diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 17 |
1 files changed, 12 insertions, 5 deletions
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) |