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Fix step leakage with inverted steps (#570)

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* Fix step leakage with inverted steps

* Update build date for merge

Co-authored-by: Bart Dring <bdring@buildlog.net>
This commit is contained in:
Mitch Bradley
2020-08-29 02:56:51 -10:00
committed by GitHub
parent 32b005acad
commit 42195ef01c
3 changed files with 4 additions and 30 deletions
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2
Grbl_Esp32/src/Grbl.h
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@@ -23,7 +23,7 @@
// Grbl versioning system
#define GRBL_VERSION "1.3a"
#define GRBL_VERSION_BUILD "20200827"
#define GRBL_VERSION_BUILD "20200828"
//#include <sdkconfig.h>
#include <Arduino.h>

29
Grbl_Esp32/src/Stepper.cpp
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@@ -98,10 +98,6 @@ static volatile uint8_t segment_buffer_tail;
static uint8_t segment_buffer_head;
static uint8_t segment_next_head;
// Step and direction port invert masks.
static uint8_t step_port_invert_mask;
static uint8_t dir_port_invert_mask;
// Used to avoid ISR nesting of the "Stepper Driver Interrupt". Should never occur though.
static volatile uint8_t busy;
@@ -420,7 +416,6 @@ static void stepper_pulse_func() {
// Generate pulse (at least one pulse)
// The pulse resolution is limited by I2S_OUT_USEC_PER_PULSE
//
st.step_outbits ^= step_port_invert_mask; // Apply step port invert mask
i2s_out_push_sample(pulse_microseconds->get() / I2S_OUT_USEC_PER_PULSE);
set_stepper_pins_on(0); // turn all off
return;
@@ -429,7 +424,6 @@ static void stepper_pulse_func() {
#ifdef USE_RMT_STEPS
return;
#else
st.step_outbits ^= step_port_invert_mask; // Apply step port invert mask
// wait for step pulse time to complete...some of it should have expired during code above
while (esp_timer_get_time() - step_pulse_start_time < pulse_microseconds->get()) {
NOP(); // spin here until time to turn off step
@@ -476,8 +470,6 @@ void st_wake_up() {
// Enable stepper drivers.
motors_set_disable(false);
stepper_idle = false;
// Initialize stepper output bits to ensure first ISR call does not step.
st.step_outbits = step_port_invert_mask;
// Initialize step pulse timing from settings. Here to ensure updating after re-writing.
#ifdef STEP_PULSE_DELAY
// Step pulse delay handling is not require with ESP32...the RMT function does it.
@@ -510,8 +502,8 @@ void st_reset() {
segment_buffer_head = 0; // empty = tail
segment_next_head = 1;
busy = false;
st_generate_step_dir_invert_masks();
st.dir_outbits = dir_port_invert_mask; // Initialize direction bits to default.
st.step_outbits = 0;
st.dir_outbits = dir_invert_mask->get(); // Initialize direction bits to default.
// TODO do we need to turn step pins off?
}
@@ -716,6 +708,7 @@ void st_go_idle() {
motors_set_disable(false);
set_stepper_pins_on(0);
st.step_outbits = 0;
}
// Called by planner_recalculate() when the executing block is updated by the new plan.
@@ -760,22 +753,6 @@ void st_parking_restore_buffer() {
}
#endif
// Generates the step and direction port invert masks used in the Stepper Interrupt Driver.
void st_generate_step_dir_invert_masks() {
/*
uint8_t idx;
step_port_invert_mask = 0;
dir_port_invert_mask = 0;
for (idx=0; idx<N_AXIS; idx++) {
if (bit_istrue(step_invert_mask->get(),bit(idx))) { step_port_invert_mask |= get_step_pin_mask(idx); }
if (bit_istrue(dir_invert_mask->get(),bit(idx))) { dir_port_invert_mask |= get_direction_pin_mask(idx); }
}
*/
// simpler with ESP32, but let's do it here for easier change management
step_port_invert_mask = step_invert_mask->get();
dir_port_invert_mask = dir_invert_mask->get();
}
// Increments the step segment buffer block data ring buffer.
static uint8_t st_next_block_index(uint8_t block_index) {
block_index++;

3
Grbl_Esp32/src/Stepper.h
View File

@@ -97,9 +97,6 @@ void st_wake_up();
// Immediately disables steppers
void st_go_idle();
// Generate the step and direction port invert masks.
void st_generate_step_dir_invert_masks();
// Reset the stepper subsystem variables
void st_reset();