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itersolve: Implement a step+dir+step filter

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Some stepper motor drivers do not respond well to rapid "step +
direction change + step" events.  In particular, it is believed this
can cause "over current" events on the tmc2208 drivers when they are
in "stealthchop" mode.  Detect these events and remove them from the
generated step times.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-02-25 12:54:55 -05:00
parent 8f8c1e2c58
commit c9cb462f90
3 changed files with 85 additions and 8 deletions
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7
klippy/toolhead.py
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@ -1,6 +1,6 @@
# Code for coordinating events on the printer toolhead
#
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, importlib
@ -183,6 +183,7 @@ class MoveQueue:
MIN_KIN_TIME = 0.100
MOVE_BATCH_TIME = 0.500
SDS_CHECK_TIME = 0.001 # step+dir+step filter in itersolve.c
DRIP_SEGMENT_TIME = 0.050
DRIP_TIME = 0.100
@ -236,7 +237,7 @@ class ToolHead:
self.print_stall = 0
self.drip_completion = None
# Kinematic step generation scan window time tracking
self.kin_flush_delay = 0.
self.kin_flush_delay = SDS_CHECK_TIME
self.kin_flush_times = []
self.last_kin_flush_time = self.last_kin_move_time = 0.
# Setup iterative solver
@ -512,7 +513,7 @@ class ToolHead:
self.kin_flush_times.pop(self.kin_flush_times.index(old_delay))
if delay:
self.kin_flush_times.append(delay)
new_delay = max(self.kin_flush_times + [0.])
new_delay = max(self.kin_flush_times + [SDS_CHECK_TIME])
self.kin_flush_delay = new_delay
def register_lookahead_callback(self, callback):
last_move = self.move_queue.get_last()