stepper: Remove min_stop_interval from mcu code
Now that the host never uses a min_stop_interval, remove it from the mcu code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
b1ea4f3bef
commit
8f76e53c0e
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@ -92,9 +92,9 @@ The following configuration sequence is used on AVR chips:
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```
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PINS arduino
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allocate_oids count=3
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config_stepper oid=0 step_pin=ar29 dir_pin=ar28 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=ar27 dir_pin=ar26 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=ar23 dir_pin=ar22 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=ar29 dir_pin=ar28 invert_step=0
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config_stepper oid=1 step_pin=ar27 dir_pin=ar26 invert_step=0
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config_stepper oid=2 step_pin=ar23 dir_pin=ar22 invert_step=0
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finalize_config crc=0
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```
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@ -114,9 +114,9 @@ results match tests on both a 16Mhz at90usb and a 16Mhz atmega2560).
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The following configuration sequence is used on the Due:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PB27 dir_pin=PA21 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=PB26 dir_pin=PC30 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=PA21 dir_pin=PC30 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=PB27 dir_pin=PA21 invert_step=0
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config_stepper oid=1 step_pin=PB26 dir_pin=PC30 invert_step=0
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config_stepper oid=2 step_pin=PA21 dir_pin=PC30 invert_step=0
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finalize_config crc=0
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```
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@ -136,9 +136,9 @@ The test was last run on commit `8d4a5c16` with gcc version
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The following configuration sequence is used on the Duet Maestro:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PC26 dir_pin=PC18 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=PC26 dir_pin=PA8 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=PC26 dir_pin=PB4 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=PC26 dir_pin=PC18 invert_step=0
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config_stepper oid=1 step_pin=PC26 dir_pin=PA8 invert_step=0
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config_stepper oid=2 step_pin=PC26 dir_pin=PB4 invert_step=0
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finalize_config crc=0
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```
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@ -158,10 +158,10 @@ The test was last run on commit `8d4a5c16` with gcc version
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The following configuration sequence is used on the Duet Wifi:
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```
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allocate_oids count=4
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config_stepper oid=0 step_pin=PD6 dir_pin=PD11 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=PD7 dir_pin=PD12 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=PD8 dir_pin=PD13 min_stop_interval=0 invert_step=0
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config_stepper oid=3 step_pin=PD5 dir_pin=PA1 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=PD6 dir_pin=PD11 invert_step=0
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config_stepper oid=1 step_pin=PD7 dir_pin=PD12 invert_step=0
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config_stepper oid=2 step_pin=PD8 dir_pin=PD13 invert_step=0
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config_stepper oid=3 step_pin=PD5 dir_pin=PA1 invert_step=0
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finalize_config crc=0
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```
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@ -183,9 +183,9 @@ The following configuration sequence is used on the PRU:
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```
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PINS beaglebone
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allocate_oids count=3
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config_stepper oid=0 step_pin=P8_13 dir_pin=P8_12 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=P8_15 dir_pin=P8_14 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=P8_19 dir_pin=P8_18 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=P8_13 dir_pin=P8_12 invert_step=0
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config_stepper oid=1 step_pin=P8_15 dir_pin=P8_14 invert_step=0
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config_stepper oid=2 step_pin=P8_19 dir_pin=P8_18 invert_step=0
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finalize_config crc=0
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```
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@ -203,9 +203,9 @@ The test was last run on commit `b161a69e` with gcc version `pru-gcc
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The following configuration sequence is used on the STM32F042:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PA1 dir_pin=PA2 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=PA3 dir_pin=PA2 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=PB8 dir_pin=PA2 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=PA1 dir_pin=PA2 invert_step=0
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config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=0
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config_stepper oid=2 step_pin=PB8 dir_pin=PA2 invert_step=0
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finalize_config crc=0
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```
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@ -223,9 +223,9 @@ The test was last run on commit `0b0c47c5` with gcc version
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The following configuration sequence is used on the STM32F103:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PC13 dir_pin=PB5 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=PB3 dir_pin=PB6 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=PA4 dir_pin=PB7 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=PC13 dir_pin=PB5 invert_step=0
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config_stepper oid=1 step_pin=PB3 dir_pin=PB6 invert_step=0
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config_stepper oid=2 step_pin=PA4 dir_pin=PB7 invert_step=0
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finalize_config crc=0
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```
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@ -245,10 +245,10 @@ The test was last run on commit `8d4a5c16` with gcc version
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The following configuration sequence is used on the STM32F4:
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```
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allocate_oids count=4
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config_stepper oid=0 step_pin=PA5 dir_pin=PB5 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=PB2 dir_pin=PB6 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=PB3 dir_pin=PB7 min_stop_interval=0 invert_step=0
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config_stepper oid=3 step_pin=PB3 dir_pin=PB8 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=PA5 dir_pin=PB5 invert_step=0
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config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=0
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config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=0
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config_stepper oid=3 step_pin=PB3 dir_pin=PB8 invert_step=0
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finalize_config crc=0
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```
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@ -280,9 +280,9 @@ using a 168Mhz clock).
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The following configuration sequence is used on the LPC176x:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 invert_step=0
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config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 invert_step=0
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config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 invert_step=0
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finalize_config crc=0
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```
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@ -311,9 +311,9 @@ results were obtained by overclocking an LPC1768 to 120Mhz.
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The following configuration sequence is used on the SAMD21:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=PA27 dir_pin=PA20 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=PB3 dir_pin=PA21 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=PA17 dir_pin=PA21 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=PA27 dir_pin=PA20 invert_step=0
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config_stepper oid=1 step_pin=PB3 dir_pin=PA21 invert_step=0
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config_stepper oid=2 step_pin=PA17 dir_pin=PA21 invert_step=0
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finalize_config crc=0
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```
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@ -334,11 +334,11 @@ micro-controller.
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The following configuration sequence is used on the SAMD51:
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```
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allocate_oids count=5
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config_stepper oid=0 step_pin=PA22 dir_pin=PA20 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=PA22 dir_pin=PA21 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=PA22 dir_pin=PA19 min_stop_interval=0 invert_step=0
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config_stepper oid=3 step_pin=PA22 dir_pin=PA18 min_stop_interval=0 invert_step=0
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config_stepper oid=4 step_pin=PA23 dir_pin=PA17 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=PA22 dir_pin=PA20 invert_step=0
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config_stepper oid=1 step_pin=PA22 dir_pin=PA21 invert_step=0
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config_stepper oid=2 step_pin=PA22 dir_pin=PA19 invert_step=0
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config_stepper oid=3 step_pin=PA22 dir_pin=PA18 invert_step=0
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config_stepper oid=4 step_pin=PA23 dir_pin=PA17 invert_step=0
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finalize_config crc=0
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```
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@ -365,9 +365,9 @@ micro-controller.
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The following configuration sequence is used on a Raspberry Pi:
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```
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allocate_oids count=3
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config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 min_stop_interval=0 invert_step=0
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config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 min_stop_interval=0 invert_step=0
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config_stepper oid=2 step_pin=gpio6 dir_pin=gpio7 min_stop_interval=0 invert_step=0
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config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 invert_step=0
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config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 invert_step=0
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config_stepper oid=2 step_pin=gpio6 dir_pin=gpio7 invert_step=0
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finalize_config crc=0
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```
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@ -517,15 +517,13 @@ enabled:
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the given distance (in mm) at the given constant velocity (in
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mm/s). If ACCEL is specified and is greater than zero, then the
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given acceleration (in mm/s^2) will be used; otherwise no
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acceleration is performed. If acceleration is not performed then it
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can lead to the micro-controller reporting "No next step" errors
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(avoid these errors by specifying an ACCEL value or use a very low
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VELOCITY). No boundary checks are performed; no kinematic updates
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are made; other parallel steppers on an axis will not be moved. Use
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caution as an incorrect command could cause damage! Using this
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command will almost certainly place the low-level kinematics in an
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incorrect state; issue a G28 afterwards to reset the kinematics.
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This command is intended for low-level diagnostics and debugging.
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acceleration is performed. No boundary checks are performed; no
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kinematic updates are made; other parallel steppers on an axis will
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not be moved. Use caution as an incorrect command could cause
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damage! Using this command will almost certainly place the low-level
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kinematics in an incorrect state; issue a G28 afterwards to reset
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the kinematics. This command is intended for low-level diagnostics
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and debugging.
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- `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
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the low-level kinematic code to believe the toolhead is at the given
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cartesian position. This is a diagnostic and debugging command; use
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@ -138,17 +138,12 @@ This section lists some commonly used config commands.
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sampled at regular interval using the query_analog_in command (see
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below).
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* `config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u
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invert_step=%c` : This command creates an internal stepper
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object. The 'step_pin' and 'dir_pin' parameters specify the step and
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direction pins respectively; this command will configure them in
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digital output mode. The 'invert_step' parameter specifies whether a
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step occurs on a rising edge (invert_step=0) or falling edge
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(invert_step=1). The 'min_stop_interval' implements a safety
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feature - it is checked when the micro-controller finishes all moves
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for a stepper - if it is non-zero it specifies the minimum number of
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clock ticks since the last step. It is used as a check on the
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maximum stepper velocity that a stepper may have before stopping.
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* `config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c` : This
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command creates an internal stepper object. The 'step_pin' and
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'dir_pin' parameters specify the step and direction pins
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respectively; this command will configure them in digital output
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mode. The 'invert_step' parameter specifies whether a step occurs on
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a rising edge (invert_step=0) or falling edge (invert_step=1).
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* `config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c` : This
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command creates an internal "endstop" object. It is used to specify
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@ -824,7 +824,7 @@ class MCU:
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return False, '%s: %s' % (self._name, stats)
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Common_MCU_errors = {
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("Timer too close", "No next step"): """
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("Timer too close",): """
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This often indicates the host computer is overloaded. Check
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for other processes consuming excessive CPU time, high swap
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usage, disk errors, overheating, unstable voltage, or
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@ -61,8 +61,7 @@ class MCU_stepper:
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self.set_stepper_kinematics(sk)
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def _build_config(self):
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self._mcu.add_config_cmd(
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"config_stepper oid=%d step_pin=%s dir_pin=%s"
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" min_stop_interval=0 invert_step=%d" % (
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"config_stepper oid=%d step_pin=%s dir_pin=%s invert_step=%d" % (
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self._oid, self._step_pin, self._dir_pin, self._invert_step))
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self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0"
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% (self._oid,), on_restart=True)
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@ -44,7 +44,6 @@ struct stepper {
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struct gpio_out step_pin, dir_pin;
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uint32_t position;
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struct move_queue_head mq;
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uint32_t min_stop_interval;
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// gcc (pre v6) does better optimization when uint8_t are bitfields
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uint8_t flags : 8;
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};
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@ -53,7 +52,7 @@ enum { POSITION_BIAS=0x40000000 };
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enum {
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SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_HAVE_ADD=1<<3,
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SF_LAST_RESET=1<<4, SF_NO_NEXT_CHECK=1<<5, SF_NEED_RESET=1<<6
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SF_LAST_RESET=1<<4, SF_NEED_RESET=1<<5
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};
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// Setup a stepper for the next move in its queue
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@ -62,9 +61,6 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
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{
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if (move_queue_empty(&s->mq)) {
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// There is no next move - the queue is empty
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if (s->interval - s->add < s->min_stop_interval
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&& !(s->flags & SF_NO_NEXT_CHECK))
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shutdown("No next step");
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s->count = 0;
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return SF_DONE;
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}
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@ -186,16 +182,14 @@ command_config_stepper(uint32_t *args)
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struct stepper *s = oid_alloc(args[0], command_config_stepper, sizeof(*s));
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if (!CONFIG_INLINE_STEPPER_HACK)
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s->time.func = stepper_event;
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s->flags = args[4] ? SF_INVERT_STEP : 0;
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s->flags = args[3] ? SF_INVERT_STEP : 0;
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s->step_pin = gpio_out_setup(args[1], s->flags & SF_INVERT_STEP);
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s->dir_pin = gpio_out_setup(args[2], 0);
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s->min_stop_interval = args[3];
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s->position = -POSITION_BIAS;
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move_queue_setup(&s->mq, sizeof(struct stepper_move));
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}
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DECL_COMMAND(command_config_stepper,
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"config_stepper oid=%c step_pin=%c dir_pin=%c"
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" min_stop_interval=%u invert_step=%c");
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"config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c");
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// Return the 'struct stepper' for a given stepper oid
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struct stepper *
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@ -223,10 +217,6 @@ command_queue_step(uint32_t *args)
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flags ^= SF_LAST_DIR;
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m->flags |= MF_DIR;
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}
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flags &= ~SF_NO_NEXT_CHECK;
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if (m->count == 1 && (m->flags || flags & SF_LAST_RESET))
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// count=1 moves after a reset or dir change can have small intervals
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flags |= SF_NO_NEXT_CHECK;
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flags &= ~SF_LAST_RESET;
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if (s->count) {
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s->flags = flags;
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