Less indentation in Stepper::isr
This commit is contained in:
Scott Lahteine
parent
7dec8071b2
commit
cc639d7d9c
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@ -357,316 +357,314 @@ void Stepper::isr() {
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}
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else {
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OCR1A = 2000; // 1kHz.
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return;
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}
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}
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if (current_block) {
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// Update endstops state, if enabled
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if (endstops.enabled
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#if HAS_BED_PROBE
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|| endstops.z_probe_enabled
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#endif
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) endstops.update();
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// Update endstops state, if enabled
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if (endstops.enabled
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#if HAS_BED_PROBE
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|| endstops.z_probe_enabled
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#endif
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) endstops.update();
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// Take multiple steps per interrupt (For high speed moves)
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bool all_steps_done = false;
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for (int8_t i = 0; i < step_loops; i++) {
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#ifndef USBCON
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customizedSerial.checkRx(); // Check for serial chars.
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#endif
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#if ENABLED(LIN_ADVANCE)
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counter_E += current_block->steps[E_AXIS];
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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#if DISABLED(MIXING_EXTRUDER)
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// Don't step E here for mixing extruder
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count_position[E_AXIS] += count_direction[E_AXIS];
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motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
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#endif
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}
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#if ENABLED(MIXING_EXTRUDER)
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// Step mixing steppers proportionally
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bool dir = motor_direction(E_AXIS);
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MIXING_STEPPERS_LOOP(j) {
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counter_m[j] += current_block->steps[E_AXIS];
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if (counter_m[j] > 0) {
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counter_m[j] -= current_block->mix_event_count[j];
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dir ? --e_steps[j] : ++e_steps[j];
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}
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}
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#endif
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if (current_block->use_advance_lead) {
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int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
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#if ENABLED(MIXING_EXTRUDER)
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// Mixing extruders apply advance lead proportionally
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MIXING_STEPPERS_LOOP(j) {
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int steps = delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
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e_steps[j] += steps;
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current_adv_steps[j] += steps;
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}
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#else
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// For most extruders, advance the single E stepper
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e_steps[TOOL_E_INDEX] += delta_adv_steps;
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current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
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#endif
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}
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#elif ENABLED(ADVANCE)
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// Always count the unified E axis
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counter_E += current_block->steps[E_AXIS];
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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#if DISABLED(MIXING_EXTRUDER)
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// Don't step E here for mixing extruder
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motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
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#endif
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}
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#if ENABLED(MIXING_EXTRUDER)
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// Step mixing steppers proportionally
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bool dir = motor_direction(E_AXIS);
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MIXING_STEPPERS_LOOP(j) {
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counter_m[j] += current_block->steps[E_AXIS];
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if (counter_m[j] > 0) {
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counter_m[j] -= current_block->mix_event_count[j];
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dir ? --e_steps[j] : ++e_steps[j];
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}
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}
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#endif // MIXING_EXTRUDER
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#endif // ADVANCE or LIN_ADVANCE
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#define _COUNTER(AXIS) counter_## AXIS
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
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// Advance the Bresenham counter; start a pulse if the axis needs a step
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#define PULSE_START(AXIS) \
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_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
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if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
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// Stop an active pulse, reset the Bresenham counter, update the position
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#define PULSE_STOP(AXIS) \
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if (_COUNTER(AXIS) > 0) { \
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_COUNTER(AXIS) -= current_block->step_event_count; \
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count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
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}
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// If a minimum pulse time was specified get the CPU clock
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#if MINIMUM_STEPPER_PULSE > 0
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static uint32_t pulse_start;
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pulse_start = TCNT0;
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#endif
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#if HAS_X_STEP
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PULSE_START(X);
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#endif
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#if HAS_Y_STEP
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PULSE_START(Y);
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#endif
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#if HAS_Z_STEP
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PULSE_START(Z);
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#endif
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// For non-advance use linear interpolation for E also
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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// Keep updating the single E axis
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counter_E += current_block->steps[E_AXIS];
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// Tick the counters used for this mix
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MIXING_STEPPERS_LOOP(j) {
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// Step mixing steppers (proportionally)
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counter_m[j] += current_block->steps[E_AXIS];
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// Step when the counter goes over zero
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if (counter_m[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
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}
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#else // !MIXING_EXTRUDER
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PULSE_START(E);
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#endif
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#endif // !ADVANCE && !LIN_ADVANCE
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// For a minimum pulse time wait before stopping pulses
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#if MINIMUM_STEPPER_PULSE > 0
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#define CYCLES_EATEN_BY_CODE 10
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while ((uint32_t)(TCNT0 - pulse_start) < (MINIMUM_STEPPER_PULSE * (F_CPU / 1000000UL)) - CYCLES_EATEN_BY_CODE) { /* nada */ }
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#endif
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#if HAS_X_STEP
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PULSE_STOP(X);
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#endif
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#if HAS_Y_STEP
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PULSE_STOP(Y);
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#endif
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#if HAS_Z_STEP
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PULSE_STOP(Z);
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#endif
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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// Always step the single E axis
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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count_position[E_AXIS] += count_direction[E_AXIS];
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}
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MIXING_STEPPERS_LOOP(j) {
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if (counter_m[j] > 0) {
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counter_m[j] -= current_block->mix_event_count[j];
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En_STEP_WRITE(j, INVERT_E_STEP_PIN);
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}
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}
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#else // !MIXING_EXTRUDER
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PULSE_STOP(E);
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#endif
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#endif // !ADVANCE && !LIN_ADVANCE
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if (++step_events_completed >= current_block->step_event_count) {
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all_steps_done = true;
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break;
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}
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}
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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// If we have esteps to execute, fire the next advance_isr "now"
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if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2;
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// Take multiple steps per interrupt (For high speed moves)
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bool all_steps_done = false;
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for (int8_t i = 0; i < step_loops; i++) {
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#ifndef USBCON
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customizedSerial.checkRx(); // Check for serial chars.
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#endif
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// Calculate new timer value
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uint16_t timer, step_rate;
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if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
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#if ENABLED(LIN_ADVANCE)
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MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
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acc_step_rate += current_block->initial_rate;
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// upper limit
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NOMORE(acc_step_rate, current_block->nominal_rate);
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// step_rate to timer interval
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timer = calc_timer(acc_step_rate);
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OCR1A = timer;
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acceleration_time += timer;
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead)
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
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if (current_block->use_advance_lead) {
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j)
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current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
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#else
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
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#endif
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}
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#elif ENABLED(ADVANCE)
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advance += advance_rate * step_loops;
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//NOLESS(advance, current_block->advance);
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long advance_whole = advance >> 8,
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advance_factor = advance_whole - old_advance;
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// Do E steps + advance steps
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#if ENABLED(MIXING_EXTRUDER)
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// ...for mixing steppers proportionally
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MIXING_STEPPERS_LOOP(j)
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e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
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#else
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// ...for the active extruder
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e_steps[TOOL_E_INDEX] += advance_factor;
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counter_E += current_block->steps[E_AXIS];
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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#if DISABLED(MIXING_EXTRUDER)
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// Don't step E here for mixing extruder
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count_position[E_AXIS] += count_direction[E_AXIS];
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motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
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#endif
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old_advance = advance_whole;
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
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#endif
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}
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else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
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MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
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if (step_rate < acc_step_rate) { // Still decelerating?
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step_rate = acc_step_rate - step_rate;
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NOLESS(step_rate, current_block->final_rate);
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}
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else
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step_rate = current_block->final_rate;
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// step_rate to timer interval
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timer = calc_timer(step_rate);
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OCR1A = timer;
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deceleration_time += timer;
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#if ENABLED(MIXING_EXTRUDER)
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// Step mixing steppers proportionally
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bool dir = motor_direction(E_AXIS);
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MIXING_STEPPERS_LOOP(j) {
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counter_m[j] += current_block->steps[E_AXIS];
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if (counter_m[j] > 0) {
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counter_m[j] -= current_block->mix_event_count[j];
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dir ? --e_steps[j] : ++e_steps[j];
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}
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}
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#endif
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead) {
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int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
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#if ENABLED(MIXING_EXTRUDER)
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// Mixing extruders apply advance lead proportionally
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MIXING_STEPPERS_LOOP(j) {
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int steps = delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
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e_steps[j] += steps;
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current_adv_steps[j] += steps;
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}
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#else
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// For most extruders, advance the single E stepper
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e_steps[TOOL_E_INDEX] += delta_adv_steps;
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current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
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#endif
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}
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if (current_block->use_advance_lead) {
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j)
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current_estep_rate[j] = ((uint32_t)step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
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#else
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->e_speed_multiplier8) >> 8;
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#endif
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#elif ENABLED(ADVANCE)
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// Always count the unified E axis
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counter_E += current_block->steps[E_AXIS];
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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#if DISABLED(MIXING_EXTRUDER)
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// Don't step E here for mixing extruder
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motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
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#endif
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}
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#if ENABLED(MIXING_EXTRUDER)
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// Step mixing steppers proportionally
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bool dir = motor_direction(E_AXIS);
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MIXING_STEPPERS_LOOP(j) {
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counter_m[j] += current_block->steps[E_AXIS];
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if (counter_m[j] > 0) {
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counter_m[j] -= current_block->mix_event_count[j];
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dir ? --e_steps[j] : ++e_steps[j];
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}
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}
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#elif ENABLED(ADVANCE)
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#endif // MIXING_EXTRUDER
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advance -= advance_rate * step_loops;
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NOLESS(advance, final_advance);
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#endif // ADVANCE or LIN_ADVANCE
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// Do E steps + advance steps
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long advance_whole = advance >> 8,
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advance_factor = advance_whole - old_advance;
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#define _COUNTER(AXIS) counter_## AXIS
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
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// Advance the Bresenham counter; start a pulse if the axis needs a step
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#define PULSE_START(AXIS) \
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_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
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if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
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// Stop an active pulse, reset the Bresenham counter, update the position
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#define PULSE_STOP(AXIS) \
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if (_COUNTER(AXIS) > 0) { \
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_COUNTER(AXIS) -= current_block->step_event_count; \
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count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
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}
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// If a minimum pulse time was specified get the CPU clock
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#if MINIMUM_STEPPER_PULSE > 0
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static uint32_t pulse_start;
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pulse_start = TCNT0;
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#endif
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#if HAS_X_STEP
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PULSE_START(X);
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#endif
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#if HAS_Y_STEP
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PULSE_START(Y);
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#endif
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#if HAS_Z_STEP
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PULSE_START(Z);
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#endif
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// For non-advance use linear interpolation for E also
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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// Keep updating the single E axis
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counter_E += current_block->steps[E_AXIS];
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// Tick the counters used for this mix
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MIXING_STEPPERS_LOOP(j) {
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// Step mixing steppers (proportionally)
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counter_m[j] += current_block->steps[E_AXIS];
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// Step when the counter goes over zero
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if (counter_m[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
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}
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#else // !MIXING_EXTRUDER
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PULSE_START(E);
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#endif
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#endif // !ADVANCE && !LIN_ADVANCE
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// For a minimum pulse time wait before stopping pulses
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#if MINIMUM_STEPPER_PULSE > 0
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#define CYCLES_EATEN_BY_CODE 10
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while ((uint32_t)(TCNT0 - pulse_start) < (MINIMUM_STEPPER_PULSE * (F_CPU / 1000000UL)) - CYCLES_EATEN_BY_CODE) { /* nada */ }
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#endif
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#if HAS_X_STEP
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PULSE_STOP(X);
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#endif
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#if HAS_Y_STEP
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PULSE_STOP(Y);
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#endif
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#if HAS_Z_STEP
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PULSE_STOP(Z);
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#endif
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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// Always step the single E axis
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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count_position[E_AXIS] += count_direction[E_AXIS];
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}
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MIXING_STEPPERS_LOOP(j) {
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if (counter_m[j] > 0) {
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counter_m[j] -= current_block->mix_event_count[j];
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||||
En_STEP_WRITE(j, INVERT_E_STEP_PIN);
|
||||
}
|
||||
}
|
||||
#else // !MIXING_EXTRUDER
|
||||
PULSE_STOP(E);
|
||||
#endif
|
||||
#endif // !ADVANCE && !LIN_ADVANCE
|
||||
|
||||
if (++step_events_completed >= current_block->step_event_count) {
|
||||
all_steps_done = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
// If we have esteps to execute, fire the next advance_isr "now"
|
||||
if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2;
|
||||
#endif
|
||||
|
||||
// Calculate new timer value
|
||||
uint16_t timer, step_rate;
|
||||
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
|
||||
|
||||
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
|
||||
acc_step_rate += current_block->initial_rate;
|
||||
|
||||
// upper limit
|
||||
NOMORE(acc_step_rate, current_block->nominal_rate);
|
||||
|
||||
// step_rate to timer interval
|
||||
timer = calc_timer(acc_step_rate);
|
||||
OCR1A = timer;
|
||||
acceleration_time += timer;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead)
|
||||
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
|
||||
if (current_block->use_advance_lead) {
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
|
||||
current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
|
||||
#else
|
||||
e_steps[TOOL_E_INDEX] += advance_factor;
|
||||
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
#endif
|
||||
}
|
||||
|
||||
old_advance = advance_whole;
|
||||
#elif ENABLED(ADVANCE)
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
advance += advance_rate * step_loops;
|
||||
//NOLESS(advance, current_block->advance);
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead)
|
||||
current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
|
||||
|
||||
eISR_Rate = (OCR1A_nominal >> 2) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
|
||||
long advance_whole = advance >> 8,
|
||||
advance_factor = advance_whole - old_advance;
|
||||
|
||||
// Do E steps + advance steps
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// ...for mixing steppers proportionally
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
|
||||
#else
|
||||
// ...for the active extruder
|
||||
e_steps[TOOL_E_INDEX] += advance_factor;
|
||||
#endif
|
||||
|
||||
OCR1A = OCR1A_nominal;
|
||||
// ensure we're running at the correct step rate, even if we just came off an acceleration
|
||||
step_loops = step_loops_nominal;
|
||||
}
|
||||
old_advance = advance_whole;
|
||||
|
||||
NOLESS(OCR1A, TCNT1 + 16);
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
// If current block is finished, reset pointer
|
||||
if (all_steps_done) {
|
||||
current_block = NULL;
|
||||
planner.discard_current_block();
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
|
||||
#endif
|
||||
}
|
||||
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
|
||||
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
|
||||
|
||||
if (step_rate < acc_step_rate) { // Still decelerating?
|
||||
step_rate = acc_step_rate - step_rate;
|
||||
NOLESS(step_rate, current_block->final_rate);
|
||||
}
|
||||
else
|
||||
step_rate = current_block->final_rate;
|
||||
|
||||
// step_rate to timer interval
|
||||
timer = calc_timer(step_rate);
|
||||
OCR1A = timer;
|
||||
deceleration_time += timer;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead) {
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
current_estep_rate[j] = ((uint32_t)step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
|
||||
#else
|
||||
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
#endif
|
||||
}
|
||||
|
||||
#elif ENABLED(ADVANCE)
|
||||
|
||||
advance -= advance_rate * step_loops;
|
||||
NOLESS(advance, final_advance);
|
||||
|
||||
// Do E steps + advance steps
|
||||
long advance_whole = advance >> 8,
|
||||
advance_factor = advance_whole - old_advance;
|
||||
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
|
||||
#else
|
||||
e_steps[TOOL_E_INDEX] += advance_factor;
|
||||
#endif
|
||||
|
||||
old_advance = advance_whole;
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead)
|
||||
current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
|
||||
|
||||
eISR_Rate = (OCR1A_nominal >> 2) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
|
||||
|
||||
#endif
|
||||
|
||||
OCR1A = OCR1A_nominal;
|
||||
// ensure we're running at the correct step rate, even if we just came off an acceleration
|
||||
step_loops = step_loops_nominal;
|
||||
}
|
||||
|
||||
NOLESS(OCR1A, TCNT1 + 16);
|
||||
|
||||
// If current block is finished, reset pointer
|
||||
if (all_steps_done) {
|
||||
current_block = NULL;
|
||||
planner.discard_current_block();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue