Cleanup stepper ISR. Allow cleaning for endstops.
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@ -94,7 +94,7 @@ block_t* Stepper::current_block = NULL; // A pointer to the block currently bei
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// private:
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// private:
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uint8_t Stepper::last_direction_bits = 0; // The next stepping-bits to be output
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uint8_t Stepper::last_direction_bits = 0; // The next stepping-bits to be output
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uint16_t Stepper::cleaning_buffer_counter = 0;
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int16_t Stepper::cleaning_buffer_counter = 0;
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#if ENABLED(X_DUAL_ENDSTOPS)
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#if ENABLED(X_DUAL_ENDSTOPS)
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bool Stepper::locked_x_motor = false;
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bool Stepper::locked_x_motor = false;
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@ -341,10 +341,8 @@ HAL_STEP_TIMER_ISR {
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void Stepper::isr() {
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void Stepper::isr() {
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hal_timer_t ocr_val;
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#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // Check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
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#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
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#if DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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@ -355,6 +353,7 @@ void Stepper::isr() {
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#endif
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#endif
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#endif
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#endif
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hal_timer_t ocr_val;
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static uint32_t step_remaining = 0; // SPLIT function always runs. This allows 16 bit timers to be
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static uint32_t step_remaining = 0; // SPLIT function always runs. This allows 16 bit timers to be
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// used to generate the stepper ISR.
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// used to generate the stepper ISR.
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#define SPLIT(L) do { \
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#define SPLIT(L) do { \
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@ -367,42 +366,45 @@ void Stepper::isr() {
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ocr_val = L;\
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ocr_val = L;\
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}while(0)
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}while(0)
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// Time remaining before the next step?
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if (step_remaining) {
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if (step_remaining) {
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if (ENDSTOPS_ENABLED)
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endstops.update();
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if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
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step_remaining -= ENDSTOP_NOMINAL_OCR_VAL;
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ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
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}
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else {
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ocr_val = step_remaining;
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step_remaining = 0; // last one before the ISR that does the step
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}
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// Make sure endstops are updated
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if (ENDSTOPS_ENABLED) endstops.update();
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// Next ISR either for endstops or stepping
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ocr_val = step_remaining <= ENDSTOP_NOMINAL_OCR_VAL ? step_remaining : ENDSTOP_NOMINAL_OCR_VAL;
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step_remaining -= ocr_val;
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_NEXT_ISR(ocr_val);
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_NEXT_ISR(ocr_val);
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#if DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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#ifdef CPU_32_BIT
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#ifdef CPU_32_BIT
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HAL_timer_set_count(STEP_TIMER_NUM, ocr_val);
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HAL_timer_set_count(STEP_TIMER_NUM, ocr_val);
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#else
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#else
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NOLESS(OCR1A, TCNT1 + 16);
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NOLESS(OCR1A, TCNT1 + 16);
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#endif
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HAL_ENABLE_ISRs(); // re-enable ISRs
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#endif
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#endif
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HAL_ENABLE_ISRs(); // re-enable ISRs
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#endif
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return;
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return;
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}
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}
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//
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// When cleaning, discard the current block and run fast
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//
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if (cleaning_buffer_counter) {
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if (cleaning_buffer_counter) {
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--cleaning_buffer_counter;
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if (cleaning_buffer_counter < 0)
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++cleaning_buffer_counter; // Count up for endstop hit
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else {
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--cleaning_buffer_counter; // Count down for abort print
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#ifdef SD_FINISHED_RELEASECOMMAND
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if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
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#endif
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}
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current_block = NULL;
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current_block = NULL;
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planner.discard_current_block();
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planner.discard_current_block();
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#ifdef SD_FINISHED_RELEASECOMMAND
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_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
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if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
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HAL_ENABLE_ISRs(); // Re-enable ISRs
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#endif
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_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
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HAL_ENABLE_ISRs(); // re-enable ISRs
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return;
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return;
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}
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}
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@ -80,7 +80,7 @@ class Stepper {
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private:
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private:
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static uint8_t last_direction_bits; // The next stepping-bits to be output
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static uint8_t last_direction_bits; // The next stepping-bits to be output
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static uint16_t cleaning_buffer_counter;
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static int16_t cleaning_buffer_counter;
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#if ENABLED(X_DUAL_ENDSTOPS)
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#if ENABLED(X_DUAL_ENDSTOPS)
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static bool locked_x_motor, locked_x2_motor;
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static bool locked_x_motor, locked_x2_motor;
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