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Apply updated ISR timing code

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This commit is contained in:
Scott Lahteine 2016-05-08 12:16:26 -07:00
parent 506d78b2f8
commit aad9c0ed8d
2 changed files with 21 additions and 15 deletions
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34
Marlin/stepper.cpp
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@ -413,6 +413,12 @@ void Stepper::isr() {
step_events_completed++;
if (step_events_completed >= current_block->step_event_count) break;
}
#if ENABLED(LIN_ADVANCE)
// If we have esteps to execute, fire the next ISR "now"
if (e_steps[current_block->active_extruder]) OCR0A = TCNT0 + 2;
#endif
// Calculate new timer value
unsigned short timer, step_rate;
if (step_events_completed <= (unsigned long)current_block->accelerate_until) {
@ -427,7 +433,7 @@ void Stepper::isr() {
timer = calc_timer(acc_step_rate);
OCR1A = timer;
acceleration_time += timer;
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead)
@ -444,6 +450,9 @@ void Stepper::isr() {
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = (timer >> 2) / abs(e_steps[current_block->active_extruder]);
#endif
}
else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
@ -476,11 +485,20 @@ void Stepper::isr() {
old_advance = advance_whole;
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = (timer >> 2) / abs(e_steps[current_block->active_extruder]);
#endif
}
else {
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead)
current_estep_rate[current_block->active_extruder] = final_estep_rate;
eISR_Rate = (OCR1A_nominal >> 2) / abs(e_steps[current_block->active_extruder]);
#endif
OCR1A = OCR1A_nominal;
@ -506,19 +524,7 @@ void Stepper::isr() {
void Stepper::advance_isr() {
byte maxesteps = 0;
for (uint8_t i = 0; i < EXTRUDERS; i++)
if (abs(e_steps[i]) > maxesteps) maxesteps = abs(e_steps[i]);
if (maxesteps > 3)
old_OCR0A += 13; // ~19kHz (250000/13 = 19230 Hz)
else if (maxesteps > 2)
old_OCR0A += 17; // ~15kHz (250000/17 = 14705 Hz)
else if (maxesteps > 1)
old_OCR0A += 26; // ~10kHz (250000/26 = 9615 Hz)
else
old_OCR0A += 52; // ~5kHz (250000/26 = 4807 Hz)
old_OCR0A += eISR_Rate;
OCR0A = old_OCR0A;
#define STEP_E_ONCE(INDEX) \

2
Marlin/stepper.h
View File

@ -22,7 +22,7 @@
/**
* stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
* Part of Grbl
* Derived from Grbl
*
* Copyright (c) 2009-2011 Simen Svale Skogsrud
*