diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 35 |
1 files changed, 28 insertions, 7 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index fd44effb..a2f8c0a6 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -1,6 +1,6 @@ # Printer stepper support # -# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2016-2025 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging, collections @@ -14,7 +14,8 @@ class error(Exception): # Steppers ###################################################################### -MIN_BOTH_EDGE_DURATION = 0.000000200 +MIN_BOTH_EDGE_DURATION = 0.000000500 +MIN_OPTIMIZED_BOTH_EDGE_DURATION = 0.000000150 # Interface to low-level mcu and chelper code class MCU_stepper: @@ -75,13 +76,33 @@ class MCU_stepper: if self._step_pulse_duration is None: 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 - and self._step_pulse_duration <= MIN_BOTH_EDGE_DURATION): - # Enable stepper optimized step on both edges + # Check if can enable "step on both edges" + constants = self._mcu.get_constants() + ssbe = int(constants.get('STEPPER_STEP_BOTH_EDGE', '0')) + sbe = int(constants.get('STEPPER_BOTH_EDGE', '0')) + sou = int(constants.get('STEPPER_OPTIMIZED_UNSTEP', '0')) + want_both_edges = self._req_step_both_edge + if self._step_pulse_duration > MIN_BOTH_EDGE_DURATION: + # If user has requested a very large step pulse duration + # then disable step on both edges (rise and fall times may + # not be symetric) + want_both_edges = False + elif sbe and self._step_pulse_duration>MIN_OPTIMIZED_BOTH_EDGE_DURATION: + # Older MCU and user has requested large pulse duration + want_both_edges = False + elif not sbe and not ssbe: + # Older MCU that doesn't support step on both edges + want_both_edges = False + elif sou: + # MCU has optimized step/unstep - better to use that + want_both_edges = False + if want_both_edges: self._step_both_edge = True - self._step_pulse_duration = 0. invert_step = -1 + if sbe: + # Older MCU requires setting step_pulse_ticks=0 to enable + self._step_pulse_duration = 0. + # Configure stepper object 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" |