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| author | Kevin O'Connor <kevin@koconnor.net> | 2025-05-07 21:02:33 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2025-05-09 09:52:05 -0400 |
| commit | 885f63cff00176f67ce70cdffb80ba776b17c5ab (patch) | |
| tree | 41ad3482cc25b40bd4e80cfa6de657ebff3aa866 | |
| parent | efabe63357b66addcf2ded42a5e601549e058c8a (diff) | |
| download | kutter-885f63cff00176f67ce70cdffb80ba776b17c5ab.tar.gz kutter-885f63cff00176f67ce70cdffb80ba776b17c5ab.tar.xz kutter-885f63cff00176f67ce70cdffb80ba776b17c5ab.zip | |
stepper: Ensure minimum time between step pin and dir pin change
Commit 8faed8d9 made it possible to utilize stepper_event_full() while
utilizing tmc "step on both edges" optimation. That commit would
ensure a minimum step pulse duration, but it did not ensure a minimum
duration between step pin and dir pin changes. Commits 0d27195f and
554ae78d optimized the gpio handling on stm32h7 chips, which could
potentially cause a very small amount of time between step pin and dir
pin changes.
Enforce a minimum time after a step pin update before updating the dir
pin.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | src/stepper.c | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/stepper.c b/src/stepper.c index 84655fe9..b74a3ced 100644 --- a/src/stepper.c +++ b/src/stepper.c @@ -109,6 +109,10 @@ stepper_load_next(struct stepper *s) shutdown("Stepper too far in past"); s->time.waketime = min_next_time; } + if (was_active && need_dir_change && s->flags & SF_SINGLE_SCHED) + // Must ensure minimum time between step change and dir change + while (timer_is_before(timer_read_time(), min_next_time)) + ; } // Set new direction (if needed) |