stm32: Add STM32H723 520MHz support (#800)

* stm32: Add optimized stm32h7_gpio.c

Add optimized gpio functions for stm32h7 - caching the ODR register
can notably improve the performance of the gpio_out_toggle() code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* docs: Update benchmarks for stm32h7

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* output_pin: Introduce new helper to facilitate queuing of gcode requests

* servo: Use GCodeRequestQueue to queue updates

* output_pin: Improve GCodeRequestQueue timing on duplicate requests

The GCodeRequestQueue code handles duplicate requests by detecting a
repeat of the last command.  If a duplicate is found, no scheduling is
performed.  However, in this case, the flush_notification() code
should continue looking for requests to schedule.

Update the GCodeRequestQueue code to use "discard" and "delay"
actions to indicate what steps the _flush_notification() callback
should take.  This simplifies the code and allows for future uses.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* output_pin: Add send_async_request() support to GCodeRequestQueue

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* fan: Use GCodeRequestQueue to queue updates

This is similar to 7940a6a, but using gcrq.send_async_request() for
requests that could be asynchronous.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* fan: Wait full kick_start_time even if request is for full speed

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* mcu: Add new min_schedule_time() and max_nominal_duration() helpers

Add a function that returns the minimum amount of time the host needs
to reserve for messages to be sent from host to micro-controller.

Add a function that returns the maximum amount of time (in seconds)
that all micro-controllers should be able to schedule future timers
at.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* output_pin: Use mcu.min_schedule_time() and mcu.max_nominal_duration()

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* pwm_cycle_time: Use mcu.min_schedule_time() and mcu.max_nominal_duration()

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* led: Use mcu.min_schedule_time() and mcu.max_nominal_duration()

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* pwm_tool: Use mcu.min_schedule_time() and mcu.max_nominal_duration()

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* heaters: Confirm heater setting in mcu every 3 seconds instead of 5

Increase the confirmation rate of heater enable settings.  This allows
the mcu to utilize faster internal speeds.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* mcu: Decrease mcu.max_nominal_duration() to 3 seconds from 5

This allows the mcu to utilize faster internal speeds.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* stm32h7: Always clear AHB1ENR at startup on stm32h7

* stm32: Use enable_pclock() in stm32h7 clock_setup()

* stm32: Avoid read-modify-write register updates in stm32h7 clock_setup()

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* stm32: Set the PLL frequency equal to CONFIG_CLOCK_FREQ on stm32h723

* stm32: Don't try to set incorrect PWR->CR3 register on stm32h7

* stm32: Enable VOS0 power mode on stm32h723 if frequency above 400Mhz

* stm32: Use CONFIG_STM32_CLOCK_REF_25M for pll_base in stm32g4.c

Update stm32g4.c to use the same Kconfig-based approach as stm32h7.c
for determining pll_base, replacing the compile-time preprocessor check.

This maintains 25MHz crystal support from Kalico #623 while using the
cleaner upstream approach from #6909.

Signed-off-by: Rogério Gonçalves <rogerlz@gmail.com>

* stm32: Use 12Mhz nominal internal clock in stm32f0_i2c.c

* stm32: Support over 400Mhz main clock in stm32h7_adc.c

* stm32: Run stm32h723 at 520Mhz

* docs: Update stm32h723 benchmarks now that it runs at 520Mhz

* MCU: Fail early if clock speed is too high to support max nominal duration (#7122)

This adds a dedicated check for that case to be able to
find the root cause of a misconfiguration earlier.

Also, replace occurrences of hardcoded max tick count.

Signed-off-by: Pascal Pieper <accounts@pascalpieper.de>

* heaters: Increase time before clearing the temperature of an inactive heater

The get_temp() code will stop reporting the last temperature of the
heater if there hasn't been any recent temperature updates.  However,
on a full mcu communication loss this can cause the verify_heater code
to report a heating error prior to the mcu code reporting the
communication failure.  Increase the heater timeout from 5 to 7
seconds to make it more likely the mcu failure is reported first.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* heaters: Reduce next_pwm_time window

* timer_irq: Remove TIMER_IDLE_REPEAT_TICKS special case

* armcm_timer: Use a static instruction count for TIMER_MIN_TRY_TICKS

* serialqueue: Tune MIN_REQTIME_DELTA timing

* reactor: Prevent update_timer() from running a single timer multiple times

* display: Check for redraw_request_pending at end of screen_update_event()

* mcu: Fix incorrect reqclock during endstop homing

For correct operation the trsync system must be programmed prior to
the start of endstop checking.  This means the desired "reqclock" for
the trsync configuration messages need to use the same "clock" that
the endstop start message uses - even though the actual deadline for
these messages is later.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

(cherry picked from commit 8e6e467ebc16f93ab01ed63c55d24af52b020b54)

* serialqueue: Make 31-bit clock overflow check a little more robust

Allow reqclock to be slightly less than the transmitted messages's
deadline.  That is, delay messages with a reqclock far in the future
to slightly past (1<<31) ticks from its deadline.  Use (3<<29)
instead, which gives an additional (1<<29) grace period to avoid clock
overflow issues.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

(cherry picked from commit 867d73f0b8988a8df79abb3223018132c11448ab)

* led: Generalize template evaluation so it is not dependent on LEDs

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* output_pin: Move template evaluation code from led.py to output_pin.py

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* output_pin: Support setting a TEMPLATE on SET_PIN commands

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* fan: Support calling set_speed() without a print_time

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* fan_generic: Support setting a TEMPLATE on SET_FAN_SPEED commands

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* fan_generic: fixes missing logging import

Signed-off-by: Pedro Lamas <pedrolamas@gmail.com>

* output_pin: Fix handling of template rendering errors

Make sure to assign 'value' on a rendering error to avoid an internal
error.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

* fan_generic: Fix handling of template rendering errors

Make sure to assign 'value' on a rendering error to avoid an internal
error.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

---------

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Signed-off-by: Rogério Gonçalves <rogerlz@gmail.com>
Signed-off-by: Pascal Pieper <accounts@pascalpieper.de>
Signed-off-by: Pedro Lamas <pedrolamas@gmail.com>
Co-authored-by: Kevin O'Connor <kevin@koconnor.net>
Co-authored-by: Pascal <accounts@pascalpieper.de>
Co-authored-by: Pedro Lamas <pedrolamas@gmail.com>

Author: 4 people

docs/Benchmarks.md

@@ -250,23 +250,22 @@ results were obtained by running an STM32F407 binary on an STM32F446
 
 ### STM32H7 step rate benchmark
 
-The following configuration sequence is used on a STM32H743VIT6:
+The following configuration sequence is used on STM32H723:
 ```
 allocate_oids count=3
-config_stepper oid=0 step_pin=PD4 dir_pin=PD3 invert_step=-1 step_pulse_ticks=0
-config_stepper oid=1 step_pin=PA15 dir_pin=PA8 invert_step=-1 step_pulse_ticks=0
-config_stepper oid=2 step_pin=PE2 dir_pin=PE3 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=0 step_pin=PA13 dir_pin=PB5 invert_step=-1 step_pulse_ticks=52
+config_stepper oid=1 step_pin=PB2 dir_pin=PB6 invert_step=-1 step_pulse_ticks=52
+config_stepper oid=2 step_pin=PB3 dir_pin=PB7 invert_step=-1 step_pulse_ticks=52
 finalize_config crc=0
 ```
 
-The test was last run on commit `00191b5c` with gcc version
-`arm-none-eabi-gcc (15:8-2019-q3-1+b1) 8.3.1 20190703 (release)
-[gcc-8-branch revision 273027]`.
+The test was last run on commit `554ae78d` with gcc version
+`arm-none-eabi-gcc (Fedora 14.1.0-1.fc40) 14.1.0`.
 
-| stm32h7              | ticks |
+| stm32h723            | ticks |
 | -------------------- | ----- |
-| 1 stepper            | 44    |
-| 3 stepper            | 198   |
+| 1 stepper            | 70    |
+| 3 stepper            | 181   |
 
 ### STM32G0B1 step rate benchmark
 

docs/Config_Changes.md

@@ -12,6 +12,11 @@ All dates in this document are approximate.
 takes a time in seconds to debounce the state of the button before any action
 is taken. It defaults to 0 which causes it to act as if there is no debouncing.
 
+20250425: The maximum `cycle_time` for pwm `[output_pin]`,
+`[pwm_cycle_time]`, `[pwm_tool]`, and similar config sections is now 3
+seconds (reduced from 5 seconds). The `maximum_mcu_duration` in
+`[pwm_tool]` is now also 3 seconds.
+
 20250816: The filament_switch_sensor adds a new option `debounce_delay` that
 takes a time in seconds to debounce the state of the switch before any action
 is taken. It defaults to 0 which causes it to act as if there is no debouncing.
@@ -47,6 +52,19 @@ default config values anymore, a [`RESET_RETRACTION`](./G-Codes.md#reset_retract
 command was added to achieve this. Automatic resetting behavior on
 events was removed.
 
+20240912: `SET_PIN`, `SET_SERVO`, `SET_FAN_SPEED`, `M106`, and `M107`
+commands are now collated. Previously, if many updates to the same
+object were issued faster than the minimum scheduling time (typically
+100ms) then actual updates could be queued far into the future. Now if
+many updates are issued in rapid succession then it is possible that
+only the latest request will be applied. If the previous behavior is
+required then consider adding explicit `G4` delay commands between
+updates.
+
+20240912: Support for `maximum_mcu_duration` and `static_value`
+parameters in `[output_pin]` config sections have been removed. These
+options have been deprecated since 20240123.
+
 20240430: The `adc_ignore_limits` parameter in the `[danger_options]`
 config section has been renamed to `temp_ignore_limits` and it now
 covers all possible temperature sensors.

docs/Features.md

@@ -192,7 +192,7 @@ represent total number of steps per second on the micro-controller.
 | RP2040                          | 4000K             | 2571K             |
 | RP2350                          | 4167K             | 2663K             |
 | SAME70                          | 6667K             | 4737K             |
-| STM32H743                       | 9091K             | 6061K             |
+| STM32H723                       | 7429K             | 8619K             |
 
 If unsure of the micro-controller on a particular board, find the
 appropriate [config file](../config/), and look for the

docs/G-Codes.md

@@ -620,6 +620,20 @@ enabled.
 `SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets the
 speed of a fan. "speed" must be between 0.0 and 1.0.
 
+`SET_FAN_SPEED PIN=config_name TEMPLATE=<template_name>
+[<param_x>=<literal>]`: If `TEMPLATE` is specified then it assigns a
+[display_template](Config_Reference.md#display_template) to the given
+fan. For example, if one defined a `[display_template
+my_fan_template]` config section then one could assign
+`TEMPLATE=my_fan_template` here. The display_template should produce a
+string containing a floating point number with the desired value. The
+template will be continuously evaluated and the fan will be
+automatically set to the resulting speed. One may set display_template
+parameters to use during template evaluation (parameters will be
+parsed as Python literals). If TEMPLATE is an empty string then this
+command will clear any previous template assigned to the pin (one can
+then use `SET_FAN_SPEED` commands to manage the values directly).
+
 ### [filament_switch_sensor]
 
 The following command is available when a
@@ -1131,6 +1145,20 @@ output `VALUE`. VALUE should be 0 or 1 for "digital" output pins. For
 PWM pins, set to a value between 0.0 and 1.0, or between 0.0 and
 `scale` if a scale is configured in the output_pin config section.
 
+`SET_PIN PIN=config_name TEMPLATE=<template_name> [<param_x>=<literal>]`:
+If `TEMPLATE` is specified then it assigns a
+[display_template](Config_Reference.md#display_template) to the given
+pin. For example, if one defined a `[display_template
+my_pin_template]` config section then one could assign
+`TEMPLATE=my_pin_template` here. The display_template should produce a
+string containing a floating point number with the desired value. The
+template will be continuously evaluated and the pin will be
+automatically set to the resulting value. One may set display_template
+parameters to use during template evaluation (parameters will be
+parsed as Python literals). If TEMPLATE is an empty string then this
+command will clear any previous template assigned to the pin (one can
+then use `SET_PIN` commands to manage the values directly).
+
 ### [palette2]
 
 The following commands are available when the

klippy/chelper/serialqueue.c

@@ -91,7 +91,7 @@ struct serialqueue {
 #define MIN_RTO 0.025
 #define MAX_RTO 5.000
 #define MAX_PENDING_BLOCKS 12
-#define MIN_REQTIME_DELTA 0.250
+#define MIN_REQTIME_DELTA 0.100
 #define MIN_BACKGROUND_DELTA 0.005
 #define IDLE_QUERY_TIME 1.0
 
@@ -793,9 +793,10 @@ serialqueue_send_batch(struct serialqueue *sq, struct command_queue *cq
     int len = 0;
     struct queue_message *qm;
     list_for_each_entry(qm, msgs, node) {
-        if (qm->min_clock + (1LL<<31) < qm->req_clock
+        if (qm->min_clock + (3LL<<29) < qm->req_clock
             && qm->req_clock != BACKGROUND_PRIORITY_CLOCK)
-            qm->min_clock = qm->req_clock - (1LL<<31);
+            // Avoid mcu clock comparison 31-bit overflow issues
+            qm->min_clock = qm->req_clock - (3LL<<29);
         len += qm->len;
     }
     if (! len)

klippy/extras/controller_fan.py

@@ -73,9 +73,7 @@ def callback(self, eventtime):
             self.last_on += 1
         if speed != self.last_speed:
             self.last_speed = speed
-            curtime = self.printer.get_reactor().monotonic()
-            print_time = self.fan.get_mcu().estimated_print_time(curtime)
-            self.fan.set_speed(print_time + PIN_MIN_TIME, speed)
+            self.fan.set_speed(speed)
         return eventtime + 1.0
 
 

klippy/extras/display/display.py

@@ -289,6 +289,8 @@ def screen_update_event(self, eventtime):
         except:
             logging.exception("Error during display screen update")
         self.lcd_chip.flush()
+        if self.redraw_request_pending:
+            return self.redraw_time
         return eventtime + REDRAW_TIME
 
     def request_redraw(self):

klippy/extras/dotstar.py

@@ -1,9 +1,9 @@
 # Support for "dotstar" leds
 #
-# Copyright (C) 2019-2022  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2019-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import bus
+from . import bus, led
 
 BACKGROUND_PRIORITY_CLOCK = 0x7FFFFFFF00000000
 
@@ -26,8 +26,7 @@ def __init__(self, config):
         self.spi = bus.MCU_SPI(mcu, None, None, 0, 500000, sw_spi_pins)
         # Initialize color data
         self.chain_count = config.getint("chain_count", 1, minval=1)
-        pled = printer.load_object(config, "led")
-        self.led_helper = pled.setup_helper(
+        self.led_helper = led.LEDHelper(
             config, self.update_leds, self.chain_count
         )
         self.prev_data = None

klippy/extras/fan.py

@@ -3,16 +3,13 @@
 # Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import pulse_counter
-
-FAN_MIN_TIME = 0.100
+from . import output_pin, pulse_counter
 
 
 class Fan:
     def __init__(self, config, default_shutdown_speed=0.0):
         self.printer = config.get_printer()
-        self.last_fan_value = 0.0
-        self.last_fan_time = 0.0
+        self.last_fan_value = self.last_req_value = 0.0
         self.last_pwm_value = 0.0
         # Read config
         self.kick_start_time = config.getfloat(
@@ -79,6 +76,11 @@ def __init__(self, config, default_shutdown_speed=0.0):
             self.enable_pin = ppins.setup_pin("digital_out", enable_pin)
             self.enable_pin.setup_max_duration(0.0)
 
+        # Create gcode request queue
+        self.gcrq = output_pin.GCodeRequestQueue(
+            config, self.mcu_fan.get_mcu(), self._apply_speed
+        )
+
         # Setup tachometer
         self.tachometer = FanTachometer(config)
 
@@ -91,18 +93,17 @@ def __init__(self, config, default_shutdown_speed=0.0):
     def get_mcu(self):
         return self.mcu_fan.get_mcu()
 
-    def set_speed(self, print_time, value):
+    def _apply_speed(self, print_time, value):
         if value == self.last_fan_value:
-            return
+            return "discard", 0.0
         if value > 0:
             # Scale value between min_power and max_power
             value = min(value, 1.0)
             pwm_value = (
                 value * (self.max_power - self.min_power) + self.min_power
             )
         else:
-            pwm_value = 0
-        print_time = max(self.last_fan_time + FAN_MIN_TIME, print_time)
+            pwm_value = 0.0
         if self.enable_pin:
             if value > 0 and self.last_fan_value == 0:
                 self.enable_pin.set_digital(print_time, 1)
@@ -115,21 +116,23 @@ def set_speed(self, print_time, value):
             and (not self.last_fan_value or value - self.last_fan_value > 0.5)
         ):
             # Run fan at full speed for specified kick_start_time
+            self.last_req_value = value
+            self.last_fan_value = value
+            self.last_pwm_value = self.max_power
             self.mcu_fan.set_pwm(print_time, self.max_power)
-            print_time += self.kick_start_time
-        self.mcu_fan.set_pwm(print_time, pwm_value)
+            return "delay", self.kick_start_time
+        self.last_fan_value = self.last_req_value = value
         self.last_pwm_value = pwm_value
-        self.last_fan_time = print_time
-        self.last_fan_value = value
+        self.mcu_fan.set_pwm(print_time, pwm_value)
+
+    def set_speed(self, value, print_time=None):
+        self.gcrq.send_async_request(value, print_time)
 
     def set_speed_from_command(self, value):
-        toolhead = self.printer.lookup_object("toolhead")
-        toolhead.register_lookahead_callback(
-            (lambda pt: self.set_speed(pt, value))
-        )
+        self.gcrq.queue_gcode_request(value)
 
     def _handle_request_restart(self, print_time):
-        self.set_speed(print_time, 0.0)
+        self.set_speed(0.0, print_time)
 
     def _handle_ready(self):
         if self.initial_speed:

klippy/extras/fan_generic.py

@@ -1,9 +1,11 @@
 # Support fans that are controlled by gcode
 #
-# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-from . import fan
+import logging
+
+from . import fan, output_pin
 
 
 class PrinterFanGeneric:
@@ -14,6 +16,9 @@ def __init__(self, config):
         self.fan = fan.Fan(config, default_shutdown_speed=0.0)
         self.fan_name = config.get_name().split()[-1]
 
+        # Template handling
+        self.template_eval = output_pin.lookup_template_eval(config)
+
         gcode = self.printer.lookup_object("gcode")
         gcode.register_mux_command(
             "SET_FAN_SPEED",
@@ -26,8 +31,23 @@ def __init__(self, config):
     def get_status(self, eventtime):
         return self.fan.get_status(eventtime)
 
+    def _template_update(self, text):
+        try:
+            value = float(text)
+        except ValueError as e:
+            logging.exception("fan_generic template render error")
+            value = 0.0
+        self.fan.set_speed(value)
+
     def cmd_SET_FAN_SPEED(self, gcmd):
-        speed = gcmd.get_float("SPEED", 0.0)
+        speed = gcmd.get_float("SPEED", None, 0.0)
+        template = gcmd.get("TEMPLATE", None)
+        if (speed is None) == (template is None):
+            raise gcmd.error("SET_FAN_SPEED must specify SPEED or TEMPLATE")
+        # Check for template setting
+        if template is not None:
+            self.template_eval.set_template(gcmd, self._template_update)
+            return
         self.fan.set_speed_from_command(speed)