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Add MAXIMUM_STEPPER_RATE, enforce in multi-stepping

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The timing value should be properly set for ALL boards. The compiler will check and set maximum step rate calculations based on those values.
This commit is contained in:
etagle
2018-06-03 14:24:23 -03:00
committed by Scott Lahteine
parent 39a7e7720d
commit 6f14bcaa3e
120 changed files with 699 additions and 224 deletions
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46
Marlin/src/module/stepper.cpp
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@ -1309,8 +1309,20 @@ void Stepper::stepper_pulse_phase_isr() {
// If there is no current block, do nothing
if (!current_block) return;
// Count of pending loops and events for this iteration
const uint32_t pending_events = step_event_count - step_events_completed;
uint8_t events_to_do = MIN(pending_events, steps_per_isr);
// Just update the value we will get at the end of the loop
step_events_completed += events_to_do;
#if MINIMUM_STEPPER_PULSE
// Get the timer count and estimate the end of the pulse
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
// Take multiple steps per interrupt (For high speed moves)
for (uint8_t i = steps_per_isr; i--;) {
do {
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
@ -1332,11 +1344,6 @@ void Stepper::stepper_pulse_phase_isr() {
} \
}while(0)
#if MINIMUM_STEPPER_PULSE > 0
// Get the timer count and estimate the end of the pulse
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
// Pulse start
#if HAS_X_STEP
PULSE_START(X);
@ -1382,11 +1389,11 @@ void Stepper::stepper_pulse_phase_isr() {
#endif
#endif // !LIN_ADVANCE
#if MINIMUM_STEPPER_PULSE > 0
// Just wait for the requested pulse time.
#if MINIMUM_STEPPER_PULSE
// Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
// Get the timer count and estimate the end of the pulse for the OFF phase
pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
// Pulse stop
@ -1413,15 +1420,20 @@ void Stepper::stepper_pulse_phase_isr() {
#endif
#endif // !LIN_ADVANCE
// If all events done, break loop now
if (++step_events_completed >= step_event_count) break;
// Decrement the count of pending pulses to do
--events_to_do;
#if MINIMUM_STEPPER_PULSE
// For minimum pulse time wait after stopping pulses also
// Just wait for the requested pulse time.
if (i) while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
if (events_to_do) {
// Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
// Add to the value, the time that the pulse must be active (to be used on the next loop)
pulse_end += hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
}
#endif
} // steps_loop
} while (events_to_do);
}
// This is the last half of the stepper interrupt: This one processes and
@ -1819,8 +1831,8 @@ uint32_t Stepper::stepper_block_phase_isr() {
#if MINIMUM_STEPPER_PULSE
// Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
// Get the timer count and estimate the end of the pulse for the OFF phase
pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
LA_steps < 0 ? ++LA_steps : --LA_steps;