From 98600e1433f402a380d3d9315acd04087a784700 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Thu, 17 Nov 2016 23:42:41 -0600
Subject: [PATCH] Minor stepper cleanup
---
Marlin/Marlin_main.cpp | 5 +----
Marlin/stepper.cpp | 14 +++++++-------
Marlin/stepper.h | 4 ++--
3 files changed, 10 insertions(+), 13 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 2dd6610f2a..c4f7dec07d 100755
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2017,9 +2017,7 @@ static void clean_up_after_endstop_or_probe_move() {
// When deploying make sure BLTOUCH is not already triggered
#if ENABLED(BLTOUCH)
if (deploy && TEST_BLTOUCH()) { stop(); return true; }
- #endif
-
- #if ENABLED(Z_PROBE_SLED)
+ #elif ENABLED(Z_PROBE_SLED)
if (axis_unhomed_error(true, false, false)) { stop(); return true; }
#elif ENABLED(Z_PROBE_ALLEN_KEY)
if (axis_unhomed_error(true, true, true )) { stop(); return true; }
@@ -2103,7 +2101,6 @@ static void clean_up_after_endstop_or_probe_move() {
// Tell the planner where we actually are
SYNC_PLAN_POSITION_KINEMATIC();
-
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
#endif
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index dd35990a56..76eaf0ade9 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -91,8 +91,8 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
- unsigned char Stepper::old_OCR0A = 0;
- volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
+ uint8_t Stepper::old_OCR0A = 0;
+ volatile uint8_t Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[E_STEPPERS];
@@ -328,12 +328,12 @@ ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
void Stepper::isr() {
if (cleaning_buffer_counter) {
+ --cleaning_buffer_counter;
current_block = NULL;
planner.discard_current_block();
#ifdef SD_FINISHED_RELEASECOMMAND
- if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
+ if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
- cleaning_buffer_counter--;
OCR1A = 200; // Run at max speed - 10 KHz
return;
}
@@ -551,7 +551,6 @@ void Stepper::isr() {
#endif
// Calculate new timer value
- uint16_t timer, step_rate;
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
@@ -561,7 +560,7 @@ void Stepper::isr() {
NOMORE(acc_step_rate, current_block->nominal_rate);
// step_rate to timer interval
- timer = calc_timer(acc_step_rate);
+ uint16_t timer = calc_timer(acc_step_rate);
OCR1A = timer;
acceleration_time += timer;
@@ -603,6 +602,7 @@ void Stepper::isr() {
#endif
}
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
+ uint16_t step_rate;
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if (step_rate < acc_step_rate) { // Still decelerating?
@@ -613,7 +613,7 @@ void Stepper::isr() {
step_rate = current_block->final_rate;
// step_rate to timer interval
- timer = calc_timer(step_rate);
+ uint16_t timer = calc_timer(step_rate);
OCR1A = timer;
deceleration_time += timer;
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index bff23cc39d..7cc323a840 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -105,8 +105,8 @@ class Stepper {
static volatile uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
- static unsigned char old_OCR0A;
- static volatile unsigned char eISR_Rate;
+ static uint8_t old_OCR0A;
+ static volatile uint8_t eISR_Rate;
#if ENABLED(LIN_ADVANCE)
static volatile int e_steps[E_STEPPERS];
static int final_estep_rate;