Implement double-edge stepping

Introduce new wrapper macros to tick the stepper pins.
Default to the original raising-edge stepping mode.

When using the TMC double-edge stepping mode (aka half-wave or
square-wave mode) the _LO macros become no-ops.

Firmware/stepper.cpp

@@ -48,6 +48,50 @@ 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_DEDGE_STEPPING
+#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  ============================
 //===========================================================================
@@ -300,9 +344,9 @@ FORCE_INLINE void stepper_next_block()
 			_delay_us(100);
 			for (uint8_t i = 0; i < st_backlash_x; i++)
 			{
-				WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN);
+				STEP_NC_HI(X_AXIS);
 				_delay_us(100);
-				WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN);
+				STEP_NC_LO(X_AXIS);
 				_delay_us(900);
 			}
 		}
@@ -323,9 +367,9 @@ FORCE_INLINE void stepper_next_block()
 			_delay_us(100);
 			for (uint8_t i = 0; i < st_backlash_y; i++)
 			{
-				WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+				STEP_NC_HI(Y_AXIS);
 				_delay_us(100);
-				WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+				STEP_NC_LO(Y_AXIS);
 				_delay_us(900);
 			}
 		}
@@ -607,44 +651,44 @@ 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];
@@ -654,7 +698,7 @@ 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)
@@ -669,44 +713,44 @@ 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];
@@ -716,7 +760,7 @@ 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)
@@ -997,9 +1041,9 @@ 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
@@ -1385,14 +1429,14 @@ void babystep(const uint8_t axis,const bool direction)
     WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction);
     
     //perform step 
-    WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); 
+    STEP_NC_HI(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
-    WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
+    STEP_NC_HI(X_DUP_AXIS);
 #endif //DEBUG_XSTEP_DUP_PIN
     delayMicroseconds(1);
-    WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+    STEP_NC_LO(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
-    WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
+    STEP_NC_LO(X_DUP_AXIS);
 #endif //DEBUG_XSTEP_DUP_PIN
 
     //get old pin state back.
@@ -1408,14 +1452,14 @@ void babystep(const uint8_t axis,const bool direction)
     WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction);
     
     //perform step 
-    WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); 
+    STEP_NC_HI(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
-    WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
+    STEP_NC_HI(Y_DUP_AXIS);
 #endif //DEBUG_YSTEP_DUP_PIN
     delayMicroseconds(1);
-    WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+    STEP_NC_LO(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
-    WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
+    STEP_NC_LO(Y_DUP_AXIS);
 #endif //DEBUG_YSTEP_DUP_PIN
 
     //get old pin state back.
@@ -1434,14 +1478,14 @@ void babystep(const uint8_t axis,const bool direction)
       WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
     #endif
     //perform step 
-    WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); 
+    STEP_NC_HI(Z_AXIS);
     #ifdef Z_DUAL_STEPPER_DRIVERS
-      WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
+      STEP_NC_HI(Z2_AXIS);
     #endif
     delayMicroseconds(1);
-    WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
+    STEP_NC_LO(Z_AXIS);
     #ifdef Z_DUAL_STEPPER_DRIVERS
-      WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
+      STEP_NC_LO(Z2_AXIS);
     #endif
 
     //get old pin state back.

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
@@ -464,12 +469,12 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
 //	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));
 	}
 }
@@ -706,10 +711,17 @@ static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
 #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"); }
 
+#ifdef TMC2130_DEDGE_STEPPING
+#define _DO_STEP_X      { TOGGLE(X_STEP_PIN); asm("nop"); }
+#define _DO_STEP_Y      { TOGGLE(Y_STEP_PIN); asm("nop"); }
+#define _DO_STEP_Z      { TOGGLE(Z_STEP_PIN); asm("nop"); }
+#define _DO_STEP_E      { TOGGLE(E0_STEP_PIN); asm("nop"); }
+#else
 #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"); }
+#endif
 
 
 uint16_t tmc2130_get_res(uint8_t axis)