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 60af141b9e6..f030bdf3401 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);      \