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stepper: Add support for stepping on both edges of a step pulse 

Add an optimized step function for drivers that support stepping on
both rising and falling edges of the step pin.  Enable this
optimization on 32bit ARM micro-controllers.  Automatically detect
this capability in the host code and enable on TMC drivers running in
SPI/UART mode.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-10-28 17:10:10 -04:00
parent 4acfd8d7c8
commit 689231df3a
10 changed files with 77 additions and 12 deletions
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15
klippy/extras/tmc.py
View File

@ -224,6 +224,8 @@ class TMCCommandHelper:
self.stepper_enable = self.printer.load_object(config, "stepper_enable")
self.printer.register_event_handler("stepper:sync_mcu_position",
self._handle_sync_mcu_pos)
self.printer.register_event_handler("klippy:mcu_identify",
self._handle_mcu_identify)
self.printer.register_event_handler("klippy:connect",
self._handle_connect)
# Set microstep config options
@ -345,6 +347,12 @@ class TMCCommandHelper:
self.echeck_helper.stop_checks()
except self.printer.command_error as e:
self.printer.invoke_shutdown(str(e))
def _handle_mcu_identify(self):
# Lookup stepper object
force_move = self.printer.lookup_object("force_move")
self.stepper = force_move.lookup_stepper(self.stepper_name)
# Note pulse duration and step_both_edge optimizations available
self.stepper.setup_default_pulse_duration(.000000100, True)
def _handle_stepper_enable(self, print_time, is_enable):
if is_enable:
cb = (lambda ev: self._do_enable(print_time))
@ -352,9 +360,10 @@ class TMCCommandHelper:
cb = (lambda ev: self._do_disable(print_time))
self.printer.get_reactor().register_callback(cb)
def _handle_connect(self):
# Lookup stepper object
force_move = self.printer.lookup_object("force_move")
self.stepper = force_move.lookup_stepper(self.stepper_name)
# Check if using step on both edges optimization
pulse_duration, step_both_edge = self.stepper.get_pulse_duration()
if step_both_edge:
self.fields.set_field("dedge", 1)
# Check for soft stepper enable/disable
enable_line = self.stepper_enable.lookup_enable(self.stepper_name)
enable_line.register_state_callback(self._handle_stepper_enable)

1
klippy/extras/tmc2660.py
View File

@ -98,7 +98,6 @@ SignedFields = ["sgt"]
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
"dedge": (lambda v: "1(Both Edges Active!)" if v else ""),
"chm": (lambda v: "1(constant toff)" if v else "0(spreadCycle)"),
"vsense": (lambda v: "1(165mV)" if v else "0(305mV)"),
"sdoff": (lambda v: "1(Step/Dir disabled!)" if v else ""),

16
klippy/stepper.py
View File

@ -32,6 +32,7 @@ class MCU_stepper:
"Stepper dir pin must be on same mcu as step pin")
self._dir_pin = dir_pin_params['pin']
self._invert_dir = dir_pin_params['invert']
self._step_both_edge = self._req_step_both_edge = False
self._mcu_position_offset = 0.
self._reset_cmd_tag = self._get_position_cmd = None
self._active_callbacks = []
@ -54,6 +55,12 @@ class MCU_stepper:
def units_in_radians(self):
# Returns true if distances are in radians instead of millimeters
return self._units_in_radians
def get_pulse_duration(self):
return self._step_pulse_duration, self._step_both_edge
def setup_default_pulse_duration(self, pulse_duration, step_both_edge):
if self._step_pulse_duration is None:
self._step_pulse_duration = pulse_duration
self._req_step_both_edge = step_both_edge
def setup_itersolve(self, alloc_func, *params):
ffi_main, ffi_lib = chelper.get_ffi()
sk = ffi_main.gc(getattr(ffi_lib, alloc_func)(*params), ffi_lib.free)
@ -61,11 +68,18 @@ class MCU_stepper:
def _build_config(self):
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:
# Enable stepper optimized step on both edges
self._step_both_edge = True
self._step_pulse_duration = 0.
invert_step = -1
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"
" step_pulse_ticks=%u" % (self._oid, self._step_pin, self._dir_pin,
self._invert_step, step_pulse_ticks))
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(

3
src/Kconfig
View File

@ -108,6 +108,9 @@ config HAVE_STRICT_TIMING
config HAVE_CHIPID
bool
default n
config HAVE_STEPPER_BOTH_EDGE
bool
default n
config INLINE_STEPPER_HACK
# Enables gcc to inline stepper_event() into the main timer irq handler

1
src/atsam/Kconfig
View File

@ -13,6 +13,7 @@ config ATSAM_SELECT
select HAVE_GPIO_BITBANGING
select HAVE_STRICT_TIMING
select HAVE_CHIPID
select HAVE_STEPPER_BOTH_EDGE
config BOARD_DIRECTORY
string

1
src/atsamd/Kconfig
View File

@ -13,6 +13,7 @@ config ATSAMD_SELECT
select HAVE_GPIO_BITBANGING
select HAVE_STRICT_TIMING
select HAVE_CHIPID
select HAVE_STEPPER_BOTH_EDGE
config HAVE_SERCOM
depends on HAVE_GPIO_I2C || HAVE_GPIO_SPI

1
src/lpc176x/Kconfig
View File

@ -13,6 +13,7 @@ config LPC_SELECT
select HAVE_STRICT_TIMING
select HAVE_CHIPID
select HAVE_GPIO_HARD_PWM
select HAVE_STEPPER_BOTH_EDGE
config BOARD_DIRECTORY
string

1
src/rp2040/Kconfig
View File

@ -12,6 +12,7 @@ config RP2040_SELECT
select HAVE_STRICT_TIMING
select HAVE_CHIPID
select HAVE_GPIO_HARD_PWM
select HAVE_STEPPER_BOTH_EDGE
config BOARD_DIRECTORY
string

49
src/stepper.c
View File

@ -14,9 +14,18 @@
#include "stepper.h" // stepper_event
#include "trsync.h" // trsync_add_signal
#if CONFIG_INLINE_STEPPER_HACK && CONFIG_MACH_AVR
#if CONFIG_INLINE_STEPPER_HACK && CONFIG_HAVE_STEPPER_BOTH_EDGE
#define HAVE_SINGLE_SCHEDULE 1
#define HAVE_EDGE_OPTIMIZATION 1
#define HAVE_AVR_OPTIMIZATION 0
DECL_CONSTANT("STEPPER_BOTH_EDGE", 1);
#elif CONFIG_INLINE_STEPPER_HACK && CONFIG_MACH_AVR
#define HAVE_SINGLE_SCHEDULE 1
#define HAVE_EDGE_OPTIMIZATION 0
#define HAVE_AVR_OPTIMIZATION 1
#else
#define HAVE_SINGLE_SCHEDULE 0
#define HAVE_EDGE_OPTIMIZATION 0
#define HAVE_AVR_OPTIMIZATION 0
#endif
@ -66,9 +75,10 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
struct stepper_move *m = container_of(mn, struct stepper_move, node);
s->add = m->add;
s->interval = m->interval + m->add;
if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED) {
if (HAVE_SINGLE_SCHEDULE && s->flags & SF_SINGLE_SCHED) {
s->time.waketime += m->interval;
s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
if (HAVE_AVR_OPTIMIZATION)
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
@ -97,6 +107,22 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
return SF_RESCHEDULE;
}
// Optimized step function to step on each step pin edge
uint_fast8_t
stepper_event_edge(struct timer *t)
{
struct stepper *s = container_of(t, struct stepper, time);
gpio_out_toggle_noirq(s->step_pin);
uint32_t count = s->count - 1;
if (likely(count)) {
s->count = count;
s->time.waketime += s->interval;
s->interval += s->add;
return SF_RESCHEDULE;
}
return stepper_load_next(s, 0);
}
#define AVR_STEP_INSNS 40 // minimum instructions between step gpio pulses
// AVR optimized step function
@ -150,6 +176,8 @@ reschedule_min:
uint_fast8_t
stepper_event(struct timer *t)
{
if (HAVE_EDGE_OPTIMIZATION)
return stepper_event_edge(t);
if (HAVE_AVR_OPTIMIZATION)
return stepper_event_avr(t);
return stepper_event_full(t);
@ -159,13 +187,19 @@ void
command_config_stepper(uint32_t *args)
{
struct stepper *s = oid_alloc(args[0], command_config_stepper, sizeof(*s));
s->flags = args[3] ? SF_INVERT_STEP : 0;
int_fast8_t invert_step = args[3];
s->flags = invert_step > 0 ? 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 (HAVE_EDGE_OPTIMIZATION) {
if (!s->step_pulse_ticks && invert_step < 0)
s->flags |= SF_SINGLE_SCHED;
else
s->time.func = stepper_event_full;
} else if (HAVE_AVR_OPTIMIZATION) {
if (s->step_pulse_ticks <= AVR_STEP_INSNS)
s->flags |= SF_SINGLE_SCHED;
else
@ -252,7 +286,7 @@ stepper_get_position(struct stepper *s)
{
uint32_t position = s->position;
// If stepper is mid-move, subtract out steps not yet taken
if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED)
if (HAVE_SINGLE_SCHEDULE && s->flags & SF_SINGLE_SCHED)
position -= s->count;
else
position -= s->count / 2;
@ -286,7 +320,8 @@ stepper_stop(struct trsync_signal *tss, uint8_t reason)
s->count = 0;
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);
if (!(HAVE_EDGE_OPTIMIZATION && s->flags & SF_SINGLE_SCHED))
gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP);
while (!move_queue_empty(&s->mq)) {
struct move_node *mn = move_queue_pop(&s->mq);
struct stepper_move *m = container_of(mn, struct stepper_move, node);

1
src/stm32/Kconfig
View File

@ -13,6 +13,7 @@ config STM32_SELECT
select HAVE_GPIO_BITBANGING if !MACH_STM32F031
select HAVE_STRICT_TIMING
select HAVE_CHIPID
select HAVE_STEPPER_BOTH_EDGE
config BOARD_DIRECTORY
string