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

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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
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@ -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)