From 3bae28a5e14f59ccec54e00e3e6c69dd86e54233 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Mon, 5 Mar 2018 23:05:42 -0600
Subject: [PATCH] Put more code between pulse start and stop (#9956)
---
Marlin/stepper.cpp | 88 +++++++++++++++++++++++++---------------------
1 file changed, 47 insertions(+), 41 deletions(-)
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 60af141b9e..f030bdf340 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -482,48 +482,24 @@ void Stepper::isr() {
// Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false;
for (uint8_t i = step_loops; i--;) {
- #if ENABLED(LIN_ADVANCE)
-
- counter_E += current_block->steps[E_AXIS];
- if (counter_E > 0) {
- counter_E -= current_block->step_event_count;
- #if DISABLED(MIXING_EXTRUDER)
- // Don't step E here for mixing extruder
- count_position[E_AXIS] += count_direction[E_AXIS];
- motor_direction(E_AXIS) ? --e_steps : ++e_steps;
- #endif
- }
-
- #if ENABLED(MIXING_EXTRUDER)
- // Step mixing steppers proportionally
- const bool dir = motor_direction(E_AXIS);
- MIXING_STEPPERS_LOOP(j) {
- counter_m[j] += current_block->steps[E_AXIS];
- if (counter_m[j] > 0) {
- counter_m[j] -= current_block->mix_event_count[j];
- dir ? --e_steps[j] : ++e_steps[j];
- }
- }
- #endif
-
- #endif // LIN_ADVANCE
#define _COUNTER(AXIS) counter_## AXIS
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
// Advance the Bresenham counter; start a pulse if the axis needs a step
- #define PULSE_START(AXIS) \
+ #define PULSE_START(AXIS) do{ \
_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
- if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
+ if (_COUNTER(AXIS) > 0) _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), 0); }while(0)
- // Stop an active pulse, reset the Bresenham counter, update the position
- #define PULSE_STOP(AXIS) \
+ // Advance the Bresenham counter; start a pulse if the axis needs a step
+ #define STEP_TICK(AXIS) \
if (_COUNTER(AXIS) > 0) { \
_COUNTER(AXIS) -= current_block->step_event_count; \
- count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
- _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
- }
+ count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; }
+
+ // Stop an active pulse, if any
+ #define PULSE_STOP(AXIS) _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), 0)
/**
* Estimate the number of cycles that the stepper logic already takes
@@ -583,7 +559,7 @@ void Stepper::isr() {
/**
* If a minimum pulse time was specified get the timer 0 value.
*
- * TCNT0 has an 8x prescaler, so it increments every 8 cycles.
+ * On AVR the TCNT0 timer has an 8x prescaler, so it increments every 8 cycles.
* That's every 0.5µs on 16MHz and every 0.4µs on 20MHz.
* 20 counts of TCNT0 -by itself- is a good pulse delay.
* 10µs = 160 or 200 cycles.
@@ -602,8 +578,30 @@ void Stepper::isr() {
PULSE_START(Z);
#endif
- // For non-advance use linear interpolation for E also
- #if DISABLED(LIN_ADVANCE)
+ #if ENABLED(LIN_ADVANCE)
+
+ counter_E += current_block->steps[E_AXIS];
+ if (counter_E > 0) {
+ #if DISABLED(MIXING_EXTRUDER)
+ // Don't step E here for mixing extruder
+ motor_direction(E_AXIS) ? --e_steps : ++e_steps;
+ #endif
+ }
+
+ #if ENABLED(MIXING_EXTRUDER)
+ // Step mixing steppers proportionally
+ const bool dir = motor_direction(E_AXIS);
+ MIXING_STEPPERS_LOOP(j) {
+ counter_m[j] += current_block->steps[E_AXIS];
+ if (counter_m[j] > 0) {
+ counter_m[j] -= current_block->mix_event_count[j];
+ dir ? --e_steps[j] : ++e_steps[j];
+ }
+ }
+ #endif
+
+ #else // !LIN_ADVANCE - use linear interpolation for E also
+
#if ENABLED(MIXING_EXTRUDER)
// Keep updating the single E axis
counter_E += current_block->steps[E_AXIS];
@@ -619,6 +617,18 @@ void Stepper::isr() {
#endif
#endif // !LIN_ADVANCE
+ #if HAS_X_STEP
+ STEP_TICK(X);
+ #endif
+ #if HAS_Y_STEP
+ STEP_TICK(Y);
+ #endif
+ #if HAS_Z_STEP
+ STEP_TICK(Z);
+ #endif
+
+ STEP_TICK(E); // Always tick the single E axis
+
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_XYZE > 20
while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
@@ -639,11 +649,6 @@ void Stepper::isr() {
#if DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
- // Always step the single E axis
- if (counter_E > 0) {
- counter_E -= current_block->step_event_count;
- count_position[E_AXIS] += count_direction[E_AXIS];
- }
MIXING_STEPPERS_LOOP(j) {
if (counter_m[j] > 0) {
counter_m[j] -= current_block->mix_event_count[j];
@@ -1234,7 +1239,7 @@ void Stepper::quick_stop() {
#endif
}
-void Stepper::endstop_triggered(AxisEnum axis) {
+void Stepper::endstop_triggered(const AxisEnum axis) {
#if IS_CORE
@@ -1319,6 +1324,7 @@ void Stepper::report_positions() {
_ENABLE(AXIS); \
_SAVE_START; \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
+ _PULSE_WAIT; \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
_PULSE_WAIT; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \