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Merge pull request #394 from bubnikv/MK3

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Slight optimization of the stepper timer routine.
This commit is contained in:
PavelSindler 2018-01-12 21:02:50 +01:00 committed by GitHub
commit b2e6779782
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 28 additions and 28 deletions
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56
Firmware/stepper.cpp
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@ -432,27 +432,27 @@ void isr() {
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY) // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
if((out_bits & (1<<X_AXIS))!=0){ if((out_bits & (1<<X_AXIS))!=0){
WRITE(X_DIR_PIN, INVERT_X_DIR); WRITE_NC(X_DIR_PIN, INVERT_X_DIR);
count_direction[X_AXIS]=-1; count_direction[X_AXIS]=-1;
} }
else{ else{
WRITE(X_DIR_PIN, !INVERT_X_DIR); WRITE_NC(X_DIR_PIN, !INVERT_X_DIR);
count_direction[X_AXIS]=1; count_direction[X_AXIS]=1;
} }
if((out_bits & (1<<Y_AXIS))!=0){ if((out_bits & (1<<Y_AXIS))!=0){
WRITE(Y_DIR_PIN, INVERT_Y_DIR); WRITE_NC(Y_DIR_PIN, INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR)); WRITE_NC(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif #endif
count_direction[Y_AXIS]=-1; count_direction[Y_AXIS]=-1;
} }
else{ else{
WRITE(Y_DIR_PIN, !INVERT_Y_DIR); WRITE_NC(Y_DIR_PIN, !INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR)); WRITE_NC(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif #endif
count_direction[Y_AXIS]=1; count_direction[Y_AXIS]=1;
@ -559,10 +559,10 @@ void isr() {
} }
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR); WRITE_NC(Z_DIR_PIN,INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,INVERT_Z_DIR); WRITE_NC(Z2_DIR_PIN,INVERT_Z_DIR);
#endif #endif
count_direction[Z_AXIS]=-1; count_direction[Z_AXIS]=-1;
@ -585,10 +585,10 @@ void isr() {
} }
} }
else { // +direction else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR); WRITE_NC(Z_DIR_PIN,!INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,!INVERT_Z_DIR); WRITE_NC(Z2_DIR_PIN,!INVERT_Z_DIR);
#endif #endif
count_direction[Z_AXIS]=1; count_direction[Z_AXIS]=1;
@ -681,57 +681,57 @@ void isr() {
counter_x += current_block->steps_x; counter_x += current_block->steps_x;
if (counter_x > 0) { if (counter_x > 0) {
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN);
LastStepMask |= X_AXIS_MASK; LastStepMask |= X_AXIS_MASK;
#ifdef DEBUG_XSTEP_DUP_PIN #ifdef DEBUG_XSTEP_DUP_PIN
WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN); WRITE_NC(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
#endif //DEBUG_XSTEP_DUP_PIN #endif //DEBUG_XSTEP_DUP_PIN
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS]; count_position[X_AXIS]+=count_direction[X_AXIS];
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN);
#ifdef DEBUG_XSTEP_DUP_PIN #ifdef DEBUG_XSTEP_DUP_PIN
WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN); WRITE_NC(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
#endif //DEBUG_XSTEP_DUP_PIN #endif //DEBUG_XSTEP_DUP_PIN
} }
counter_y += current_block->steps_y; counter_y += current_block->steps_y;
if (counter_y > 0) { if (counter_y > 0) {
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
LastStepMask |= Y_AXIS_MASK; LastStepMask |= Y_AXIS_MASK;
#ifdef DEBUG_YSTEP_DUP_PIN #ifdef DEBUG_YSTEP_DUP_PIN
WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN); WRITE_NC(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
#endif //DEBUG_YSTEP_DUP_PIN #endif //DEBUG_YSTEP_DUP_PIN
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN); WRITE_NC(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
#endif #endif
counter_y -= current_block->step_event_count; counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS]; count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN);
#ifdef DEBUG_YSTEP_DUP_PIN #ifdef DEBUG_YSTEP_DUP_PIN
WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN); WRITE_NC(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
#endif //DEBUG_YSTEP_DUP_PIN #endif //DEBUG_YSTEP_DUP_PIN
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN); WRITE_NC(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
#endif #endif
} }
counter_z += current_block->steps_z; counter_z += current_block->steps_z;
if (counter_z > 0) { if (counter_z > 0) {
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); WRITE_NC(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
LastStepMask |= Z_AXIS_MASK; LastStepMask |= Z_AXIS_MASK;
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN); WRITE_NC(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
#endif #endif
counter_z -= current_block->step_event_count; counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS]; count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); WRITE_NC(Z_STEP_PIN, INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN); WRITE_NC(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
#endif #endif
} }
@ -853,7 +853,7 @@ void isr() {
// interrupt repeats at a 100us rate (10kHz). // interrupt repeats at a 100us rate (10kHz).
if (OCR1A < TCNT1) { if (OCR1A < TCNT1) {
stepper_timer_overflow_state = true; stepper_timer_overflow_state = true;
WRITE(BEEPER, HIGH); WRITE_NC(BEEPER, HIGH);
} }
#endif #endif
} }
@ -871,12 +871,12 @@ void advance_isr() {
(e_steps < 0) (e_steps < 0)
#endif #endif
? INVERT_E0_DIR : !INVERT_E0_DIR; //If we have SNMM, reverse every second extruder. ? INVERT_E0_DIR : !INVERT_E0_DIR; //If we have SNMM, reverse every second extruder.
WRITE(E0_DIR_PIN, dir); WRITE_NC(E0_DIR_PIN, dir);
for (uint8_t i = step_loops; e_steps && i--;) { for (uint8_t i = step_loops; e_steps && i--;) {
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN);
e_steps < 0 ? ++e_steps : --e_steps; e_steps < 0 ? ++e_steps : --e_steps;
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); WRITE_NC(E0_STEP_PIN, INVERT_E_STEP_PIN);
#ifdef PAT9125 #ifdef PAT9125
fsensor_counter++; fsensor_counter++;
#endif //PAT9125 #endif //PAT9125