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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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stepper.h
+8 -26
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@@ -47,14 +47,14 @@ __NOTE:__ This data is copied from the prepped planner blocks so that the planne
typedef struct st_block {
uint_fast8_t id; //!< Id may be used by driver to track changes
struct st_block *next; //!< Pointer to next element in cirular list of blocks
uint32_t steps[N_AXIS];
steps_t steps;
uint32_t step_event_count;
float steps_per_mm;
float millimeters;
float programmed_rate;
char *message; //!< Message to be displayed when block is executed
output_command_t *output_commands; //!< Output commands (linked list) to be performed when block is executed
axes_signals_t direction_bits;
axes_signals_t direction;
gc_override_flags_t overrides; //!< Block bitfield variable for overrides
bool backlash_motion;
bool dynamic_rpm; //!< Tracks motions that require dynamic RPM adjustment
@@ -82,34 +82,16 @@ typedef struct st_segment {
//! Stepper ISR data struct. Contains the running data for the main stepper ISR.
typedef struct stepper {
uint32_t counter_x, //!< Counter variable for the Bresenham line tracer, X-axis
counter_y, //!< Counter variable for the Bresenham line tracer, Y-axis
counter_z //!< Counter variable for the Bresenham line tracer, Z-axis
#ifdef A_AXIS
, counter_a //!< Counter variable for the Bresenham line tracer, A-axis
#endif
#ifdef B_AXIS
, counter_b //!< Counter variable for the Bresenham line tracer, B-axis
#endif
#ifdef C_AXIS
, counter_c //!< Counter variable for the Bresenham line tracer, C-axis
#endif
#ifdef U_AXIS
, counter_u //!< Counter variable for the Bresenham line tracer, U-axis
#endif
#ifdef V_AXIS
, counter_v //!< Counter variable for the Bresenham line tracer, V-axis
#endif
;
bool new_block; //!< Set to true when a new block is started, might be referenced by driver code for advanced functionality.
bool dir_change; //!< Set to true on direction changes, might be referenced by driver for advanced functionality.
axes_signals_t step_outbits; //!< The stepping signals to be output.
axes_signals_t dir_outbits; //!< The direction signals to be output. The direction signals may be output only when \ref stepper.dir_change is true to reduce overhead.
uint32_t steps[N_AXIS]; //!< Number of step pulse event events per axis step pulse generated.
axes_signals_t dir_changed; //!< Per axis bits set to true on direction changes, might be referenced by driver for advanced functionality.
axes_signals_t step_out; //!< The stepping signals to be output.
axes_signals_t dir_out; //!< The direction signals to be output. The direction signals may be output only when \ref stepper.dir_change is true to reduce overhead.
uint_fast8_t amass_level; //!< AMASS level for this segment.
// uint_fast16_t spindle_pwm;
uint_fast16_t step_count; //!< Steps remaining in line segment motion.
uint32_t step_event_count; //!< Number of step pulse events to be output by this segment.
steps_t steps; //!< Number of step pulse event events per axis step pulse generated.
steps_t counter; //!< Counter variables for the Bresenham line tracer.
// uint_fast16_t spindle_pwm;
st_block_t *exec_block; //!< Pointer to the block data for the segment being executed.
segment_t *exec_segment; //!< Pointer to the segment being executed.
} stepper_t;