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Improve MINIMUM_STEPPER_PULSE

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This commit is contained in:
Scott Lahteine
2016-09-23 23:59:16 -05:00
parent da1644313d
commit eabff30e75
3 changed files with 16 additions and 8 deletions
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18
Marlin/stepper.cpp
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@ -460,8 +460,10 @@ void Stepper::isr() {
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
}
#define CYCLES_EATEN_BY_CODE 240
// If a minimum pulse time was specified get the CPU clock
#if MINIMUM_STEPPER_PULSE > 0
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
static uint32_t pulse_start;
pulse_start = TCNT0;
#endif
@ -494,9 +496,8 @@ void Stepper::isr() {
#endif // !ADVANCE && !LIN_ADVANCE
// For a minimum pulse time wait before stopping pulses
#if MINIMUM_STEPPER_PULSE > 0
#define CYCLES_EATEN_BY_CODE 10
while ((uint32_t)(TCNT0 - pulse_start) < (MINIMUM_STEPPER_PULSE * (F_CPU / 1000000UL)) - CYCLES_EATEN_BY_CODE) { /* nada */ }
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_CODE) { /* nada */ }
#endif
#if HAS_X_STEP
@ -688,10 +689,12 @@ void Stepper::isr() {
E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
}
#define CYCLES_EATEN_BY_E 60
// Step all E steppers that have steps
for (uint8_t i = 0; i < step_loops; i++) {
#if MINIMUM_STEPPER_PULSE > 0
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
static uint32_t pulse_start;
pulse_start = TCNT0;
#endif
@ -708,9 +711,8 @@ void Stepper::isr() {
#endif
// For a minimum pulse time wait before stopping pulses
#if MINIMUM_STEPPER_PULSE > 0
#define CYCLES_EATEN_BY_E 10
while ((uint32_t)(TCNT0 - pulse_start) < (MINIMUM_STEPPER_PULSE * (F_CPU / 1000000UL)) - CYCLES_EATEN_BY_E) { /* nada */ }
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_E) { /* nada */ }
#endif
STOP_E_PULSE(0);