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Minor stepper cleanup

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This commit is contained in:
Scott Lahteine 2016-11-17 23:42:41 -06:00
parent d08867986e
commit 98600e1433
3 changed files with 10 additions and 13 deletions
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5
Marlin/Marlin_main.cpp
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@ -2017,9 +2017,7 @@ static void clean_up_after_endstop_or_probe_move() {
// When deploying make sure BLTOUCH is not already triggered // When deploying make sure BLTOUCH is not already triggered
#if ENABLED(BLTOUCH) #if ENABLED(BLTOUCH)
if (deploy && TEST_BLTOUCH()) { stop(); return true; } if (deploy && TEST_BLTOUCH()) { stop(); return true; }
#endif #elif ENABLED(Z_PROBE_SLED)
#if ENABLED(Z_PROBE_SLED)
if (axis_unhomed_error(true, false, false)) { stop(); return true; } if (axis_unhomed_error(true, false, false)) { stop(); return true; }
#elif ENABLED(Z_PROBE_ALLEN_KEY) #elif ENABLED(Z_PROBE_ALLEN_KEY)
if (axis_unhomed_error(true, true, true )) { stop(); return true; } if (axis_unhomed_error(true, true, true )) { stop(); return true; }
@ -2103,7 +2101,6 @@ static void clean_up_after_endstop_or_probe_move() {
// Tell the planner where we actually are // Tell the planner where we actually are
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
#endif #endif

14
Marlin/stepper.cpp
View file

@ -91,8 +91,8 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
unsigned char Stepper::old_OCR0A = 0; uint8_t Stepper::old_OCR0A = 0;
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed volatile uint8_t Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[E_STEPPERS]; volatile int Stepper::e_steps[E_STEPPERS];
@ -328,12 +328,12 @@ ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
void Stepper::isr() { void Stepper::isr() {
if (cleaning_buffer_counter) { if (cleaning_buffer_counter) {
--cleaning_buffer_counter;
current_block = NULL; current_block = NULL;
planner.discard_current_block(); planner.discard_current_block();
#ifdef SD_FINISHED_RELEASECOMMAND #ifdef SD_FINISHED_RELEASECOMMAND
if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND)); if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif #endif
cleaning_buffer_counter--;
OCR1A = 200; // Run at max speed - 10 KHz OCR1A = 200; // Run at max speed - 10 KHz
return; return;
} }
@ -551,7 +551,6 @@ void Stepper::isr() {
#endif #endif
// Calculate new timer value // Calculate new timer value
uint16_t timer, step_rate;
if (step_events_completed <= (uint32_t)current_block->accelerate_until) { if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate); MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
@ -561,7 +560,7 @@ 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
timer = calc_timer(acc_step_rate); uint16_t timer = calc_timer(acc_step_rate);
OCR1A = timer; OCR1A = timer;
acceleration_time += timer; acceleration_time += timer;
@ -603,6 +602,7 @@ void Stepper::isr() {
#endif #endif
} }
else if (step_events_completed > (uint32_t)current_block->decelerate_after) { else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
uint16_t step_rate;
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate); MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if (step_rate < acc_step_rate) { // Still decelerating? if (step_rate < acc_step_rate) { // Still decelerating?
@ -613,7 +613,7 @@ 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
timer = calc_timer(step_rate); uint16_t timer = calc_timer(step_rate);
OCR1A = timer; OCR1A = timer;
deceleration_time += timer; deceleration_time += timer;

4
Marlin/stepper.h
View file

@ -105,8 +105,8 @@ class Stepper {
static volatile uint32_t step_events_completed; // The number of step events executed in the current block static volatile uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
static unsigned char old_OCR0A; static uint8_t old_OCR0A;
static volatile unsigned char eISR_Rate; static volatile uint8_t eISR_Rate;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
static volatile int e_steps[E_STEPPERS]; static volatile int e_steps[E_STEPPERS];
static int final_estep_rate; static int final_estep_rate;