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HAL function to ensure min stepper interrupt interval (#9985)

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This commit is contained in:
Chris Pepper
2018-03-07 23:53:25 +00:00
committed by Scott Lahteine
parent be0e100fed
commit a1a88ebabc
10 changed files with 51 additions and 29 deletions
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7
Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
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@ -66,6 +66,8 @@ typedef uint32_t hal_timer_t;
#define TEMP_TIMER_FREQUENCY 1000
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
@ -103,6 +105,11 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
return 0;
}
FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_µs) {
const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_µs * HAL_TICKS_PER_US;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);