bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

First draft of Unified Stepper / E Advance ISR

Browse Source
This commit is contained in:
Sebastianv650
2016-12-12 20:30:02 +01:00
committed by Scott Lahteine
parent 451ba5df01
commit 84c685f8b5
20 changed files with 104 additions and 201 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
Marlin/stepper.h
View File

@ -105,8 +105,8 @@ class Stepper {
static volatile uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
static uint8_t old_OCR0A;
static volatile uint8_t eISR_Rate;
static uint16_t nextMainISR, nextAdvanceISR, eISR_Rate;
#define _NEXT_ISR(T) nextMainISR = T
#if ENABLED(LIN_ADVANCE)
static volatile int e_steps[E_STEPPERS];
static int final_estep_rate;
@ -119,6 +119,8 @@ class Stepper {
static long advance_rate, advance, final_advance;
static long old_advance;
#endif
#else
#define _NEXT_ISR(T) OCR1A = T
#endif // ADVANCE or LIN_ADVANCE
static long acceleration_time, deceleration_time;
@ -177,6 +179,7 @@ class Stepper {
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
static void advance_isr();
static void advance_isr_scheduler();
#endif
//
@ -318,8 +321,8 @@ class Stepper {
return timer;
}
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
// Initialize the trapezoid generator from the current block.
// Called whenever a new block begins.
static FORCE_INLINE void trapezoid_generator_reset() {
static int8_t last_extruder = -1;
@ -357,7 +360,7 @@ class Stepper {
step_loops_nominal = step_loops;
acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
_NEXT_ISR(acceleration_time);
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) {