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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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25
Marlin/src/module/stepper.cpp
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@ -365,11 +365,7 @@ void Stepper::isr() {
_NEXT_ISR(ocr_val);
#if DISABLED(LIN_ADVANCE)
#ifdef CPU_32_BIT
HAL_timer_set_compare(STEP_TIMER_NUM, ocr_val);
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL);
HAL_ENABLE_ISRs(); // re-enable ISRs
#endif
@ -731,14 +727,7 @@ void Stepper::isr() {
}
#if DISABLED(LIN_ADVANCE)
#ifdef CPU_32_BIT
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
hal_timer_t stepper_timer_count = HAL_timer_get_compare(STEP_TIMER_NUM),
stepper_timer_current_count = HAL_timer_get_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US;
HAL_timer_set_compare(STEP_TIMER_NUM, max(stepper_timer_count, stepper_timer_current_count));
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL);
#endif
// If current block is finished, reset pointer
@ -901,14 +890,8 @@ void Stepper::isr() {
}
// Don't run the ISR faster than possible
#ifdef CPU_32_BIT
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
uint32_t stepper_timer_count = HAL_timer_get_compare(STEP_TIMER_NUM),
stepper_timer_current_count = HAL_timer_get_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US;
HAL_timer_set_compare(STEP_TIMER_NUM, max(stepper_timer_count, stepper_timer_current_count));
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
// Make sure stepper interrupt does not monopolise CPU by adjusting compare to give about 8µs room
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL);
// Restore original ISR settings
HAL_ENABLE_ISRs();