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stepper: Also ensure minimum time after dir change and next step

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In practice the host will not schedule any steps immediately after a
direction change (due to acceleration limits and the host
"step+dir+step filter").  However, there is also no harm in enforcing
a minimum duration in the mcu.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-05-08 08:32:02 -04:00
parent 885f63cff0
commit fd55dd9e9d
1 changed files with 11 additions and 3 deletions
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14
src/stepper.c
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@ -109,10 +109,18 @@ stepper_load_next(struct stepper *s)
shutdown("Stepper too far in past");
s->time.waketime = min_next_time;
}
if (was_active && need_dir_change && s->flags & SF_SINGLE_SCHED)
if (was_active && need_dir_change) {
// Must ensure minimum time between step change and dir change
while (timer_is_before(timer_read_time(), min_next_time))
;
if (s->flags & SF_SINGLE_SCHED)
while (timer_is_before(timer_read_time(), min_next_time))
;
gpio_out_toggle_noirq(s->dir_pin);
uint32_t curtime = timer_read_time();
min_next_time = curtime + s->step_pulse_ticks;
if (timer_is_before(s->time.waketime, min_next_time))
s->time.waketime = min_next_time;
return SF_RESCHEDULE;
}
}
// Set new direction (if needed)