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Optimize stepper advance_isr

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This commit is contained in:
Scott Lahteine 2016-08-30 14:22:42 -05:00
parent 9725bcd099
commit 8c7ee4599e
1 changed files with 36 additions and 15 deletions
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51
Marlin/stepper.cpp
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@ -683,29 +683,50 @@ void Stepper::isr() {
old_OCR0A += eISR_Rate;
OCR0A = old_OCR0A;
#define STEP_E_ONCE(INDEX) \
if (e_steps[INDEX] != 0) { \
E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
if (e_steps[INDEX] < 0) { \
E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]++; \
} \
else { \
E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]--; \
} \
#define SET_E_STEP_DIR(INDEX) \
E## INDEX ##_DIR_WRITE(e_steps[INDEX] <= 0 ? INVERT_E## INDEX ##_DIR : !INVERT_E## INDEX ##_DIR)
#define START_E_PULSE(INDEX) \
if (e_steps[INDEX]) E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN)
#define STOP_E_PULSE(INDEX) \
if (e_steps[INDEX]) { \
e_steps[INDEX] < 0 ? ++e_steps[INDEX] : --e_steps[INDEX]; \
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
// Step all E steppers that have steps
for (uint8_t i = 0; i < step_loops; i++) {
STEP_E_ONCE(0);
START_E_PULSE(0);
#if E_STEPPERS > 1
STEP_E_ONCE(1);
START_E_PULSE(1);
#if E_STEPPERS > 2
STEP_E_ONCE(2);
START_E_PULSE(2);
#if E_STEPPERS > 3
STEP_E_ONCE(3);
START_E_PULSE(3);
#endif
#endif
#endif
STOP_E_PULSE(0);
#if E_STEPPERS > 1
STOP_E_PULSE(1);
#if E_STEPPERS > 2
STOP_E_PULSE(2);
#if E_STEPPERS > 3
STOP_E_PULSE(3);
#endif
#endif
#endif