stepper: Support rescheduling of step events on faster MCUs

On faster MCUs the step and unstep events may be too close for the
stepper motor driver.  Add a CONFIG_NO_UNSTEP_DELAY build option and
support the case where it is not set.  This allows faster MCUs to
schedule two events for each step (one for the step and one for the
unstep).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

src/Kconfig

@@ -25,6 +25,13 @@ config HAVE_GPIO_HARD_PWM
     bool
     default n
 
+config NO_UNSTEP_DELAY
+    # Slow micro-controllers do not require a delay before returning a
+    # stepper step pin to its default level.  A board can enable this
+    # option to optimize the stepper_event() handler in this case.
+    bool
+    default n
+
 config INLINE_STEPPER_HACK
     # Enables gcc to inline stepper_event() into the main timer irq handler
     bool

src/avr/Kconfig

@@ -8,6 +8,7 @@ config AVR_SELECT
     select HAVE_GPIO_ADC
     select HAVE_GPIO_SPI
     select HAVE_GPIO_HARD_PWM
+    select NO_UNSTEP_DELAY
 
 config BOARD_DIRECTORY
     string

src/stepper.c

@@ -22,7 +22,13 @@ struct stepper {
     struct timer time;
     uint32_t interval;
     int16_t add;
+#if CONFIG_NO_UNSTEP_DELAY
     uint16_t count;
+#define next_step_time time.waketime
+#else
+    uint32_t count;
+    uint32_t next_step_time;
+#endif
     struct gpio_out step_pin, dir_pin;
     uint32_t position;
     struct move *first, **plast;
@@ -36,7 +42,7 @@ enum { SF_LAST_DIR=1, SF_NEXT_DIR=2, SF_INVERT_STEP=4, SF_HAVE_ADD=8 };
 
 // Setup a stepper for the next move in its queue
 static uint_fast8_t
-stepper_load_next(struct stepper *s)
+stepper_load_next(struct stepper *s, uint32_t min_next_time)
 {
     struct move *m = s->first;
     if (!m) {
@@ -46,16 +52,32 @@ stepper_load_next(struct stepper *s)
         return SF_DONE;
     }
 
-    s->time.waketime += m->interval;
+    s->next_step_time += m->interval;
     s->add = m->add;
     s->interval = m->interval + m->add;
-    s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
+    if (CONFIG_NO_UNSTEP_DELAY) {
-    s->count = m->count;
+        // On slow mcus see if the add can be optimized away
+        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
+        // and so there are twice as many events.  Also check that the
+        // next step event isn't too close to the last unstep.
+        if (unlikely(sched_is_before(s->next_step_time, min_next_time))) {
+            if ((int32_t)(s->next_step_time - min_next_time)
+                < (int32_t)(-sched_from_us(1000)))
+                shutdown("stepper too far in past");
+            s->time.waketime = min_next_time;
+        } else {
+            s->time.waketime = s->next_step_time;
+        }
+        s->count = m->count * 2;
+    }
     if (m->flags & MF_DIR) {
-        s->position = -s->position + s->count;
+        s->position = -s->position + m->count;
         gpio_out_toggle(s->dir_pin);
     } else {
-        s->position += s->count;
+        s->position += m->count;
     }
 
     s->first = m->next;
@@ -63,24 +85,51 @@ stepper_load_next(struct stepper *s)
     return SF_RESCHEDULE;
 }
 
+#define UNSTEP_TIME sched_from_us(1)
+
 // Timer callback - step the given stepper.
 uint_fast8_t
 stepper_event(struct timer *t)
 {
     struct stepper *s = container_of(t, struct stepper, time);
-    gpio_out_toggle(s->step_pin);
+    if (CONFIG_NO_UNSTEP_DELAY) {
-    uint16_t count = s->count - 1;
+        // On slower mcus it is possible to simply step and unstep in
-    if (likely(count)) {
+        // the same timer event.
-        s->count = count;
-        s->time.waketime += s->interval;
         gpio_out_toggle(s->step_pin);
-        if (s->flags & SF_HAVE_ADD)
+        uint16_t count = s->count - 1;
-            s->interval += s->add;
+        if (likely(count)) {
+            s->count = count;
+            s->time.waketime += s->interval;
+            gpio_out_toggle(s->step_pin);
+            if (s->flags & SF_HAVE_ADD)
+                s->interval += s->add;
+            return SF_RESCHEDULE;
+        }
+        uint_fast8_t ret = stepper_load_next(s, 0);
+        gpio_out_toggle(s->step_pin);
+        return ret;
+    }
+
+    // On faster mcus, it is necessary to schedule the unstep event
+    uint32_t min_next_time = sched_read_time() + UNSTEP_TIME;
+    gpio_out_toggle(s->step_pin);
+    s->count--;
+    if (likely(s->count & 1))
+        // Schedule unstep event
+        goto reschedule_min;
+    if (likely(s->count)) {
+        s->next_step_time += s->interval;
+        s->interval += s->add;
+        if (unlikely(sched_is_before(s->next_step_time, min_next_time)))
+            // The next step event is too close - push it back
+            goto reschedule_min;
+        s->time.waketime = s->next_step_time;
         return SF_RESCHEDULE;
     }
-    uint_fast8_t ret = stepper_load_next(s);
+    return stepper_load_next(s, min_next_time);
-    gpio_out_toggle(s->step_pin);
+reschedule_min:
-    return ret;
+    s->time.waketime = min_next_time;
+    return SF_RESCHEDULE;
 }
 
 void
@@ -126,7 +175,7 @@ command_queue_step(uint32_t *args)
         s->plast = &m->next;
     } else {
         s->first = m;
-        stepper_load_next(s);
+        stepper_load_next(s, s->next_step_time + m->interval);
         sched_timer(&s->time);
     }
     irq_enable();
@@ -154,7 +203,7 @@ command_reset_step_clock(uint32_t *args)
     uint32_t waketime = args[1];
     if (s->count)
         shutdown("Can't reset time when stepper active");
-    s->time.waketime = waketime;
+    s->next_step_time = waketime;
 }
 DECL_COMMAND(command_reset_step_clock, "reset_step_clock oid=%c clock=%u");
 
@@ -162,7 +211,11 @@ DECL_COMMAND(command_reset_step_clock, "reset_step_clock oid=%c clock=%u");
 uint32_t
 stepper_get_position(struct stepper *s)
 {
-    uint32_t position = s->position - s->count;
+    uint32_t position = s->position;
+    if (CONFIG_NO_UNSTEP_DELAY)
+        position -= s->count;
+    else
+        position -= s->count / 2;
     if (position & 0x80000000)
         return -position;
     return position;