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Updates for stepper parity with 2.0.x

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Matching changes from #8725
This commit is contained in:
Scott Lahteine 2017-12-08 22:40:07 -06:00
parent 4f465c2d07
commit 55acb65e27
2 changed files with 17 additions and 16 deletions
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21
Marlin/stepper.cpp
View File

@ -141,9 +141,10 @@ volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
long Stepper::counter_m[MIXING_STEPPERS]; long Stepper::counter_m[MIXING_STEPPERS];
#endif #endif
unsigned short Stepper::acc_step_rate; // needed for deceleration start point
uint8_t Stepper::step_loops, Stepper::step_loops_nominal; uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
unsigned short Stepper::OCR1A_nominal;
uint16_t Stepper::OCR1A_nominal,
Stepper::acc_step_rate; // needed for deceleration start point
volatile long Stepper::endstops_trigsteps[XYZ]; volatile long Stepper::endstops_trigsteps[XYZ];
@ -711,12 +712,12 @@ void Stepper::isr() {
NOMORE(acc_step_rate, current_block->nominal_rate); NOMORE(acc_step_rate, current_block->nominal_rate);
// step_rate to timer interval // step_rate to timer interval
const uint16_t timer = calc_timer(acc_step_rate); const uint16_t interval = calc_timer_interval(acc_step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL SPLIT(interval); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val); _NEXT_ISR(ocr_val);
acceleration_time += timer; acceleration_time += interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -728,7 +729,7 @@ void Stepper::isr() {
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17; current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
#endif #endif
} }
eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops); eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], interval, step_loops);
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
} }
@ -744,12 +745,12 @@ void Stepper::isr() {
step_rate = current_block->final_rate; step_rate = current_block->final_rate;
// step_rate to timer interval // step_rate to timer interval
const uint16_t timer = calc_timer(step_rate); const uint16_t interval = calc_timer_interval(step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL SPLIT(interval); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val); _NEXT_ISR(ocr_val);
deceleration_time += timer; deceleration_time += interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -761,7 +762,7 @@ void Stepper::isr() {
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17; current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
#endif #endif
} }
eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops); eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], interval, step_loops);
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
} }

12
Marlin/stepper.h
View File

@ -138,10 +138,10 @@ class Stepper {
#endif // !LIN_ADVANCE #endif // !LIN_ADVANCE
static long acceleration_time, deceleration_time; static long acceleration_time, deceleration_time;
//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deceleration start point
static uint8_t step_loops, step_loops_nominal; static uint8_t step_loops, step_loops_nominal;
static unsigned short OCR1A_nominal;
static uint16_t OCR1A_nominal,
acc_step_rate; // needed for deceleration start point
static volatile long endstops_trigsteps[XYZ]; static volatile long endstops_trigsteps[XYZ];
static volatile long endstops_stepsTotal, endstops_stepsDone; static volatile long endstops_stepsTotal, endstops_stepsDone;
@ -302,7 +302,7 @@ class Stepper {
private: private:
FORCE_INLINE static unsigned short calc_timer(unsigned short step_rate) { FORCE_INLINE static unsigned short calc_timer_interval(unsigned short step_rate) {
unsigned short timer; unsigned short timer;
NOMORE(step_rate, MAX_STEP_FREQUENCY); NOMORE(step_rate, MAX_STEP_FREQUENCY);
@ -356,11 +356,11 @@ class Stepper {
deceleration_time = 0; deceleration_time = 0;
// step_rate to timer interval // step_rate to timer interval
OCR1A_nominal = calc_timer(current_block->nominal_rate); OCR1A_nominal = calc_timer_interval(current_block->nominal_rate);
// make a note of the number of step loops required at nominal speed // make a note of the number of step loops required at nominal speed
step_loops_nominal = step_loops; step_loops_nominal = step_loops;
acc_step_rate = current_block->initial_rate; acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer(acc_step_rate); acceleration_time = calc_timer_interval(acc_step_rate);
_NEXT_ISR(acceleration_time); _NEXT_ISR(acceleration_time);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)