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Code Issues Releases Wiki Activity

Better handling of DELAY_NS and DELAY_US ()

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Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine 2018-05-12 08:34:04 -05:00 • committed by GitHub
parent f5aaa2d6c0
commit a1062eec5b
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21 changed files with 273 additions and 268 deletions
Marlin/src/module
stepper.cpp

34
Marlin/src/module/stepper.cpp
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@ -41,15 +41,18 @@
* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
and Philipp Tiefenbacher. */
/**
* Timer calculations informed by the 'RepRap cartesian firmware' by Zack Smith
* and Philipp Tiefenbacher.
*/
/* Jerk controlled movements planner added by Eduardo José Tagle in April
2018, Equations based on Synthethos TinyG2 sources, but the fixed-point
implementation is a complete new one, as we are running the ISR with a
variable period.
Also implemented the Bézier velocity curve evaluation in ARM assembler,
to avoid impacting ISR speed. */
/**
* Jerk controlled movements planner added Apr 2018 by Eduardo José Tagle.
* Equations based on Synthethos TinyG2 sources, but the fixed-point
* implementation is new, as we are running the ISR with a variable period.
* Also implemented the Bézier velocity curve evaluation in ARM assembler,
* to avoid impacting ISR speed.
*/
#include "stepper.h"
@ -67,6 +70,7 @@
#include "../gcode/queue.h"
#include "../sd/cardreader.h"
#include "../Marlin.h"
#include "../HAL/Delay.h"
#if MB(ALLIGATOR)
#include "../feature/dac/dac_dac084s085.h"
@ -1471,7 +1475,7 @@ void Stepper::isr() {
while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
#elif EXTRA_CYCLES_XYZE > 0
DELAY_NOPS(EXTRA_CYCLES_XYZE);
DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE);
#endif
#if HAS_X_STEP
@ -1506,7 +1510,7 @@ void Stepper::isr() {
#if EXTRA_CYCLES_XYZE > 20
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_XYZE > 0
if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
if (i) DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE);
#endif
} // steps_loop
@ -1739,7 +1743,7 @@ void Stepper::isr() {
while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
#elif EXTRA_CYCLES_E > 0
DELAY_NOPS(EXTRA_CYCLES_E);
DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE);
#endif
switch (LA_active_extruder) {
@ -1762,7 +1766,7 @@ void Stepper::isr() {
#if EXTRA_CYCLES_E > 20
if (e_steps) while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_E > 0
if (e_steps) DELAY_NOPS(EXTRA_CYCLES_E);
if (e_steps) DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE);
#endif
} // e_steps
@ -2146,13 +2150,13 @@ void Stepper::report_positions() {
#else
#define _SAVE_START NOOP
#if EXTRA_CYCLES_BABYSTEP > 0
#define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP)
#define _PULSE_WAIT DELAY_NS(EXTRA_CYCLES_BABYSTEP * NANOSECONDS_PER_CYCLE)
#elif STEP_PULSE_CYCLES > 0
#define _PULSE_WAIT NOOP
#elif ENABLED(DELTA)
#define _PULSE_WAIT delayMicroseconds(2);
#define _PULSE_WAIT DELAY_US(2);
#else
#define _PULSE_WAIT delayMicroseconds(4);
#define _PULSE_WAIT DELAY_US(4);
#endif
#endif