drivers: stepper: step_dir: Adjust toggeling speed of step pin

Changes the timing source to perform the stepping in half of the given
frequency to space out the toggeling of the step pin more. This fixes
misstepping for configurations where the speed of successive toggeling
exceeds what the stepper driver can handle.

Fixes #87698.

Signed-off-by: Fabian Blatz <[email protected]>

Author: faxe1008

drivers/stepper/step_dir/step_dir_stepper_common.c

@@ -36,12 +36,10 @@ static inline int step_dir_stepper_perform_step(const struct device *dev)
 		return ret;
 	}
 
-	if (!config->dual_edge) {
-		ret = gpio_pin_toggle_dt(&config->step_pin);
-		if (ret < 0) {
-			LOG_ERR("Failed to toggle step pin: %d", ret);
-			return ret;
-		}
+	data->toggle_count++;
+
+	if (!config->dual_edge && data->toggle_count % 2 != 0) {
+		return 0;
 	}
 
 	if (data->direction == STEPPER_DIRECTION_POSITIVE) {
@@ -332,6 +330,7 @@ int step_dir_stepper_common_run(const struct device *dev, const enum stepper_dir
 int step_dir_stepper_common_stop(const struct device *dev)
 {
 	const struct step_dir_stepper_common_config *config = dev->config;
+	struct step_dir_stepper_common_data *data = dev->data;
 	int ret;
 
 	ret = config->timing_source->stop(dev);
@@ -340,6 +339,13 @@ int step_dir_stepper_common_stop(const struct device *dev)
 		return ret;
 	}
 
+	ret = gpio_pin_set_dt(&config->step_pin, 0);
+	if (ret < 0) {
+		LOG_ERR("Failed to set step pin: %d", ret);
+		return ret;
+	}
+	data->toggle_count = 0;
+
 	stepper_trigger_callback(dev, STEPPER_EVENT_STOPPED);
 	return 0;
 }

drivers/stepper/step_dir/step_dir_stepper_common.h

@@ -74,6 +74,7 @@ struct step_dir_stepper_common_data {
 	int32_t actual_position;
 	uint64_t microstep_interval_ns;
 	int32_t step_count;
+	uint8_t toggle_count;
 	stepper_event_callback_t callback;
 	void *event_cb_user_data;
 

drivers/stepper/step_dir/step_dir_stepper_counter_timing.c

@@ -23,13 +23,17 @@ int step_counter_timing_source_update(const struct device *dev,
 	const struct step_dir_stepper_common_config *config = dev->config;
 	struct step_dir_stepper_common_data *data = dev->data;
 	int ret;
+	uint64_t toggle_freq = counter_get_frequency(config->counter) * microstep_interval_ns;
 
 	if (microstep_interval_ns == 0) {
 		return -EINVAL;
 	}
 
-	data->counter_top_cfg.ticks = DIV_ROUND_UP(
-		counter_get_frequency(config->counter) * microstep_interval_ns, NSEC_PER_SEC);
+	if (config->dual_edge) {
+		data->counter_top_cfg.ticks = DIV_ROUND_UP(toggle_freq, NSEC_PER_SEC);
+	} else {
+		data->counter_top_cfg.ticks = DIV_ROUND_UP(toggle_freq / 2, NSEC_PER_SEC);
+	}
 
 	/* Lock interrupts while modifying counter settings */
 	int key = irq_lock();

drivers/stepper/step_dir/step_dir_stepper_work_timing.c

@@ -9,12 +9,17 @@
 static k_timeout_t stepper_movement_delay(const struct device *dev)
 {
 	const struct step_dir_stepper_common_data *data = dev->data;
+	const struct step_dir_stepper_common_config *config = dev->config;
 
 	if (data->microstep_interval_ns == 0) {
 		return K_FOREVER;
 	}
 
-	return K_NSEC(data->microstep_interval_ns);
+	if (config->dual_edge) {
+		return K_NSEC(data->microstep_interval_ns);
+	} else {
+		return K_NSEC(data->microstep_interval_ns / 2);
+	}
 }
 
 static void stepper_work_step_handler(struct k_work *work)