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Isolate babystep to a separate function

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This commit is contained in:
Yuri D'Elia 2022-05-15 01:00:34 +02:00
parent bd28007312
commit dfd8fee712
1 changed files with 26 additions and 21 deletions
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47
Firmware/temperature.cpp
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@ -1401,6 +1401,31 @@ void adc_ready(void) //callback from adc when sampling finished
temp_meas_ready = true; temp_meas_ready = true;
} }
#ifdef BABYSTEPPING
FORCE_INLINE static void applyBabysteps() {
for(uint8_t axis=0;axis<3;axis++)
{
int curTodo=babystepsTodo[axis]; //get rid of volatile for performance
if(curTodo>0)
{
CRITICAL_SECTION_START;
babystep(axis,/*fwd*/true);
babystepsTodo[axis]--; //less to do next time
CRITICAL_SECTION_END;
}
else
if(curTodo<0)
{
CRITICAL_SECTION_START;
babystep(axis,/*fwd*/false);
babystepsTodo[axis]++; //less to do next time
CRITICAL_SECTION_END;
}
}
}
#endif //BABYSTEPPING
FORCE_INLINE static void soft_pwm_isr() FORCE_INLINE static void soft_pwm_isr()
{ {
lcd_buttons_update(); lcd_buttons_update();
@ -1740,28 +1765,8 @@ FORCE_INLINE static void soft_pwm_isr()
#endif //ifndef SLOW_PWM_HEATERS #endif //ifndef SLOW_PWM_HEATERS
#ifdef BABYSTEPPING #ifdef BABYSTEPPING
for(uint8_t axis=0;axis<3;axis++) applyBabysteps();
{
int curTodo=babystepsTodo[axis]; //get rid of volatile for performance
if(curTodo>0)
{
CRITICAL_SECTION_START;
babystep(axis,/*fwd*/true);
babystepsTodo[axis]--; //less to do next time
CRITICAL_SECTION_END;
}
else
if(curTodo<0)
{
CRITICAL_SECTION_START;
babystep(axis,/*fwd*/false);
babystepsTodo[axis]++; //less to do next time
CRITICAL_SECTION_END;
}
}
#endif //BABYSTEPPING #endif //BABYSTEPPING
// Check if a stack overflow happened // Check if a stack overflow happened