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Reduce STEP_PULSE_CYCLES code slightly

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This commit is contained in:
Scott Lahteine 2017-03-24 00:50:05 -05:00
parent 783338a0b8
commit d1e6b0e21a
1 changed files with 18 additions and 29 deletions
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45
Marlin/stepper.cpp
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@ -535,8 +535,7 @@ void Stepper::isr() {
// If a minimum pulse time was specified get the CPU clock // If a minimum pulse time was specified get the CPU clock
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
static uint32_t pulse_start; uint32_t pulse_start = TCNT0;
pulse_start = TCNT0;
#endif #endif
#if HAS_X_STEP #if HAS_X_STEP
@ -802,8 +801,7 @@ void Stepper::isr() {
for (uint8_t i = 0; i < step_loops; i++) { for (uint8_t i = 0; i < step_loops; i++) {
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
static uint32_t pulse_start; uint32_t pulse_start = TCNT0;
pulse_start = TCNT0;
#endif #endif
START_E_PULSE(0); START_E_PULSE(0);
@ -1232,55 +1230,53 @@ void Stepper::report_positions() {
#if ENABLED(BABYSTEPPING) #if ENABLED(BABYSTEPPING)
#define CYCLES_EATEN_BY_BABYSTEP 60 #define CYCLES_EATEN_BY_BABYSTEP 60
#define _ENABLE(axis) enable_## axis() #define _ENABLE(axis) enable_## axis()
#define _READ_DIR(AXIS) AXIS ##_DIR_READ #define _READ_DIR(AXIS) AXIS ##_DIR_READ
#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR #define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true) #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
#define _SAVE_START (pulse_start = TCNT0)
#define _PULSE_WAIT while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
#else
#define _SAVE_START NOOP
#define _PULSE_WAIT NOOP
#endif
#define START_BABYSTEP_AXIS(AXIS, INVERT) { \ #define START_BABYSTEP_AXIS(AXIS, INVERT) { \
old_dir = _READ_DIR(AXIS); \
_SAVE_START; \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \ _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \ _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
} }
#define STOP_BABYSTEP_AXIS(AXIS) { \ #define STOP_BABYSTEP_AXIS(AXIS) { \
_PULSE_WAIT; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \ _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
_APPLY_DIR(AXIS, old_pin); \ _APPLY_DIR(AXIS, old_dir); \
} }
// MUST ONLY BE CALLED BY AN ISR, // MUST ONLY BE CALLED BY AN ISR,
// No other ISR should ever interrupt this! // No other ISR should ever interrupt this!
void Stepper::babystep(const AxisEnum axis, const bool direction) { void Stepper::babystep(const AxisEnum axis, const bool direction) {
cli(); cli();
static uint8_t old_pin; uint8_t old_dir;
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
static uint32_t pulse_start; uint32_t pulse_start;
#endif #endif
switch (axis) { switch (axis) {
case X_AXIS: case X_AXIS:
_ENABLE(x); _ENABLE(x);
old_pin = _READ_DIR(X);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
pulse_start = TCNT0;
#endif
START_BABYSTEP_AXIS(X, false); START_BABYSTEP_AXIS(X, false);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
#endif
STOP_BABYSTEP_AXIS(X); STOP_BABYSTEP_AXIS(X);
break; break;
case Y_AXIS: case Y_AXIS:
_ENABLE(y); _ENABLE(y);
old_pin = _READ_DIR(Y);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
pulse_start = TCNT0;
#endif
START_BABYSTEP_AXIS(Y, false); START_BABYSTEP_AXIS(Y, false);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
#endif
STOP_BABYSTEP_AXIS(Y); STOP_BABYSTEP_AXIS(Y);
break; break;
@ -1289,14 +1285,7 @@ void Stepper::report_positions() {
#if DISABLED(DELTA) #if DISABLED(DELTA)
_ENABLE(z); _ENABLE(z);
old_pin = _READ_DIR(Z);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
pulse_start = TCNT0;
#endif
START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z); START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
#endif
STOP_BABYSTEP_AXIS(Z); STOP_BABYSTEP_AXIS(Z);
#else // DELTA #else // DELTA