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HAL_STEPPER_TIMER_RATE => STEPPER_TIMER_RATE

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Scott Lahteine 2018-06-12 16:55:57 -05:00
parent 1d048f5192
commit 87eddf35e2
3 changed files with 7 additions and 7 deletions
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4
Marlin/HAL.h
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@ -95,8 +95,8 @@ inline uint8_t HAL_get_reset_source(void) { return MCUSR; }
#define TEMP_TIMER_NUM 0 #define TEMP_TIMER_NUM 0
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define PULSE_TIMER_NUM STEP_TIMER_NUM
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE #define STEPPER_TIMER_RATE HAL_TIMER_RATE
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double #define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
#define STEPPER_TIMER_PRESCALE 8 #define STEPPER_TIMER_PRESCALE 8
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts #define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts

8
Marlin/planner.cpp
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@ -727,8 +727,8 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
#if ENABLED(S_CURVE_ACCELERATION) #if ENABLED(S_CURVE_ACCELERATION)
// Jerk controlled speed requires to express speed versus time, NOT steps // Jerk controlled speed requires to express speed versus time, NOT steps
uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (HAL_STEPPER_TIMER_RATE), uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE),
deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (HAL_STEPPER_TIMER_RATE); deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE);
// And to offload calculations from the ISR, we also calculate the inverse of those times here // And to offload calculations from the ISR, we also calculate the inverse of those times here
uint32_t acceleration_time_inverse = get_period_inverse(acceleration_time); uint32_t acceleration_time_inverse = get_period_inverse(acceleration_time);
@ -2079,11 +2079,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->acceleration_steps_per_s2 = accel; block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm; block->acceleration = accel / steps_per_mm;
#if DISABLED(S_CURVE_ACCELERATION) #if DISABLED(S_CURVE_ACCELERATION)
block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE))); block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (STEPPER_TIMER_RATE)));
#endif #endif
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (block->use_advance_lead) { if (block->use_advance_lead) {
block->advance_speed = (HAL_STEPPER_TIMER_RATE) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_mm[E_AXIS_N]); block->advance_speed = (STEPPER_TIMER_RATE) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_mm[E_AXIS_N]);
#if ENABLED(LA_DEBUG) #if ENABLED(LA_DEBUG)
if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < SQRT(block->nominal_speed_sqr) * block->e_D_ratio) if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < SQRT(block->nominal_speed_sqr) * block->e_D_ratio)
SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed."); SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");

2
Marlin/stepper.cpp
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@ -1393,7 +1393,7 @@ void Stepper::stepper_pulse_phase_isr() {
uint32_t Stepper::stepper_block_phase_isr() { uint32_t Stepper::stepper_block_phase_isr() {
// If no queued movements, just wait 1ms for the next move // If no queued movements, just wait 1ms for the next move
uint32_t interval = (HAL_STEPPER_TIMER_RATE / 1000); uint32_t interval = (STEPPER_TIMER_RATE / 1000);
// If there is a current block // If there is a current block
if (current_block) { if (current_block) {