bissen21/Marlin_Firmware
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Some fixes in planner

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This commit is contained in:
Erik van der Zalm
2011-11-14 23:57:34 +01:00
parent 95126c09c0
commit 5fd41ae872
3 changed files with 24 additions and 23 deletions
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16
Marlin/stepper.cpp
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@ -227,11 +227,11 @@ inline unsigned short calc_timer(unsigned short step_rate) {
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate = step_rate >> 2;
step_rate = (step_rate >> 2)&0x3fff;
step_loops = 4;
}
else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
step_rate = step_rate >> 1;
step_rate = (step_rate >> 1)&0x7fff;
step_loops = 2;
}
else {
@ -253,7 +253,7 @@ inline unsigned short calc_timer(unsigned short step_rate) {
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
}
//if(timer < 100) timer = 100;
if(timer < 100) timer = 100; //(20kHz this should never happen)
return timer;
}
@ -340,7 +340,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if X_MIN_PIN > -1
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
endstops_triggered(step_events_completed);
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -352,7 +352,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if X_MAX_PIN > -1
if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){
endstops_triggered(step_events_completed);
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -365,7 +365,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Y_MIN_PIN > -1
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
endstops_triggered(step_events_completed);
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -377,7 +377,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Y_MAX_PIN > -1
if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
endstops_triggered(step_events_completed);
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -402,7 +402,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Z_MAX_PIN > -1
if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){
endstops_triggered(step_events_completed);
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif