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Minor stepper cleanup

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This commit is contained in:
Scott Lahteine
2016-11-17 23:42:41 -06:00
parent d08867986e
commit 98600e1433
3 changed files with 10 additions and 13 deletions
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14
Marlin/stepper.cpp
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@ -91,8 +91,8 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
unsigned char Stepper::old_OCR0A = 0;
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
uint8_t Stepper::old_OCR0A = 0;
volatile uint8_t Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[E_STEPPERS];
@ -328,12 +328,12 @@ ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
void Stepper::isr() {
if (cleaning_buffer_counter) {
--cleaning_buffer_counter;
current_block = NULL;
planner.discard_current_block();
#ifdef SD_FINISHED_RELEASECOMMAND
if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
cleaning_buffer_counter--;
OCR1A = 200; // Run at max speed - 10 KHz
return;
}
@ -551,7 +551,6 @@ void Stepper::isr() {
#endif
// Calculate new timer value
uint16_t timer, step_rate;
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
@ -561,7 +560,7 @@ void Stepper::isr() {
NOMORE(acc_step_rate, current_block->nominal_rate);
// step_rate to timer interval
timer = calc_timer(acc_step_rate);
uint16_t timer = calc_timer(acc_step_rate);
OCR1A = timer;
acceleration_time += timer;
@ -603,6 +602,7 @@ void Stepper::isr() {
#endif
}
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
uint16_t step_rate;
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if (step_rate < acc_step_rate) { // Still decelerating?
@ -613,7 +613,7 @@ void Stepper::isr() {
step_rate = current_block->final_rate;
// step_rate to timer interval
timer = calc_timer(step_rate);
uint16_t timer = calc_timer(step_rate);
OCR1A = timer;
deceleration_time += timer;