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Step timing cleanup and rounding fix (#16258)

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This commit is contained in:
Jason Smith
2019-12-21 16:36:25 -08:00
committed by Scott Lahteine
parent f8065da48f
commit d5bc5547ee
2 changed files with 27 additions and 12 deletions
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11
Marlin/src/module/stepper.cpp
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@ -338,6 +338,13 @@ xyze_int8_t Stepper::count_direction{0};
#if DISABLED(MIXING_EXTRUDER)
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(stepper_extruder, v)
#endif
#define CYCLES_TO_NS(CYC) (1000UL * (CYC) / ((F_CPU) / 1000000))
constexpr uint32_t NS_PER_PULSE_TIMER_TICK = 1000000000UL / (STEPPER_TIMER_RATE);
// Round up when converting from ns to timer ticks
constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return (NS + (NS_PER_PULSE_TIMER_TICK) / 2) / (NS_PER_PULSE_TIMER_TICK); }
#define TIMER_SETUP_NS (CYCLES_TO_NS(TIMER_READ_ADD_AND_STORE_CYCLES))
#define PULSE_HIGH_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_HIGH_NS - _MIN(_MIN_PULSE_HIGH_NS, TIMER_SETUP_NS)))
@ -1430,7 +1437,7 @@ void Stepper::stepper_pulse_phase_isr() {
// Take multiple steps per interrupt (For high speed moves)
bool firstStep = true;
xyze_bool_t step_needed{0};
hal_timer_t end_tick_count;
hal_timer_t end_tick_count = 0;
do {
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
@ -1941,7 +1948,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
// Step E stepper if we have steps
bool firstStep = true;
hal_timer_t end_tick_count;
hal_timer_t end_tick_count = 0;
while (LA_steps) {
#if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE) && DISABLED(I2S_STEPPER_STREAM)