From 6017600714a751a46b879964d186ea97115c5277 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Sun, 16 Jun 2019 21:05:13 +0200 Subject: [PATCH 01/12] Reintroduce the ability to disable TMC interpolation per-axis --- Firmware/tmc2130.cpp | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index 108d00b1d..b87272e2d 100755 --- a/Firmware/tmc2130.cpp +++ b/Firmware/tmc2130.cpp @@ -437,6 +437,9 @@ 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 @@ -447,6 +450,16 @@ 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) From 6ceca9bf85f93479e677194635e873bbfa831bbb Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Tue, 18 Feb 2020 11:52:36 +0100 Subject: [PATCH 02/12] Implement double-edge stepping Introduce new wrapper macros to tick the stepper pins. Default to the original raising-edge stepping mode. When using the TMC double-edge stepping mode (aka half-wave or square-wave mode) the _LO macros become no-ops. --- Firmware/stepper.cpp | 128 +++++++++++++++++++++++++++++-------------- Firmware/tmc2130.cpp | 16 +++++- 2 files changed, 100 insertions(+), 44 deletions(-) diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index de250ec97..8f2a4f125 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -48,6 +48,50 @@ 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_DEDGE_STEPPING +#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 ============================ //=========================================================================== @@ -300,9 +344,9 @@ FORCE_INLINE void stepper_next_block() _delay_us(100); for (uint8_t i = 0; i < st_backlash_x; i++) { - WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN); + STEP_NC_HI(X_AXIS); _delay_us(100); - WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN); + STEP_NC_LO(X_AXIS); _delay_us(900); } } @@ -323,9 +367,9 @@ FORCE_INLINE void stepper_next_block() _delay_us(100); for (uint8_t i = 0; i < st_backlash_y; i++) { - WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN); + STEP_NC_HI(Y_AXIS); _delay_us(100); - WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN); + STEP_NC_LO(Y_AXIS); _delay_us(900); } } @@ -607,44 +651,44 @@ 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]; @@ -654,7 +698,7 @@ 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) @@ -669,44 +713,44 @@ 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]; @@ -716,7 +760,7 @@ 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) @@ -997,9 +1041,9 @@ 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 @@ -1385,14 +1429,14 @@ void babystep(const uint8_t axis,const bool direction) WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction); //perform step - WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); + STEP_NC_HI(X_AXIS); #ifdef DEBUG_XSTEP_DUP_PIN - WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN); + STEP_NC_HI(X_DUP_AXIS); #endif //DEBUG_XSTEP_DUP_PIN delayMicroseconds(1); - WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); + STEP_NC_LO(X_AXIS); #ifdef DEBUG_XSTEP_DUP_PIN - WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN); + STEP_NC_LO(X_DUP_AXIS); #endif //DEBUG_XSTEP_DUP_PIN //get old pin state back. @@ -1408,14 +1452,14 @@ void babystep(const uint8_t axis,const bool direction) WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction); //perform step - WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); + STEP_NC_HI(Y_AXIS); #ifdef DEBUG_YSTEP_DUP_PIN - WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN); + STEP_NC_HI(Y_DUP_AXIS); #endif //DEBUG_YSTEP_DUP_PIN delayMicroseconds(1); - WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); + STEP_NC_LO(Y_AXIS); #ifdef DEBUG_YSTEP_DUP_PIN - WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN); + STEP_NC_LO(Y_DUP_AXIS); #endif //DEBUG_YSTEP_DUP_PIN //get old pin state back. @@ -1434,14 +1478,14 @@ void babystep(const uint8_t axis,const bool direction) WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z); #endif //perform step - WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); + STEP_NC_HI(Z_AXIS); #ifdef Z_DUAL_STEPPER_DRIVERS - WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN); + STEP_NC_HI(Z2_AXIS); #endif delayMicroseconds(1); - WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); + STEP_NC_LO(Z_AXIS); #ifdef Z_DUAL_STEPPER_DRIVERS - WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN); + STEP_NC_LO(Z2_AXIS); #endif //get old pin state back. diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index b87272e2d..20c23704f 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 @@ -464,12 +469,12 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_ // 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)); } } @@ -706,10 +711,17 @@ static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval) #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"); } +#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"); } +#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"); } +#endif uint16_t tmc2130_get_res(uint8_t axis) From 1181beffb1c47828a1d40303348b53f2c06345e7 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Mon, 17 Jun 2019 21:10:18 +0200 Subject: [PATCH 03/12] Enable DEDGE stepping on supported variants --- Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h | 1 + Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h | 1 + 2 files changed, 2 insertions(+) diff --git a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h index b135d8d13..e1eb2ef1f 100644 --- a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h +++ b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h @@ -269,6 +269,7 @@ // #define TMC2130_UNLOAD_CURRENT_R 12 // lower current for M600 to protect filament sensor - Unused #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 e618c54ef..d4c52281c 100644 --- a/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h +++ b/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h @@ -271,6 +271,7 @@ // #define TMC2130_UNLOAD_CURRENT_R 12 // lower current for M600 to protect filament sensor - Unused #define TMC2130_STEALTH_Z +#define TMC2130_DEDGE_STEPPING //#define TMC2130_SERVICE_CODES_M910_M918 From e6b182aa9fc3a8f812a8580a0c25152418f3c2bc Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Tue, 18 Jun 2019 17:11:01 +0200 Subject: [PATCH 04/12] Implement proper step/delay pauses in tmc2130 functions 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. --- Firmware/tmc2130.cpp | 39 ++++++++++++++++++++------------------- Firmware/tmc2130.h | 4 ++++ 2 files changed, 24 insertions(+), 19 deletions(-) diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index 20c23704f..15646b925 100755 --- a/Firmware/tmc2130.cpp +++ b/Firmware/tmc2130.cpp @@ -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)) { diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h index ed4c0d7c0..4b5b764ce 100644 --- a/Firmware/tmc2130.h +++ b/Firmware/tmc2130.h @@ -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]; From 6ea198a866efcc6ecc55d2c7c29a4535ee9bee14 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Sun, 14 Jul 2019 17:39:06 +0200 Subject: [PATCH 05/12] Fix DEDGE in sm4.c (fixes xyz calibration) --- Firmware/sm4.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Firmware/sm4.c b/Firmware/sm4.c index 34cf8a3c9..b68e02762 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 + PORTC ^= (axes_mask & 0x0f); //set 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)) } From 78bbfc62379719a127cd5edcc48b3eb21aa2594f Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Sun, 14 Jul 2019 18:53:37 +0200 Subject: [PATCH 06/12] Fix delay calculations inside babystep() - Avoid all delays when using DEDGE stepping - Correctly account for direction change delays --- Firmware/stepper.cpp | 179 +++++++++++++++++++++++++------------------ 1 file changed, 105 insertions(+), 74 deletions(-) diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index 8f2a4f125..b3cc5a577 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -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 @@ -1416,89 +1424,112 @@ 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 - STEP_NC_HI(X_AXIS); + // 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 - STEP_NC_HI(X_DUP_AXIS); -#endif //DEBUG_XSTEP_DUP_PIN - delayMicroseconds(1); - STEP_NC_LO(X_AXIS); + STEP_NC_HI(X_DUP_AXIS); +#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 + STEP_NC_LO(X_DUP_AXIS); +#endif +#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 - STEP_NC_HI(Y_AXIS); + //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 - STEP_NC_HI(Y_DUP_AXIS); -#endif //DEBUG_YSTEP_DUP_PIN - delayMicroseconds(1); - STEP_NC_LO(Y_AXIS); + STEP_NC_HI(Y_DUP_AXIS); +#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 + STEP_NC_LO(Y_DUP_AXIS); +#endif +#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 - STEP_NC_HI(Z_AXIS); - #ifdef Z_DUAL_STEPPER_DRIVERS - STEP_NC_HI(Z2_AXIS); - #endif - delayMicroseconds(1); - STEP_NC_LO(Z_AXIS); - #ifdef Z_DUAL_STEPPER_DRIVERS - STEP_NC_LO(Z2_AXIS); - #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 +#ifndef TMC2130_DEDGE_STEPPING + delayMicroseconds(STEPPER_MINIMUM_PULSE); + STEP_NC_LO(Z_AXIS); +#ifdef Z_DUAL_STEPPER_DRIVERS + STEP_NC_LO(Z2_AXIS); +#endif +#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 From 4fed728e083306aa4cddc950a9a1624bf7c61faf Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Tue, 26 Jan 2021 15:59:21 +0100 Subject: [PATCH 07/12] Elide delayMicroseconds for TMC2130 in non-DEDGE mode 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. --- Firmware/stepper.cpp | 8 +++++--- Firmware/tmc2130.cpp | 8 ++++---- Firmware/tmc2130.h | 6 ++++++ 3 files changed, 15 insertions(+), 7 deletions(-) diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index b3cc5a577..e06e0602f 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -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); diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index 15646b925..41f7b7c12 100755 --- a/Firmware/tmc2130.cpp +++ b/Firmware/tmc2130.cpp @@ -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 diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h index 4b5b764ce..36ba55522 100644 --- a/Firmware/tmc2130.h +++ b/Firmware/tmc2130.h @@ -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]; From 2a6989ecd559f70ceb08aa471e0399c52747ddc8 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Tue, 26 Jan 2021 16:09:23 +0100 Subject: [PATCH 08/12] Remove TMC2130 special-cases With the new STEPPER_MINIMUM_DELAY being automatically removed for TMC2130 we no longer need to add specialized #ifdefs for DEDGE in babystep. --- Firmware/stepper.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index e06e0602f..e74d7154e 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -1449,12 +1449,10 @@ void babystep(const uint8_t axis,const bool direction) #ifdef DEBUG_XSTEP_DUP_PIN STEP_NC_HI(X_DUP_AXIS); #endif -#ifndef TMC2130_DEDGE_STEPPING STEPPER_MINIMUM_DELAY; STEP_NC_LO(X_AXIS); #ifdef DEBUG_XSTEP_DUP_PIN STEP_NC_LO(X_DUP_AXIS); -#endif #endif //get old pin state back. @@ -1479,12 +1477,10 @@ void babystep(const uint8_t axis,const bool direction) #ifdef DEBUG_YSTEP_DUP_PIN STEP_NC_HI(Y_DUP_AXIS); #endif -#ifndef TMC2130_DEDGE_STEPPING STEPPER_MINIMUM_DELAY; STEP_NC_LO(Y_AXIS); #ifdef DEBUG_YSTEP_DUP_PIN STEP_NC_LO(Y_DUP_AXIS); -#endif #endif //get old pin state back. @@ -1512,12 +1508,10 @@ void babystep(const uint8_t axis,const bool direction) #ifdef Z_DUAL_STEPPER_DRIVERS STEP_NC_HI(Z2_AXIS); #endif -#ifndef TMC2130_DEDGE_STEPPING STEPPER_MINIMUM_DELAY; STEP_NC_LO(Z_AXIS); #ifdef Z_DUAL_STEPPER_DRIVERS STEP_NC_LO(Z2_AXIS); -#endif #endif //get old pin state back. From b17cdcd4d7ebd9e53a4180cf9e6768845d1b1eef Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Tue, 26 Jan 2021 16:12:59 +0100 Subject: [PATCH 09/12] Ensure MINIMUM_PULSE is always 0 in DEDGE mode This ensures delays are always properly elided without having to check for DEDGE all over the place. --- Firmware/stepper.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index e74d7154e..8684713b4 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -83,6 +83,7 @@ uint16_t SP_min = 0x21FF; #endif #ifdef TMC2130_DEDGE_STEPPING +static_assert(TMC2130_MINIMUM_PULSE == 0, "DEDGE requires/implies TMC2130_MINIMUM_PULSE == 0"); #define STEP_NC_HI(axis) TOGGLE(_STEP_PIN_##axis) #define STEP_NC_LO(axis) //NOP #else From d3734b02cc1fbb8ba9a446d9ac5ef83b91756178 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Tue, 26 Jan 2021 16:18:23 +0100 Subject: [PATCH 10/12] Also fix delay instances inside unused BACKLASH_[XY] --- Firmware/stepper.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index 8684713b4..d47dd2dc0 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -352,13 +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++) { STEP_NC_HI(X_AXIS); - _delay_us(100); + STEPPER_MINIMUM_DELAY; STEP_NC_LO(X_AXIS); - _delay_us(900); + _delay_us(900); // hard-coded jerk! *bad* } } last_dir_bits &= ~1; @@ -375,13 +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++) { STEP_NC_HI(Y_AXIS); - _delay_us(100); + STEPPER_MINIMUM_DELAY; STEP_NC_LO(Y_AXIS); - _delay_us(900); + _delay_us(900); // hard-coded jerk! *bad* } } last_dir_bits &= ~2; From a9625747db85f22cb583d4fdc4c4f0dc2706e687 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Tue, 26 Jan 2021 19:37:14 +0100 Subject: [PATCH 11/12] Reinstate the nop instruction as delay in non-DEDGE When TMC2130_MINIMUM_PULSE is 0 a minimum delay is implied. In this case, use a single "nop" instruction. --- Firmware/stepper.cpp | 3 ++- Firmware/tmc2130.h | 4 +++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index d47dd2dc0..fc8d9f44d 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -83,7 +83,8 @@ uint16_t SP_min = 0x21FF; #endif #ifdef TMC2130_DEDGE_STEPPING -static_assert(TMC2130_MINIMUM_PULSE == 0, "DEDGE requires/implies TMC2130_MINIMUM_PULSE == 0"); +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 diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h index 36ba55522..485bf41cc 100644 --- a/Firmware/tmc2130.h +++ b/Firmware/tmc2130.h @@ -33,8 +33,10 @@ 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 +#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 From e9d5c447322e899b0e7cfdc71146e4911e7a0b5a Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Fri, 29 Jan 2021 00:13:49 +0100 Subject: [PATCH 12/12] Also toggle pins efficiently in sm4.c Use the same technique used in fastio to toggle pins efficiently in sm4 when DEDGE is used. --- Firmware/sm4.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/sm4.c b/Firmware/sm4.c index b68e02762..c2f128243 100644 --- a/Firmware/sm4.c +++ b/Firmware/sm4.c @@ -130,7 +130,7 @@ 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 - PORTC ^= (axes_mask & 0x0f); //set step signals by mask + 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