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MINIMUM_STEPPER_PULSE option

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This commit is contained in:
Scott Lahteine
2016-08-27 23:38:05 -05:00
parent 2cb63f0bf7
commit 759234af60
19 changed files with 97 additions and 15 deletions
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40
Marlin/stepper.cpp
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@ -449,18 +449,30 @@ void Stepper::isr() {
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
#define STEP_ADD(AXIS) \
#define PULSE_START(AXIS) \
_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
#define PULSE_STOP(AXIS) \
if (_COUNTER(AXIS) > 0) { \
_COUNTER(AXIS) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
}
#if MINIMUM_STEPPER_PULSE > 0
static uint32_t pulse_start;
pulse_start = TCNT0;
#endif
#if HAS_X_STEP
STEP_ADD(X);
PULSE_START(X);
#endif
#if HAS_Y_STEP
STEP_ADD(Y);
PULSE_START(Y);
#endif
#if HAS_Z_STEP
STEP_ADD(Z);
PULSE_START(Z);
#endif
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
@ -475,25 +487,23 @@ void Stepper::isr() {
if (counter_M[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
}
#else // !MIXING_EXTRUDER
STEP_ADD(E);
PULSE_START(E);
#endif
#endif // !ADVANCE && !LIN_ADVANCE
#define STEP_IF_COUNTER(AXIS) \
if (_COUNTER(AXIS) > 0) { \
_COUNTER(AXIS) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
}
#if MINIMUM_STEPPER_PULSE > 0
#define CYCLES_EATEN_BY_CODE 10
while ((uint32_t)(TCNT0 - pulse_start) < (MINIMUM_STEPPER_PULSE * (F_CPU / 1000000UL)) - CYCLES_EATEN_BY_CODE) { /* nada */ }
#endif
#if HAS_X_STEP
STEP_IF_COUNTER(X);
PULSE_STOP(X);
#endif
#if HAS_Y_STEP
STEP_IF_COUNTER(Y);
PULSE_STOP(Y);
#endif
#if HAS_Z_STEP
STEP_IF_COUNTER(Z);
PULSE_STOP(Z);
#endif
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
@ -510,7 +520,7 @@ void Stepper::isr() {
}
}
#else // !MIXING_EXTRUDER
STEP_IF_COUNTER(E);
PULSE_STOP(E);
#endif
#endif // !ADVANCE && !LIN_ADVANCE