From 98d48fc7310adeb305ecaae7d025b33533dc9402 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Wed, 7 Mar 2018 22:18:13 -0600
Subject: [PATCH] Followup to HAL_timer_restrain
Followup to #9985
---
Marlin/src/HAL/HAL_AVR/HAL_AVR.h | 2 +-
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h | 4 ++--
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h | 4 ++--
.../src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h | 4 ++--
.../src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp | 4 ++--
.../src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h | 2 +-
.../HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h | 4 ++--
Marlin/src/module/stepper.cpp | 18 +++++++++---------
8 files changed, 21 insertions(+), 21 deletions(-)
diff --git a/Marlin/src/HAL/HAL_AVR/HAL_AVR.h b/Marlin/src/HAL/HAL_AVR/HAL_AVR.h
index 0575f407a3..df6e7efe2e 100644
--- a/Marlin/src/HAL/HAL_AVR/HAL_AVR.h
+++ b/Marlin/src/HAL/HAL_AVR/HAL_AVR.h
@@ -150,7 +150,7 @@ extern "C" {
#define _CAT(a, ...) a ## __VA_ARGS__
#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
-#define HAL_timer_restrain(timer, interval_us) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_us * HAL_TICKS_PER_US)
+#define HAL_timer_restrain(timer, interval_ticks) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_ticks)
#define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
#define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)
diff --git a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
index 6fd59471e3..b1df3a86dc 100644
--- a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
+++ b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
@@ -109,8 +109,8 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
}
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_us) {
- const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_us * HAL_TICKS_PER_US;
+FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
+ const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
diff --git a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
index 69fdcce974..ef875edfd8 100644
--- a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
+++ b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
@@ -120,8 +120,8 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
return 0;
}
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_us) {
- const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_us * HAL_TICKS_PER_US;
+FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
+ const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
diff --git a/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h b/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
index 492385f38d..6c2c6a68c8 100644
--- a/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
+++ b/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
@@ -154,8 +154,8 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
}
}
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_us) {
- const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_us * HAL_TICKS_PER_US;
+FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
+ const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
diff --git a/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp b/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp
index 2589db33d2..3678d33de0 100644
--- a/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp
+++ b/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp
@@ -137,8 +137,8 @@ uint32_t HAL_timer_get_count(const uint8_t timer_num) {
return __HAL_TIM_GetCounter(&timerConfig[timer_num].timerdef);
}
-void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_us) {
- const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_us * HAL_TICKS_PER_US;
+void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
+ const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
diff --git a/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h b/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
index 8f1eff9c13..7990614b02 100644
--- a/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
+++ b/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
@@ -96,7 +96,7 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
void HAL_timer_set_compare(const uint8_t timer_num, const uint32_t compare);
hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
uint32_t HAL_timer_get_count(const uint8_t timer_num);
-void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_us);
+void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks);
void HAL_timer_isr_prologue(const uint8_t timer_num);
diff --git a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
index 6e18a66ff2..f9c1509f2a 100644
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
@@ -105,8 +105,8 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
return 0;
}
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_us) {
- const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_us * HAL_TICKS_PER_US;
+FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
+ const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 9da2c036cf..fe3e39638d 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -365,8 +365,8 @@ void Stepper::isr() {
_NEXT_ISR(ocr_val);
#if DISABLED(LIN_ADVANCE)
- HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL);
- HAL_ENABLE_ISRs(); // re-enable ISRs
+ HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
+ HAL_ENABLE_ISRs();
#endif
return;
@@ -419,14 +419,14 @@ void Stepper::isr() {
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
- HAL_ENABLE_ISRs(); // re-enable ISRs
+ HAL_ENABLE_ISRs();
return;
}
#endif
}
else {
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
- HAL_ENABLE_ISRs(); // re-enable ISRs
+ HAL_ENABLE_ISRs();
return;
}
}
@@ -727,7 +727,8 @@ void Stepper::isr() {
}
#if DISABLED(LIN_ADVANCE)
- HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL);
+ // Make sure stepper ISR doesn't monopolize the CPU
+ HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
#endif
// If current block is finished, reset pointer
@@ -736,7 +737,7 @@ void Stepper::isr() {
planner.discard_current_block();
}
#if DISABLED(LIN_ADVANCE)
- HAL_ENABLE_ISRs(); // re-enable ISRs
+ HAL_ENABLE_ISRs();
#endif
}
@@ -889,9 +890,8 @@ void Stepper::isr() {
nextMainISR = 0;
}
- // Don't run the ISR faster than possible
- // Make sure stepper interrupt does not monopolise CPU by adjusting compare to give about 8µs room
- HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL);
+ // Make sure stepper ISR doesn't monopolize the CPU
+ HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
// Restore original ISR settings
HAL_ENABLE_ISRs();