diff options
Diffstat (limited to 'src/stepper.c')
| -rw-r--r-- | src/stepper.c | 49 |
1 files changed, 42 insertions, 7 deletions
diff --git a/src/stepper.c b/src/stepper.c index 5d69d9df..f81d7041 100644 --- a/src/stepper.c +++ b/src/stepper.c @@ -14,9 +14,18 @@ #include "stepper.h" // stepper_event #include "trsync.h" // trsync_add_signal -#if CONFIG_INLINE_STEPPER_HACK && CONFIG_MACH_AVR +#if CONFIG_INLINE_STEPPER_HACK && CONFIG_HAVE_STEPPER_BOTH_EDGE + #define HAVE_SINGLE_SCHEDULE 1 + #define HAVE_EDGE_OPTIMIZATION 1 + #define HAVE_AVR_OPTIMIZATION 0 + DECL_CONSTANT("STEPPER_BOTH_EDGE", 1); +#elif CONFIG_INLINE_STEPPER_HACK && CONFIG_MACH_AVR + #define HAVE_SINGLE_SCHEDULE 1 + #define HAVE_EDGE_OPTIMIZATION 0 #define HAVE_AVR_OPTIMIZATION 1 #else + #define HAVE_SINGLE_SCHEDULE 0 + #define HAVE_EDGE_OPTIMIZATION 0 #define HAVE_AVR_OPTIMIZATION 0 #endif @@ -66,9 +75,10 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time) struct stepper_move *m = container_of(mn, struct stepper_move, node); s->add = m->add; s->interval = m->interval + m->add; - if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED) { + if (HAVE_SINGLE_SCHEDULE && s->flags & SF_SINGLE_SCHED) { s->time.waketime += m->interval; - s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD; + if (HAVE_AVR_OPTIMIZATION) + 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 @@ -97,6 +107,22 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time) return SF_RESCHEDULE; } +// Optimized step function to step on each step pin edge +uint_fast8_t +stepper_event_edge(struct timer *t) +{ + struct stepper *s = container_of(t, struct stepper, time); + gpio_out_toggle_noirq(s->step_pin); + uint32_t count = s->count - 1; + if (likely(count)) { + s->count = count; + s->time.waketime += s->interval; + s->interval += s->add; + return SF_RESCHEDULE; + } + return stepper_load_next(s, 0); +} + #define AVR_STEP_INSNS 40 // minimum instructions between step gpio pulses // AVR optimized step function @@ -150,6 +176,8 @@ reschedule_min: uint_fast8_t stepper_event(struct timer *t) { + if (HAVE_EDGE_OPTIMIZATION) + return stepper_event_edge(t); if (HAVE_AVR_OPTIMIZATION) return stepper_event_avr(t); return stepper_event_full(t); @@ -159,13 +187,19 @@ void command_config_stepper(uint32_t *args) { struct stepper *s = oid_alloc(args[0], command_config_stepper, sizeof(*s)); - s->flags = args[3] ? SF_INVERT_STEP : 0; + int_fast8_t invert_step = args[3]; + s->flags = invert_step > 0 ? 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 (HAVE_EDGE_OPTIMIZATION) { + if (!s->step_pulse_ticks && invert_step < 0) + s->flags |= SF_SINGLE_SCHED; + else + s->time.func = stepper_event_full; + } else if (HAVE_AVR_OPTIMIZATION) { if (s->step_pulse_ticks <= AVR_STEP_INSNS) s->flags |= SF_SINGLE_SCHED; else @@ -252,7 +286,7 @@ stepper_get_position(struct stepper *s) { uint32_t position = s->position; // If stepper is mid-move, subtract out steps not yet taken - if (HAVE_AVR_OPTIMIZATION && s->flags & SF_SINGLE_SCHED) + if (HAVE_SINGLE_SCHEDULE && s->flags & SF_SINGLE_SCHED) position -= s->count; else position -= s->count / 2; @@ -286,7 +320,8 @@ stepper_stop(struct trsync_signal *tss, uint8_t reason) s->count = 0; 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); + if (!(HAVE_EDGE_OPTIMIZATION && s->flags & SF_SINGLE_SCHED)) + gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP); while (!move_queue_empty(&s->mq)) { struct move_node *mn = move_queue_pop(&s->mq); struct stepper_move *m = container_of(mn, struct stepper_move, node); |