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Implement proper step/delay pauses in tmc2130 functions

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Add constants for the various required delays in tmc2130.h,
which will come in handy for stepper.cpp as well.

Move the delays in the _set functions and remove the pauses
from the various calling points and macros.

Note that the hard-coded pause wouldn't cut it for the stepper ISR,
but it's fine for other use cases.
This commit is contained in:
Yuri D'Elia 2019-06-18 17:11:01 +02:00
parent 1181beffb1
commit e6b182aa9f
2 changed files with 24 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
Firmware/tmc2130.cpp
View File

@ -696,31 +696,31 @@ 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)
#ifdef TMC2130_DEDGE_STEPPING
#define _DO_STEP_X { TOGGLE(X_STEP_PIN); asm("nop"); }
#define _DO_STEP_Y { TOGGLE(Y_STEP_PIN); asm("nop"); }
#define _DO_STEP_Z { TOGGLE(Z_STEP_PIN); asm("nop"); }
#define _DO_STEP_E { TOGGLE(E0_STEP_PIN); asm("nop"); }
#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); 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"); }
#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); }
#endif
@ -762,6 +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)
@ -798,6 +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)
@ -813,8 +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);
@ -845,7 +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))
{

4
Firmware/tmc2130.h
View File

@ -29,6 +29,10 @@ 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
extern uint8_t tmc2130_home_enabled;
extern uint8_t tmc2130_home_origin[2];
extern uint8_t tmc2130_home_bsteps[2];