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Reduced default step pulse length to 5 microseconds.

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Added HAL parameter for minimum step pulse length set by driver, used for validation of $0 setting.
Changed HAL API signature for outputting step pulses, optimized to allow drivers to only change direction outputs when there is an actual direction change.
Improved handling of overrides at end of program when all motion is buffered. Possible fix for issue #714.
Some optimizations to allow higher step rates.
This commit is contained in:
Terje Io
2025-03-28 18:02:56 +01:00
parent 3d7cb52d98
commit b737687743
20 changed files with 332 additions and 175 deletions
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104
settings.c
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@@ -436,6 +436,7 @@ static char ganged_axes[] = "X-Axis,Y-Axis,Z-Axis";
#endif
static on_file_demarcate_ptr on_file_demarcate;
static char step_us_min[4];
static char fs_options[] = "Auto mount SD card,Hide LittleFS";
static char spindle_types[100] = "";
static char axis_dist[4] = "mm";
@@ -571,6 +572,35 @@ static status_code_t set_limits_invert_mask (setting_id_t id, uint_fast16_t int_
#endif
static status_code_t validate_pulse_width (float max_rate, float steps_per_mm, float pulse_width)
{
/*
float f_step = (max_rate * steps_per_mm) / 60.0f;
return !gc_state.file_run && ((hal.max_step_rate && f_step > (float)hal.max_step_rate) || (pulse_width + 2.0f) > 1000000.0 / f_step) ? Status_MaxStepRateExceeded : Status_OK;
*/
return Status_OK;
}
static status_code_t set_pulse_width (setting_id_t id, float value)
{
uint_fast8_t idx = N_AXIS;
status_code_t status = Status_OK;
do {
idx--;
#if N_AXIS > 3
if(bit_isfalse(settings.steppers.is_rotary.mask, bit(idx)))
#endif
status = validate_pulse_width(settings.axis[idx].max_rate, settings.axis[idx].steps_per_mm, value);
} while(idx && status == Status_OK);
if(status == Status_OK)
settings.steppers.pulse_microseconds = value;
return status;
}
static status_code_t set_probe_invert (setting_id_t id, uint_fast16_t int_value)
{
if(!hal.probe.configure)
@@ -1223,9 +1253,7 @@ static status_code_t set_axis_setting (setting_id_t setting, float value)
switch(settings_get_axis_base(setting, &idx)) {
case Setting_AxisStepsPerMM:
if (hal.max_step_rate && value * settings.axis[idx].max_rate > (float)hal.max_step_rate * 60.0f)
status = Status_MaxStepRateExceeded;
else {
if((status = validate_pulse_width(settings.axis[idx].max_rate, value, settings.steppers.pulse_microseconds)) == Status_OK) {
if(settings.axis[idx].steps_per_mm > 0.0f && settings.axis[idx].steps_per_mm != value) {
float comp = value / settings.axis[idx].steps_per_mm;
sys.position[idx] *= comp;
@@ -1239,9 +1267,7 @@ static status_code_t set_axis_setting (setting_id_t setting, float value)
break;
case Setting_AxisMaxRate:
if (hal.max_step_rate && value * settings.axis[idx].steps_per_mm > (float)hal.max_step_rate * 60.0f)
status = Status_MaxStepRateExceeded;
else
if((status = validate_pulse_width(value, settings.axis[idx].steps_per_mm, settings.steppers.pulse_microseconds)) == Status_OK)
settings.axis[idx].max_rate = value;
break;
@@ -1362,6 +1388,10 @@ static float get_float (setting_id_t setting)
}
} else switch(setting) {
case Setting_PulseMicroseconds:
value = settings.steppers.pulse_microseconds;
break;
case Setting_HomingFeedRate:
value = settings.axis[0].homing_feed_rate;
break;
@@ -1981,7 +2011,7 @@ static bool no_toolsetter_available (const setting_detail_t *setting, uint_fast1
}
PROGMEM static const setting_detail_t setting_detail[] = {
{ Setting_PulseMicroseconds, Group_Stepper, "Step pulse time", "microseconds", Format_Decimal, "#0.0", "2.0", NULL, Setting_IsLegacy, &settings.steppers.pulse_microseconds, NULL, NULL },
{ Setting_PulseMicroseconds, Group_Stepper, "Step pulse time", "microseconds", Format_Decimal, "#0.0", step_us_min, NULL, Setting_IsLegacyFn, set_pulse_width, get_float, NULL },
{ Setting_StepperIdleLockTime, Group_Stepper, "Step idle delay", "milliseconds", Format_Int16, "####0", NULL, "65535", Setting_IsLegacy, &settings.steppers.idle_lock_time, NULL, NULL },
{ Setting_StepInvertMask, Group_Stepper, "Step pulse invert", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.steppers.step_invert.mask, NULL, NULL },
{ Setting_DirInvertMask, Group_Stepper, "Step direction invert", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.steppers.dir_invert.mask, NULL, NULL },
@@ -2158,8 +2188,9 @@ PROGMEM static const setting_detail_t setting_detail[] = {
#ifndef NO_SETTINGS_DESCRIPTIONS
PROGMEM static const setting_descr_t setting_descr[] = {
{ Setting_PulseMicroseconds, "Sets time length per step. Minimum 2 microseconds.\\n\\n"
"This needs to be reduced from the default value of 10 when max. step rates exceed approximately 80 kHz."
{ Setting_PulseMicroseconds, "Step pulse length in microseconds.\\n"
"Minimum depends on the processor and is typically in the range of 1 - 2.5.\\n\\n"
"The length has to be reduced from the default value of 5 when max. step rate exceed approximately 140 kHz."
},
{ Setting_StepperIdleLockTime, "Sets a short hold delay when stopping to let dynamics settle before disabling steppers. Value 255 keeps motors enabled." },
{ Setting_StepInvertMask, "Inverts the step signals (active low)." },
@@ -2210,7 +2241,7 @@ PROGMEM static const setting_descr_t setting_descr[] = {
{ Setting_HomingPulloff, "Retract distance after triggering switch to disengage it. Homing will fail if switch isn't cleared." },
{ Setting_G73Retract, "G73 retract distance (for chip breaking drilling)." },
{ Setting_PulseDelayMicroseconds, "Step pulse delay.\\n\\n"
"Normally leave this at 0 as there is an implicit delay on direction changes when AMASS is active."
"When set > 0 and less than 2 the value is rounded up to 2 microseconds."
},
{ Setting_RpmMax, "Maximum spindle speed, can be overridden by spindle plugins." },
{ Setting_RpmMin, "Minimum spindle speed, can be overridden by spindle plugins.\\n\\n"
@@ -2506,14 +2537,9 @@ static bool settings_clear_tool_data (void)
#endif // N_TOOLS
// Read global settings from persistent storage.
// Checks version-byte of non-volatile storage and global settings copy.
bool read_global_settings ()
// Sanity check of settings, board map could have been changed...
static void sanity_check (void)
{
bool ok = hal.nvs.type != NVS_None && SETTINGS_VERSION == hal.nvs.get_byte(0) && hal.nvs.memcpy_from_nvs((uint8_t *)&settings, NVS_ADDR_GLOBAL, sizeof(settings_t), true) == NVS_TransferResult_OK;
// Sanity check of settings, board map could have been changed...
#if LATHE_UVW_OPTION
settings.mode = Mode_Lathe;
#else
@@ -2527,6 +2553,25 @@ bool read_global_settings ()
if(!hal.driver_cap.spindle_encoder)
settings.spindle.ppr = 0;
if(settings.steppers.pulse_microseconds < hal.step_us_min)
settings.steppers.pulse_microseconds = hal.step_us_min;
if(hal.max_step_rate) {
uint_fast8_t idx = N_AXIS;
do {
idx--;
#if N_AXIS > 3
if(bit_isfalse(settings.steppers.is_rotary.mask, bit(idx)) &&
#else
if(
#endif
(settings.axis[idx].max_rate * settings.axis[idx].steps_per_mm) / 60.0f > (float)hal.max_step_rate)
settings.axis[idx].max_rate = (float)hal.max_step_rate * 60.0f / settings.axis[idx].steps_per_mm;
// TODO: warn if changed?
} while(idx);
}
if(SLEEP_DURATION <= 0.0f)
settings.flags.sleep_enable = Off;
@@ -2545,11 +2590,19 @@ bool read_global_settings ()
settings.control_invert.mask |= limits_override.mask;
settings.control_disable_pullup.mask &= ~limits_override.mask;
}
// Read global settings from persistent storage.
// Checks version-byte of non-volatile storage and global settings copy.
bool read_global_settings (void)
{
bool ok = hal.nvs.type != NVS_None && SETTINGS_VERSION == hal.nvs.get_byte(0) && hal.nvs.memcpy_from_nvs((uint8_t *)&settings, NVS_ADDR_GLOBAL, sizeof(settings_t), true) == NVS_TransferResult_OK;
sanity_check();
return ok && settings.version.id == SETTINGS_VERSION;
}
// Write global settings to persistent storage
void settings_write_global (void)
{
@@ -3247,10 +3300,15 @@ bool settings_add_spindle_type (const char *type)
void onFileDemarcate (bool start)
{
if(!start && sys.flags.travel_changed && limits_homing_required()) {
sys.flags.travel_changed = Off;
system_raise_alarm(Alarm_HomingRequired);
grbl.report.feedback_message(Message_HomingCycleRequired);
if(!start) {
sanity_check();
if(sys.flags.travel_changed && limits_homing_required()) {
sys.flags.travel_changed = Off;
system_raise_alarm(Alarm_HomingRequired);
grbl.report.feedback_message(Message_HomingCycleRequired);
}
}
if(on_file_demarcate)
@@ -3290,6 +3348,8 @@ void settings_init (void)
}
#endif
strcpy(step_us_min, ftoa(hal.step_us_min, 1));
if(!read_global_settings()) {
settings_restore_t settings = settings_all;