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stepper: Make step pulse duration customizable at run-time 

Remove the STEP_DELAY Kconfig option and replace it with a per-stepper
step_pulse_duration printer.cfg config option.

The AVR code will continue to have optimized code to step and "unstep"
in the same function (which is automatically activated when the step
delay is 40 ticks or less).  This change removes the Kconfig option
for single function step/unstep on 32bit processors.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-10-27 19:10:36 -04:00
parent 913d099261
commit 4acfd8d7c8
6 changed files with 69 additions and 96 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
docs/Config_Changes.md
View File

@ -8,6 +8,11 @@ All dates in this document are approximate.
## Changes
20211104: The "step pulse duration" option in "make menuconfig" has
been removed. A new `step_pulse_duration` setting in the
[stepper config section](Config_Reference.md#stepper) should be set
for all steppers that need a custom pulse duration.
20211102: Several deprecated features have been removed. The stepper
`step_distance` option has been removed (deprecated on 20201222). The
`rpi_temperature` sensor alias has been removed (deprecated on

5
docs/Config_Reference.md
View File

@ -153,6 +153,11 @@ microsteps:
# gear_ratio is specified then rotation_distance specifies the
# distance the axis travels for one full rotation of the final gear.
# The default is to not use a gear ratio.
#step_pulse_duration:
# The minimum time between the step pulse signal edge and the
# following "unstep" signal edge. This is also used to set the
# minimum time between a step pulse and a direction change signal.
# The default is 0.000002 (which is 2us).
endstop_pin:
# Endstop switch detection pin. If this endstop pin is on a
# different mcu than the stepper motor then it enables "multi-mcu

17
klippy/stepper.py
View File

@ -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)

25
src/Kconfig
View File

@ -73,31 +73,6 @@ config USB_SERIAL_NUMBER
string "USB serial number" if !USB_SERIAL_NUMBER_CHIPID
endmenu
# Step timing customization
config CUSTOM_STEP_DELAY
bool "Specify a custom step pulse duration"
depends on LOW_LEVEL_OPTIONS
config STEP_DELAY
int
default 2
config STEP_DELAY
int "Step pulse duration (in microseconds)"
depends on CUSTOM_STEP_DELAY
help
Specify the duration of the stepper step pulse time. This
setting applies to all stepper drivers controlled by the
micro-controller. If this value is set to zero (or less) then
the code will "step" and "unstep" in the same C function.
A setting of zero (or less) on 8-bit AVR micro-controllers
results in a minimum step pulse time a little over 2us.
A setting of zero on ARM micro-controllers typically results
in a minimum step pulse time of 20 cpu cycles.
The default for AVR is -1, for all other micro-controllers it
is 2us.
config INITIAL_PINS
string "GPIO pins to set at micro-controller startup"
depends on LOW_LEVEL_OPTIONS

3
src/avr/Kconfig
View File

@ -13,9 +13,6 @@ config AVR_SELECT
select HAVE_GPIO_BITBANGING if !MACH_atmega168
select HAVE_STRICT_TIMING
config STEP_DELAY
default -1
config BOARD_DIRECTORY
string
default "avr"

108
src/stepper.c
View File

@ -14,12 +14,11 @@
#include "stepper.h" // stepper_event
#include "trsync.h" // trsync_add_signal
DECL_CONSTANT("STEP_DELAY", CONFIG_STEP_DELAY);
/****************************************************************
* Steppers
****************************************************************/
#if CONFIG_INLINE_STEPPER_HACK && CONFIG_MACH_AVR
#define HAVE_AVR_OPTIMIZATION 1
#else
#define HAVE_AVR_OPTIMIZATION 0
#endif
struct stepper_move {
struct move_node node;
@ -35,13 +34,8 @@ struct stepper {
struct timer time;
uint32_t interval;
int16_t add;
#if CONFIG_STEP_DELAY <= 0
uint_fast16_t count;
#define next_step_time time.waketime
#else
uint32_t count;
uint32_t next_step_time;
#endif
uint32_t next_step_time, step_pulse_ticks;
struct gpio_out step_pin, dir_pin;
uint32_t position;
struct move_queue_head mq;
@ -53,8 +47,8 @@ struct stepper {
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_NEED_RESET=1<<4
SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_NEED_RESET=1<<3,
SF_SINGLE_SCHED=1<<4, SF_HAVE_ADD=1<<5
};
// Setup a stepper for the next move in its queue
@ -70,18 +64,17 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
// Load next 'struct stepper_move' into 'struct stepper'
struct move_node *mn = move_queue_pop(&s->mq);
struct stepper_move *m = container_of(mn, struct stepper_move, node);
s->next_step_time += m->interval;
s->add = m->add;
s->interval = m->interval + m->add;
if (CONFIG_STEP_DELAY <= 0) {
if (CONFIG_MACH_AVR)
// On AVR see if the add can be optimized away
s->flags = m->add ? s->flags|SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED) {
s->time.waketime += m->interval;
s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
s->count = m->count;
} else {
// On faster mcus, it is necessary to schedule unstep events
// and so there are twice as many events. Also check that the
// next step event isn't too close to the last unstep.
s->next_step_time += m->interval;
if (unlikely(timer_is_before(s->next_step_time, min_next_time))) {
if ((int32_t)(s->next_step_time - min_next_time)
< (int32_t)(-timer_from_us(1000)))
@ -104,14 +97,17 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
return SF_RESCHEDULE;
}
#define AVR_STEP_INSNS 40 // minimum instructions between step gpio pulses
// AVR optimized step function
static uint_fast8_t
stepper_event_avr(struct stepper *s)
stepper_event_avr(struct timer *t)
{
struct stepper *s = container_of(t, struct stepper, time);
gpio_out_toggle_noirq(s->step_pin);
uint_fast16_t count = s->count - 1;
uint16_t *pcount = (void*)&s->count, count = *pcount - 1;
if (likely(count)) {
s->count = count;
*pcount = count;
s->time.waketime += s->interval;
gpio_out_toggle_noirq(s->step_pin);
if (s->flags & SF_HAVE_ADD)
@ -123,42 +119,14 @@ stepper_event_avr(struct stepper *s)
return ret;
}
// Optimized step function for stepping and unstepping in same function
static uint_fast8_t
stepper_event_nodelay(struct stepper *s)
{
gpio_out_toggle_noirq(s->step_pin);
uint_fast16_t count = s->count - 1;
if (likely(count)) {
s->count = count;
s->time.waketime += s->interval;
s->interval += s->add;
gpio_out_toggle_noirq(s->step_pin);
return SF_RESCHEDULE;
}
uint_fast8_t ret = stepper_load_next(s, 0);
gpio_out_toggle_noirq(s->step_pin);
return ret;
}
// Timer callback - step the given stepper.
// Regular "double scheduled" step function
uint_fast8_t
stepper_event(struct timer *t)
stepper_event_full(struct timer *t)
{
struct stepper *s = container_of(t, struct stepper, time);
if (CONFIG_STEP_DELAY <= 0 && CONFIG_MACH_AVR)
return stepper_event_avr(s);
if (CONFIG_STEP_DELAY <= 0)
return stepper_event_nodelay(s);
// Normal step code - schedule the unstep event
if (!CONFIG_HAVE_STRICT_TIMING)
gpio_out_toggle_noirq(s->step_pin);
uint32_t step_delay = timer_from_us(CONFIG_STEP_DELAY);
uint32_t min_next_time = timer_read_time() + step_delay;
if (CONFIG_HAVE_STRICT_TIMING)
// Toggling gpio after reading the time is a micro-optimization
gpio_out_toggle_noirq(s->step_pin);
uint32_t curtime = timer_read_time();
uint32_t min_next_time = curtime + s->step_pulse_ticks;
s->count--;
if (likely(s->count & 1))
// Schedule unstep event
@ -178,20 +146,36 @@ reschedule_min:
return SF_RESCHEDULE;
}
// Optimized entry point for step function (may be inlined into sched.c code)
uint_fast8_t
stepper_event(struct timer *t)
{
if (HAVE_AVR_OPTIMIZATION)
return stepper_event_avr(t);
return stepper_event_full(t);
}
void
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[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->position = -POSITION_BIAS;
s->step_pulse_ticks = args[4];
move_queue_setup(&s->mq, sizeof(struct stepper_move));
if (HAVE_AVR_OPTIMIZATION) {
if (s->step_pulse_ticks <= AVR_STEP_INSNS)
s->flags |= SF_SINGLE_SCHED;
else
s->time.func = stepper_event_full;
} else if (!CONFIG_INLINE_STEPPER_HACK) {
s->time.func = stepper_event_full;
}
}
DECL_COMMAND(command_config_stepper,
"config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c");
DECL_COMMAND(command_config_stepper, "config_stepper oid=%c step_pin=%c"
" dir_pin=%c invert_step=%c step_pulse_ticks=%u");
// Return the 'struct stepper' for a given stepper oid
static struct stepper *
@ -256,7 +240,7 @@ command_reset_step_clock(uint32_t *args)
irq_disable();
if (s->count)
shutdown("Can't reset time when stepper active");
s->next_step_time = waketime;
s->next_step_time = s->time.waketime = waketime;
s->flags &= ~SF_NEED_RESET;
irq_enable();
}
@ -268,7 +252,7 @@ stepper_get_position(struct stepper *s)
{
uint32_t position = s->position;
// If stepper is mid-move, subtract out steps not yet taken
if (CONFIG_STEP_DELAY <= 0)
if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED)
position -= s->count;
else
position -= s->count / 2;
@ -297,10 +281,10 @@ stepper_stop(struct trsync_signal *tss, uint8_t reason)
{
struct stepper *s = container_of(tss, struct stepper, stop_signal);
sched_del_timer(&s->time);
s->next_step_time = 0;
s->next_step_time = s->time.waketime = 0;
s->position = -stepper_get_position(s);
s->count = 0;
s->flags = (s->flags & SF_INVERT_STEP) | SF_NEED_RESET;
s->flags = (s->flags & (SF_INVERT_STEP|SF_SINGLE_SCHED)) | SF_NEED_RESET;
gpio_out_write(s->dir_pin, 0);
gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP);
while (!move_queue_empty(&s->mq)) {