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stepper: Remove min_stop_interval from mcu code

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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
2021-04-25 15:02:42 -04:00
parent b1ea4f3bef
commit 8f76e53c0e
6 changed files with 58 additions and 76 deletions
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80
docs/Benchmarks.md
View File

@@ -92,9 +92,9 @@ The following configuration sequence is used on AVR chips:
```
PINS arduino
allocate_oids count=3
config_stepper oid=0 step_pin=ar29 dir_pin=ar28 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=ar27 dir_pin=ar26 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=ar23 dir_pin=ar22 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=ar29 dir_pin=ar28 invert_step=0
config_stepper oid=1 step_pin=ar27 dir_pin=ar26 invert_step=0
config_stepper oid=2 step_pin=ar23 dir_pin=ar22 invert_step=0
finalize_config crc=0
```
@@ -114,9 +114,9 @@ results match tests on both a 16Mhz at90usb and a 16Mhz atmega2560).
The following configuration sequence is used on the Due:
```
allocate_oids count=3
config_stepper oid=0 step_pin=PB27 dir_pin=PA21 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=PB26 dir_pin=PC30 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=PA21 dir_pin=PC30 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=PB27 dir_pin=PA21 invert_step=0
config_stepper oid=1 step_pin=PB26 dir_pin=PC30 invert_step=0
config_stepper oid=2 step_pin=PA21 dir_pin=PC30 invert_step=0
finalize_config crc=0
```
@@ -136,9 +136,9 @@ The test was last run on commit `8d4a5c16` with gcc version
The following configuration sequence is used on the Duet Maestro:
```
allocate_oids count=3
config_stepper oid=0 step_pin=PC26 dir_pin=PC18 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=PC26 dir_pin=PA8 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=PC26 dir_pin=PB4 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=PC26 dir_pin=PC18 invert_step=0
config_stepper oid=1 step_pin=PC26 dir_pin=PA8 invert_step=0
config_stepper oid=2 step_pin=PC26 dir_pin=PB4 invert_step=0
finalize_config crc=0
```
@@ -158,10 +158,10 @@ The test was last run on commit `8d4a5c16` with gcc version
The following configuration sequence is used on the Duet Wifi:
```
allocate_oids count=4
config_stepper oid=0 step_pin=PD6 dir_pin=PD11 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=PD7 dir_pin=PD12 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=PD8 dir_pin=PD13 min_stop_interval=0 invert_step=0
config_stepper oid=3 step_pin=PD5 dir_pin=PA1 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=PD6 dir_pin=PD11 invert_step=0
config_stepper oid=1 step_pin=PD7 dir_pin=PD12 invert_step=0
config_stepper oid=2 step_pin=PD8 dir_pin=PD13 invert_step=0
config_stepper oid=3 step_pin=PD5 dir_pin=PA1 invert_step=0
finalize_config crc=0
```
@@ -183,9 +183,9 @@ The following configuration sequence is used on the PRU:
```
PINS beaglebone
allocate_oids count=3
config_stepper oid=0 step_pin=P8_13 dir_pin=P8_12 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=P8_15 dir_pin=P8_14 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=P8_19 dir_pin=P8_18 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=P8_13 dir_pin=P8_12 invert_step=0
config_stepper oid=1 step_pin=P8_15 dir_pin=P8_14 invert_step=0
config_stepper oid=2 step_pin=P8_19 dir_pin=P8_18 invert_step=0
finalize_config crc=0
```
@@ -203,9 +203,9 @@ The test was last run on commit `b161a69e` with gcc version `pru-gcc
The following configuration sequence is used on the STM32F042:
```
allocate_oids count=3
config_stepper oid=0 step_pin=PA1 dir_pin=PA2 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=PA3 dir_pin=PA2 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=PB8 dir_pin=PA2 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=PA1 dir_pin=PA2 invert_step=0
config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=0
config_stepper oid=2 step_pin=PB8 dir_pin=PA2 invert_step=0
finalize_config crc=0
```
@@ -223,9 +223,9 @@ The test was last run on commit `0b0c47c5` with gcc version
The following configuration sequence is used on the STM32F103:
```
allocate_oids count=3
config_stepper oid=0 step_pin=PC13 dir_pin=PB5 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=PB3 dir_pin=PB6 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=PA4 dir_pin=PB7 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=PC13 dir_pin=PB5 invert_step=0
config_stepper oid=1 step_pin=PB3 dir_pin=PB6 invert_step=0
config_stepper oid=2 step_pin=PA4 dir_pin=PB7 invert_step=0
finalize_config crc=0
```
@@ -245,10 +245,10 @@ The test was last run on commit `8d4a5c16` with gcc version
The following configuration sequence is used on the STM32F4:
```
allocate_oids count=4
config_stepper oid=0 step_pin=PA5 dir_pin=PB5 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=PB2 dir_pin=PB6 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=PB3 dir_pin=PB7 min_stop_interval=0 invert_step=0
config_stepper oid=3 step_pin=PB3 dir_pin=PB8 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=PA5 dir_pin=PB5 invert_step=0
config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=0
config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=0
config_stepper oid=3 step_pin=PB3 dir_pin=PB8 invert_step=0
finalize_config crc=0
```
@@ -280,9 +280,9 @@ using a 168Mhz clock).
The following configuration sequence is used on the LPC176x:
```
allocate_oids count=3
config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=P1.20 dir_pin=P1.18 invert_step=0
config_stepper oid=1 step_pin=P1.21 dir_pin=P1.18 invert_step=0
config_stepper oid=2 step_pin=P1.23 dir_pin=P1.18 invert_step=0
finalize_config crc=0
```
@@ -311,9 +311,9 @@ results were obtained by overclocking an LPC1768 to 120Mhz.
The following configuration sequence is used on the SAMD21:
```
allocate_oids count=3
config_stepper oid=0 step_pin=PA27 dir_pin=PA20 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=PB3 dir_pin=PA21 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=PA17 dir_pin=PA21 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=PA27 dir_pin=PA20 invert_step=0
config_stepper oid=1 step_pin=PB3 dir_pin=PA21 invert_step=0
config_stepper oid=2 step_pin=PA17 dir_pin=PA21 invert_step=0
finalize_config crc=0
```
@@ -334,11 +334,11 @@ micro-controller.
The following configuration sequence is used on the SAMD51:
```
allocate_oids count=5
config_stepper oid=0 step_pin=PA22 dir_pin=PA20 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=PA22 dir_pin=PA21 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=PA22 dir_pin=PA19 min_stop_interval=0 invert_step=0
config_stepper oid=3 step_pin=PA22 dir_pin=PA18 min_stop_interval=0 invert_step=0
config_stepper oid=4 step_pin=PA23 dir_pin=PA17 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=PA22 dir_pin=PA20 invert_step=0
config_stepper oid=1 step_pin=PA22 dir_pin=PA21 invert_step=0
config_stepper oid=2 step_pin=PA22 dir_pin=PA19 invert_step=0
config_stepper oid=3 step_pin=PA22 dir_pin=PA18 invert_step=0
config_stepper oid=4 step_pin=PA23 dir_pin=PA17 invert_step=0
finalize_config crc=0
```
@@ -365,9 +365,9 @@ micro-controller.
The following configuration sequence is used on a Raspberry Pi:
```
allocate_oids count=3
config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 min_stop_interval=0 invert_step=0
config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 min_stop_interval=0 invert_step=0
config_stepper oid=2 step_pin=gpio6 dir_pin=gpio7 min_stop_interval=0 invert_step=0
config_stepper oid=0 step_pin=gpio2 dir_pin=gpio3 invert_step=0
config_stepper oid=1 step_pin=gpio4 dir_pin=gpio5 invert_step=0
config_stepper oid=2 step_pin=gpio6 dir_pin=gpio7 invert_step=0
finalize_config crc=0
```

16
docs/G-Codes.md
View File

@@ -517,15 +517,13 @@ enabled:
the given distance (in mm) at the given constant velocity (in
mm/s). If ACCEL is specified and is greater than zero, then the
given acceleration (in mm/s^2) will be used; otherwise no
acceleration is performed. If acceleration is not performed then it
can lead to the micro-controller reporting "No next step" errors
(avoid these errors by specifying an ACCEL value or use a very low
VELOCITY). No boundary checks are performed; no kinematic updates
are made; other parallel steppers on an axis will not be moved. Use
caution as an incorrect command could cause damage! Using this
command will almost certainly place the low-level kinematics in an
incorrect state; issue a G28 afterwards to reset the kinematics.
This command is intended for low-level diagnostics and debugging.
acceleration is performed. No boundary checks are performed; no
kinematic updates are made; other parallel steppers on an axis will
not be moved. Use caution as an incorrect command could cause
damage! Using this command will almost certainly place the low-level
kinematics in an incorrect state; issue a G28 afterwards to reset
the kinematics. This command is intended for low-level diagnostics
and debugging.
- `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
the low-level kinematic code to believe the toolhead is at the given
cartesian position. This is a diagnostic and debugging command; use

17
docs/MCU_Commands.md
View File

@@ -138,17 +138,12 @@ This section lists some commonly used config commands.
sampled at regular interval using the query_analog_in command (see
below).
* `config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u
invert_step=%c` : This command creates an internal stepper
object. The 'step_pin' and 'dir_pin' parameters specify the step and
direction pins respectively; this command will configure them in
digital output mode. The 'invert_step' parameter specifies whether a
step occurs on a rising edge (invert_step=0) or falling edge
(invert_step=1). The 'min_stop_interval' implements a safety
feature - it is checked when the micro-controller finishes all moves
for a stepper - if it is non-zero it specifies the minimum number of
clock ticks since the last step. It is used as a check on the
maximum stepper velocity that a stepper may have before stopping.
* `config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c` : This
command creates an internal stepper object. The 'step_pin' and
'dir_pin' parameters specify the step and direction pins
respectively; this command will configure them in digital output
mode. The 'invert_step' parameter specifies whether a step occurs on
a rising edge (invert_step=0) or falling edge (invert_step=1).
* `config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c` : This
command creates an internal "endstop" object. It is used to specify