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Fixed a few bugs in steppping: direction delays and step pulse initialization.

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This commit is contained in:
Stefan de Bruijn
2021-07-01 22:33:31 +02:00
parent 0f62e7efb3
commit 4a2241b07d
3 changed files with 40 additions and 7 deletions
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2
Grbl_Esp32/src/I2SOut.h
View File

@@ -56,7 +56,7 @@
/* 16-bit mode: 1000000 usec / ((160000000 Hz) / 10 / 2) x 16 bit/pulse x 2(stereo) = 4 usec/pulse */
/* 32-bit mode: 1000000 usec / ((160000000 Hz) / 5 / 2) x 32 bit/pulse x 2(stereo) = 4 usec/pulse */
const int I2S_OUT_USEC_PER_PULSE = 4;
const uint32_t I2S_OUT_USEC_PER_PULSE = 4;
const int I2S_OUT_DMABUF_COUNT = 5; /* number of DMA buffers to store data */
const int I2S_OUT_DMABUF_LEN = 2000; /* maximum size in bytes (4092 is DMA's limit) */

28
Grbl_Esp32/src/Machine/Axes.cpp
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@@ -5,6 +5,9 @@
#include "../Motors/NullMotor.h"
#include "../NutsBolts.h"
#include "../MotionControl.h"
#include "../Stepper.h" // stepper_id_t
#include "../I2SOut.h" // i2s_out_push_sample
#include "MachineConfig.h" // config->
namespace Machine {
Axes::Axes() : _axis() {
@@ -127,6 +130,31 @@ namespace Machine {
}
}
}
auto wait_direction = config->_directionDelayMicroSeconds;
if (wait_direction > 0) {
// Stepper drivers need some time between changing direction and doing a pulse.
switch (config->_stepType) {
case stepper_id_t::ST_I2S_STREAM:
i2s_out_push_sample(wait_direction);
break;
case stepper_id_t::ST_I2S_STATIC:
case stepper_id_t::ST_TIMED: {
// wait for step pulse time to complete...some time expired during code above
//
// If we are using GPIO stepping as opposed to RMT, record the
// time that we turned on the direction pins so we can delay a bit.
// If we are using RMT, we can't delay here.
auto direction_pulse_start_time = esp_timer_get_time() + wait_direction;
while ((esp_timer_get_time() - direction_pulse_start_time) < 0) {
NOP(); // spin here until time to turn off step
}
break;
}
case stepper_id_t::ST_RMT:
break;
}
}
}
// Turn on step pulses for motors that are supposed to step now

17
Grbl_Esp32/src/Stepper.cpp
View File

@@ -366,8 +366,13 @@ void stepper_init() {
config->_disableDelayMicroSeconds,
config->_directionDelayMicroSeconds);
// I2S stepper stream mode use callback but timer interrupt
i2s_out_set_pulse_callback(stepper_pulse_func);
switch (config->_stepType) {
case ST_I2S_STREAM:
case ST_I2S_STATIC:
// I2S stepper stream mode use callback but timer interrupt
i2s_out_set_pulse_callback(stepper_pulse_func);
break;
}
// Other stepper use timer interrupt
Stepper_Timer_Init();
@@ -398,13 +403,13 @@ void st_wake_up() {
// Enable stepper drivers.
config->_axes->set_disable(false);
stepper_idle = false;
// Initialize step pulse timing from settings. Here to ensure updating after re-writing.
// Step pulse delay handling is not require with RMT
if (config->_disableDelayMicroSeconds < 1) {
// Initialize step pulse timing from settings. Here to ensure updating after re-writing.
// Step pulse delay handling is not require with ESP32 RMT...the RMT function does it.
if (config->_stepType != ST_RMT || config->_directionDelayMicroSeconds < 1) {
// Set step pulse time. Ad hoc computation from oscilloscope. Uses two's complement.
st.step_pulse_time = -(((config->_pulseMicroSeconds - 2) * ticksPerMicrosecond) >> 3);
}
}
// Enable Stepper Driver Interrupt
Stepper_Timer_Start();