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Factor-out some repetition into fsensor_step

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This commit is contained in:
Yuri D'Elia 2019-04-29 16:09:13 +02:00
parent 124540a06f
commit bf0c60dd45
1 changed files with 27 additions and 48 deletions
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75
Firmware/stepper.cpp
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@ -352,6 +352,30 @@ FORCE_INLINE unsigned short calc_timer(uint16_t step_rate) {
return timer;
}
#ifndef FILAMENT_SENSOR
#define fsensor_step(cnt)
#else
FORCE_INLINE void fsensor_step(uint8_t cnt)
{
if (READ(E0_DIR_PIN) == INVERT_E0_DIR)
{
if (count_direction[E_AXIS] == 1)
fsensor_counter -= cnt;
else
fsensor_counter += cnt;
}
else
{
if (count_direction[E_AXIS] == 1)
fsensor_counter += cnt;
else
fsensor_counter -= cnt;
}
}
#endif
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect) {
@ -372,22 +396,7 @@ ISR(TIMER1_COMPA_vect) {
cnt++;
WRITE_NC(E0_STEP_PIN, INVERT_E_STEP_PIN);
}
#ifdef FILAMENT_SENSOR
if (READ(E0_DIR_PIN) == INVERT_E0_DIR)
{
if (count_direction[E_AXIS] == 1)
fsensor_counter -= cnt;
else
fsensor_counter += cnt;
}
else
{
if (count_direction[E_AXIS] == 1)
fsensor_counter += cnt;
else
fsensor_counter -= cnt;
}
#endif //FILAMENT_SENSOR
fsensor_step(cnt);
if (e_steps) {
// Plan another Linear Advance tick.
OCR1A = eISR_Rate;
@ -916,22 +925,7 @@ FORCE_INLINE void isr() {
estep_loops = (e_steps & 0x0ff00) ? 4 : e_steps;
if (step_loops < estep_loops)
estep_loops = step_loops;
#ifdef FILAMENT_SENSOR
if (READ(E0_DIR_PIN) == INVERT_E0_DIR)
{
if (count_direction[E_AXIS] == 1)
fsensor_counter -= estep_loops;
else
fsensor_counter += estep_loops;
}
else
{
if (count_direction[E_AXIS] == 1)
fsensor_counter += estep_loops;
else
fsensor_counter -= estep_loops;
}
#endif //FILAMENT_SENSOR
fsensor_step(estep_loops);
do {
WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN);
-- e_steps;
@ -1056,22 +1050,7 @@ FORCE_INLINE void isr() {
// There is not enough time to fit even a single additional tick.
// Tick all the extruder ticks now.
MSerial.checkRx(); // Check for serial chars.
#ifdef FILAMENT_SENSOR
if (READ(E0_DIR_PIN) == INVERT_E0_DIR)
{
if (count_direction[E_AXIS] == 1)
fsensor_counter -= e_steps;
else
fsensor_counter += e_steps;
}
else
{
if (count_direction[E_AXIS] == 1)
fsensor_counter += e_steps;
else
fsensor_counter -= e_steps;
}
#endif //FILAMENT_SENSOR
fsensor_step(e_steps);
do {
WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN);
-- e_steps;