From c9cb462f90a68deb73cacb179f7bbcde2cb9aeed Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Tue, 25 Feb 2020 12:54:55 -0500 Subject: itersolve: Implement a step+dir+step filter Some stepper motor drivers do not respond well to rapid "step + direction change + step" events. In particular, it is believed this can cause "over current" events on the tmc2208 drivers when they are in "stealthchop" mode. Detect these events and remove them from the generated step times. Signed-off-by: Kevin O'Connor --- klippy/chelper/itersolve.h | 3 +++ 1 file changed, 3 insertions(+) (limited to 'klippy/chelper/itersolve.h') diff --git a/klippy/chelper/itersolve.h b/klippy/chelper/itersolve.h index adb48055..40ecafa6 100644 --- a/klippy/chelper/itersolve.h +++ b/klippy/chelper/itersolve.h @@ -16,6 +16,9 @@ struct stepper_kinematics { double step_dist, commanded_pos; struct stepcompress *sc; + double next_move_print_time, next_step_time; + int next_step_dir; + double last_flush_time, last_move_time; struct trapq *tq; int active_flags; -- cgit v1.2.3-70-g09d2