From 0dd1c4458d505ca811efb697ae069dafcd028d7e Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Mon, 5 Mar 2018 23:06:57 -0600
Subject: [PATCH] Put more code between pulse start and stop (#9959)

---
 Marlin/src/module/stepper.cpp | 85 +++++++++++++++++++----------------
 1 file changed, 46 insertions(+), 39 deletions(-)

diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 6834cc642..bf4aa4118 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -443,48 +443,24 @@ void Stepper::isr() {
   // Take multiple steps per interrupt (For high speed moves)
   bool all_steps_done = false;
   for (uint8_t i = step_loops; i--;) {
-    #if ENABLED(LIN_ADVANCE)
-
-      counter_E += current_block->steps[E_AXIS];
-      if (counter_E > 0) {
-        counter_E -= current_block->step_event_count;
-        #if DISABLED(MIXING_EXTRUDER)
-          // Don't step E here for mixing extruder
-          count_position[E_AXIS] += count_direction[E_AXIS];
-          motor_direction(E_AXIS) ? --e_steps : ++e_steps;
-        #endif
-      }
-
-      #if ENABLED(MIXING_EXTRUDER)
-        // Step mixing steppers proportionally
-        const bool dir = motor_direction(E_AXIS);
-        MIXING_STEPPERS_LOOP(j) {
-          counter_m[j] += current_block->steps[E_AXIS];
-          if (counter_m[j] > 0) {
-            counter_m[j] -= current_block->mix_event_count[j];
-            dir ? --e_steps[j] : ++e_steps[j];
-          }
-        }
-      #endif
-
-    #endif // LIN_ADVANCE
 
     #define _COUNTER(AXIS) counter_## AXIS
     #define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
     #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
 
     // Advance the Bresenham counter; start a pulse if the axis needs a step
-    #define PULSE_START(AXIS) \
+    #define PULSE_START(AXIS) do{ \
       _COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
-      if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
+      if (_COUNTER(AXIS) > 0) _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), 0); }while(0)
 
-    // Stop an active pulse, reset the Bresenham counter, update the position
-    #define PULSE_STOP(AXIS) \
+    // Advance the Bresenham counter; start a pulse if the axis needs a step
+    #define STEP_TICK(AXIS) \
       if (_COUNTER(AXIS) > 0) { \
         _COUNTER(AXIS) -= current_block->step_event_count; \
-        count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
-        _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
-      }
+        count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; }
+
+    // Stop an active pulse, if any
+    #define PULSE_STOP(AXIS) _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), 0)
 
     /**
      * Estimate the number of cycles that the stepper logic already takes
@@ -563,8 +539,30 @@ void Stepper::isr() {
       PULSE_START(Z);
     #endif
 
-    // For non-advance use linear interpolation for E also
-    #if DISABLED(LIN_ADVANCE)
+    #if ENABLED(LIN_ADVANCE)
+
+      counter_E += current_block->steps[E_AXIS];
+      if (counter_E > 0) {
+        #if DISABLED(MIXING_EXTRUDER)
+          // Don't step E here for mixing extruder
+          motor_direction(E_AXIS) ? --e_steps : ++e_steps;
+        #endif
+      }
+
+      #if ENABLED(MIXING_EXTRUDER)
+        // Step mixing steppers proportionally
+        const bool dir = motor_direction(E_AXIS);
+        MIXING_STEPPERS_LOOP(j) {
+          counter_m[j] += current_block->steps[E_AXIS];
+          if (counter_m[j] > 0) {
+            counter_m[j] -= current_block->mix_event_count[j];
+            dir ? --e_steps[j] : ++e_steps[j];
+          }
+        }
+      #endif
+
+    #else // !LIN_ADVANCE - use linear interpolation for E also
+
       #if ENABLED(MIXING_EXTRUDER)
         // Keep updating the single E axis
         counter_E += current_block->steps[E_AXIS];
@@ -580,6 +578,18 @@ void Stepper::isr() {
       #endif
     #endif // !LIN_ADVANCE
 
+    #if HAS_X_STEP
+      STEP_TICK(X);
+    #endif
+    #if HAS_Y_STEP
+      STEP_TICK(Y);
+    #endif
+    #if HAS_Z_STEP
+      STEP_TICK(Z);
+    #endif
+
+    STEP_TICK(E); // Always tick the single E axis
+
     // For minimum pulse time wait before stopping pulses
     #if EXTRA_CYCLES_XYZE > 20
       while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
@@ -600,11 +610,6 @@ void Stepper::isr() {
 
     #if DISABLED(LIN_ADVANCE)
       #if ENABLED(MIXING_EXTRUDER)
-        // Always step the single E axis
-        if (counter_E > 0) {
-          counter_E -= current_block->step_event_count;
-          count_position[E_AXIS] += count_direction[E_AXIS];
-        }
         MIXING_STEPPERS_LOOP(j) {
           if (counter_m[j] > 0) {
             counter_m[j] -= current_block->mix_event_count[j];
@@ -686,6 +691,7 @@ void Stepper::isr() {
 
     SPLIT(interval);  // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
     _NEXT_ISR(ocr_val);
+
     deceleration_time += interval;
 
     #if ENABLED(LIN_ADVANCE)
@@ -714,6 +720,7 @@ void Stepper::isr() {
 
     SPLIT(OCR1A_nominal);  // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
     _NEXT_ISR(ocr_val);
+
     // ensure we're running at the correct step rate, even if we just came off an acceleration
     step_loops = step_loops_nominal;
   }