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Clean up stepper and babystep (#16857)

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This commit is contained in:
Scott Lahteine
2020-02-14 05:14:37 -06:00
committed by GitHub
parent 073e4443e8
commit 0b984519c3
8 changed files with 242 additions and 240 deletions
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75
Marlin/src/module/stepper.h
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@ -321,13 +321,13 @@ class Stepper {
static bool bezier_2nd_half; // If Bézier curve has been initialized or not
#endif
static uint32_t nextMainISR; // time remaining for the next Step ISR
#if ENABLED(LIN_ADVANCE)
static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
static uint32_t nextAdvanceISR, LA_isr_rate;
static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
static int8_t LA_steps;
static bool LA_use_advance_lead;
#endif // LIN_ADVANCE
#endif
static int32_t ticks_nominal;
#if DISABLED(S_CURVE_ACCELERATION)
@ -351,28 +351,36 @@ class Stepper {
public:
//
// Constructor / initializer
//
Stepper() {};
// Initialize stepper hardware
static void init();
// Interrupt Service Routines
// Interrupt Service Routine and phases
// The stepper subsystem goes to sleep when it runs out of things to execute.
// Call this to notify the subsystem that it is time to go to work.
static inline void wake_up() { ENABLE_STEPPER_DRIVER_INTERRUPT(); }
static inline bool is_awake() { return STEPPER_ISR_ENABLED(); }
static inline bool suspend() {
const bool awake = is_awake();
if (awake) DISABLE_STEPPER_DRIVER_INTERRUPT();
return awake;
}
// The ISR scheduler
static void isr();
// The stepper pulse phase ISR
static void stepper_pulse_phase_isr();
// The stepper pulse ISR phase
static void pulse_phase_isr();
// The stepper block processing phase ISR
static uint32_t stepper_block_phase_isr();
// The stepper block processing ISR phase
static uint32_t block_phase_isr();
#if ENABLED(LIN_ADVANCE)
// The Linear advance stepper ISR
// The Linear advance ISR phase
static uint32_t advance_isr();
FORCE_INLINE static void initiateLA() { nextAdvanceISR = 0; }
#endif
// Check if the given block is busy or not - Must not be called from ISR contexts
@ -381,13 +389,14 @@ class Stepper {
// Get the position of a stepper, in steps
static int32_t position(const AxisEnum axis);
// Set the current position in steps
static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); }
static void set_axis_position(const AxisEnum a, const int32_t &v);
// Report the positions of the steppers, in steps
static void report_positions();
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work.
static void wake_up();
// Quickly stop all steppers
FORCE_INLINE static void quick_stop() { abort_current_block = true; }
@ -453,34 +462,6 @@ class Stepper {
static void refresh_motor_power();
#endif
// Set the current position in steps
static inline void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
_set_position(a, b, c, e);
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); }
static inline void set_axis_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
count_position[a] = v;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
}
// Set direction bits for all steppers
static void set_directions();
@ -490,11 +471,11 @@ class Stepper {
static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
FORCE_INLINE static void _set_position(const abce_long_t &spos) { _set_position(spos.a, spos.b, spos.c, spos.e); }
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) {
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t* loops) {
uint32_t timer;
// Scale the frequency, as requested by the caller
step_rate <<= scale;
step_rate <<= oversampling_factor;
uint8_t multistep = 1;
#if DISABLED(DISABLE_MULTI_STEPPING)