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Put more code between pulse start and stop (#9956)

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Scott Lahteine 2018-03-05 23:05:42 -06:00 committed by GitHub
parent 70e9c07b2d
commit 3bae28a5e1
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1 changed files with 47 additions and 41 deletions
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88
Marlin/stepper.cpp
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@ -482,48 +482,24 @@ void Stepper::isr() {
// Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false;
for (uint8_t i = step_loops; i--;) {
#if ENABLED(LIN_ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
#if DISABLED(MIXING_EXTRUDER)
// Don't step E here for mixing extruder
count_position[E_AXIS] += count_direction[E_AXIS];
motor_direction(E_AXIS) ? --e_steps : ++e_steps;
#endif
}
#if ENABLED(MIXING_EXTRUDER)
// Step mixing steppers proportionally
const bool dir = motor_direction(E_AXIS);
MIXING_STEPPERS_LOOP(j) {
counter_m[j] += current_block->steps[E_AXIS];
if (counter_m[j] > 0) {
counter_m[j] -= current_block->mix_event_count[j];
dir ? --e_steps[j] : ++e_steps[j];
}
}
#endif
#endif // LIN_ADVANCE
#define _COUNTER(AXIS) counter_## AXIS
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
// Advance the Bresenham counter; start a pulse if the axis needs a step
#define PULSE_START(AXIS) \
#define PULSE_START(AXIS) do{ \
_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
if (_COUNTER(AXIS) > 0) _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), 0); }while(0)
// Stop an active pulse, reset the Bresenham counter, update the position
#define PULSE_STOP(AXIS) \
// Advance the Bresenham counter; start a pulse if the axis needs a step
#define STEP_TICK(AXIS) \
if (_COUNTER(AXIS) > 0) { \
_COUNTER(AXIS) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
}
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; }
// Stop an active pulse, if any
#define PULSE_STOP(AXIS) _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), 0)
/**
* Estimate the number of cycles that the stepper logic already takes
@ -583,7 +559,7 @@ void Stepper::isr() {
/**
* If a minimum pulse time was specified get the timer 0 value.
*
* TCNT0 has an 8x prescaler, so it increments every 8 cycles.
* On AVR the TCNT0 timer has an 8x prescaler, so it increments every 8 cycles.
* That's every 0.5µs on 16MHz and every 0.4µs on 20MHz.
* 20 counts of TCNT0 -by itself- is a good pulse delay.
* 10µs = 160 or 200 cycles.
@ -602,8 +578,30 @@ void Stepper::isr() {
PULSE_START(Z);
#endif
// For non-advance use linear interpolation for E also
#if DISABLED(LIN_ADVANCE)
#if ENABLED(LIN_ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
#if DISABLED(MIXING_EXTRUDER)
// Don't step E here for mixing extruder
motor_direction(E_AXIS) ? --e_steps : ++e_steps;
#endif
}
#if ENABLED(MIXING_EXTRUDER)
// Step mixing steppers proportionally
const bool dir = motor_direction(E_AXIS);
MIXING_STEPPERS_LOOP(j) {
counter_m[j] += current_block->steps[E_AXIS];
if (counter_m[j] > 0) {
counter_m[j] -= current_block->mix_event_count[j];
dir ? --e_steps[j] : ++e_steps[j];
}
}
#endif
#else // !LIN_ADVANCE - use linear interpolation for E also
#if ENABLED(MIXING_EXTRUDER)
// Keep updating the single E axis
counter_E += current_block->steps[E_AXIS];
@ -619,6 +617,18 @@ void Stepper::isr() {
#endif
#endif // !LIN_ADVANCE
#if HAS_X_STEP
STEP_TICK(X);
#endif
#if HAS_Y_STEP
STEP_TICK(Y);
#endif
#if HAS_Z_STEP
STEP_TICK(Z);
#endif
STEP_TICK(E); // Always tick the single E axis
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_XYZE > 20
while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
@ -639,11 +649,6 @@ void Stepper::isr() {
#if DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
// Always step the single E axis
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
count_position[E_AXIS] += count_direction[E_AXIS];
}
MIXING_STEPPERS_LOOP(j) {
if (counter_m[j] > 0) {
counter_m[j] -= current_block->mix_event_count[j];
@ -1234,7 +1239,7 @@ void Stepper::quick_stop() {
#endif
}
void Stepper::endstop_triggered(AxisEnum axis) {
void Stepper::endstop_triggered(const AxisEnum axis) {
#if IS_CORE
@ -1319,6 +1324,7 @@ void Stepper::report_positions() {
_ENABLE(AXIS); \
_SAVE_START; \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
_PULSE_WAIT; \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
_PULSE_WAIT; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \