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Small nominal speed improvement.

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This commit is contained in:
Erik van der Zalm 2011-11-25 15:32:50 +01:00
parent 0e0e4945d8
commit ac8adabb2b
1 changed files with 8 additions and 7 deletions
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15
Marlin/stepper.cpp
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@ -78,7 +78,8 @@ static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false; static bool old_z_max_endstop=false;
static bool bussy_error=false; static bool bussy_error=false;
unsigned char OCR1A_error=12345; unsigned short OCR1A_error=12345;
unsigned short OCR1A_nominal;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1}; volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
@ -270,6 +271,7 @@ inline void trapezoid_generator_reset() {
acc_step_rate = current_block->initial_rate; acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer(acc_step_rate); acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time; OCR1A = acceleration_time;
OCR1A_nominal = calc_timer(current_block->nominal_rate);
} }
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse. // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
@ -477,11 +479,11 @@ ISR(TIMER1_COMPA_vect)
// step_rate to timer interval // step_rate to timer interval
timer = calc_timer(acc_step_rate); timer = calc_timer(acc_step_rate);
OCR1A = timer;
acceleration_time += timer;
#ifdef ADVANCE #ifdef ADVANCE
advance += advance_rate; advance += advance_rate;
#endif #endif
acceleration_time += timer;
OCR1A = timer;
} }
else if (step_events_completed > current_block->decelerate_after) { else if (step_events_completed > current_block->decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate); MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
@ -499,17 +501,16 @@ ISR(TIMER1_COMPA_vect)
// step_rate to timer interval // step_rate to timer interval
timer = calc_timer(step_rate); timer = calc_timer(step_rate);
OCR1A = timer;
deceleration_time += timer;
#ifdef ADVANCE #ifdef ADVANCE
advance -= advance_rate; advance -= advance_rate;
if(advance < final_advance) if(advance < final_advance)
advance = final_advance; advance = final_advance;
#endif //ADVANCE #endif //ADVANCE
deceleration_time += timer;
OCR1A = timer;
} }
else { else {
timer = calc_timer(current_block->nominal_rate); OCR1A = OCR1A_nominal;
OCR1A = timer;
} }
// If current block is finished, reset pointer // If current block is finished, reset pointer