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-rw-r--r--src/stepper.c110
1 files changed, 47 insertions, 63 deletions
diff --git a/src/stepper.c b/src/stepper.c
index e4a12693..5d69d9df 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -14,12 +14,11 @@
#include "stepper.h" // stepper_event
#include "trsync.h" // trsync_add_signal
-DECL_CONSTANT("STEP_DELAY", CONFIG_STEP_DELAY);
-
-
-/****************************************************************
- * Steppers
- ****************************************************************/
+#if CONFIG_INLINE_STEPPER_HACK && CONFIG_MACH_AVR
+ #define HAVE_AVR_OPTIMIZATION 1
+#else
+ #define HAVE_AVR_OPTIMIZATION 0
+#endif
struct stepper_move {
struct move_node node;
@@ -35,13 +34,8 @@ struct stepper {
struct timer time;
uint32_t interval;
int16_t add;
-#if CONFIG_STEP_DELAY <= 0
- uint_fast16_t count;
-#define next_step_time time.waketime
-#else
uint32_t count;
- uint32_t next_step_time;
-#endif
+ uint32_t next_step_time, step_pulse_ticks;
struct gpio_out step_pin, dir_pin;
uint32_t position;
struct move_queue_head mq;
@@ -53,8 +47,8 @@ struct stepper {
enum { POSITION_BIAS=0x40000000 };
enum {
- SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_HAVE_ADD=1<<3,
- SF_NEED_RESET=1<<4
+ SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_NEED_RESET=1<<3,
+ SF_SINGLE_SCHED=1<<4, SF_HAVE_ADD=1<<5
};
// Setup a stepper for the next move in its queue
@@ -70,18 +64,17 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
// Load next 'struct stepper_move' into 'struct stepper'
struct move_node *mn = move_queue_pop(&s->mq);
struct stepper_move *m = container_of(mn, struct stepper_move, node);
- s->next_step_time += m->interval;
s->add = m->add;
s->interval = m->interval + m->add;
- if (CONFIG_STEP_DELAY <= 0) {
- if (CONFIG_MACH_AVR)
- // On AVR see if the add can be optimized away
- s->flags = m->add ? s->flags|SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
+ if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED) {
+ s->time.waketime += m->interval;
+ s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
s->count = m->count;
} else {
// On faster mcus, it is necessary to schedule unstep events
// and so there are twice as many events. Also check that the
// next step event isn't too close to the last unstep.
+ s->next_step_time += m->interval;
if (unlikely(timer_is_before(s->next_step_time, min_next_time))) {
if ((int32_t)(s->next_step_time - min_next_time)
< (int32_t)(-timer_from_us(1000)))
@@ -104,14 +97,17 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
return SF_RESCHEDULE;
}
+#define AVR_STEP_INSNS 40 // minimum instructions between step gpio pulses
+
// AVR optimized step function
static uint_fast8_t
-stepper_event_avr(struct stepper *s)
+stepper_event_avr(struct timer *t)
{
+ struct stepper *s = container_of(t, struct stepper, time);
gpio_out_toggle_noirq(s->step_pin);
- uint_fast16_t count = s->count - 1;
+ uint16_t *pcount = (void*)&s->count, count = *pcount - 1;
if (likely(count)) {
- s->count = count;
+ *pcount = count;
s->time.waketime += s->interval;
gpio_out_toggle_noirq(s->step_pin);
if (s->flags & SF_HAVE_ADD)
@@ -123,42 +119,14 @@ stepper_event_avr(struct stepper *s)
return ret;
}
-// Optimized step function for stepping and unstepping in same function
-static uint_fast8_t
-stepper_event_nodelay(struct stepper *s)
-{
- gpio_out_toggle_noirq(s->step_pin);
- uint_fast16_t count = s->count - 1;
- if (likely(count)) {
- s->count = count;
- s->time.waketime += s->interval;
- s->interval += s->add;
- gpio_out_toggle_noirq(s->step_pin);
- return SF_RESCHEDULE;
- }
- uint_fast8_t ret = stepper_load_next(s, 0);
- gpio_out_toggle_noirq(s->step_pin);
- return ret;
-}
-
-// Timer callback - step the given stepper.
+// Regular "double scheduled" step function
uint_fast8_t
-stepper_event(struct timer *t)
+stepper_event_full(struct timer *t)
{
struct stepper *s = container_of(t, struct stepper, time);
- if (CONFIG_STEP_DELAY <= 0 && CONFIG_MACH_AVR)
- return stepper_event_avr(s);
- if (CONFIG_STEP_DELAY <= 0)
- return stepper_event_nodelay(s);
-
- // Normal step code - schedule the unstep event
- if (!CONFIG_HAVE_STRICT_TIMING)
- gpio_out_toggle_noirq(s->step_pin);
- uint32_t step_delay = timer_from_us(CONFIG_STEP_DELAY);
- uint32_t min_next_time = timer_read_time() + step_delay;
- if (CONFIG_HAVE_STRICT_TIMING)
- // Toggling gpio after reading the time is a micro-optimization
- gpio_out_toggle_noirq(s->step_pin);
+ gpio_out_toggle_noirq(s->step_pin);
+ uint32_t curtime = timer_read_time();
+ uint32_t min_next_time = curtime + s->step_pulse_ticks;
s->count--;
if (likely(s->count & 1))
// Schedule unstep event
@@ -178,20 +146,36 @@ reschedule_min:
return SF_RESCHEDULE;
}
+// Optimized entry point for step function (may be inlined into sched.c code)
+uint_fast8_t
+stepper_event(struct timer *t)
+{
+ if (HAVE_AVR_OPTIMIZATION)
+ return stepper_event_avr(t);
+ return stepper_event_full(t);
+}
+
void
command_config_stepper(uint32_t *args)
{
struct stepper *s = oid_alloc(args[0], command_config_stepper, sizeof(*s));
- if (!CONFIG_INLINE_STEPPER_HACK)
- s->time.func = stepper_event;
s->flags = args[3] ? SF_INVERT_STEP : 0;
s->step_pin = gpio_out_setup(args[1], s->flags & SF_INVERT_STEP);
s->dir_pin = gpio_out_setup(args[2], 0);
s->position = -POSITION_BIAS;
+ s->step_pulse_ticks = args[4];
move_queue_setup(&s->mq, sizeof(struct stepper_move));
+ if (HAVE_AVR_OPTIMIZATION) {
+ if (s->step_pulse_ticks <= AVR_STEP_INSNS)
+ s->flags |= SF_SINGLE_SCHED;
+ else
+ s->time.func = stepper_event_full;
+ } else if (!CONFIG_INLINE_STEPPER_HACK) {
+ s->time.func = stepper_event_full;
+ }
}
-DECL_COMMAND(command_config_stepper,
- "config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c");
+DECL_COMMAND(command_config_stepper, "config_stepper oid=%c step_pin=%c"
+ " dir_pin=%c invert_step=%c step_pulse_ticks=%u");
// Return the 'struct stepper' for a given stepper oid
static struct stepper *
@@ -256,7 +240,7 @@ command_reset_step_clock(uint32_t *args)
irq_disable();
if (s->count)
shutdown("Can't reset time when stepper active");
- s->next_step_time = waketime;
+ s->next_step_time = s->time.waketime = waketime;
s->flags &= ~SF_NEED_RESET;
irq_enable();
}
@@ -268,7 +252,7 @@ stepper_get_position(struct stepper *s)
{
uint32_t position = s->position;
// If stepper is mid-move, subtract out steps not yet taken
- if (CONFIG_STEP_DELAY <= 0)
+ if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED)
position -= s->count;
else
position -= s->count / 2;
@@ -297,10 +281,10 @@ stepper_stop(struct trsync_signal *tss, uint8_t reason)
{
struct stepper *s = container_of(tss, struct stepper, stop_signal);
sched_del_timer(&s->time);
- s->next_step_time = 0;
+ s->next_step_time = s->time.waketime = 0;
s->position = -stepper_get_position(s);
s->count = 0;
- s->flags = (s->flags & SF_INVERT_STEP) | SF_NEED_RESET;
+ s->flags = (s->flags & (SF_INVERT_STEP|SF_SINGLE_SCHED)) | SF_NEED_RESET;
gpio_out_write(s->dir_pin, 0);
gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP);
while (!move_queue_empty(&s->mq)) {
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-01 21:41:57 +0000