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Apply const in Stepper::isr

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This commit is contained in:
Scott Lahteine 2017-04-13 06:20:23 -05:00
parent 2fa1e882d0
commit ac96ae89f9
1 changed files with 17 additions and 23 deletions
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40
Marlin/stepper.cpp
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@ -366,7 +366,7 @@ void Stepper::isr() {
#define SPLIT(L) do { \ #define SPLIT(L) do { \
_SPLIT(L); \ _SPLIT(L); \
if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \ if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \
uint16_t remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \ const uint16_t remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \ ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
step_remaining = (uint16_t)L - ocr_val; \ step_remaining = (uint16_t)L - ocr_val; \
} \ } \
@ -447,8 +447,6 @@ void Stepper::isr() {
} }
// Update endstops state, if enabled // Update endstops state, if enabled
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (e_hit && ENDSTOPS_ENABLED) { if (e_hit && ENDSTOPS_ENABLED) {
endstops.update(); endstops.update();
@ -640,7 +638,7 @@ void Stepper::isr() {
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) { if (current_block->use_advance_lead) {
int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX]; const int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX];
current_adv_steps[TOOL_E_INDEX] += delta_adv_steps; current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
// Mixing extruders apply advance lead proportionally // Mixing extruders apply advance lead proportionally
@ -668,7 +666,7 @@ void Stepper::isr() {
NOMORE(acc_step_rate, current_block->nominal_rate); NOMORE(acc_step_rate, current_block->nominal_rate);
// step_rate to timer interval // step_rate to timer interval
uint16_t timer = calc_timer(acc_step_rate); const uint16_t timer = calc_timer(acc_step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val); _NEXT_ISR(ocr_val);
@ -691,8 +689,8 @@ void Stepper::isr() {
advance += advance_rate * step_loops; advance += advance_rate * step_loops;
//NOLESS(advance, current_block->advance); //NOLESS(advance, current_block->advance);
long advance_whole = advance >> 8, const long advance_whole = advance >> 8,
advance_factor = advance_whole - old_advance; advance_factor = advance_whole - old_advance;
// Do E steps + advance steps // Do E steps + advance steps
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
@ -724,7 +722,7 @@ void Stepper::isr() {
step_rate = current_block->final_rate; step_rate = current_block->final_rate;
// step_rate to timer interval // step_rate to timer interval
uint16_t timer = calc_timer(step_rate); const uint16_t timer = calc_timer(step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val); _NEXT_ISR(ocr_val);
@ -748,8 +746,8 @@ void Stepper::isr() {
NOLESS(advance, final_advance); NOLESS(advance, final_advance);
// Do E steps + advance steps // Do E steps + advance steps
long advance_whole = advance >> 8, const long advance_whole = advance >> 8,
advance_factor = advance_whole - old_advance; advance_factor = advance_whole - old_advance;
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) MIXING_STEPPERS_LOOP(j)
@ -1179,7 +1177,7 @@ void Stepper::set_e_position(const long &e) {
*/ */
long Stepper::position(AxisEnum axis) { long Stepper::position(AxisEnum axis) {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
long count_pos = count_position[axis]; const long count_pos = count_position[axis];
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
return count_pos; return count_pos;
} }
@ -1246,9 +1244,9 @@ void Stepper::endstop_triggered(AxisEnum axis) {
void Stepper::report_positions() { void Stepper::report_positions() {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
long xpos = count_position[X_AXIS], const long xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS], ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS]; zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
#if CORE_IS_XY || CORE_IS_XZ || IS_SCARA #if CORE_IS_XY || CORE_IS_XZ || IS_SCARA
@ -1290,7 +1288,7 @@ void Stepper::report_positions() {
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true) #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
#if EXTRA_CYCLES_BABYSTEP > 20 #if EXTRA_CYCLES_BABYSTEP > 20
#define _SAVE_START (pulse_start = TCNT0) #define _SAVE_START const uint32_t pulse_start = TCNT0
#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ } #define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
#else #else
#define _SAVE_START NOOP #define _SAVE_START NOOP
@ -1322,10 +1320,6 @@ void Stepper::report_positions() {
cli(); cli();
uint8_t old_dir; uint8_t old_dir;
#if EXTRA_CYCLES_BABYSTEP > 20
uint32_t pulse_start;
#endif
switch (axis) { switch (axis) {
#if ENABLED(BABYSTEP_XY) #if ENABLED(BABYSTEP_XY)
@ -1348,15 +1342,15 @@ void Stepper::report_positions() {
#else // DELTA #else // DELTA
bool z_direction = direction ^ BABYSTEP_INVERT_Z; const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
enable_X(); enable_X();
enable_Y(); enable_Y();
enable_Z(); enable_Z();
uint8_t old_x_dir_pin = X_DIR_READ, const uint8_t old_x_dir_pin = X_DIR_READ,
old_y_dir_pin = Y_DIR_READ, old_y_dir_pin = Y_DIR_READ,
old_z_dir_pin = Z_DIR_READ; old_z_dir_pin = Z_DIR_READ;
X_DIR_WRITE(INVERT_X_DIR ^ z_direction); X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction); Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);