=1 step_pin=PB26 dir_pin=PC30 invert_step=0 +config_stepper oid=2 step_pin=PA21 dir_pin=PC30 invert_step=0 finalize_config crc=0 ``` @@ -136,9 +136,9 @@ The test was last run on commit `8d4a5c16` with gcc version The following configuration sequence is used on the Duet Maestro: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PC26 dir_pin=PC18 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PC26 dir_pin=PA8 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PC26 dir_pin=PB4 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PC26 dir_pin=PC18 invert_step=0 +config_stepper oid=1 step_pin=PC26 dir_pin=PA8 invert_step=0 +config_stepper oid=2 step_pin=PC26 dir_pin=PB4 invert_step=0 finalize_config crc=0 ``` @@ -158,10 +158,10 @@ The test was last run on commit `8d4a5c16` with gcc version The following configuration sequence is used on the Duet Wifi: ``` allocate_oids count=4 -config_stepper oid=0 step_pin=PD6 dir_pin=PD11 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PD7 dir_pin=PD12 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PD8 dir_pin=PD13 min_stop_interval=0 invert_step=0 -config_stepper oid=3 step_pin=PD5 dir_pin=PA1 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PD6 dir_pin=PD11 invert_step=0 +config_stepper oid=1 step_pin=PD7 dir_pin=PD12 invert_step=0 +config_stepper oid=2 step_pin=PD8 dir_pin=PD13 invert_step=0 +config_stepper oid=3 step_pin=PD5 dir_pin=PA1 invert_step=0 finalize_config crc=0 ``` @@ -183,9 +183,9 @@ The following configuration sequence is used on the PRU: ``` PINS beaglebone allocate_oids count=3 -config_stepper oid=0 step_pin=P8_13 dir_pin=P8_12 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=P8_15 dir_pin=P8_14 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=P8_19 dir_pin=P8_18 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=P8_13 dir_pin=P8_12 invert_step=0 +config_stepper oid=1 step_pin=P8_15 dir_pin=P8_14 invert_step=0 +config_stepper oid=2 step_pin=P8_19 dir_pin=P8_18 invert_step=0 finalize_config crc=0 ``` @@ -203,9 +203,9 @@ The test was last run on commit `b161a69e` with gcc version `pru-gcc The following configuration sequence is used on the STM32F042: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PA1 dir_pin=PA2 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PA3 dir_pin=PA2 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PB8 dir_pin=PA2 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PA1 dir_pin=PA2 invert_step=0 +config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=0 +config_stepper oid=2 step_pin=PB8 dir_pin=PA2 invert_step=0 finalize_config crc=0 ``` @@ -223,9 +223,9 @@ The test was last run on commit `0b0c47c5` with gcc version The following configuration sequence is used on the STM32F103: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PC13 dir_pin=PB5 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PB3 dir_pin=PB6 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PA4 dir_pin=PB7 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PC13 dir_pin=PB5 invert_step=0 +config_stepper oid=1 step_pin=PB3 dir_pin=PB6 invert_step=0 +config_stepper oid=2 step_pin=PA4 dir_pin=PB7 invert_step=0 finalize_config crc=0 ``` @@ -245,10 +245,10 @@ The test was last run on commit `8d4a5c16` with gcc version The following configuration sequence is used on the STM32F4: ``` allocate_oids count=4 -config_stepper oid=0 step_pin=PA5 dir_pin=PB5 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PB2 dir_pin=PB6 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PB3 dir_pin=PB7 min_stop_interval=0 invert_step=0 -config_stepper oid=3 step_pin=PB3 dir_pin=PB8 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PA5 dir_pin=PB5 invert_step=0 +config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=0 +config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=0 +config_stepper oid=3 step_pin=PB3 dir_pin=PB8 invert_step=0 finalize_config crc=0 ``` @@ -280,9 +280,9 @@ using a 168Mhz clock). The following configuration sequence is used on the LPC176x: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 invert_step=0 +config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 invert_step=0 +config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 invert_step=0 finalize_config crc=0 ``` @@ -311,9 +311,9 @@ results were obtained by overclocking an LPC1768 to 120Mhz. The following configuration sequence is used on the SAMD21: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=PA27 dir_pin=PA20 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PB3 dir_pin=PA21 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PA17 dir_pin=PA21 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PA27 dir_pin=PA20 invert_step=0 +config_stepper oid=1 step_pin=PB3 dir_pin=PA21 invert_step=0 +config_stepper oid=2 step_pin=PA17 dir_pin=PA21 invert_step=0 finalize_config crc=0 ``` @@ -334,11 +334,11 @@ micro-controller. The following configuration sequence is used on the SAMD51: ``` allocate_oids count=5 -config_stepper oid=0 step_pin=PA22 dir_pin=PA20 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=PA22 dir_pin=PA21 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=PA22 dir_pin=PA19 min_stop_interval=0 invert_step=0 -config_stepper oid=3 step_pin=PA22 dir_pin=PA18 min_stop_interval=0 invert_step=0 -config_stepper oid=4 step_pin=PA23 dir_pin=PA17 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=PA22 dir_pin=PA20 invert_step=0 +config_stepper oid=1 step_pin=PA22 dir_pin=PA21 invert_step=0 +config_stepper oid=2 step_pin=PA22 dir_pin=PA19 invert_step=0 +config_stepper oid=3 step_pin=PA22 dir_pin=PA18 invert_step=0 +config_stepper oid=4 step_pin=PA23 dir_pin=PA17 invert_step=0 finalize_config crc=0 ``` @@ -365,9 +365,9 @@ micro-controller. The following configuration sequence is used on a Raspberry Pi: ``` allocate_oids count=3 -config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 min_stop_interval=0 invert_step=0 -config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 min_stop_interval=0 invert_step=0 -config_stepper oid=2 step_pin=gpio6 dir_pin=gpio7 min_stop_interval=0 invert_step=0 +config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 invert_step=0 +config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 invert_step=0 +config_stepper oid=2 step_pin=gpio6 dir_pin=gpio7 invert_step=0 finalize_config crc=0 ``` diff --git a/docs/G-Codes.md b/docs/G-Codes.md index b8b96636..2f012bf5 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -517,15 +517,13 @@ enabled: the given distance (in mm) at the given constant velocity (in mm/s). If ACCEL is specified and is greater than zero, then the given acceleration (in mm/s^2) will be used; otherwise no - acceleration is performed. If acceleration is not performed then it - can lead to the micro-controller reporting "No next step" errors - (avoid these errors by specifying an ACCEL value or use a very low - VELOCITY). No boundary checks are performed; no kinematic updates - are made; other parallel steppers on an axis will not be moved. Use - caution as an incorrect command could cause damage! Using this - command will almost certainly place the low-level kinematics in an - incorrect state; issue a G28 afterwards to reset the kinematics. - This command is intended for low-level diagnostics and debugging. + acceleration is performed. No boundary checks are performed; no + kinematic updates are made; other parallel steppers on an axis will + not be moved. Use caution as an incorrect command could cause + damage! Using this command will almost certainly place the low-level + kinematics in an incorrect state; issue a G28 afterwards to reset + the kinematics. This command is intended for low-level diagnostics + and debugging. - `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force the low-level kinematic code to believe the toolhead is at the given cartesian position. This is a diagnostic and debugging command; use diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md index e599ccff..1859f33a 100644 --- a/docs/MCU_Commands.md +++ b/docs/MCU_Commands.md @@ -138,17 +138,12 @@ This section lists some commonly used config commands. sampled at regular interval using the query_analog_in command (see below). -* `config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u - invert_step=%c` : This command creates an internal stepper - object. The 'step_pin' and 'dir_pin' parameters specify the step and - direction pins respectively; this command will configure them in - digital output mode. The 'invert_step' parameter specifies whether a - step occurs on a rising edge (invert_step=0) or falling edge - (invert_step=1). The 'min_stop_interval' implements a safety - feature - it is checked when the micro-controller finishes all moves - for a stepper - if it is non-zero it specifies the minimum number of - clock ticks since the last step. It is used as a check on the - maximum stepper velocity that a stepper may have before stopping. +* `config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c` : This + command creates an internal stepper object. The 'step_pin' and + 'dir_pin' parameters specify the step and direction pins + respectively; this command will configure them in digital output + mode. The 'invert_step' parameter specifies whether a step occurs on + a rising edge (invert_step=0) or falling edge (invert_step=1). * `config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c` : This command creates an internal "endstop" object. It is used to specify diff --git a/klippy/mcu.py b/klippy/mcu.py index 849f8deb..fa35c2bf 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -824,7 +824,7 @@ class MCU: return False, '%s: %s' % (self._name, stats) Common_MCU_errors = { - ("Timer too close", "No next step"): """ + ("Timer too close",): """ This often indicates the host computer is overloaded. Check for other processes consuming excessive CPU time, high swap usage, disk errors, overheating, unstable voltage, or diff --git a/klippy/stepper.py b/klippy/stepper.py index a110843d..ab981e96 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -61,8 +61,7 @@ class MCU_stepper: self.set_stepper_kinematics(sk) def _build_config(self): self._mcu.add_config_cmd( - "config_stepper oid=%d step_pin=%s dir_pin=%s" - " min_stop_interval=0 invert_step=%d" % ( + "config_stepper oid=%d step_pin=%s dir_pin=%s invert_step=%d" % ( self._oid, self._step_pin, self._dir_pin, self._invert_step)) self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0" % (self._oid,), on_restart=True) diff --git a/src/stepper.c b/src/stepper.c index f191be6e..83da362d 100644 --- a/src/stepper.c +++ b/src/stepper.c @@ -44,7 +44,6 @@ struct stepper { struct gpio_out step_pin, dir_pin; uint32_t position; struct move_queue_head mq; - uint32_t min_stop_interval; // gcc (pre v6) does better optimization when uint8_t are bitfields uint8_t flags : 8; }; @@ -53,7 +52,7 @@ 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_LAST_RESET=1<<4, SF_NO_NEXT_CHECK=1<<5, SF_NEED_RESET=1<<6 + SF_LAST_RESET=1<<4, SF_NEED_RESET=1<<5 }; // Setup a stepper for the next move in its queue @@ -62,9 +61,6 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time) { if (move_queue_empty(&s->mq)) { // There is no next move - the queue is empty - if (s->interval - s->add < s->min_stop_interval - && !(s->flags & SF_NO_NEXT_CHECK)) - shutdown("No next step"); s->count = 0; return SF_DONE; } @@ -186,16 +182,14 @@ 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[4] ? SF_INVERT_STEP : 0; + 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->min_stop_interval = args[3]; s->position = -POSITION_BIAS; move_queue_setup(&s->mq, sizeof(struct stepper_move)); } DECL_COMMAND(command_config_stepper, - "config_stepper oid=%c step_pin=%c dir_pin=%c" - " min_stop_interval=%u invert_step=%c"); + "config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c"); // Return the 'struct stepper' for a given stepper oid struct stepper * @@ -223,10 +217,6 @@ command_queue_step(uint32_t *args) flags ^= SF_LAST_DIR; m->flags |= MF_DIR; } - flags &= ~SF_NO_NEXT_CHECK; - if (m->count == 1 && (m->flags || flags & SF_LAST_RESET)) - // count=1 moves after a reset or dir change can have small intervals - flags |= SF_NO_NEXT_CHECK; flags &= ~SF_LAST_RESET; if (s->count) { s->flags = flags; |