Elide delayMicroseconds for TMC2130 in non-DEDGE mode

Introduce new macros TMC2130_MINIMUM_DELAY/STEPPER_MINIMUM_DELAY for
blocking pauses.

If MINIMUM_PULSE has defined to be zero, avoid the delay call entirely.

Firmware/stepper.cpp

@@ -75,9 +75,11 @@ uint16_t SP_min = 0x21FF;
 #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
@@ -1448,7 +1450,7 @@ void babystep(const uint8_t axis,const bool direction)
         STEP_NC_HI(X_DUP_AXIS);
 #endif
 #ifndef TMC2130_DEDGE_STEPPING
-        delayMicroseconds(STEPPER_MINIMUM_PULSE);
+        STEPPER_MINIMUM_DELAY;
         STEP_NC_LO(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
         STEP_NC_LO(X_DUP_AXIS);
@@ -1478,7 +1480,7 @@ void babystep(const uint8_t axis,const bool direction)
         STEP_NC_HI(Y_DUP_AXIS);
 #endif
 #ifndef TMC2130_DEDGE_STEPPING
-        delayMicroseconds(STEPPER_MINIMUM_PULSE);
+        STEPPER_MINIMUM_DELAY;
         STEP_NC_LO(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
         STEP_NC_LO(Y_DUP_AXIS);
@@ -1511,7 +1513,7 @@ void babystep(const uint8_t axis,const bool direction)
         STEP_NC_HI(Z2_AXIS);
 #endif
 #ifndef TMC2130_DEDGE_STEPPING
-        delayMicroseconds(STEPPER_MINIMUM_PULSE);
+        STEPPER_MINIMUM_DELAY;
         STEP_NC_LO(Z_AXIS);
 #ifdef Z_DUAL_STEPPER_DRIVERS
         STEP_NC_LO(Z2_AXIS);

Firmware/tmc2130.cpp

@@ -717,10 +717,10 @@ static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
 #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); delayMicroseconds(TMC2130_MINIMUM_PULSE); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); }
-#define _DO_STEP_Y      { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); delayMicroseconds(TMC2130_MINIMUM_PULSE); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); }
-#define _DO_STEP_Z      { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); delayMicroseconds(TMC2130_MINIMUM_PULSE); WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); }
-#define _DO_STEP_E      { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); delayMicroseconds(TMC2130_MINIMUM_PULSE); WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); }
+#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
 
 

Firmware/tmc2130.h

@@ -33,6 +33,12 @@ extern uint8_t tmc2130_sg_homing_axes_mask;
 #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
 
+#if TMC2130_MINIMUM_PULSE == 0
+#define TMC2130_MINIMUM_DELAY //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];