Merge pull request #2789 from wavexx/MK3_TMC2130_DEDGE

Use/enable TMC2130 DEDGE support in MK3/MK3S

Firmware/sm4.c

@@ -129,11 +129,15 @@ void sm4_set_dir_bits(uint8_t dir_bits)
 void sm4_do_step(uint8_t axes_mask)
 {
 #if ((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3) || (MOTHERBOARD == BOARD_EINSY_1_0a))
+#ifdef TMC2130_DEDGE_STEPPING
+	PINC = (axes_mask & 0x0f); // toggle step signals by mask
+#else
     register uint8_t portC = PORTC & 0xf0;
 	PORTC = portC | (axes_mask & 0x0f); //set step signals by mask
 	asm("nop");
 	PORTC = portC; //set step signals to zero
 	asm("nop");
+#endif
 #endif //((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3) || (MOTHERBOARD == BOARD_EINSY_1_0a))
 }
 

Firmware/stepper.cpp

@@ -48,6 +48,62 @@ int fsensor_counter; //counter for e-steps
 uint16_t SP_min = 0x21FF;
 #endif //DEBUG_STACK_MONITOR
 
+
+/*
+ * Stepping macros
+ */
+#define _STEP_PIN_X_AXIS X_STEP_PIN
+#define _STEP_PIN_Y_AXIS Y_STEP_PIN
+#define _STEP_PIN_Z_AXIS Z_STEP_PIN
+#define _STEP_PIN_E_AXIS E0_STEP_PIN
+
+#ifdef DEBUG_XSTEP_DUP_PIN
+#define _STEP_PIN_X_DUP_AXIS DEBUG_XSTEP_DUP_PIN
+#endif
+#ifdef DEBUG_YSTEP_DUP_PIN
+#define _STEP_PIN_Y_DUP_AXIS DEBUG_YSTEP_DUP_PIN
+#endif
+#ifdef Y_DUAL_STEPPER_DRIVERS
+#error Y_DUAL_STEPPER_DRIVERS not fully implemented
+#define _STEP_PIN_Y2_AXIS Y2_STEP_PIN
+#endif
+#ifdef Z_DUAL_STEPPER_DRIVERS
+#error Z_DUAL_STEPPER_DRIVERS not fully implemented
+#define _STEP_PIN_Z2_AXIS Z2_STEP_PIN
+#endif
+
+#ifdef TMC2130
+#define STEPPER_MINIMUM_PULSE TMC2130_MINIMUM_PULSE
+#define STEPPER_SET_DIR_DELAY TMC2130_SET_DIR_DELAY
+#define STEPPER_MINIMUM_DELAY TMC2130_MINIMUM_DELAY
+#else
+#define STEPPER_MINIMUM_PULSE 2
+#define STEPPER_SET_DIR_DELAY 100
+#define STEPPER_MINIMUM_DELAY delayMicroseconds(STEPPER_MINIMUM_PULSE)
+#endif
+
+#ifdef TMC2130_DEDGE_STEPPING
+static_assert(TMC2130_MINIMUM_DELAY 1, // this will fail to compile when non-empty
+              "DEDGE implies/requires an empty TMC2130_MINIMUM_DELAY");
+#define STEP_NC_HI(axis) TOGGLE(_STEP_PIN_##axis)
+#define STEP_NC_LO(axis) //NOP
+#else
+
+#define _STEP_HI_X_AXIS  !INVERT_X_STEP_PIN
+#define _STEP_LO_X_AXIS  INVERT_X_STEP_PIN
+#define _STEP_HI_Y_AXIS  !INVERT_Y_STEP_PIN
+#define _STEP_LO_Y_AXIS  INVERT_Y_STEP_PIN
+#define _STEP_HI_Z_AXIS  !INVERT_Z_STEP_PIN
+#define _STEP_LO_Z_AXIS  INVERT_Z_STEP_PIN
+#define _STEP_HI_E_AXIS  !INVERT_E_STEP_PIN
+#define _STEP_LO_E_AXIS  INVERT_E_STEP_PIN
+
+#define STEP_NC_HI(axis) WRITE_NC(_STEP_PIN_##axis, _STEP_HI_##axis)
+#define STEP_NC_LO(axis) WRITE_NC(_STEP_PIN_##axis, _STEP_LO_##axis)
+
+#endif //TMC2130_DEDGE_STEPPING
+
+
 //===========================================================================
 //=============================public variables  ============================
 //===========================================================================
@@ -296,13 +352,13 @@ FORCE_INLINE void stepper_next_block()
 				WRITE_NC(X_DIR_PIN, INVERT_X_DIR);
 			else
 				WRITE_NC(X_DIR_PIN, !INVERT_X_DIR);
-			_delay_us(100);
+			delayMicroseconds(STEPPER_SET_DIR_DELAY);
 			for (uint8_t i = 0; i < st_backlash_x; i++)
 			{
-				WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN);
-				_delay_us(100);
-				WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN);
-				_delay_us(900);
+				STEP_NC_HI(X_AXIS);
+				STEPPER_MINIMUM_DELAY;
+				STEP_NC_LO(X_AXIS);
+				_delay_us(900); // hard-coded jerk! *bad*
 			}
 		}
 		last_dir_bits &= ~1;
@@ -319,13 +375,13 @@ FORCE_INLINE void stepper_next_block()
 				WRITE_NC(Y_DIR_PIN, INVERT_Y_DIR);
 			else
 				WRITE_NC(Y_DIR_PIN, !INVERT_Y_DIR);
-			_delay_us(100);
+			delayMicroseconds(STEPPER_SET_DIR_DELAY);
 			for (uint8_t i = 0; i < st_backlash_y; i++)
 			{
-				WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
-				_delay_us(100);
-				WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN);
-				_delay_us(900);
+				STEP_NC_HI(Y_AXIS);
+				STEPPER_MINIMUM_DELAY;
+				STEP_NC_LO(Y_AXIS);
+				_delay_us(900); // hard-coded jerk! *bad*
 			}
 		}
 		last_dir_bits &= ~2;
@@ -603,44 +659,44 @@ FORCE_INLINE void stepper_tick_lowres()
     // Step in X axis
     counter_x.lo += current_block->steps_x.lo;
     if (counter_x.lo > 0) {
-      WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN);
+      STEP_NC_HI(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
-      WRITE_NC(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
+      STEP_NC_HI(X_DUP_AXIS);
 #endif //DEBUG_XSTEP_DUP_PIN
       counter_x.lo -= current_block->step_event_count.lo;
       count_position[X_AXIS]+=count_direction[X_AXIS];
-      WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN);
+      STEP_NC_LO(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
-      WRITE_NC(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
+      STEP_NC_LO(X_DUP_AXIS);
 #endif //DEBUG_XSTEP_DUP_PIN
     }
     // Step in Y axis
     counter_y.lo += current_block->steps_y.lo;
     if (counter_y.lo > 0) {
-      WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+      STEP_NC_HI(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
-      WRITE_NC(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
+      STEP_NC_HI(Y_DUP_AXIS);
 #endif //DEBUG_YSTEP_DUP_PIN
       counter_y.lo -= current_block->step_event_count.lo;
       count_position[Y_AXIS]+=count_direction[Y_AXIS];
-      WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+      STEP_NC_LO(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
-      WRITE_NC(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
+      STEP_NC_LO(Y_DUP_AXIS);
 #endif //DEBUG_YSTEP_DUP_PIN    
     }
     // Step in Z axis
     counter_z.lo += current_block->steps_z.lo;
     if (counter_z.lo > 0) {
-      WRITE_NC(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
+      STEP_NC_HI(Z_AXIS);
       counter_z.lo -= current_block->step_event_count.lo;
       count_position[Z_AXIS]+=count_direction[Z_AXIS];
-      WRITE_NC(Z_STEP_PIN, INVERT_Z_STEP_PIN);
+      STEP_NC_LO(Z_AXIS);
     }
     // Step in E axis
     counter_e.lo += current_block->steps_e.lo;
     if (counter_e.lo > 0) {
 #ifndef LIN_ADVANCE
-      WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
+      STEP_NC_HI(E_AXIS);
 #endif /* LIN_ADVANCE */
       counter_e.lo -= current_block->step_event_count.lo;
       count_position[E_AXIS] += count_direction[E_AXIS];
@@ -650,7 +706,7 @@ FORCE_INLINE void stepper_tick_lowres()
 	#ifdef FILAMENT_SENSOR
 	  fsensor_counter += count_direction[E_AXIS];
 	#endif //FILAMENT_SENSOR
-      WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
+      STEP_NC_LO(E_AXIS);
 #endif
     }
     if(++ step_events_completed.lo >= current_block->step_event_count.lo)
@@ -665,44 +721,44 @@ FORCE_INLINE void stepper_tick_highres()
     // Step in X axis
     counter_x.wide += current_block->steps_x.wide;
     if (counter_x.wide > 0) {
-      WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN);
+      STEP_NC_HI(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
-      WRITE_NC(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
+      STEP_NC_HI(X_DUP_AXIS);
 #endif //DEBUG_XSTEP_DUP_PIN
       counter_x.wide -= current_block->step_event_count.wide;
       count_position[X_AXIS]+=count_direction[X_AXIS];   
-      WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN);
+      STEP_NC_LO(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
-      WRITE_NC(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
+      STEP_NC_LO(X_DUP_AXIS);
 #endif //DEBUG_XSTEP_DUP_PIN
     }
     // Step in Y axis
     counter_y.wide += current_block->steps_y.wide;
     if (counter_y.wide > 0) {
-      WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+      STEP_NC_HI(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
-      WRITE_NC(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
+      STEP_NC_HI(Y_DUP_AXIS);
 #endif //DEBUG_YSTEP_DUP_PIN
       counter_y.wide -= current_block->step_event_count.wide;
       count_position[Y_AXIS]+=count_direction[Y_AXIS];
-      WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+      STEP_NC_LO(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
-      WRITE_NC(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
+      STEP_NC_LO(Y_DUP_AXIS);
 #endif //DEBUG_YSTEP_DUP_PIN    
     }
     // Step in Z axis
     counter_z.wide += current_block->steps_z.wide;
     if (counter_z.wide > 0) {
-      WRITE_NC(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
+      STEP_NC_HI(Z_AXIS);
       counter_z.wide -= current_block->step_event_count.wide;
       count_position[Z_AXIS]+=count_direction[Z_AXIS];
-      WRITE_NC(Z_STEP_PIN, INVERT_Z_STEP_PIN);
+      STEP_NC_LO(Z_AXIS);
     }
     // Step in E axis
     counter_e.wide += current_block->steps_e.wide;
     if (counter_e.wide > 0) {
 #ifndef LIN_ADVANCE
-      WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
+      STEP_NC_HI(E_AXIS);
 #endif /* LIN_ADVANCE */
       counter_e.wide -= current_block->step_event_count.wide;
       count_position[E_AXIS]+=count_direction[E_AXIS];
@@ -712,7 +768,7 @@ FORCE_INLINE void stepper_tick_highres()
     #ifdef FILAMENT_SENSOR
       fsensor_counter += count_direction[E_AXIS];
     #endif //FILAMENT_SENSOR
-      WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
+      STEP_NC_LO(E_AXIS);
 #endif
     }
     if(++ step_events_completed.wide >= current_block->step_event_count.wide)
@@ -1014,9 +1070,9 @@ FORCE_INLINE void advance_isr_scheduler() {
         bool rev = (e_steps < 0);
         do
         {
-            WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN);
+            STEP_NC_HI(E_AXIS);
             e_steps += (rev? 1: -1);
-            WRITE_NC(E0_STEP_PIN, INVERT_E_STEP_PIN);
+            STEP_NC_LO(E_AXIS);
 #if defined(FILAMENT_SENSOR) && defined(PAT9125)
             fsensor_counter += (rev? -1: 1);
 #endif
@@ -1389,89 +1445,106 @@ void quickStop()
 #ifdef BABYSTEPPING
 void babystep(const uint8_t axis,const bool direction)
 {
-  //MUST ONLY BE CALLED BY A ISR, it depends on that no other ISR interrupts this
-    //store initial pin states
-  switch(axis)
-  {
-  case X_AXIS:
-  {
-    enable_x();   
-    uint8_t old_x_dir_pin= READ(X_DIR_PIN);  //if dualzstepper, both point to same direction.
-   
-    //setup new step
-    WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction);
-    
-    //perform step 
-    WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); 
+    // MUST ONLY BE CALLED BY A ISR as stepper pins are manipulated directly.
+    // note: when switching direction no delay is inserted at the end when the
+    //       original is restored. We assume enough time passes as the function
+    //       returns and the stepper is manipulated again (to avoid dead times)
+    switch(axis)
+    {
+    case X_AXIS:
+    {
+        enable_x();
+        uint8_t old_x_dir_pin = READ(X_DIR_PIN);  //if dualzstepper, both point to same direction.
+        uint8_t new_x_dir_pin = (INVERT_X_DIR)^direction;
+
+        //setup new step
+        if (new_x_dir_pin != old_x_dir_pin) {
+            WRITE_NC(X_DIR_PIN, new_x_dir_pin);
+            delayMicroseconds(STEPPER_SET_DIR_DELAY);
+        }
+
+        //perform step
+        STEP_NC_HI(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
-    WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
-#endif //DEBUG_XSTEP_DUP_PIN
-    delayMicroseconds(1);
-    WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+        STEP_NC_HI(X_DUP_AXIS);
+#endif
+        STEPPER_MINIMUM_DELAY;
+        STEP_NC_LO(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
-    WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
-#endif //DEBUG_XSTEP_DUP_PIN
+        STEP_NC_LO(X_DUP_AXIS);
+#endif
 
-    //get old pin state back.
-    WRITE(X_DIR_PIN,old_x_dir_pin);
-  }
-  break;
-  case Y_AXIS:
-  {
-    enable_y();   
-    uint8_t old_y_dir_pin= READ(Y_DIR_PIN);  //if dualzstepper, both point to same direction.
-   
-    //setup new step
-    WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction);
-    
-    //perform step 
-    WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); 
+        //get old pin state back.
+        WRITE_NC(X_DIR_PIN, old_x_dir_pin);
+    }
+    break;
+
+    case Y_AXIS:
+    {
+        enable_y();
+        uint8_t old_y_dir_pin = READ(Y_DIR_PIN);  //if dualzstepper, both point to same direction.
+        uint8_t new_y_dir_pin = (INVERT_Y_DIR)^direction;
+
+        //setup new step
+        if (new_y_dir_pin != old_y_dir_pin) {
+            WRITE_NC(Y_DIR_PIN, new_y_dir_pin);
+            delayMicroseconds(STEPPER_SET_DIR_DELAY);
+        }
+
+        //perform step
+        STEP_NC_HI(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
-    WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
-#endif //DEBUG_YSTEP_DUP_PIN
-    delayMicroseconds(1);
-    WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+        STEP_NC_HI(Y_DUP_AXIS);
+#endif
+        STEPPER_MINIMUM_DELAY;
+        STEP_NC_LO(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
-    WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
-#endif //DEBUG_YSTEP_DUP_PIN
+        STEP_NC_LO(Y_DUP_AXIS);
+#endif
 
-    //get old pin state back.
-    WRITE(Y_DIR_PIN,old_y_dir_pin);
+        //get old pin state back.
+        WRITE_NC(Y_DIR_PIN, old_y_dir_pin);
+    }
+    break;
 
-  }
-  break;
- 
-  case Z_AXIS:
-  {
-    enable_z();
-    uint8_t old_z_dir_pin= READ(Z_DIR_PIN);  //if dualzstepper, both point to same direction.
-    //setup new step
-    WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
-    #ifdef Z_DUAL_STEPPER_DRIVERS
-      WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
-    #endif
-    //perform step 
-    WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); 
-    #ifdef Z_DUAL_STEPPER_DRIVERS
-      WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
-    #endif
-    delayMicroseconds(1);
-    WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
-    #ifdef Z_DUAL_STEPPER_DRIVERS
-      WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
-    #endif
+    case Z_AXIS:
+    {
+        enable_z();
+        uint8_t old_z_dir_pin = READ(Z_DIR_PIN);  //if dualzstepper, both point to same direction.
+        uint8_t new_z_dir_pin = (INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z;
+
+        //setup new step
+        if (new_z_dir_pin != old_z_dir_pin) {
+            WRITE_NC(Z_DIR_PIN, new_z_dir_pin);
+#ifdef Z_DUAL_STEPPER_DRIVERS
+            WRITE_NC(Z2_DIR_PIN, new_z_dir_pin);
+#endif
+            delayMicroseconds(STEPPER_SET_DIR_DELAY);
+        }
 
-    //get old pin state back.
-    WRITE(Z_DIR_PIN,old_z_dir_pin);
-    #ifdef Z_DUAL_STEPPER_DRIVERS
-      WRITE(Z2_DIR_PIN,old_z_dir_pin);
-    #endif
+        //perform step
+        STEP_NC_HI(Z_AXIS);
+#ifdef Z_DUAL_STEPPER_DRIVERS
+        STEP_NC_HI(Z2_AXIS);
+#endif
+        STEPPER_MINIMUM_DELAY;
+        STEP_NC_LO(Z_AXIS);
+#ifdef Z_DUAL_STEPPER_DRIVERS
+        STEP_NC_LO(Z2_AXIS);
+#endif
 
-  }
-  break;
- 
-  default:    break;
-  }
+        //get old pin state back.
+        if (new_z_dir_pin != old_z_dir_pin) {
+            WRITE_NC(Z_DIR_PIN, old_z_dir_pin);
+#ifdef Z_DUAL_STEPPER_DRIVERS
+            WRITE_NC(Z2_DIR_PIN, old_z_dir_pin);
+#endif
+        }
+    }
+    break;
+
+    default: break;
+    }
 }
 #endif //BABYSTEPPING
 

Firmware/tmc2130.cpp

@@ -428,6 +428,11 @@ void tmc2130_check_overtemp()
 void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r)
 {
 	uint8_t intpol = (mres != 0); // intpol to 256 only if microsteps aren't 256
+#ifdef TMC2130_DEDGE_STEPPING
+	uint8_t dedge = 1;
+#else
+	uint8_t dedge = 0;
+#endif
 	uint8_t toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
 	uint8_t hstrt = tmc2130_chopper_config[axis].hstr; //initial 4, modified to 5
 	uint8_t hend = tmc2130_chopper_config[axis].hend; //original value = 1
@@ -437,6 +442,9 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
 	uint8_t tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
 	if (axis == E_AXIS)
 	{
+#if defined(TMC2130_INTPOL_E) && (TMC2130_INTPOL_E == 0)
+        intpol = 0;
+#endif
 #ifdef TMC2130_CNSTOFF_E
 		// fd = 0 (slow decay only)
 		hstrt = 0; //fd0..2
@@ -447,16 +455,26 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
 //		toff = TMC2130_TOFF_E; // toff = 3-5
 //		rndtf = 1;
 	}
+#if defined(TMC2130_INTPOL_XY) && (TMC2130_INTPOL_XY == 0)
+    else if (axis == X_AXIS || axis == Y_AXIS) {
+        intpol = 0;
+    }
+#endif
+#if defined(TMC2130_INTPOL_Z) && (TMC2130_INTPOL_Z == 0)
+    else if (axis == Z_AXIS) {
+        intpol = 0;
+    }
+#endif
 //	DBG(_n("tmc2130_setup_chopper(axis=%hhd, mres=%hhd, curh=%hhd, curr=%hhd\n"), axis, mres, current_h, current_r);
 //	DBG(_n(" toff=%hhd, hstr=%hhd, hend=%hhd, tbl=%hhd\n"), toff, hstrt, hend, tbl);
 	if (current_r <= 31)
 	{
-		tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, 0, 0);
+		tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, dedge, 0);
 		tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((current_r & 0x1f) << 8) | (current_h & 0x1f));
 	}
 	else
 	{
-		tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 0, 0, 0, 0, mres, intpol, 0, 0);
+		tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 0, 0, 0, 0, mres, intpol, dedge, 0);
 		tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((current_r >> 1) & 0x1f) << 8) | ((current_h >> 1) & 0x1f));
 	}
 }
@@ -678,25 +696,32 @@ static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
 #define _GET_PWR_Z      (READ(Z_ENABLE_PIN) == Z_ENABLE_ON)
 #define _GET_PWR_E      (READ(E0_ENABLE_PIN) == E_ENABLE_ON)
 
-#define _SET_PWR_X(ena) { WRITE(X_ENABLE_PIN, ena?X_ENABLE_ON:!X_ENABLE_ON); asm("nop"); }
-#define _SET_PWR_Y(ena) { WRITE(Y_ENABLE_PIN, ena?Y_ENABLE_ON:!Y_ENABLE_ON); asm("nop"); }
-#define _SET_PWR_Z(ena) { WRITE(Z_ENABLE_PIN, ena?Z_ENABLE_ON:!Z_ENABLE_ON); asm("nop"); }
-#define _SET_PWR_E(ena) { WRITE(E0_ENABLE_PIN, ena?E_ENABLE_ON:!E_ENABLE_ON); asm("nop"); }
+#define _SET_PWR_X(ena) WRITE(X_ENABLE_PIN, ena?X_ENABLE_ON:!X_ENABLE_ON)
+#define _SET_PWR_Y(ena) WRITE(Y_ENABLE_PIN, ena?Y_ENABLE_ON:!Y_ENABLE_ON)
+#define _SET_PWR_Z(ena) WRITE(Z_ENABLE_PIN, ena?Z_ENABLE_ON:!Z_ENABLE_ON)
+#define _SET_PWR_E(ena) WRITE(E0_ENABLE_PIN, ena?E_ENABLE_ON:!E_ENABLE_ON)
 
 #define _GET_DIR_X      (READ(X_DIR_PIN) == INVERT_X_DIR)
 #define _GET_DIR_Y      (READ(Y_DIR_PIN) == INVERT_Y_DIR)
 #define _GET_DIR_Z      (READ(Z_DIR_PIN) == INVERT_Z_DIR)
 #define _GET_DIR_E      (READ(E0_DIR_PIN) == INVERT_E0_DIR)
 
-#define _SET_DIR_X(dir) { WRITE(X_DIR_PIN, dir?INVERT_X_DIR:!INVERT_X_DIR); asm("nop"); }
-#define _SET_DIR_Y(dir) { WRITE(Y_DIR_PIN, dir?INVERT_Y_DIR:!INVERT_Y_DIR); asm("nop"); }
-#define _SET_DIR_Z(dir) { WRITE(Z_DIR_PIN, dir?INVERT_Z_DIR:!INVERT_Z_DIR); asm("nop"); }
-#define _SET_DIR_E(dir) { WRITE(E0_DIR_PIN, dir?INVERT_E0_DIR:!INVERT_E0_DIR); asm("nop"); }
+#define _SET_DIR_X(dir) WRITE(X_DIR_PIN, dir?INVERT_X_DIR:!INVERT_X_DIR)
+#define _SET_DIR_Y(dir) WRITE(Y_DIR_PIN, dir?INVERT_Y_DIR:!INVERT_Y_DIR)
+#define _SET_DIR_Z(dir) WRITE(Z_DIR_PIN, dir?INVERT_Z_DIR:!INVERT_Z_DIR)
+#define _SET_DIR_E(dir) WRITE(E0_DIR_PIN, dir?INVERT_E0_DIR:!INVERT_E0_DIR)
 
-#define _DO_STEP_X      { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); asm("nop"); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); asm("nop"); }
-#define _DO_STEP_Y      { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); asm("nop"); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); asm("nop"); }
-#define _DO_STEP_Z      { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); asm("nop"); WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); asm("nop"); }
-#define _DO_STEP_E      { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); asm("nop"); WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); asm("nop"); }
+#ifdef TMC2130_DEDGE_STEPPING
+#define _DO_STEP_X      TOGGLE(X_STEP_PIN)
+#define _DO_STEP_Y      TOGGLE(Y_STEP_PIN)
+#define _DO_STEP_Z      TOGGLE(Z_STEP_PIN)
+#define _DO_STEP_E      TOGGLE(E0_STEP_PIN)
+#else
+#define _DO_STEP_X      { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); }
+#define _DO_STEP_Y      { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); }
+#define _DO_STEP_Z      { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); }
+#define _DO_STEP_E      { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); }
+#endif
 
 
 uint16_t tmc2130_get_res(uint8_t axis)
@@ -737,6 +762,7 @@ void tmc2130_set_pwr(uint8_t axis, uint8_t pwr)
 	case Z_AXIS: _SET_PWR_Z(pwr); break;
 	case E_AXIS: _SET_PWR_E(pwr); break;
 	}
+    delayMicroseconds(TMC2130_SET_PWR_DELAY);
 }
 
 uint8_t tmc2130_get_inv(uint8_t axis)
@@ -773,6 +799,7 @@ void tmc2130_set_dir(uint8_t axis, uint8_t dir)
 	case Z_AXIS: _SET_DIR_Z(dir); break;
 	case E_AXIS: _SET_DIR_E(dir); break;
 	}
+    delayMicroseconds(TMC2130_SET_DIR_DELAY);
 }
 
 void tmc2130_do_step(uint8_t axis)
@@ -788,8 +815,8 @@ void tmc2130_do_step(uint8_t axis)
 
 void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us)
 {
-	tmc2130_set_dir(axis, dir);
-	delayMicroseconds(100);
+    if (tmc2130_get_dir(axis) != dir)
+        tmc2130_set_dir(axis, dir);
 	while (steps--)
 	{
 		tmc2130_do_step(axis);
@@ -820,7 +847,6 @@ void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_u
 		cnt = steps;
 	}
 	tmc2130_set_dir(axis, dir);
-	delayMicroseconds(100);
 	mscnt = tmc2130_rd_MSCNT(axis);
 	while ((cnt--) && ((mscnt >> shift) != step))
 	{

Firmware/tmc2130.h

@@ -29,6 +29,18 @@ extern uint8_t tmc2130_sg_homing_axes_mask;
 #define TMC2130_WAVE_FAC1000_MAX 200
 #define TMC2130_WAVE_FAC1000_STP   1
 
+#define TMC2130_MINIMUM_PULSE 0   // minimum pulse width in uS
+#define TMC2130_SET_DIR_DELAY 20  // minimum delay after setting direction in uS
+#define TMC2130_SET_PWR_DELAY 0   // minimum delay after changing pwr mode in uS
+
+#ifdef TMC2130_DEDGE_STEPPING
+#define TMC2130_MINIMUM_DELAY //NOP
+#elif TMC2130_MINIMUM_PULSE == 0
+#define TMC2130_MINIMUM_DELAY asm("nop")
+#else
+#define TMC2130_MINIMUM_DELAY delayMicroseconds(TMC2130_MINIMUM_PULSE)
+#endif
+
 extern uint8_t tmc2130_home_enabled;
 extern uint8_t tmc2130_home_origin[2];
 extern uint8_t tmc2130_home_bsteps[2];

Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h

@@ -268,6 +268,7 @@
 #define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18}  // homing running currents for all axes
 
 #define TMC2130_STEALTH_Z
+#define TMC2130_DEDGE_STEPPING
 
 //#define TMC2130_SERVICE_CODES_M910_M918
 

Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h

@@ -270,6 +270,7 @@
 #define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18}  // homing running currents for all axes
 
 #define TMC2130_STEALTH_Z
+#define TMC2130_DEDGE_STEPPING
 
 //#define TMC2130_SERVICE_CODES_M910_M918