From 194f58740a34c8aa8daebf21baf614c6f1eec518 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Sat, 11 Mar 2023 19:08:13 -0600
Subject: [PATCH] =?UTF-8?q?=E2=9A=A1=EF=B8=8F=20Use=20hal=5Ftimer=5Ft=20fo?=
=?UTF-8?q?r=20timing=20vars?=
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Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com>
---
Marlin/src/module/stepper.cpp | 36 +++++++++++++++++------------------
Marlin/src/module/stepper.h | 26 ++++++++++++-------------
2 files changed, 31 insertions(+), 31 deletions(-)
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 700cdd377b0..a3183c1b12f 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -225,11 +225,11 @@ uint32_t Stepper::advance_divisor = 0,
#endif
#if ENABLED(LIN_ADVANCE)
- uint32_t Stepper::nextAdvanceISR = LA_ADV_NEVER,
- Stepper::la_interval = LA_ADV_NEVER;
- int32_t Stepper::la_delta_error = 0,
- Stepper::la_dividend = 0,
- Stepper::la_advance_steps = 0;
+ hal_timer_t Stepper::nextAdvanceISR = LA_ADV_NEVER,
+ Stepper::la_interval = LA_ADV_NEVER;
+ int32_t Stepper::la_delta_error = 0,
+ Stepper::la_dividend = 0,
+ Stepper::la_advance_steps = 0;
#endif
#if HAS_SHAPING
@@ -255,14 +255,14 @@ uint32_t Stepper::advance_divisor = 0,
#endif
#if ENABLED(INTEGRATED_BABYSTEPPING)
- uint32_t Stepper::nextBabystepISR = BABYSTEP_NEVER;
+ hal_timer_t Stepper::nextBabystepISR = BABYSTEP_NEVER;
#endif
#if ENABLED(DIRECT_STEPPING)
page_step_state_t Stepper::page_step_state;
#endif
-int32_t Stepper::ticks_nominal = -1;
+hal_timer_t Stepper::ticks_nominal = 0;
#if DISABLED(S_CURVE_ACCELERATION)
uint32_t Stepper::acc_step_rate; // needed for deceleration start point
#endif
@@ -1462,7 +1462,7 @@ HAL_STEP_TIMER_ISR() {
void Stepper::isr() {
- static uint32_t nextMainISR = 0; // Interval until the next main Stepper Pulse phase (0 = Now)
+ static hal_timer_t nextMainISR = 0; // Interval until the next main Stepper Pulse phase (0 = Now)
#ifndef __AVR__
// Disable interrupts, to avoid ISR preemption while we reprogram the period
@@ -1518,8 +1518,8 @@ void Stepper::isr() {
#endif
// Get the interval to the next ISR call
- const uint32_t interval = _MIN(
- uint32_t(HAL_TIMER_TYPE_MAX), // Come back in a very long time
+ const hal_timer_t interval = _MIN(
+ hal_timer_t(HAL_TIMER_TYPE_MAX), // Come back in a very long time
nextMainISR // Time until the next Pulse / Block phase
OPTARG(INPUT_SHAPING_X, ShapingQueue::peek_x()) // Time until next input shaping echo for X
OPTARG(INPUT_SHAPING_Y, ShapingQueue::peek_y()) // Time until next input shaping echo for Y
@@ -1598,7 +1598,7 @@ void Stepper::isr() {
// sure that the time has not arrived yet - Warrantied by the scheduler
// Set the next ISR to fire at the proper time
- HAL_timer_set_compare(MF_TIMER_STEP, hal_timer_t(next_isr_ticks));
+ HAL_timer_set_compare(MF_TIMER_STEP, next_isr_ticks);
// Don't forget to finally reenable interrupts on non-AVR.
// AVR automatically calls sei() for us on Return-from-Interrupt.
@@ -2046,7 +2046,7 @@ void Stepper::pulse_phase_isr() {
#endif // HAS_SHAPING
// Calculate timer interval, with all limits applied.
-uint32_t Stepper::calc_timer_interval(uint32_t step_rate) {
+hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate) {
#ifdef CPU_32_BIT
@@ -2078,7 +2078,7 @@ uint32_t Stepper::calc_timer_interval(uint32_t step_rate) {
}
// Get the timer interval and the number of loops to perform per tick
-uint32_t Stepper::calc_timer_interval(uint32_t step_rate, uint8_t &loops) {
+hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate, uint8_t &loops) {
uint8_t multistep = 1;
#if ENABLED(DISABLE_MULTI_STEPPING)
@@ -2118,10 +2118,10 @@ uint32_t Stepper::calc_timer_interval(uint32_t step_rate, uint8_t &loops) {
* schedules planner blocks. This is executed after the step pulses
* have been done, so it is less time critical.
*/
-uint32_t Stepper::block_phase_isr() {
+hal_timer_t Stepper::block_phase_isr() {
// If no queued movements, just wait 1ms for the next block
- uint32_t interval = (STEPPER_TIMER_RATE) / 1000UL;
+ hal_timer_t interval = (STEPPER_TIMER_RATE) / 1000UL;
// If there is a current block
if (current_block) {
@@ -2296,7 +2296,7 @@ uint32_t Stepper::block_phase_isr() {
else { // Must be in cruise phase otherwise
// Calculate the ticks_nominal for this nominal speed, if not done yet
- if (ticks_nominal < 0) {
+ if (ticks_nominal == 0) {
// step_rate to timer interval and loops for the nominal speed
ticks_nominal = calc_timer_interval(current_block->nominal_rate << oversampling_factor, steps_per_isr);
@@ -2604,7 +2604,7 @@ uint32_t Stepper::block_phase_isr() {
#endif
// Mark ticks_nominal as not-yet-calculated
- ticks_nominal = -1;
+ ticks_nominal = 0;
#if ENABLED(S_CURVE_ACCELERATION)
// Initialize the Bézier speed curve
@@ -2671,7 +2671,7 @@ uint32_t Stepper::block_phase_isr() {
#if ENABLED(INTEGRATED_BABYSTEPPING)
// Timer interrupt for baby-stepping
- uint32_t Stepper::babystepping_isr() {
+ hal_timer_t Stepper::babystepping_isr() {
babystep.task();
return babystep.has_steps() ? BABYSTEP_TICKS : BABYSTEP_NEVER;
}
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 33f45b9ae18..2336bfb405c 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -568,24 +568,24 @@ class Stepper {
#endif
#if ENABLED(LIN_ADVANCE)
- static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
- static uint32_t nextAdvanceISR,
- la_interval; // Interval between ISR calls for LA
- static int32_t la_delta_error, // Analogue of delta_error.e for E steps in LA ISR
- la_dividend, // Analogue of advance_dividend.e for E steps in LA ISR
- la_advance_steps; // Count of steps added to increase nozzle pressure
+ static constexpr hal_timer_t LA_ADV_NEVER = HAL_TIMER_TYPE_MAX;
+ static hal_timer_t nextAdvanceISR,
+ la_interval; // Interval between ISR calls for LA
+ static int32_t la_delta_error, // Analogue of delta_error.e for E steps in LA ISR
+ la_dividend, // Analogue of advance_dividend.e for E steps in LA ISR
+ la_advance_steps; // Count of steps added to increase nozzle pressure
#endif
#if ENABLED(INTEGRATED_BABYSTEPPING)
- static constexpr uint32_t BABYSTEP_NEVER = 0xFFFFFFFF;
- static uint32_t nextBabystepISR;
+ static constexpr hal_timer_t BABYSTEP_NEVER = HAL_TIMER_TYPE_MAX;
+ static hal_timer_t nextBabystepISR;
#endif
#if ENABLED(DIRECT_STEPPING)
static page_step_state_t page_step_state;
#endif
- static int32_t ticks_nominal;
+ static hal_timer_t ticks_nominal;
#if DISABLED(S_CURVE_ACCELERATION)
static uint32_t acc_step_rate; // needed for deceleration start point
#endif
@@ -624,7 +624,7 @@ class Stepper {
static void pulse_phase_isr();
// The stepper block processing ISR phase
- static uint32_t block_phase_isr();
+ static hal_timer_t block_phase_isr();
#if HAS_SHAPING
static void shaping_isr();
@@ -637,7 +637,7 @@ class Stepper {
#if ENABLED(INTEGRATED_BABYSTEPPING)
// The Babystepping ISR phase
- static uint32_t babystepping_isr();
+ static hal_timer_t babystepping_isr();
FORCE_INLINE static void initiateBabystepping() {
if (nextBabystepISR == BABYSTEP_NEVER) {
nextBabystepISR = 0;
@@ -810,10 +810,10 @@ class Stepper {
static void _set_position(const abce_long_t &spos);
// Calculate the timing interval for the given step rate
- static uint32_t calc_timer_interval(uint32_t step_rate);
+ static hal_timer_t calc_timer_interval(uint32_t step_rate);
// Calculate timing interval and steps-per-ISR for the given step rate
- static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t &loops);
+ static hal_timer_t calc_timer_interval(uint32_t step_rate, uint8_t &loops);
#if ENABLED(S_CURVE_ACCELERATION)
static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);