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)