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Reduce / optimize LIN_ADVANCE code

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This commit is contained in:
Scott Lahteine
2017-02-14 06:00:17 -06:00
parent 271ced7341
commit 97b6fb6381
2 changed files with 23 additions and 18 deletions
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24
Marlin/stepper.cpp
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@ -342,13 +342,14 @@ ISR(TIMER1_COMPA_vect) {
#endif
}
void Stepper::isr() {
#define _ENABLE_ISRs() cli(); SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT()
#define _ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr) CBI(TIMSK0, OCIE0B); else SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
uint16_t timer, remainder, ocr_val;
void Stepper::isr() {
static uint32_t step_remaining = 0;
uint16_t ocr_val;
#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
@ -366,7 +367,7 @@ void Stepper::isr() {
#define SPLIT(L) do { \
_SPLIT(L); \
if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \
remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
uint16_t remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
step_remaining = (uint16_t)L - ocr_val; \
} \
@ -374,13 +375,16 @@ void Stepper::isr() {
if (step_remaining && ENDSTOPS_ENABLED) { // Just check endstops - not yet time for a step
endstops.update();
ocr_val = step_remaining;
if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
step_remaining = step_remaining - ENDSTOP_NOMINAL_OCR_VAL;
step_remaining -= ENDSTOP_NOMINAL_OCR_VAL;
ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
}
else step_remaining = 0; // last one before the ISR that does the step
_NEXT_ISR(ocr_val); //
else {
ocr_val = step_remaining;
step_remaining = 0; // last one before the ISR that does the step
}
_NEXT_ISR(ocr_val);
NOLESS(OCR1A, TCNT1 + 16);
@ -867,9 +871,7 @@ void Stepper::isr() {
NOLESS(OCR1A, TCNT1 + 16);
// Restore original ISR settings
cli();
SBI(TIMSK0, OCIE0B);
ENABLE_STEPPER_DRIVER_INTERRUPT();
_ENABLE_ISRs();
}
#endif // ADVANCE or LIN_ADVANCE