Merge pull request #11011 from thinkyhead/bf1_honor_step_rate
[1.1.x] Ensure good min/max stepper timing
This commit is contained in:
Scott Lahteine
GitHub
commit
91976e3ef4
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@ -1308,121 +1308,4 @@
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#define HAS_FOLDER_SORTING (FOLDER_SORTING || ENABLED(SDSORT_GCODE))
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#endif
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// Calculate a default maximum stepper rate, if not supplied
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#ifndef MAXIMUM_STEPPER_RATE
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#if MINIMUM_STEPPER_PULSE
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#define MAXIMUM_STEPPER_RATE (1000000UL / (2UL * (MINIMUM_STEPPER_PULSE)))
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#else
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#define MAXIMUM_STEPPER_RATE 500000UL
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#endif
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#endif
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//
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// Estimate the amount of time the ISR will take to execute
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//
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 32UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper takes 88 cycles
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#define ISR_STEPPER_CYCLES 88UL
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// For each stepper, we add its time
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#ifdef HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_X_STEPPER_CYCLES 0UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_Y_STEP
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Y_STEPPER_CYCLES 0UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_Z_STEP
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Z_STEPPER_CYCLES 0UL
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#endif
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// E is always interpolated, even for mixing extruders
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
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// If linear advance is disabled, then the loop also handles them
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#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
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#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * ISR_STEPPER_CYCLES)
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#else
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#define ISR_MIXING_STEPPER_CYCLES 0UL
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#endif
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// And the total minimum loop time is, without including the base
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#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
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// Calculate the minimum MPU cycles needed per pulse to enforce not surpassing the maximum stepper rate
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#define _MIN_STEPPER_PULSE_CYCLES(N) MAX((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
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#if MINIMUM_STEPPER_PULSE
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE)
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#else
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1)
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#endif
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// But the user could be enforcing a minimum time, so the loop time is
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#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
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// If linear advance is enabled, then it is handled separately
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#if ENABLED(LIN_ADVANCE)
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// Estimate the minimum LA loop time
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#if ENABLED(MIXING_EXTRUDER)
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#define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
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#else
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#define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES
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#endif
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// And the real loop time
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#define ISR_LA_LOOP_CYCLES MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
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#else
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#define ISR_LA_LOOP_CYCLES 0UL
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#endif
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// Now estimate the total ISR execution time in cycles given a step per ISR multiplier
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#define ISR_EXECUTION_CYCLES(rate) (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES * rate) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / rate)
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// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz)
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#define MAX_128X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(128))
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#define MAX_64X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(64))
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#define MAX_32X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(32))
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#define MAX_16X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(16))
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#define MAX_8X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(8))
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#define MAX_4X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(4))
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#define MAX_2X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(2))
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#define MAX_1X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(1))
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// The minimum allowable frequency for step smoothing will be 1/10 of the maximum nominal frequency (in Hz)
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#define MIN_STEP_ISR_FREQUENCY MAX_1X_STEP_ISR_FREQUENCY
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// Disable multiple steps per ISR
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//#define DISABLE_MULTI_STEPPING
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#endif // CONDITIONALS_POST_H
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24
Marlin/HAL.h
24
Marlin/HAL.h
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@ -95,21 +95,15 @@ inline uint8_t HAL_get_reset_source(void) { return MCUSR; }
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#define TEMP_TIMER_NUM 0
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define STEPPER_TIMER_PRESCALE 8
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define TEMP_TIMER_PRESCALE 64
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#define TEMP_TIMER_FREQUENCY ((F_CPU) / float(TEMP_TIMER_PRESCALE) / 256.0)
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#define TIMER_OCR_1 OCR1A
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#define TIMER_COUNTER_1 TCNT1
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#define TIMER_OCR_0 OCR0A
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#define TIMER_COUNTER_0 TCNT0
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
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@ -150,6 +144,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t freque
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}
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}
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#define TIMER_OCR_1 OCR1A
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#define TIMER_COUNTER_1 TCNT1
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#define TIMER_OCR_0 OCR0A
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#define TIMER_COUNTER_0 TCNT0
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#define _CAT(a, ...) a ## __VA_ARGS__
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#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
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#define HAL_timer_restrain(timer, interval_ticks) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_ticks)
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@ -1214,7 +1214,7 @@ void Stepper::isr() {
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* On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin
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* On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin
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*/
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min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * 8);
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min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((STEPPER_TIMER_TICKS_PER_US) * 8);
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/**
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* NB: If for some reason the stepper monopolizes the MPU, eventually the
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@ -1266,10 +1266,10 @@ void Stepper::stepper_pulse_phase_isr() {
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// Just update the value we will get at the end of the loop
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step_events_completed += events_to_do;
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#if MINIMUM_STEPPER_PULSE
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
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const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
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// Take multiple steps per interrupt (For high speed moves)
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do {
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@ -1342,10 +1342,11 @@ void Stepper::stepper_pulse_phase_isr() {
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#if MINIMUM_STEPPER_PULSE
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
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pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Add the delay needed to ensure the maximum driver rate is enforced
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if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
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// Pulse stop
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#if HAS_X_STEP
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PULSE_STOP(X);
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@ -1373,15 +1374,15 @@ void Stepper::stepper_pulse_phase_isr() {
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// Decrement the count of pending pulses to do
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--events_to_do;
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#if MINIMUM_STEPPER_PULSE
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// For minimum pulse time wait after stopping pulses also
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if (events_to_do) {
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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// For minimum pulse time wait after stopping pulses also
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if (events_to_do) {
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#if MINIMUM_STEPPER_PULSE
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// Add to the value, the time that the pulse must be active (to be used on the next loop)
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pulse_end += hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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}
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#endif
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pulse_end += hal_timer_t(MIN_PULSE_TICKS);
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#endif
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}
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} while (events_to_do);
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}
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@ -1614,7 +1615,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
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uint32_t max_rate = current_block->nominal_rate; // Get the maximum rate (maximum event speed)
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while (max_rate < MIN_STEP_ISR_FREQUENCY) {
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max_rate <<= 1;
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if (max_rate >= MAX_1X_STEP_ISR_FREQUENCY) break;
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if (max_rate >= MAX_STEP_ISR_FREQUENCY_1X) break;
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++oversampling;
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}
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oversampling_factor = oversampling;
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@ -1760,13 +1761,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
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REV_E_DIR(active_extruder);
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#endif
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
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const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
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// Step E stepper if we have steps
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while (LA_steps) {
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#if MINIMUM_STEPPER_PULSE
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Set the STEP pulse ON
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j) {
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// Step mixing steppers (proportionally)
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@ -1778,15 +1781,18 @@ uint32_t Stepper::stepper_block_phase_isr() {
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E_STEP_WRITE(active_extruder, !INVERT_E_STEP_PIN);
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#endif
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// Enforce a minimum duration for STEP pulse ON
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#if MINIMUM_STEPPER_PULSE
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
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pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Add the delay needed to ensure the maximum driver rate is enforced
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if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
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LA_steps < 0 ? ++LA_steps : --LA_steps;
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// Set the STEP pulse OFF
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j) {
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if (delta_error_m[j] >= 0) {
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@ -1798,12 +1804,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
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E_STEP_WRITE(active_extruder, INVERT_E_STEP_PIN);
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#endif
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#if MINIMUM_STEPPER_PULSE
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// For minimum pulse time wait before looping
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// Just wait for the requested pulse duration
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if (LA_steps) while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#endif
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// For minimum pulse time wait before looping
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// Just wait for the requested pulse duration
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if (LA_steps) {
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#if MINIMUM_STEPPER_PULSE
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// Add to the value, the time that the pulse must be active (to be used on the next loop)
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pulse_end += hal_timer_t(MIN_PULSE_TICKS);
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#endif
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}
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} // LA_steps
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return interval;
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177
Marlin/stepper.h
177
Marlin/stepper.h
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@ -43,15 +43,166 @@
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#ifndef STEPPER_H
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#define STEPPER_H
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#include "MarlinConfig.h"
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// Disable multiple steps per ISR
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//#define DISABLE_MULTI_STEPPING
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//
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// Estimate the amount of time the Stepper ISR will take to execute
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//
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#ifndef MINIMUM_STEPPER_PULSE
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#define MINIMUM_STEPPER_PULSE 0
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#endif
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#ifndef MAXIMUM_STEPPER_RATE
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#if MINIMUM_STEPPER_PULSE
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#define MAXIMUM_STEPPER_RATE (1000000UL / (2UL * (MINIMUM_STEPPER_PULSE)))
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#else
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#define MAXIMUM_STEPPER_RATE 500000UL
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#endif
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#endif
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#ifdef CPU_32_BIT
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// The base ISR takes 792 cycles
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#define ISR_BASE_CYCLES 792UL
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// Linear advance base time is 64 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 64UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 40 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 40UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 4UL
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// And each stepper takes 16 cycles
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#define ISR_STEPPER_CYCLES 16UL
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#else
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 32UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper takes 88 cycles
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#define ISR_STEPPER_CYCLES 88UL
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#endif
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// Add time for each stepper
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#ifdef HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_X_STEPPER_CYCLES 0UL
|
||||
#endif
|
||||
#ifdef HAS_Y_STEP
|
||||
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
||||
#else
|
||||
#define ISR_Y_STEPPER_CYCLES 0UL
|
||||
#endif
|
||||
#ifdef HAS_Z_STEP
|
||||
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
||||
#else
|
||||
#define ISR_Z_STEPPER_CYCLES 0UL
|
||||
#endif
|
||||
|
||||
// E is always interpolated, even for mixing extruders
|
||||
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
||||
|
||||
// If linear advance is disabled, then the loop also handles them
|
||||
#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
|
||||
#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
|
||||
#else
|
||||
#define ISR_MIXING_STEPPER_CYCLES 0UL
|
||||
#endif
|
||||
|
||||
// And the total minimum loop time, not including the base
|
||||
#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
|
||||
|
||||
// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
|
||||
#define _MIN_STEPPER_PULSE_CYCLES(N) max((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
|
||||
#if MINIMUM_STEPPER_PULSE
|
||||
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE)
|
||||
#else
|
||||
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1)
|
||||
#endif
|
||||
|
||||
#define MIN_PULSE_TICKS ((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE))
|
||||
#define ADDED_STEP_TICKS ((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE) - MIN_PULSE_TICKS)
|
||||
|
||||
// But the user could be enforcing a minimum time, so the loop time is
|
||||
#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
|
||||
|
||||
// If linear advance is enabled, then it is handled separately
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
// Estimate the minimum LA loop time
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
#define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
|
||||
#else
|
||||
#define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES
|
||||
#endif
|
||||
|
||||
// And the real loop time
|
||||
#define ISR_LA_LOOP_CYCLES max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
|
||||
|
||||
#else
|
||||
#define ISR_LA_LOOP_CYCLES 0UL
|
||||
#endif
|
||||
|
||||
// Now estimate the total ISR execution time in cycles given a step per ISR multiplier
|
||||
#define ISR_EXECUTION_CYCLES(R) (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES) * (R) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / (R))
|
||||
|
||||
// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz)
|
||||
#define MAX_STEP_ISR_FREQUENCY_128X ((F_CPU) / ISR_EXECUTION_CYCLES(128))
|
||||
#define MAX_STEP_ISR_FREQUENCY_64X ((F_CPU) / ISR_EXECUTION_CYCLES(64))
|
||||
#define MAX_STEP_ISR_FREQUENCY_32X ((F_CPU) / ISR_EXECUTION_CYCLES(32))
|
||||
#define MAX_STEP_ISR_FREQUENCY_16X ((F_CPU) / ISR_EXECUTION_CYCLES(16))
|
||||
#define MAX_STEP_ISR_FREQUENCY_8X ((F_CPU) / ISR_EXECUTION_CYCLES(8))
|
||||
#define MAX_STEP_ISR_FREQUENCY_4X ((F_CPU) / ISR_EXECUTION_CYCLES(4))
|
||||
#define MAX_STEP_ISR_FREQUENCY_2X ((F_CPU) / ISR_EXECUTION_CYCLES(2))
|
||||
#define MAX_STEP_ISR_FREQUENCY_1X ((F_CPU) / ISR_EXECUTION_CYCLES(1))
|
||||
|
||||
// The minimum allowable frequency for step smoothing will be 1/10 of the maximum nominal frequency (in Hz)
|
||||
#define MIN_STEP_ISR_FREQUENCY MAX_STEP_ISR_FREQUENCY_1X
|
||||
|
||||
//
|
||||
// Stepper class definition
|
||||
//
|
||||
|
||||
#include "planner.h"
|
||||
#include "speed_lookuptable.h"
|
||||
#include "stepper_indirection.h"
|
||||
#include "language.h"
|
||||
#include "types.h"
|
||||
|
||||
class Stepper;
|
||||
extern Stepper stepper;
|
||||
|
||||
// intRes = intIn1 * intIn2 >> 16
|
||||
// uses:
|
||||
// r26 to store 0
|
||||
|
|
@ -314,14 +465,14 @@ class Stepper {
|
|||
|
||||
// The stepping frequency limits for each multistepping rate
|
||||
static const uint32_t limit[] PROGMEM = {
|
||||
( MAX_1X_STEP_ISR_FREQUENCY ),
|
||||
( MAX_2X_STEP_ISR_FREQUENCY >> 1),
|
||||
( MAX_4X_STEP_ISR_FREQUENCY >> 2),
|
||||
( MAX_8X_STEP_ISR_FREQUENCY >> 3),
|
||||
( MAX_16X_STEP_ISR_FREQUENCY >> 4),
|
||||
( MAX_32X_STEP_ISR_FREQUENCY >> 5),
|
||||
( MAX_64X_STEP_ISR_FREQUENCY >> 6),
|
||||
(MAX_128X_STEP_ISR_FREQUENCY >> 7)
|
||||
( MAX_STEP_ISR_FREQUENCY_1X ),
|
||||
( MAX_STEP_ISR_FREQUENCY_2X >> 1),
|
||||
( MAX_STEP_ISR_FREQUENCY_4X >> 2),
|
||||
( MAX_STEP_ISR_FREQUENCY_8X >> 3),
|
||||
( MAX_STEP_ISR_FREQUENCY_16X >> 4),
|
||||
( MAX_STEP_ISR_FREQUENCY_32X >> 5),
|
||||
( MAX_STEP_ISR_FREQUENCY_64X >> 6),
|
||||
(MAX_STEP_ISR_FREQUENCY_128X >> 7)
|
||||
};
|
||||
|
||||
// Select the proper multistepping
|
||||
|
|
@ -332,7 +483,7 @@ class Stepper {
|
|||
++idx;
|
||||
};
|
||||
#else
|
||||
NOMORE(step_rate, uint32_t(MAX_1X_STEP_ISR_FREQUENCY));
|
||||
NOMORE(step_rate, uint32_t(MAX_STEP_ISR_FREQUENCY_1X));
|
||||
#endif
|
||||
*loops = multistep;
|
||||
|
||||
|
|
@ -373,4 +524,6 @@ class Stepper {
|
|||
|
||||
};
|
||||
|
||||
extern Stepper stepper;
|
||||
|
||||
#endif // STEPPER_H
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user