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Cleanup for dual endstops homing

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This commit is contained in:
Scott Lahteine
2018-06-02 20:39:00 -05:00
parent 61181b7f24
commit ad8d3150aa
4 changed files with 58 additions and 62 deletions
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17
Marlin/src/module/stepper.cpp
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@ -87,7 +87,7 @@ Stepper stepper; // Singleton
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
bool Stepper::performing_homing = false;
bool Stepper::homing_dual_axis = false;
#endif
#if HAS_MOTOR_CURRENT_PWM
@ -166,7 +166,7 @@ bool Stepper::all_steps_done = false;
uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
int8_t Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER)
int32_t Stepper::counter_m[MIXING_STEPPERS];
@ -183,7 +183,7 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (performing_homing) { \
if (homing_dual_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
@ -1144,7 +1144,6 @@ void Stepper::set_directions() {
HAL_STEP_TIMER_ISR {
HAL_timer_isr_prologue(STEP_TIMER_NUM);
// Call the ISR
Stepper::isr();
HAL_timer_isr_epilogue(STEP_TIMER_NUM);
@ -1175,7 +1174,7 @@ void Stepper::isr() {
// We need this variable here to be able to use it in the following loop
hal_timer_t min_ticks;
do {
// Enable ISRs so the USART processing latency is reduced
// Enable ISRs to reduce USART processing latency
ENABLE_ISRS();
// Run main stepping pulse phase ISR if we have to
@ -1193,11 +1192,9 @@ void Stepper::isr() {
uint32_t interval =
#if ENABLED(LIN_ADVANCE)
// Select the closest interval in time
MIN(nextAdvanceISR, nextMainISR)
MIN(nextAdvanceISR, nextMainISR) // Nearest time interval
#else
// The interval is just the remaining time to the stepper ISR
nextMainISR
nextMainISR // Remaining stepper ISR time
#endif
;
@ -1239,7 +1236,7 @@ void Stepper::isr() {
next_isr_ticks += interval;
/**
* The following section must be done with global interrupts disabled.
* The following section must be done with global interrupts disabled.
* We want nothing to interrupt it, as that could mess the calculations
* we do for the next value to program in the period register of the
* stepper timer and lead to skipped ISRs (if the value we happen to program