From afad2b6f0b61379df86db1ab072ebbe984b880f8 Mon Sep 17 00:00:00 2001 From: Grazfather Date: Fri, 24 Jan 2025 23:38:14 -0500 Subject: [PATCH] More explanatory comments --- drivers/stepper/stepper.zig | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/drivers/stepper/stepper.zig b/drivers/stepper/stepper.zig index 48c1a969..a441153f 100644 --- a/drivers/stepper/stepper.zig +++ b/drivers/stepper/stepper.zig @@ -129,7 +129,11 @@ pub fn Stepper(comptime Driver: type) type { pub fn enable(self: *Self) !void { if (self.enable_pin) |pin| { try pin.write(self.enable_active_state); - self.clock.sleep_us(Driver.WAKEUP_TIME); + // We only need to wait if we are using the enable pin to + // enter/leave nSLEEP. If we are instead setting nEN, we can + // skip this. + if (self.enable_active_state == .high) + self.clock.sleep_us(Driver.WAKEUP_TIME); } } @@ -334,8 +338,8 @@ pub fn Stepper(comptime Driver: type) type { } // Configure what value to write to the enable pin to enable the - // driver. This is LOW when this pin is hooked up to EN(bar), but HIGH - // when hooked up to SLEEP(bar) + // driver. This is LOW when this pin is hooked up to nENABLE, but HIGH + // when hooked up to nSLEEP. pub fn set_enable_active_state(self: *Self, state: mdf.base.Digital_IO.State) void { self.enable_active_state = state; }