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⚡️ Set steps_per_isr in calc_multistep_timer_interval

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Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com>
This commit is contained in:
Scott Lahteine
2023-03-11 19:25:42 -06:00
parent e4b83ad5f5
commit 549419e084
2 changed files with 12 additions and 14 deletions
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24
Marlin/src/module/stepper.cpp
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@@ -189,7 +189,7 @@ bool Stepper::abort_current_block;
#endif #endif
uint32_t Stepper::acceleration_time, Stepper::deceleration_time; uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
uint8_t Stepper::steps_per_isr; // Count of steps to perform per Stepper ISR call uint8_t Stepper::steps_per_isr = 1; // Count of steps to perform per Stepper ISR call
#if ENABLED(FREEZE_FEATURE) #if ENABLED(FREEZE_FEATURE)
bool Stepper::frozen; // = false bool Stepper::frozen; // = false
@@ -2088,8 +2088,7 @@ hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate) {
} }
// Get the timer interval and the number of loops to perform per tick // Get the timer interval and the number of loops to perform per tick
hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate, uint8_t &loops) { hal_timer_t Stepper::calc_multistep_timer_interval(uint32_t step_rate) {
uint8_t multistep = 1;
#if ENABLED(DISABLE_MULTI_STEPPING) #if ENABLED(DISABLE_MULTI_STEPPING)
// Just make sure the step rate is doable // Just make sure the step rate is doable
@@ -2109,16 +2108,15 @@ hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate, uint8_t &loops) {
(MAX_STEP_ISR_FREQUENCY_128X >> 7) (MAX_STEP_ISR_FREQUENCY_128X >> 7)
}; };
// Select the proper multistepping // Find a doable step rate using multistepping
uint8_t idx = 0; uint8_t multistep = 1;
while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) { for (uint8_t i = 0; i < 7 && step_rate > uint32_t(pgm_read_dword(&limit[i])); ++i) {
step_rate >>= 1; step_rate >>= 1;
multistep <<= 1; multistep <<= 1;
++idx; }
}; steps_per_isr = multistep;
#endif #endif
loops = multistep;
return calc_timer_interval(step_rate); return calc_timer_interval(step_rate);
} }
@@ -2176,7 +2174,7 @@ hal_timer_t Stepper::block_phase_isr() {
// acc_step_rate is in steps/second // acc_step_rate is in steps/second
// step_rate to timer interval and steps per stepper isr // step_rate to timer interval and steps per stepper isr
interval = calc_timer_interval(acc_step_rate << oversampling_factor, steps_per_isr); interval = calc_multistep_timer_interval(acc_step_rate << oversampling_factor);
acceleration_time += interval; acceleration_time += interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@@ -2246,7 +2244,7 @@ hal_timer_t Stepper::block_phase_isr() {
#endif #endif
// step_rate to timer interval and steps per stepper isr // step_rate to timer interval and steps per stepper isr
interval = calc_timer_interval(step_rate << oversampling_factor, steps_per_isr); interval = calc_multistep_timer_interval(step_rate << oversampling_factor);
deceleration_time += interval; deceleration_time += interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@@ -2308,7 +2306,7 @@ hal_timer_t Stepper::block_phase_isr() {
// Calculate the ticks_nominal for this nominal speed, if not done yet // Calculate the ticks_nominal for this nominal speed, if not done yet
if (ticks_nominal == 0) { if (ticks_nominal == 0) {
// step_rate to timer interval and loops for the nominal speed // step_rate to timer interval and loops for the nominal speed
ticks_nominal = calc_timer_interval(current_block->nominal_rate << oversampling_factor, steps_per_isr); ticks_nominal = calc_multistep_timer_interval(current_block->nominal_rate << oversampling_factor);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (la_active) if (la_active)
@@ -2628,7 +2626,7 @@ hal_timer_t Stepper::block_phase_isr() {
#endif #endif
// Calculate the initial timer interval // Calculate the initial timer interval
interval = calc_timer_interval(current_block->initial_rate << oversampling_factor, steps_per_isr); interval = calc_multistep_timer_interval(current_block->initial_rate << oversampling_factor);
acceleration_time += interval; acceleration_time += interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)

2
Marlin/src/module/stepper.h
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@@ -834,7 +834,7 @@ class Stepper {
static hal_timer_t calc_timer_interval(uint32_t step_rate); static hal_timer_t calc_timer_interval(uint32_t step_rate);
// Calculate timing interval and steps-per-ISR for the given step rate // Calculate timing interval and steps-per-ISR for the given step rate
static hal_timer_t calc_timer_interval(uint32_t step_rate, uint8_t &loops); static hal_timer_t calc_multistep_timer_interval(uint32_t step_rate);
#if ENABLED(S_CURVE_ACCELERATION) #if ENABLED(S_CURVE_ACCELERATION)
static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av); static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);