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Elide delayMicroseconds for TMC2130 in non-DEDGE mode

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Introduce new macros TMC2130_MINIMUM_DELAY/STEPPER_MINIMUM_DELAY for
blocking pauses.

If MINIMUM_PULSE has defined to be zero, avoid the delay call entirely.
This commit is contained in:
Yuri D'Elia 2021-01-26 15:59:21 +01:00
parent 78bbfc6237
commit 4fed728e08
3 changed files with 15 additions and 7 deletions
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8
Firmware/stepper.cpp
View file

@ -75,9 +75,11 @@ uint16_t SP_min = 0x21FF;
#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
@ -1448,7 +1450,7 @@ void babystep(const uint8_t axis,const bool direction)
STEP_NC_HI(X_DUP_AXIS);
#endif
#ifndef TMC2130_DEDGE_STEPPING
delayMicroseconds(STEPPER_MINIMUM_PULSE);
STEPPER_MINIMUM_DELAY;
STEP_NC_LO(X_AXIS);
#ifdef DEBUG_XSTEP_DUP_PIN
STEP_NC_LO(X_DUP_AXIS);
@ -1478,7 +1480,7 @@ void babystep(const uint8_t axis,const bool direction)
STEP_NC_HI(Y_DUP_AXIS);
#endif
#ifndef TMC2130_DEDGE_STEPPING
delayMicroseconds(STEPPER_MINIMUM_PULSE);
STEPPER_MINIMUM_DELAY;
STEP_NC_LO(Y_AXIS);
#ifdef DEBUG_YSTEP_DUP_PIN
STEP_NC_LO(Y_DUP_AXIS);
@ -1511,7 +1513,7 @@ void babystep(const uint8_t axis,const bool direction)
STEP_NC_HI(Z2_AXIS);
#endif
#ifndef TMC2130_DEDGE_STEPPING
delayMicroseconds(STEPPER_MINIMUM_PULSE);
STEPPER_MINIMUM_DELAY;
STEP_NC_LO(Z_AXIS);
#ifdef Z_DUAL_STEPPER_DRIVERS
STEP_NC_LO(Z2_AXIS);

8
Firmware/tmc2130.cpp
View file

@ -717,10 +717,10 @@ static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
#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); delayMicroseconds(TMC2130_MINIMUM_PULSE); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); }
#define _DO_STEP_Y { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); delayMicroseconds(TMC2130_MINIMUM_PULSE); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); }
#define _DO_STEP_Z { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); delayMicroseconds(TMC2130_MINIMUM_PULSE); WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); }
#define _DO_STEP_E { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); delayMicroseconds(TMC2130_MINIMUM_PULSE); WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); }
#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

6
Firmware/tmc2130.h
View file

@ -33,6 +33,12 @@ extern uint8_t tmc2130_sg_homing_axes_mask;
#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
#if TMC2130_MINIMUM_PULSE == 0
#define TMC2130_MINIMUM_DELAY //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];