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Minor stepper.cpp cleanup

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This commit is contained in:
Scott Lahteine 2018-06-11 19:16:31 -05:00
parent eca91a8bd7
commit 6a7e0a852b
1 changed files with 1 additions and 12 deletions
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13
Marlin/stepper.cpp
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@ -1214,7 +1214,7 @@ void Stepper::isr() {
* On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin * On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin
* On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin * On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin
*/ */
min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * 8); // ISR never takes more than 1ms, so this shouldn't cause trouble min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * 8);
/** /**
* NB: If for some reason the stepper monopolizes the MPU, eventually the * NB: If for some reason the stepper monopolizes the MPU, eventually the
@ -2005,14 +2005,9 @@ void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c
* Get a stepper's position in steps. * Get a stepper's position in steps.
*/ */
int32_t Stepper::position(const AxisEnum axis) { int32_t Stepper::position(const AxisEnum axis) {
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = STEPPER_ISR_ENABLED(); const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const int32_t v = count_position[axis]; const int32_t v = count_position[axis];
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT(); if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
return v; return v;
} }
@ -2048,16 +2043,10 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
} }
int32_t Stepper::triggered_position(const AxisEnum axis) { int32_t Stepper::triggered_position(const AxisEnum axis) {
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = STEPPER_ISR_ENABLED(); const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const int32_t v = endstops_trigsteps[axis]; const int32_t v = endstops_trigsteps[axis];
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT(); if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
return v; return v;
} }