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Use prior babystep delay method (#16833)

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Scott Lahteine 2020-02-11 08:52:11 -06:00 committed by GitHub
parent 1c556cd90d
commit 189c101793
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1 changed files with 57 additions and 28 deletions
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Marlin/src/module/stepper.cpp
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@ -2432,23 +2432,54 @@ void Stepper::report_positions() {
#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR #define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true) #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
#if MINIMUM_STEPPER_PULSE
#define STEP_PULSE_CYCLES ((MINIMUM_STEPPER_PULSE) * CYCLES_PER_MICROSECOND)
#else
#define STEP_PULSE_CYCLES 0
#endif
#if ENABLED(DELTA)
#define CYCLES_EATEN_BABYSTEP (2 * 15)
#else
#define CYCLES_EATEN_BABYSTEP 0
#endif
#define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
#if EXTRA_CYCLES_BABYSTEP > 20
#define _SAVE_START() const hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM)
#define _PULSE_WAIT() while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#else
#define _SAVE_START() NOOP
#if EXTRA_CYCLES_BABYSTEP > 0
#define _PULSE_WAIT() DELAY_NS(EXTRA_CYCLES_BABYSTEP * NANOSECONDS_PER_CYCLE)
#elif ENABLED(DELTA)
#define _PULSE_WAIT() DELAY_US(2);
#elif STEP_PULSE_CYCLES > 0
#define _PULSE_WAIT() NOOP
#else
#define _PULSE_WAIT() DELAY_US(4);
#endif
#endif
#if DISABLED(DELTA) #if DISABLED(DELTA)
#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \ #define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
const uint8_t old_dir = _READ_DIR(AXIS); \ const uint8_t old_dir = _READ_DIR(AXIS); \
_ENABLE_AXIS(AXIS); \ _ENABLE_AXIS(AXIS); \
DIR_WAIT_BEFORE(); \ DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INV); \ _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INV); \
DIR_WAIT_AFTER(); \ DIR_WAIT_AFTER(); \
USING_TIMED_PULSE(); \ _SAVE_START(); \
START_HIGH_PULSE(); \
_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \ _APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
AWAIT_HIGH_PULSE(); \ _PULSE_WAIT(); \
_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \ _APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, old_dir); \ _APPLY_DIR(AXIS, old_dir); \
DIR_WAIT_AFTER(); \
}while(0) }while(0)
#endif
#if IS_CORE #elif IS_CORE
#define BABYSTEP_CORE(A, B, INV, DIR) do{ \ #define BABYSTEP_CORE(A, B, INV, DIR) do{ \
const xy_byte_t old_dir = { _READ_DIR(A), _READ_DIR(B) }; \ const xy_byte_t old_dir = { _READ_DIR(A), _READ_DIR(B) }; \
_ENABLE_AXIS(A); _ENABLE_AXIS(B); \ _ENABLE_AXIS(A); _ENABLE_AXIS(B); \
@ -2456,23 +2487,23 @@ void Stepper::report_positions() {
_APPLY_DIR(A, _INVERT_DIR(A)^DIR^INV); \ _APPLY_DIR(A, _INVERT_DIR(A)^DIR^INV); \
_APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^(CORESIGN(1)<0)); \ _APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^(CORESIGN(1)<0)); \
DIR_WAIT_AFTER(); \ DIR_WAIT_AFTER(); \
USING_TIMED_PULSE(); \ _SAVE_START(); \
START_HIGH_PULSE(); \
_APPLY_STEP(A, !_INVERT_STEP_PIN(A), true); \ _APPLY_STEP(A, !_INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, !_INVERT_STEP_PIN(B), true); \ _APPLY_STEP(B, !_INVERT_STEP_PIN(B), true); \
AWAIT_HIGH_PULSE(); \ _PULSE_WAIT(); \
_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \ _APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \ _APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \ _APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
DIR_WAIT_AFTER(); \
}while(0) }while(0)
#endif #endif
// MUST ONLY BE CALLED BY AN ISR, // MUST ONLY BE CALLED BY AN ISR,
// No other ISR should ever interrupt this! // No other ISR should ever interrupt this!
void Stepper::babystep(const AxisEnum axis, const bool direction) { void Stepper::babystep(const AxisEnum axis, const bool direction) {
DISABLE_ISRS(); cli();
USING_TIMED_PULSE();
switch (axis) { switch (axis) {
@ -2527,13 +2558,13 @@ void Stepper::report_positions() {
DIR_WAIT_AFTER(); DIR_WAIT_AFTER();
START_HIGH_PULSE(); _SAVE_START();
X_STEP_WRITE(!INVERT_X_STEP_PIN); X_STEP_WRITE(!INVERT_X_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN); Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
Z_STEP_WRITE(!INVERT_Z_STEP_PIN); Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
AWAIT_HIGH_PULSE(); _PULSE_WAIT();
X_STEP_WRITE(INVERT_X_STEP_PIN); X_STEP_WRITE(INVERT_X_STEP_PIN);
Y_STEP_WRITE(INVERT_Y_STEP_PIN); Y_STEP_WRITE(INVERT_Y_STEP_PIN);
@ -2550,9 +2581,7 @@ void Stepper::report_positions() {
default: break; default: break;
} }
sei();
START_LOW_PULSE(); AWAIT_LOW_PULSE(); // Prevent Stepper::ISR pulsing too soon
ENABLE_ISRS(); // Now it's ok for the ISR to run
} }
#endif // BABYSTEPPING #endif // BABYSTEPPING