3DPrinting/Prusa-Firmware
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Split the stepper ISR routine into multiple inline functions,

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added an optimized DDA routine for moves with less than 32767 ticks.
This commit is contained in:
bubnikv 2018-01-14 22:37:07 +01:00
parent 30b06488ca
commit 7a972fd9b0
3 changed files with 331 additions and 313 deletions
Firmware
planner.cpp

5
Firmware/planner.cpp
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@ -839,9 +839,7 @@ block->steps_y.wide = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-p
if(block->steps_x.wide != 0) enable_x();
if(block->steps_y.wide != 0) enable_y();
#endif
#ifndef Z_LATE_ENABLE
if(block->steps_z.wide != 0) enable_z();
#endif
// Enable extruder(s)
if(block->steps_e.wide != 0)
@ -1234,6 +1232,9 @@ Having the real displacement of the head, we can calculate the total movement le
block->speed_factor = block->nominal_rate / block->nominal_speed;
calculate_trapezoid_for_block(block, block->entry_speed, safe_speed);
if (block->step_event_count.wide <= 32767)
block->flag |= BLOCK_FLAG_DDA_LOWRES;
// Move the buffer head. From now the block may be picked up by the stepper interrupt controller.
block_buffer_head = next_buffer_head;