Implemented Stop on Zero Step

motor-control/firmware/src/tmc2209/pulser.pio

@@ -18,7 +18,8 @@ counter:
     ; SM 3 + 2 -> IRQ 1
     PULL
     MOV X, OSR
-    IRQ WAIT 2 REL
+    JMP !X l1_end
+    JMP X-- l1
 l1:
     PULL NOBLOCK
     IRQ WAIT 2 REL
@@ -29,6 +30,7 @@ l1:
     MOV X, OSR
     JMP X-- l1
 
+l1_end:
     IRQ SET 0 REL
     ; SM 2 + 0 -> IRQ 2
     ; SM 3 + 0 -> IRQ 3

motor-control/firmware/src/tmc2209/step.cpp

@@ -4,6 +4,8 @@
 #include "hardware/irq.h"
 #include <pico/time.h>
 
+#include <math.h>
+
 TMC2209_step_dual * g_step_driver_instance;
 
 void step_irq0_handler() {
@@ -164,14 +166,40 @@ void TMC2209_step_dual::set_conf1(uint frequency, bool dir) {
 };
 
 void TMC2209_step_dual::pulse0(uint n) {
+    this->done_flag0_arm = true;
     pio_sm_put_blocking(
-        this->pio_core, this->sm_num_counter0, n-1
+        this->pio_core, this->sm_num_counter0, n
     );
 };
 
 void TMC2209_step_dual::pulse1(uint n) {
+    this->done_flag1_arm = true;
     pio_sm_put_blocking(
-        this->pio_core, this->sm_num_counter1, n-1
+        this->pio_core, this->sm_num_counter1, n
+    );
+};
+
+void TMC2209_step_dual::pulse0_int(int n) {
+    this->done_flag0_arm = true;
+    if(n < 0) {
+        n = abs(n);
+        gpio_put(this->dir1_pin, gpio_get(this->dir1_pin) ^ 1);
+    }
+
+    pio_sm_put_blocking(
+        this->pio_core, this->sm_num_counter0, n
+    );
+};
+
+void TMC2209_step_dual::pulse1_int(int n) {
+    this->done_flag1_arm = true;
+    if(n < 0) {
+        n = abs(n);
+        gpio_put(this->dir1_pin, gpio_get(this->dir1_pin) ^ 1);
+    }
+
+    pio_sm_put_blocking(
+        this->pio_core, this->sm_num_counter1, n
     );
 };
 
@@ -196,7 +224,9 @@ void TMC2209_step_dual::irq_handler1() {
 bool TMC2209_step_dual::wait0(int timeout_ms) {
     int t = timeout_ms*1000;
     bool continues = timeout_ms <= 0;
-    this->done_flag0_arm = true;
+
+    if(!this->done_flag0_arm)
+        return true;
 
     while(t > 0 || continues) {
 
@@ -218,13 +248,15 @@ bool TMC2209_step_dual::wait0(int timeout_ms) {
 bool TMC2209_step_dual::wait1(int timeout_ms) {
     int t = timeout_ms*1000;
     bool continues = timeout_ms <= 0;
-    this->done_flag1_arm = true;
+
+    if(!this->done_flag1_arm)
+        return true;
 
     while(t > 0 || continues) {
 
-        if(done_flag0) {
+        if(done_flag1) {
             this->done_flag1_arm = false;
-            done_flag0 = false;
+            done_flag1 = false;
             return true;
         }