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| author | Kevin O'Connor <kevin@koconnor.net> | 2025-05-08 08:32:02 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2025-05-09 09:52:05 -0400 |
| commit | fd55dd9e9ddede76c525ed07a03e055cc3926876 (patch) | |
| tree | 6af1f0542a62b59767a9a4eff4321b1ee0062475 | |
| parent | 885f63cff00176f67ce70cdffb80ba776b17c5ab (diff) | |
| download | kutter-fd55dd9e9ddede76c525ed07a03e055cc3926876.tar.gz kutter-fd55dd9e9ddede76c525ed07a03e055cc3926876.tar.xz kutter-fd55dd9e9ddede76c525ed07a03e055cc3926876.zip | |
stepper: Also ensure minimum time after dir change and next step
In practice the host will not schedule any steps immediately after a
direction change (due to acceleration limits and the host
"step+dir+step filter"). However, there is also no harm in enforcing
a minimum duration in the mcu.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | src/stepper.c | 14 |
1 files changed, 11 insertions, 3 deletions
diff --git a/src/stepper.c b/src/stepper.c index b74a3ced..c965a837 100644 --- a/src/stepper.c +++ b/src/stepper.c @@ -109,10 +109,18 @@ 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) + if (was_active && need_dir_change) { // Must ensure minimum time between step change and dir change - while (timer_is_before(timer_read_time(), min_next_time)) - ; + if (s->flags & SF_SINGLE_SCHED) + while (timer_is_before(timer_read_time(), min_next_time)) + ; + gpio_out_toggle_noirq(s->dir_pin); + uint32_t curtime = timer_read_time(); + min_next_time = curtime + s->step_pulse_ticks; + if (timer_is_before(s->time.waketime, min_next_time)) + s->time.waketime = min_next_time; + return SF_RESCHEDULE; + } } // Set new direction (if needed) |