Fix delay calculations inside babystep()
- Avoid all delays when using DEDGE stepping - Correctly account for direction change delays
This commit is contained in:
Yuri D'Elia
parent
6ea198a866
commit
78bbfc6237
@ -72,6 +72,14 @@ uint16_t SP_min = 0x21FF;
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#define _STEP_PIN_Z2_AXIS Z2_STEP_PIN
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#endif
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#ifdef TMC2130
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#define STEPPER_MINIMUM_PULSE TMC2130_MINIMUM_PULSE
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#define STEPPER_SET_DIR_DELAY TMC2130_SET_DIR_DELAY
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#else
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#define STEPPER_MINIMUM_PULSE 2
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#define STEPPER_SET_DIR_DELAY 100
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#endif
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#ifdef TMC2130_DEDGE_STEPPING
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#define STEP_NC_HI(axis) TOGGLE(_STEP_PIN_##axis)
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#define STEP_NC_LO(axis) //NOP
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@ -1416,89 +1424,112 @@ void quickStop()
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#ifdef BABYSTEPPING
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void babystep(const uint8_t axis,const bool direction)
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{
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//MUST ONLY BE CALLED BY A ISR, it depends on that no other ISR interrupts this
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//store initial pin states
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switch(axis)
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{
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case X_AXIS:
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{
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enable_x();
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uint8_t old_x_dir_pin= READ(X_DIR_PIN); //if dualzstepper, both point to same direction.
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//setup new step
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WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction);
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//perform step
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STEP_NC_HI(X_AXIS);
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// MUST ONLY BE CALLED BY A ISR as stepper pins are manipulated directly.
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// note: when switching direction no delay is inserted at the end when the
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// original is restored. We assume enough time passes as the function
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// returns and the stepper is manipulated again (to avoid dead times)
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switch(axis)
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{
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case X_AXIS:
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{
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enable_x();
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uint8_t old_x_dir_pin = READ(X_DIR_PIN); //if dualzstepper, both point to same direction.
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uint8_t new_x_dir_pin = (INVERT_X_DIR)^direction;
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//setup new step
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if (new_x_dir_pin != old_x_dir_pin) {
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WRITE_NC(X_DIR_PIN, new_x_dir_pin);
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delayMicroseconds(STEPPER_SET_DIR_DELAY);
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}
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//perform step
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STEP_NC_HI(X_AXIS);
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#ifdef DEBUG_XSTEP_DUP_PIN
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STEP_NC_HI(X_DUP_AXIS);
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#endif //DEBUG_XSTEP_DUP_PIN
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delayMicroseconds(1);
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STEP_NC_LO(X_AXIS);
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STEP_NC_HI(X_DUP_AXIS);
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#endif
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#ifndef TMC2130_DEDGE_STEPPING
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delayMicroseconds(STEPPER_MINIMUM_PULSE);
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STEP_NC_LO(X_AXIS);
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#ifdef DEBUG_XSTEP_DUP_PIN
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STEP_NC_LO(X_DUP_AXIS);
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#endif //DEBUG_XSTEP_DUP_PIN
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STEP_NC_LO(X_DUP_AXIS);
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#endif
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#endif
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//get old pin state back.
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WRITE(X_DIR_PIN,old_x_dir_pin);
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}
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break;
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case Y_AXIS:
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{
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enable_y();
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uint8_t old_y_dir_pin= READ(Y_DIR_PIN); //if dualzstepper, both point to same direction.
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//setup new step
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WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction);
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//perform step
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STEP_NC_HI(Y_AXIS);
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//get old pin state back.
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WRITE_NC(X_DIR_PIN, old_x_dir_pin);
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}
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break;
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case Y_AXIS:
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{
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enable_y();
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uint8_t old_y_dir_pin = READ(Y_DIR_PIN); //if dualzstepper, both point to same direction.
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uint8_t new_y_dir_pin = (INVERT_Y_DIR)^direction;
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//setup new step
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if (new_y_dir_pin != old_y_dir_pin) {
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WRITE_NC(Y_DIR_PIN, new_y_dir_pin);
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delayMicroseconds(STEPPER_SET_DIR_DELAY);
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}
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//perform step
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STEP_NC_HI(Y_AXIS);
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#ifdef DEBUG_YSTEP_DUP_PIN
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STEP_NC_HI(Y_DUP_AXIS);
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#endif //DEBUG_YSTEP_DUP_PIN
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delayMicroseconds(1);
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STEP_NC_LO(Y_AXIS);
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STEP_NC_HI(Y_DUP_AXIS);
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#endif
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#ifndef TMC2130_DEDGE_STEPPING
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delayMicroseconds(STEPPER_MINIMUM_PULSE);
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STEP_NC_LO(Y_AXIS);
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#ifdef DEBUG_YSTEP_DUP_PIN
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STEP_NC_LO(Y_DUP_AXIS);
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#endif //DEBUG_YSTEP_DUP_PIN
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STEP_NC_LO(Y_DUP_AXIS);
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#endif
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#endif
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//get old pin state back.
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WRITE(Y_DIR_PIN,old_y_dir_pin);
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//get old pin state back.
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WRITE_NC(Y_DIR_PIN, old_y_dir_pin);
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}
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break;
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}
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break;
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case Z_AXIS:
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{
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enable_z();
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uint8_t old_z_dir_pin= READ(Z_DIR_PIN); //if dualzstepper, both point to same direction.
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//setup new step
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WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
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#endif
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//perform step
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STEP_NC_HI(Z_AXIS);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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STEP_NC_HI(Z2_AXIS);
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#endif
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delayMicroseconds(1);
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STEP_NC_LO(Z_AXIS);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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STEP_NC_LO(Z2_AXIS);
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#endif
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case Z_AXIS:
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{
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enable_z();
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uint8_t old_z_dir_pin = READ(Z_DIR_PIN); //if dualzstepper, both point to same direction.
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uint8_t new_z_dir_pin = (INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z;
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//get old pin state back.
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WRITE(Z_DIR_PIN,old_z_dir_pin);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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WRITE(Z2_DIR_PIN,old_z_dir_pin);
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#endif
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//setup new step
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if (new_z_dir_pin != old_z_dir_pin) {
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WRITE_NC(Z_DIR_PIN, new_z_dir_pin);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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WRITE_NC(Z2_DIR_PIN, new_z_dir_pin);
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#endif
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delayMicroseconds(STEPPER_SET_DIR_DELAY);
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}
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}
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break;
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default: break;
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}
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//perform step
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STEP_NC_HI(Z_AXIS);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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STEP_NC_HI(Z2_AXIS);
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#endif
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#ifndef TMC2130_DEDGE_STEPPING
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delayMicroseconds(STEPPER_MINIMUM_PULSE);
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STEP_NC_LO(Z_AXIS);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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STEP_NC_LO(Z2_AXIS);
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#endif
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#endif
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//get old pin state back.
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if (new_z_dir_pin != old_z_dir_pin) {
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WRITE_NC(Z_DIR_PIN, old_z_dir_pin);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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WRITE_NC(Z2_DIR_PIN, old_z_dir_pin);
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#endif
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}
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}
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break;
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default: break;
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}
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}
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#endif //BABYSTEPPING
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