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🔥 Always use ISR for BABYSTEPPING (#26035)

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This commit is contained in:
Scott Lahteine
2023-07-19 21:12:32 -05:00
committed by GitHub
parent 885e9cc057
commit 45193b4a1d
8 changed files with 18 additions and 34 deletions
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20
Marlin/src/module/stepper.cpp
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@@ -106,7 +106,7 @@ Stepper stepper; // Singleton
#include "../feature/bedlevel/bdl/bdl.h"
#endif
#if ENABLED(INTEGRATED_BABYSTEPPING)
#if ENABLED(BABYSTEPPING)
#include "../feature/babystep.h"
#endif
@@ -273,7 +273,7 @@ uint32_t Stepper::advance_divisor = 0,
#endif
#endif
#if ENABLED(INTEGRATED_BABYSTEPPING)
#if ENABLED(BABYSTEPPING)
hal_timer_t Stepper::nextBabystepISR = BABYSTEP_NEVER;
#endif
@@ -1543,7 +1543,7 @@ void Stepper::isr() {
// Define 2.5 msec task for auxilliary functions.
if (!fxdTiCtrl_nextAuxISR) {
endstops.update();
TERN_(INTEGRATED_BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
fxdTiCtrl_refreshAxisDidMove();
fxdTiCtrl_nextAuxISR = 0.0025f * (STEPPER_TIMER_RATE);
}
@@ -1574,7 +1574,7 @@ void Stepper::isr() {
nextAdvanceISR = la_interval;
#endif
#if ENABLED(INTEGRATED_BABYSTEPPING)
#if ENABLED(BABYSTEPPING)
const bool is_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
if (is_babystep) nextBabystepISR = babystepping_isr();
#endif
@@ -1583,7 +1583,7 @@ void Stepper::isr() {
if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block
#if ENABLED(INTEGRATED_BABYSTEPPING)
#if ENABLED(BABYSTEPPING)
if (is_babystep) // Avoid ANY stepping too soon after baby-stepping
NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8); // FULL STOP for 125µs after a baby-step
@@ -1596,7 +1596,7 @@ void Stepper::isr() {
TERN_(INPUT_SHAPING_X, NOMORE(interval, ShapingQueue::peek_x())); // Time until next input shaping echo for X
TERN_(INPUT_SHAPING_Y, NOMORE(interval, ShapingQueue::peek_y())); // Time until next input shaping echo for Y
TERN_(LIN_ADVANCE, NOMORE(interval, nextAdvanceISR)); // Come back early for Linear Advance?
TERN_(INTEGRATED_BABYSTEPPING, NOMORE(interval, nextBabystepISR)); // Come back early for Babystepping?
TERN_(BABYSTEPPING, NOMORE(interval, nextBabystepISR)); // Come back early for Babystepping?
//
// Compute remaining time for each ISR phase
@@ -1608,7 +1608,7 @@ void Stepper::isr() {
nextMainISR -= interval;
TERN_(HAS_ZV_SHAPING, ShapingQueue::decrement_delays(interval));
TERN_(LIN_ADVANCE, if (nextAdvanceISR != LA_ADV_NEVER) nextAdvanceISR -= interval);
TERN_(INTEGRATED_BABYSTEPPING, if (nextBabystepISR != BABYSTEP_NEVER) nextBabystepISR -= interval);
TERN_(BABYSTEPPING, if (nextBabystepISR != BABYSTEP_NEVER) nextBabystepISR -= interval);
} // standard motion control
@@ -2807,7 +2807,7 @@ hal_timer_t Stepper::block_phase_isr() {
#endif // LIN_ADVANCE
#if ENABLED(INTEGRATED_BABYSTEPPING)
#if ENABLED(BABYSTEPPING)
// Timer interrupt for baby-stepping
hal_timer_t Stepper::babystepping_isr() {
@@ -3669,7 +3669,7 @@ void Stepper::report_positions() {
// No other ISR should ever interrupt this!
void Stepper::do_babystep(const AxisEnum axis, const bool direction) {
IF_DISABLED(INTEGRATED_BABYSTEPPING, cli());
IF_DISABLED(BABYSTEPPING, cli());
switch (axis) {
@@ -3750,7 +3750,7 @@ void Stepper::report_positions() {
default: break;
}
IF_DISABLED(INTEGRATED_BABYSTEPPING, sei());
IF_DISABLED(BABYSTEPPING, sei());
}
#endif // BABYSTEPPING