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stepper: Add support for stepping on both edges of a step pulse

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Add an optimized step function for drivers that support stepping on
both rising and falling edges of the step pin.  Enable this
optimization on 32bit ARM micro-controllers.  Automatically detect
this capability in the host code and enable on TMC drivers running in
SPI/UART mode.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-10-28 17:10:10 -04:00
parent 4acfd8d7c8
commit 689231df3a
10 changed files with 77 additions and 12 deletions
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49
src/stepper.c
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@@ -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);