mirror of https://github.com/Desuuuu/klipper.git
stepper: Support configuring the stepper pulse length from Kconfig
Allow the stepper pulse length to be configured at compile time from the Kconfig menu system. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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src/Kconfig
37
src/Kconfig
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@ -2,6 +2,13 @@
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mainmenu "Klipper Firmware Configuration"
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mainmenu "Klipper Firmware Configuration"
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config LOW_LEVEL_OPTIONS
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bool "Enable extra low-level configuration options"
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default n
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help
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Enable low-level configuration options that (if modified) may
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result in a build that does not function correctly.
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choice
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choice
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prompt "Micro-controller Architecture"
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prompt "Micro-controller Architecture"
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config MACH_AVR
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config MACH_AVR
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@ -32,6 +39,29 @@ source "src/linux/Kconfig"
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source "src/simulator/Kconfig"
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source "src/simulator/Kconfig"
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# Step timing customization
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config CUSTOM_STEP_DELAY
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bool "Specify a custom step pulse duration"
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depends on LOW_LEVEL_OPTIONS
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config STEP_DELAY
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int
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default 2
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config STEP_DELAY
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int "Step pulse duration (in microseconds)"
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depends on CUSTOM_STEP_DELAY
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help
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Specify the duration of the stepper step pulse time. This
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setting applies to all stepper drivers controlled by the
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micro-controller. If this value is set to zero then the code
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will "step" and "unstep" in the same C function.
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The default is zero for 8-bit AVR based micro-controllers, as
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it takes a little over 2us to step and unstep with this
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setting.
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The default for all other micro-controllers is 2us.
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CUSTOMIZING THIS VALUE DOES NOT IMPROVE PERFORMANCE!
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# The HAVE_GPIO_x options allow boards to disable support for some
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# The HAVE_GPIO_x options allow boards to disable support for some
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# commands if the hardware does not support the feature.
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# commands if the hardware does not support the feature.
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@ -54,13 +84,6 @@ config HAVE_GPIO_BITBANGING
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bool
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bool
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default n
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default n
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config NO_UNSTEP_DELAY
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# Slow micro-controllers do not require a delay before returning a
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# stepper step pin to its default level. A board can enable this
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# option to optimize the stepper_event() handler in this case.
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bool
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default n
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config INLINE_STEPPER_HACK
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config INLINE_STEPPER_HACK
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# Enables gcc to inline stepper_event() into the main timer irq handler
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# Enables gcc to inline stepper_event() into the main timer irq handler
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bool
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bool
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@ -11,7 +11,9 @@ config AVR_SELECT
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select HAVE_GPIO_I2C
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select HAVE_GPIO_I2C
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select HAVE_GPIO_HARD_PWM
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select HAVE_GPIO_HARD_PWM
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select HAVE_GPIO_BITBANGING if !MACH_atmega168
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select HAVE_GPIO_BITBANGING if !MACH_atmega168
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select NO_UNSTEP_DELAY
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config STEP_DELAY
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default 0
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config BOARD_DIRECTORY
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config BOARD_DIRECTORY
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string
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string
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@ -13,6 +13,8 @@
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#include "sched.h" // struct timer
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#include "sched.h" // struct timer
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#include "stepper.h" // command_config_stepper
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#include "stepper.h" // command_config_stepper
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DECL_CONSTANT(STEP_DELAY, CONFIG_STEP_DELAY);
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/****************************************************************
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/****************************************************************
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* Steppers
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* Steppers
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@ -32,7 +34,7 @@ struct stepper {
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struct timer time;
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struct timer time;
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uint32_t interval;
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uint32_t interval;
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int16_t add;
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int16_t add;
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#if CONFIG_NO_UNSTEP_DELAY
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#if !CONFIG_STEP_DELAY
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uint16_t count;
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uint16_t count;
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#define next_step_time time.waketime
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#define next_step_time time.waketime
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#else
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#else
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@ -68,7 +70,7 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
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s->next_step_time += m->interval;
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s->next_step_time += m->interval;
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s->add = m->add;
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s->add = m->add;
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s->interval = m->interval + m->add;
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s->interval = m->interval + m->add;
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if (CONFIG_NO_UNSTEP_DELAY) {
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if (!CONFIG_STEP_DELAY) {
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// On slow mcus see if the add can be optimized away
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// On slow mcus see if the add can be optimized away
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s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
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s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
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s->count = m->count;
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s->count = m->count;
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@ -98,14 +100,12 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
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return SF_RESCHEDULE;
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return SF_RESCHEDULE;
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}
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}
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#define UNSTEP_TIME timer_from_us(2)
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// Timer callback - step the given stepper.
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// Timer callback - step the given stepper.
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uint_fast8_t
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uint_fast8_t
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stepper_event(struct timer *t)
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stepper_event(struct timer *t)
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{
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{
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struct stepper *s = container_of(t, struct stepper, time);
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struct stepper *s = container_of(t, struct stepper, time);
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if (CONFIG_NO_UNSTEP_DELAY) {
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if (!CONFIG_STEP_DELAY) {
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// On slower mcus it is possible to simply step and unstep in
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// On slower mcus it is possible to simply step and unstep in
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// the same timer event.
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// the same timer event.
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gpio_out_toggle_noirq(s->step_pin);
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gpio_out_toggle_noirq(s->step_pin);
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@ -124,7 +124,8 @@ stepper_event(struct timer *t)
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}
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}
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// On faster mcus, it is necessary to schedule the unstep event
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// On faster mcus, it is necessary to schedule the unstep event
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uint32_t min_next_time = timer_read_time() + UNSTEP_TIME;
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uint32_t step_delay = timer_from_us(CONFIG_STEP_DELAY);
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uint32_t min_next_time = timer_read_time() + step_delay;
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gpio_out_toggle_noirq(s->step_pin);
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gpio_out_toggle_noirq(s->step_pin);
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s->count--;
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s->count--;
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if (likely(s->count & 1))
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if (likely(s->count & 1))
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@ -242,7 +243,7 @@ static uint32_t
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stepper_get_position(struct stepper *s)
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stepper_get_position(struct stepper *s)
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{
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{
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uint32_t position = s->position;
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uint32_t position = s->position;
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if (CONFIG_NO_UNSTEP_DELAY)
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if (!CONFIG_STEP_DELAY)
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position -= s->count;
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position -= s->count;
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else
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else
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position -= s->count / 2;
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position -= s->count / 2;
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