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Fix delay calculations inside babystep()

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- Avoid all delays when using DEDGE stepping
- Correctly account for direction change delays
This commit is contained in:
Yuri D'Elia 2019-07-14 18:53:37 +02:00
parent 6ea198a866
commit 78bbfc6237
1 changed files with 105 additions and 74 deletions
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73
Firmware/stepper.cpp
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@ -72,6 +72,14 @@ uint16_t SP_min = 0x21FF;
#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
#else
#define STEPPER_MINIMUM_PULSE 2
#define STEPPER_SET_DIR_DELAY 100
#endif
#ifdef TMC2130_DEDGE_STEPPING
#define STEP_NC_HI(axis) TOGGLE(_STEP_PIN_##axis)
#define STEP_NC_LO(axis) //NOP
@ -1416,55 +1424,69 @@ 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
// 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
WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction);
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
STEP_NC_HI(X_DUP_AXIS);
#endif //DEBUG_XSTEP_DUP_PIN
delayMicroseconds(1);
#endif
#ifndef TMC2130_DEDGE_STEPPING
delayMicroseconds(STEPPER_MINIMUM_PULSE);
STEP_NC_LO(X_AXIS);
#ifdef DEBUG_XSTEP_DUP_PIN
STEP_NC_LO(X_DUP_AXIS);
#endif //DEBUG_XSTEP_DUP_PIN
#endif
#endif
//get old pin state back.
WRITE(X_DIR_PIN,old_x_dir_pin);
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
WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction);
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
STEP_NC_HI(Y_DUP_AXIS);
#endif //DEBUG_YSTEP_DUP_PIN
delayMicroseconds(1);
#endif
#ifndef TMC2130_DEDGE_STEPPING
delayMicroseconds(STEPPER_MINIMUM_PULSE);
STEP_NC_LO(Y_AXIS);
#ifdef DEBUG_YSTEP_DUP_PIN
STEP_NC_LO(Y_DUP_AXIS);
#endif //DEBUG_YSTEP_DUP_PIN
#endif
#endif
//get old pin state back.
WRITE(Y_DIR_PIN,old_y_dir_pin);
WRITE_NC(Y_DIR_PIN, old_y_dir_pin);
}
break;
@ -1472,28 +1494,37 @@ void babystep(const uint8_t axis,const bool direction)
{
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;
//setup new step
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
if (new_z_dir_pin != old_z_dir_pin) {
WRITE_NC(Z_DIR_PIN, new_z_dir_pin);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
WRITE_NC(Z2_DIR_PIN, new_z_dir_pin);
#endif
delayMicroseconds(STEPPER_SET_DIR_DELAY);
}
//perform step
STEP_NC_HI(Z_AXIS);
#ifdef Z_DUAL_STEPPER_DRIVERS
STEP_NC_HI(Z2_AXIS);
#endif
delayMicroseconds(1);
#ifndef TMC2130_DEDGE_STEPPING
delayMicroseconds(STEPPER_MINIMUM_PULSE);
STEP_NC_LO(Z_AXIS);
#ifdef Z_DUAL_STEPPER_DRIVERS
STEP_NC_LO(Z2_AXIS);
#endif
//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
//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;