diff --git a/Firmware/sm4.c b/Firmware/sm4.c index cf5ac16e..dcd31408 100644 --- a/Firmware/sm4.c +++ b/Firmware/sm4.c @@ -129,11 +129,15 @@ void sm4_set_dir_bits(uint8_t dir_bits) void sm4_do_step(uint8_t axes_mask) { #if ((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3) || (MOTHERBOARD == BOARD_EINSY_1_0a)) +#ifdef TMC2130_DEDGE_STEPPING + PINC = (axes_mask & 0x0f); // toggle step signals by mask +#else register uint8_t portC = PORTC & 0xf0; PORTC = portC | (axes_mask & 0x0f); //set step signals by mask asm("nop"); PORTC = portC; //set step signals to zero asm("nop"); +#endif #endif //((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3) || (MOTHERBOARD == BOARD_EINSY_1_0a)) } diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index 7c44d791..e987cca3 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -48,6 +48,62 @@ int fsensor_counter; //counter for e-steps uint16_t SP_min = 0x21FF; #endif //DEBUG_STACK_MONITOR + +/* + * Stepping macros + */ +#define _STEP_PIN_X_AXIS X_STEP_PIN +#define _STEP_PIN_Y_AXIS Y_STEP_PIN +#define _STEP_PIN_Z_AXIS Z_STEP_PIN +#define _STEP_PIN_E_AXIS E0_STEP_PIN + +#ifdef DEBUG_XSTEP_DUP_PIN +#define _STEP_PIN_X_DUP_AXIS DEBUG_XSTEP_DUP_PIN +#endif +#ifdef DEBUG_YSTEP_DUP_PIN +#define _STEP_PIN_Y_DUP_AXIS DEBUG_YSTEP_DUP_PIN +#endif +#ifdef Y_DUAL_STEPPER_DRIVERS +#error Y_DUAL_STEPPER_DRIVERS not fully implemented +#define _STEP_PIN_Y2_AXIS Y2_STEP_PIN +#endif +#ifdef Z_DUAL_STEPPER_DRIVERS +#error Z_DUAL_STEPPER_DRIVERS not fully implemented +#define _STEP_PIN_Z2_AXIS Z2_STEP_PIN +#endif + +#ifdef TMC2130 +#define STEPPER_MINIMUM_PULSE TMC2130_MINIMUM_PULSE +#define STEPPER_SET_DIR_DELAY TMC2130_SET_DIR_DELAY +#define STEPPER_MINIMUM_DELAY TMC2130_MINIMUM_DELAY +#else +#define STEPPER_MINIMUM_PULSE 2 +#define STEPPER_SET_DIR_DELAY 100 +#define STEPPER_MINIMUM_DELAY delayMicroseconds(STEPPER_MINIMUM_PULSE) +#endif + +#ifdef TMC2130_DEDGE_STEPPING +static_assert(TMC2130_MINIMUM_DELAY 1, // this will fail to compile when non-empty + "DEDGE implies/requires an empty TMC2130_MINIMUM_DELAY"); +#define STEP_NC_HI(axis) TOGGLE(_STEP_PIN_##axis) +#define STEP_NC_LO(axis) //NOP +#else + +#define _STEP_HI_X_AXIS !INVERT_X_STEP_PIN +#define _STEP_LO_X_AXIS INVERT_X_STEP_PIN +#define _STEP_HI_Y_AXIS !INVERT_Y_STEP_PIN +#define _STEP_LO_Y_AXIS INVERT_Y_STEP_PIN +#define _STEP_HI_Z_AXIS !INVERT_Z_STEP_PIN +#define _STEP_LO_Z_AXIS INVERT_Z_STEP_PIN +#define _STEP_HI_E_AXIS !INVERT_E_STEP_PIN +#define _STEP_LO_E_AXIS INVERT_E_STEP_PIN + +#define STEP_NC_HI(axis) WRITE_NC(_STEP_PIN_##axis, _STEP_HI_##axis) +#define STEP_NC_LO(axis) WRITE_NC(_STEP_PIN_##axis, _STEP_LO_##axis) + +#endif //TMC2130_DEDGE_STEPPING + + //=========================================================================== //=============================public variables ============================ //=========================================================================== @@ -296,13 +352,13 @@ FORCE_INLINE void stepper_next_block() WRITE_NC(X_DIR_PIN, INVERT_X_DIR); else WRITE_NC(X_DIR_PIN, !INVERT_X_DIR); - _delay_us(100); + delayMicroseconds(STEPPER_SET_DIR_DELAY); for (uint8_t i = 0; i < st_backlash_x; i++) { - WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN); - _delay_us(100); - WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN); - _delay_us(900); + STEP_NC_HI(X_AXIS); + STEPPER_MINIMUM_DELAY; + STEP_NC_LO(X_AXIS); + _delay_us(900); // hard-coded jerk! *bad* } } last_dir_bits &= ~1; @@ -319,13 +375,13 @@ FORCE_INLINE void stepper_next_block() WRITE_NC(Y_DIR_PIN, INVERT_Y_DIR); else WRITE_NC(Y_DIR_PIN, !INVERT_Y_DIR); - _delay_us(100); + delayMicroseconds(STEPPER_SET_DIR_DELAY); for (uint8_t i = 0; i < st_backlash_y; i++) { - WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN); - _delay_us(100); - WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN); - _delay_us(900); + STEP_NC_HI(Y_AXIS); + STEPPER_MINIMUM_DELAY; + STEP_NC_LO(Y_AXIS); + _delay_us(900); // hard-coded jerk! *bad* } } last_dir_bits &= ~2; @@ -603,44 +659,44 @@ FORCE_INLINE void stepper_tick_lowres() // Step in X axis counter_x.lo += current_block->steps_x.lo; if (counter_x.lo > 0) { - WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN); + STEP_NC_HI(X_AXIS); #ifdef DEBUG_XSTEP_DUP_PIN - WRITE_NC(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN); + STEP_NC_HI(X_DUP_AXIS); #endif //DEBUG_XSTEP_DUP_PIN counter_x.lo -= current_block->step_event_count.lo; count_position[X_AXIS]+=count_direction[X_AXIS]; - WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN); + STEP_NC_LO(X_AXIS); #ifdef DEBUG_XSTEP_DUP_PIN - WRITE_NC(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN); + STEP_NC_LO(X_DUP_AXIS); #endif //DEBUG_XSTEP_DUP_PIN } // Step in Y axis counter_y.lo += current_block->steps_y.lo; if (counter_y.lo > 0) { - WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN); + STEP_NC_HI(Y_AXIS); #ifdef DEBUG_YSTEP_DUP_PIN - WRITE_NC(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN); + STEP_NC_HI(Y_DUP_AXIS); #endif //DEBUG_YSTEP_DUP_PIN counter_y.lo -= current_block->step_event_count.lo; count_position[Y_AXIS]+=count_direction[Y_AXIS]; - WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN); + STEP_NC_LO(Y_AXIS); #ifdef DEBUG_YSTEP_DUP_PIN - WRITE_NC(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN); + STEP_NC_LO(Y_DUP_AXIS); #endif //DEBUG_YSTEP_DUP_PIN } // Step in Z axis counter_z.lo += current_block->steps_z.lo; if (counter_z.lo > 0) { - WRITE_NC(Z_STEP_PIN, !INVERT_Z_STEP_PIN); + STEP_NC_HI(Z_AXIS); counter_z.lo -= current_block->step_event_count.lo; count_position[Z_AXIS]+=count_direction[Z_AXIS]; - WRITE_NC(Z_STEP_PIN, INVERT_Z_STEP_PIN); + STEP_NC_LO(Z_AXIS); } // Step in E axis counter_e.lo += current_block->steps_e.lo; if (counter_e.lo > 0) { #ifndef LIN_ADVANCE - WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); + STEP_NC_HI(E_AXIS); #endif /* LIN_ADVANCE */ counter_e.lo -= current_block->step_event_count.lo; count_position[E_AXIS] += count_direction[E_AXIS]; @@ -650,7 +706,7 @@ FORCE_INLINE void stepper_tick_lowres() #ifdef FILAMENT_SENSOR fsensor_counter += count_direction[E_AXIS]; #endif //FILAMENT_SENSOR - WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); + STEP_NC_LO(E_AXIS); #endif } if(++ step_events_completed.lo >= current_block->step_event_count.lo) @@ -665,44 +721,44 @@ FORCE_INLINE void stepper_tick_highres() // Step in X axis counter_x.wide += current_block->steps_x.wide; if (counter_x.wide > 0) { - WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN); + STEP_NC_HI(X_AXIS); #ifdef DEBUG_XSTEP_DUP_PIN - WRITE_NC(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN); + STEP_NC_HI(X_DUP_AXIS); #endif //DEBUG_XSTEP_DUP_PIN counter_x.wide -= current_block->step_event_count.wide; count_position[X_AXIS]+=count_direction[X_AXIS]; - WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN); + STEP_NC_LO(X_AXIS); #ifdef DEBUG_XSTEP_DUP_PIN - WRITE_NC(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN); + STEP_NC_LO(X_DUP_AXIS); #endif //DEBUG_XSTEP_DUP_PIN } // Step in Y axis counter_y.wide += current_block->steps_y.wide; if (counter_y.wide > 0) { - WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN); + STEP_NC_HI(Y_AXIS); #ifdef DEBUG_YSTEP_DUP_PIN - WRITE_NC(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN); + STEP_NC_HI(Y_DUP_AXIS); #endif //DEBUG_YSTEP_DUP_PIN counter_y.wide -= current_block->step_event_count.wide; count_position[Y_AXIS]+=count_direction[Y_AXIS]; - WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN); + STEP_NC_LO(Y_AXIS); #ifdef DEBUG_YSTEP_DUP_PIN - WRITE_NC(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN); + STEP_NC_LO(Y_DUP_AXIS); #endif //DEBUG_YSTEP_DUP_PIN } // Step in Z axis counter_z.wide += current_block->steps_z.wide; if (counter_z.wide > 0) { - WRITE_NC(Z_STEP_PIN, !INVERT_Z_STEP_PIN); + STEP_NC_HI(Z_AXIS); counter_z.wide -= current_block->step_event_count.wide; count_position[Z_AXIS]+=count_direction[Z_AXIS]; - WRITE_NC(Z_STEP_PIN, INVERT_Z_STEP_PIN); + STEP_NC_LO(Z_AXIS); } // Step in E axis counter_e.wide += current_block->steps_e.wide; if (counter_e.wide > 0) { #ifndef LIN_ADVANCE - WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); + STEP_NC_HI(E_AXIS); #endif /* LIN_ADVANCE */ counter_e.wide -= current_block->step_event_count.wide; count_position[E_AXIS]+=count_direction[E_AXIS]; @@ -712,7 +768,7 @@ FORCE_INLINE void stepper_tick_highres() #ifdef FILAMENT_SENSOR fsensor_counter += count_direction[E_AXIS]; #endif //FILAMENT_SENSOR - WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); + STEP_NC_LO(E_AXIS); #endif } if(++ step_events_completed.wide >= current_block->step_event_count.wide) @@ -1014,9 +1070,9 @@ FORCE_INLINE void advance_isr_scheduler() { bool rev = (e_steps < 0); do { - WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN); + STEP_NC_HI(E_AXIS); e_steps += (rev? 1: -1); - WRITE_NC(E0_STEP_PIN, INVERT_E_STEP_PIN); + STEP_NC_LO(E_AXIS); #if defined(FILAMENT_SENSOR) && defined(PAT9125) fsensor_counter += (rev? -1: 1); #endif @@ -1389,89 +1445,106 @@ void quickStop() #ifdef BABYSTEPPING void babystep(const uint8_t axis,const bool direction) { - //MUST ONLY BE CALLED BY A ISR, it depends on that no other ISR interrupts this - //store initial pin states - switch(axis) - { - case X_AXIS: - { - enable_x(); - uint8_t old_x_dir_pin= READ(X_DIR_PIN); //if dualzstepper, both point to same direction. - - //setup new step - WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction); - - //perform step - WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); + // MUST ONLY BE CALLED BY A ISR as stepper pins are manipulated directly. + // note: when switching direction no delay is inserted at the end when the + // original is restored. We assume enough time passes as the function + // returns and the stepper is manipulated again (to avoid dead times) + switch(axis) + { + case X_AXIS: + { + enable_x(); + uint8_t old_x_dir_pin = READ(X_DIR_PIN); //if dualzstepper, both point to same direction. + uint8_t new_x_dir_pin = (INVERT_X_DIR)^direction; + + //setup new step + if (new_x_dir_pin != old_x_dir_pin) { + WRITE_NC(X_DIR_PIN, new_x_dir_pin); + delayMicroseconds(STEPPER_SET_DIR_DELAY); + } + + //perform step + STEP_NC_HI(X_AXIS); #ifdef DEBUG_XSTEP_DUP_PIN - WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN); -#endif //DEBUG_XSTEP_DUP_PIN - delayMicroseconds(1); - WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); + STEP_NC_HI(X_DUP_AXIS); +#endif + STEPPER_MINIMUM_DELAY; + STEP_NC_LO(X_AXIS); #ifdef DEBUG_XSTEP_DUP_PIN - WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN); -#endif //DEBUG_XSTEP_DUP_PIN + STEP_NC_LO(X_DUP_AXIS); +#endif - //get old pin state back. - WRITE(X_DIR_PIN,old_x_dir_pin); - } - break; - case Y_AXIS: - { - enable_y(); - uint8_t old_y_dir_pin= READ(Y_DIR_PIN); //if dualzstepper, both point to same direction. - - //setup new step - WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction); - - //perform step - WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); + //get old pin state back. + WRITE_NC(X_DIR_PIN, old_x_dir_pin); + } + break; + + case Y_AXIS: + { + enable_y(); + uint8_t old_y_dir_pin = READ(Y_DIR_PIN); //if dualzstepper, both point to same direction. + uint8_t new_y_dir_pin = (INVERT_Y_DIR)^direction; + + //setup new step + if (new_y_dir_pin != old_y_dir_pin) { + WRITE_NC(Y_DIR_PIN, new_y_dir_pin); + delayMicroseconds(STEPPER_SET_DIR_DELAY); + } + + //perform step + STEP_NC_HI(Y_AXIS); #ifdef DEBUG_YSTEP_DUP_PIN - WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN); -#endif //DEBUG_YSTEP_DUP_PIN - delayMicroseconds(1); - WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); + STEP_NC_HI(Y_DUP_AXIS); +#endif + STEPPER_MINIMUM_DELAY; + STEP_NC_LO(Y_AXIS); #ifdef DEBUG_YSTEP_DUP_PIN - WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN); -#endif //DEBUG_YSTEP_DUP_PIN + STEP_NC_LO(Y_DUP_AXIS); +#endif - //get old pin state back. - WRITE(Y_DIR_PIN,old_y_dir_pin); + //get old pin state back. + WRITE_NC(Y_DIR_PIN, old_y_dir_pin); + } + break; - } - break; - - case Z_AXIS: - { - enable_z(); - uint8_t old_z_dir_pin= READ(Z_DIR_PIN); //if dualzstepper, both point to same direction. - //setup new step - WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z); - #ifdef Z_DUAL_STEPPER_DRIVERS - WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z); - #endif - //perform step - WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); - #ifdef Z_DUAL_STEPPER_DRIVERS - WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN); - #endif - delayMicroseconds(1); - WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); - #ifdef Z_DUAL_STEPPER_DRIVERS - WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN); - #endif + case Z_AXIS: + { + enable_z(); + uint8_t old_z_dir_pin = READ(Z_DIR_PIN); //if dualzstepper, both point to same direction. + uint8_t new_z_dir_pin = (INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z; - //get old pin state back. - WRITE(Z_DIR_PIN,old_z_dir_pin); - #ifdef Z_DUAL_STEPPER_DRIVERS - WRITE(Z2_DIR_PIN,old_z_dir_pin); - #endif + //setup new step + if (new_z_dir_pin != old_z_dir_pin) { + WRITE_NC(Z_DIR_PIN, new_z_dir_pin); +#ifdef Z_DUAL_STEPPER_DRIVERS + WRITE_NC(Z2_DIR_PIN, new_z_dir_pin); +#endif + delayMicroseconds(STEPPER_SET_DIR_DELAY); + } - } - break; - - default: break; - } + //perform step + STEP_NC_HI(Z_AXIS); +#ifdef Z_DUAL_STEPPER_DRIVERS + STEP_NC_HI(Z2_AXIS); +#endif + STEPPER_MINIMUM_DELAY; + STEP_NC_LO(Z_AXIS); +#ifdef Z_DUAL_STEPPER_DRIVERS + STEP_NC_LO(Z2_AXIS); +#endif + + //get old pin state back. + if (new_z_dir_pin != old_z_dir_pin) { + WRITE_NC(Z_DIR_PIN, old_z_dir_pin); +#ifdef Z_DUAL_STEPPER_DRIVERS + WRITE_NC(Z2_DIR_PIN, old_z_dir_pin); +#endif + } + } + break; + + default: break; + } } #endif //BABYSTEPPING diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index 223233a9..3f682690 100755 --- a/Firmware/tmc2130.cpp +++ b/Firmware/tmc2130.cpp @@ -428,6 +428,11 @@ void tmc2130_check_overtemp() void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r) { uint8_t intpol = (mres != 0); // intpol to 256 only if microsteps aren't 256 +#ifdef TMC2130_DEDGE_STEPPING + uint8_t dedge = 1; +#else + uint8_t dedge = 0; +#endif uint8_t toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz) uint8_t hstrt = tmc2130_chopper_config[axis].hstr; //initial 4, modified to 5 uint8_t hend = tmc2130_chopper_config[axis].hend; //original value = 1 @@ -437,6 +442,9 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_ uint8_t tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2 if (axis == E_AXIS) { +#if defined(TMC2130_INTPOL_E) && (TMC2130_INTPOL_E == 0) + intpol = 0; +#endif #ifdef TMC2130_CNSTOFF_E // fd = 0 (slow decay only) hstrt = 0; //fd0..2 @@ -447,16 +455,26 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_ // toff = TMC2130_TOFF_E; // toff = 3-5 // rndtf = 1; } +#if defined(TMC2130_INTPOL_XY) && (TMC2130_INTPOL_XY == 0) + else if (axis == X_AXIS || axis == Y_AXIS) { + intpol = 0; + } +#endif +#if defined(TMC2130_INTPOL_Z) && (TMC2130_INTPOL_Z == 0) + else if (axis == Z_AXIS) { + intpol = 0; + } +#endif // DBG(_n("tmc2130_setup_chopper(axis=%hhd, mres=%hhd, curh=%hhd, curr=%hhd\n"), axis, mres, current_h, current_r); // DBG(_n(" toff=%hhd, hstr=%hhd, hend=%hhd, tbl=%hhd\n"), toff, hstrt, hend, tbl); if (current_r <= 31) { - tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, 0, 0); + tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, dedge, 0); tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((current_r & 0x1f) << 8) | (current_h & 0x1f)); } else { - tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 0, 0, 0, 0, mres, intpol, 0, 0); + tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 0, 0, 0, 0, mres, intpol, dedge, 0); tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((current_r >> 1) & 0x1f) << 8) | ((current_h >> 1) & 0x1f)); } } @@ -678,25 +696,32 @@ static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval) #define _GET_PWR_Z (READ(Z_ENABLE_PIN) == Z_ENABLE_ON) #define _GET_PWR_E (READ(E0_ENABLE_PIN) == E_ENABLE_ON) -#define _SET_PWR_X(ena) { WRITE(X_ENABLE_PIN, ena?X_ENABLE_ON:!X_ENABLE_ON); asm("nop"); } -#define _SET_PWR_Y(ena) { WRITE(Y_ENABLE_PIN, ena?Y_ENABLE_ON:!Y_ENABLE_ON); asm("nop"); } -#define _SET_PWR_Z(ena) { WRITE(Z_ENABLE_PIN, ena?Z_ENABLE_ON:!Z_ENABLE_ON); asm("nop"); } -#define _SET_PWR_E(ena) { WRITE(E0_ENABLE_PIN, ena?E_ENABLE_ON:!E_ENABLE_ON); asm("nop"); } +#define _SET_PWR_X(ena) WRITE(X_ENABLE_PIN, ena?X_ENABLE_ON:!X_ENABLE_ON) +#define _SET_PWR_Y(ena) WRITE(Y_ENABLE_PIN, ena?Y_ENABLE_ON:!Y_ENABLE_ON) +#define _SET_PWR_Z(ena) WRITE(Z_ENABLE_PIN, ena?Z_ENABLE_ON:!Z_ENABLE_ON) +#define _SET_PWR_E(ena) WRITE(E0_ENABLE_PIN, ena?E_ENABLE_ON:!E_ENABLE_ON) #define _GET_DIR_X (READ(X_DIR_PIN) == INVERT_X_DIR) #define _GET_DIR_Y (READ(Y_DIR_PIN) == INVERT_Y_DIR) #define _GET_DIR_Z (READ(Z_DIR_PIN) == INVERT_Z_DIR) #define _GET_DIR_E (READ(E0_DIR_PIN) == INVERT_E0_DIR) -#define _SET_DIR_X(dir) { WRITE(X_DIR_PIN, dir?INVERT_X_DIR:!INVERT_X_DIR); asm("nop"); } -#define _SET_DIR_Y(dir) { WRITE(Y_DIR_PIN, dir?INVERT_Y_DIR:!INVERT_Y_DIR); asm("nop"); } -#define _SET_DIR_Z(dir) { WRITE(Z_DIR_PIN, dir?INVERT_Z_DIR:!INVERT_Z_DIR); asm("nop"); } -#define _SET_DIR_E(dir) { WRITE(E0_DIR_PIN, dir?INVERT_E0_DIR:!INVERT_E0_DIR); asm("nop"); } +#define _SET_DIR_X(dir) WRITE(X_DIR_PIN, dir?INVERT_X_DIR:!INVERT_X_DIR) +#define _SET_DIR_Y(dir) WRITE(Y_DIR_PIN, dir?INVERT_Y_DIR:!INVERT_Y_DIR) +#define _SET_DIR_Z(dir) WRITE(Z_DIR_PIN, dir?INVERT_Z_DIR:!INVERT_Z_DIR) +#define _SET_DIR_E(dir) WRITE(E0_DIR_PIN, dir?INVERT_E0_DIR:!INVERT_E0_DIR) -#define _DO_STEP_X { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); asm("nop"); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); asm("nop"); } -#define _DO_STEP_Y { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); asm("nop"); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); asm("nop"); } -#define _DO_STEP_Z { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); asm("nop"); WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); asm("nop"); } -#define _DO_STEP_E { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); asm("nop"); WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); asm("nop"); } +#ifdef TMC2130_DEDGE_STEPPING +#define _DO_STEP_X TOGGLE(X_STEP_PIN) +#define _DO_STEP_Y TOGGLE(Y_STEP_PIN) +#define _DO_STEP_Z TOGGLE(Z_STEP_PIN) +#define _DO_STEP_E TOGGLE(E0_STEP_PIN) +#else +#define _DO_STEP_X { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); } +#define _DO_STEP_Y { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); } +#define _DO_STEP_Z { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); } +#define _DO_STEP_E { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); } +#endif uint16_t tmc2130_get_res(uint8_t axis) @@ -737,6 +762,7 @@ void tmc2130_set_pwr(uint8_t axis, uint8_t pwr) case Z_AXIS: _SET_PWR_Z(pwr); break; case E_AXIS: _SET_PWR_E(pwr); break; } + delayMicroseconds(TMC2130_SET_PWR_DELAY); } uint8_t tmc2130_get_inv(uint8_t axis) @@ -773,6 +799,7 @@ void tmc2130_set_dir(uint8_t axis, uint8_t dir) case Z_AXIS: _SET_DIR_Z(dir); break; case E_AXIS: _SET_DIR_E(dir); break; } + delayMicroseconds(TMC2130_SET_DIR_DELAY); } void tmc2130_do_step(uint8_t axis) @@ -788,8 +815,8 @@ void tmc2130_do_step(uint8_t axis) void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us) { - tmc2130_set_dir(axis, dir); - delayMicroseconds(100); + if (tmc2130_get_dir(axis) != dir) + tmc2130_set_dir(axis, dir); while (steps--) { tmc2130_do_step(axis); @@ -820,7 +847,6 @@ void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_u cnt = steps; } tmc2130_set_dir(axis, dir); - delayMicroseconds(100); mscnt = tmc2130_rd_MSCNT(axis); while ((cnt--) && ((mscnt >> shift) != step)) { diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h index ed4c0d7c..485bf41c 100644 --- a/Firmware/tmc2130.h +++ b/Firmware/tmc2130.h @@ -29,6 +29,18 @@ extern uint8_t tmc2130_sg_homing_axes_mask; #define TMC2130_WAVE_FAC1000_MAX 200 #define TMC2130_WAVE_FAC1000_STP 1 +#define TMC2130_MINIMUM_PULSE 0 // minimum pulse width in uS +#define TMC2130_SET_DIR_DELAY 20 // minimum delay after setting direction in uS +#define TMC2130_SET_PWR_DELAY 0 // minimum delay after changing pwr mode in uS + +#ifdef TMC2130_DEDGE_STEPPING +#define TMC2130_MINIMUM_DELAY //NOP +#elif TMC2130_MINIMUM_PULSE == 0 +#define TMC2130_MINIMUM_DELAY asm("nop") +#else +#define TMC2130_MINIMUM_DELAY delayMicroseconds(TMC2130_MINIMUM_PULSE) +#endif + extern uint8_t tmc2130_home_enabled; extern uint8_t tmc2130_home_origin[2]; extern uint8_t tmc2130_home_bsteps[2]; diff --git a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h index 1ef812f1..65f7ae99 100644 --- a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h +++ b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h @@ -268,6 +268,7 @@ #define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18} // homing running currents for all axes #define TMC2130_STEALTH_Z +#define TMC2130_DEDGE_STEPPING //#define TMC2130_SERVICE_CODES_M910_M918 diff --git a/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h index 84b998dc..c7ab7508 100644 --- a/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h +++ b/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h @@ -270,6 +270,7 @@ #define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18} // homing running currents for all axes #define TMC2130_STEALTH_Z +#define TMC2130_DEDGE_STEPPING //#define TMC2130_SERVICE_CODES_M910_M918