MPCNC/Firmware
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #4963 from esenapaj/Fix-for-advance-algorithm

Browse Source 
Move routine of direction signal of ADVANCE and LIN_ADVANCE from Stepper::isr() to Stepper::advance_isr()
This commit is contained in:
Scott Lahteine 2016-10-07 00:33:42 -05:00 committed by GitHub
commit 3c97fa6e29
1 changed files with 26 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
Marlin/stepper.cpp
View File

@ -91,7 +91,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
unsigned char Stepper::old_OCR0A; unsigned char Stepper::old_OCR0A = 0;
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -299,14 +299,16 @@ void Stepper::set_directions() {
SET_STEP_DIR(Z); // C SET_STEP_DIR(Z); // C
#endif #endif
if (motor_direction(E_AXIS)) { #if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
REV_E_DIR(); if (motor_direction(E_AXIS)) {
count_direction[E_AXIS] = -1; REV_E_DIR();
} count_direction[E_AXIS] = -1;
else { }
NORM_E_DIR(); else {
count_direction[E_AXIS] = 1; NORM_E_DIR();
} count_direction[E_AXIS] = 1;
}
#endif // !ADVANCE && !LIN_ADVANCE
} }
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse. // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
@ -680,15 +682,29 @@ void Stepper::isr() {
old_OCR0A += eISR_Rate; old_OCR0A += eISR_Rate;
OCR0A = old_OCR0A; OCR0A = old_OCR0A;
#define SET_E_STEP_DIR(INDEX) \
if (e_steps[INDEX]) E## INDEX ##_DIR_WRITE(e_steps[INDEX] < 0 ? INVERT_E## INDEX ##_DIR : !INVERT_E## INDEX ##_DIR)
#define START_E_PULSE(INDEX) \ #define START_E_PULSE(INDEX) \
if (e_steps[INDEX]) E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN) if (e_steps[INDEX]) E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN)
#define STOP_E_PULSE(INDEX) \ #define STOP_E_PULSE(INDEX) \
if (e_steps[INDEX]) { \ if (e_steps[INDEX]) { \
e_steps[INDEX] <= 0 ? ++e_steps[INDEX] : --e_steps[INDEX]; \ e_steps[INDEX] < 0 ? ++e_steps[INDEX] : --e_steps[INDEX]; \
E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \ E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
} }
SET_E_STEP_DIR(0);
#if E_STEPPERS > 1
SET_E_STEP_DIR(1);
#if E_STEPPERS > 2
SET_E_STEP_DIR(2);
#if E_STEPPERS > 3
SET_E_STEP_DIR(3);
#endif
#endif
#endif
#define CYCLES_EATEN_BY_E 60 #define CYCLES_EATEN_BY_E 60
// Step all E steppers that have steps // Step all E steppers that have steps