Reduce STEP_PULSE_CYCLES code slightly
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@ -535,8 +535,7 @@ void Stepper::isr() {
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// If a minimum pulse time was specified get the CPU clock
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// If a minimum pulse time was specified get the CPU clock
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
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static uint32_t pulse_start;
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uint32_t pulse_start = TCNT0;
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pulse_start = TCNT0;
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#endif
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#endif
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#if HAS_X_STEP
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#if HAS_X_STEP
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@ -802,8 +801,7 @@ void Stepper::isr() {
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for (uint8_t i = 0; i < step_loops; i++) {
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for (uint8_t i = 0; i < step_loops; i++) {
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
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static uint32_t pulse_start;
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uint32_t pulse_start = TCNT0;
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pulse_start = TCNT0;
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#endif
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#endif
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START_E_PULSE(0);
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START_E_PULSE(0);
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@ -1232,55 +1230,53 @@ void Stepper::report_positions() {
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#if ENABLED(BABYSTEPPING)
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#if ENABLED(BABYSTEPPING)
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#define CYCLES_EATEN_BY_BABYSTEP 60
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#define CYCLES_EATEN_BY_BABYSTEP 60
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#define _ENABLE(axis) enable_## axis()
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#define _ENABLE(axis) enable_## axis()
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#define _READ_DIR(AXIS) AXIS ##_DIR_READ
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#define _READ_DIR(AXIS) AXIS ##_DIR_READ
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#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
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#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
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#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
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#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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#define _SAVE_START (pulse_start = TCNT0)
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#define _PULSE_WAIT while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
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#else
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#define _SAVE_START NOOP
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#define _PULSE_WAIT NOOP
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#endif
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#define START_BABYSTEP_AXIS(AXIS, INVERT) { \
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#define START_BABYSTEP_AXIS(AXIS, INVERT) { \
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old_dir = _READ_DIR(AXIS); \
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_SAVE_START; \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
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}
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}
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#define STOP_BABYSTEP_AXIS(AXIS) { \
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#define STOP_BABYSTEP_AXIS(AXIS) { \
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_PULSE_WAIT; \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_DIR(AXIS, old_pin); \
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_APPLY_DIR(AXIS, old_dir); \
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}
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}
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// MUST ONLY BE CALLED BY AN ISR,
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// MUST ONLY BE CALLED BY AN ISR,
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// No other ISR should ever interrupt this!
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// No other ISR should ever interrupt this!
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void Stepper::babystep(const AxisEnum axis, const bool direction) {
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void Stepper::babystep(const AxisEnum axis, const bool direction) {
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cli();
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cli();
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static uint8_t old_pin;
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uint8_t old_dir;
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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static uint32_t pulse_start;
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uint32_t pulse_start;
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#endif
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#endif
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switch (axis) {
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switch (axis) {
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case X_AXIS:
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case X_AXIS:
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_ENABLE(x);
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_ENABLE(x);
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old_pin = _READ_DIR(X);
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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pulse_start = TCNT0;
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#endif
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START_BABYSTEP_AXIS(X, false);
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START_BABYSTEP_AXIS(X, false);
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
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#endif
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STOP_BABYSTEP_AXIS(X);
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STOP_BABYSTEP_AXIS(X);
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break;
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break;
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case Y_AXIS:
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case Y_AXIS:
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_ENABLE(y);
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_ENABLE(y);
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old_pin = _READ_DIR(Y);
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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pulse_start = TCNT0;
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#endif
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START_BABYSTEP_AXIS(Y, false);
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START_BABYSTEP_AXIS(Y, false);
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
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#endif
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STOP_BABYSTEP_AXIS(Y);
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STOP_BABYSTEP_AXIS(Y);
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break;
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break;
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@ -1289,14 +1285,7 @@ void Stepper::report_positions() {
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#if DISABLED(DELTA)
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#if DISABLED(DELTA)
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_ENABLE(z);
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_ENABLE(z);
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old_pin = _READ_DIR(Z);
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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pulse_start = TCNT0;
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#endif
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START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
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START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
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#endif
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STOP_BABYSTEP_AXIS(Z);
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STOP_BABYSTEP_AXIS(Z);
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#else // DELTA
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#else // DELTA
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@ -1340,7 +1329,7 @@ void Stepper::report_positions() {
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sei();
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sei();
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}
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}
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#endif //BABYSTEPPING
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#endif // BABYSTEPPING
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/**
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/**
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* Software-controlled Stepper Motor Current
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* Software-controlled Stepper Motor Current
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