Calculate the next "cornering" minimum and maximum for each move. The
"cornering minimum" is the lowest speed the head will reach
immediately after this move (with no interleaving acceleration or
cruising). The "cornering maximum" is the maximum speed the head will
reach after the cornering minimum (with no interleaving deceleration
or cruising).
These cornering calculations will be helpful in the extruder "pressure
advance" code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Take into account the maximum possible start speed of a move when
calculating junction_start_max. This simplifies the lookahead logic.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Return the number of clock ticks to wait directly from
gpio_adc_sample(). This simplifies the ADC interface.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the stepcompress C code to check for integer overflow so that
the python code does not need to. The new checks also handle the
possibility of a single move lasting long enough to cause an overflow.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use a non-zero qm->min_clock value to indicate that the command uses
the move queue and to also store the clock of when that move queue
item will be released.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rework the timer prioritization code so that is compares against the
current time instead of the number of repeat timers in a given
interrupt. This makes the code slightly faster and it should provide
better protection against task starvation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The existing code calculates the number of steps in a move and then
spreads them out evenly throughout that move. Change the code so that
step timing is based on where the head is commanded to be relative to
the stepper step locations. This makes the timing more accurate - in
particular the stepper velocities will be more accurate during
cornering introduced by the lookahead code. It also results in
slightly smoother stepper motion which results in better step
compression.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The existing code calculates the number of steps in a move and then
spreads them out evenly throughout that move. Change the code so that
step timing is based on where the head is commanded to be relative to
the axis step locations. This makes the timing more accurate - in
particular the axis velocities will be more accurate during cornering
introduced by the lookahead code. It also results in slightly
smoother stepper motion which results in better step compression.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't use step_dist for the "distance along the line of movement per
step" as it's too similar to the stepper.step_dist variable. Use the
name "move_step_d" instead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store the start position (in addition to the existing end position) in
the Move class. The start position can be useful to the kinematic
classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Not including the out/*.d build files can cause the build to be
incomplete. In particular, without this fix, if the code is built for
ARM and then configured for AVR, the build can produce a corrupt AVR
binary.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Tweak the AVR register pressure optimization in reschedule_timer() to
optimize it further. This improves the performance of AVR timers when
there are several pending timers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rework the timer prioritization code so that is compares against the
current time instead of the number of repeat timers in a given
interrupt. This makes the code slightly faster and it should provide
better protection against task starvation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Increase the size of the serial receive buffer. With transmit rates
of 250000 baud, it only takes a little over a millisecond to overflow
the existing buffer.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename get_homed_position() to get_homed_offset() and return the
endstop position delta in steps instead of an absolute position
relative to position_endstop. The conversion to absolute positions
can be dependent on the type of kinematics in use, so is inappropriate
to do in the low level stepper.py code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the printer is commanded to an invalid location, reset the current
position to the last successfully commanded position.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow a config file to specify 'min_extrude_temp: 0' to disable the
minimum extrude temperature test. This makes it easier to perform
testing on the avr simulator.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 0685802c changed the query endstop timeout to use host time
instead of the mcu clock. However, it is possible for an endstop
homing request to be in the future which makes using the host time
inappropriate. Revert back to using the mcu clock to determine when
to send an endstop query.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's theoretically possible for floating point truncation to cause a
math formula to return a small negative number instead of 0. If
sqrt() is called on this small negative number it could cause a
crash. Check for this case and return 0.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 47f30331 converted compress_bisect_add() to use "best reach"
instead of "best add". However, that change caused
compress_bisect_add() to behave poorly when passed in invalid data
(negative times). Change the code to better handle invalid data.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the config file to specify the minimum temperature for the
extruder and check for that temperature prior to moving the extruder
motor.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce a check_move() method in the extruder and cartesian
kinematic classes. This allows the lower level classes to verify the
contents of the move prior to queing that move.
The speed and acceleration handling for special Z and extrude only
moves are also moved from the generic toolhead class to the low-level
classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Search for the maximum reachable value instead of the maximum "add".
The maximum reachable value encompasses both the maximum count and a
closest step time to the last requested step time. This allows for
more "add=0" sequences to be generated which the mcu can optimize for.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's possible for a "count=1" stepper move immediately after a
set_next_step_dir or reset_step_clock command to be valid and have an
interval less than min_stop_interval. Make sure this case does not
result in a shutdown.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When doing serial file output debugging, write the config commands as
they are often useful to inspect.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Generate the data dictionary in out/klipper.dict on each build. This
makes it easier to use the dictionary when debugging.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor