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stepper: Support step on both edges with custom minimum pulse duration

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Add support for "step on both edges" to the main stepper_event_full()
code.  This makes that mode of operation available even when the
micro-controller is not compiled for "optimized step on both edges".
It also enables the custom pulse duration support (step_pulse_ticks)
when in "step on both edges" mode.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-03-09 20:08:49 -04:00
parent 272e815522
commit 8faed8d9fe
10 changed files with 74 additions and 37 deletions
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35
klippy/stepper.py
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@@ -1,6 +1,6 @@
# Printer stepper support
#
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2025 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, collections
@@ -14,7 +14,8 @@ class error(Exception):
# Steppers
######################################################################
MIN_BOTH_EDGE_DURATION = 0.000000200
MIN_BOTH_EDGE_DURATION = 0.000000500
MIN_OPTIMIZED_BOTH_EDGE_DURATION = 0.000000150
# Interface to low-level mcu and chelper code
class MCU_stepper:
@@ -75,13 +76,33 @@ class MCU_stepper:
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
and self._step_pulse_duration <= MIN_BOTH_EDGE_DURATION):
# Enable stepper optimized step on both edges
# Check if can enable "step on both edges"
constants = self._mcu.get_constants()
ssbe = int(constants.get('STEPPER_STEP_BOTH_EDGE', '0'))
sbe = int(constants.get('STEPPER_BOTH_EDGE', '0'))
sou = int(constants.get('STEPPER_OPTIMIZED_UNSTEP', '0'))
want_both_edges = self._req_step_both_edge
if self._step_pulse_duration > MIN_BOTH_EDGE_DURATION:
# If user has requested a very large step pulse duration
# then disable step on both edges (rise and fall times may
# not be symetric)
want_both_edges = False
elif sbe and self._step_pulse_duration>MIN_OPTIMIZED_BOTH_EDGE_DURATION:
# Older MCU and user has requested large pulse duration
want_both_edges = False
elif not sbe and not ssbe:
# Older MCU that doesn't support step on both edges
want_both_edges = False
elif sou:
# MCU has optimized step/unstep - better to use that
want_both_edges = False
if want_both_edges:
self._step_both_edge = True
self._step_pulse_duration = 0.
invert_step = -1
if sbe:
# Older MCU requires setting step_pulse_ticks=0 to enable
self._step_pulse_duration = 0.
# Configure stepper object
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"