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🐛 Refine FT Motion, I2S Stepping (#26628)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
narno2202
2024-01-08 05:17:43 +01:00
committed by GitHub
parent 38f483c4a6
commit b106f59eb4
15 changed files with 132 additions and 71 deletions
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23
Marlin/src/module/stepper.cpp
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@@ -1508,14 +1508,12 @@ void Stepper::isr() {
#if ENABLED(FT_MOTION)
if (using_ftMotion) {
if (!nextMainISR) {
nextMainISR = FTM_MIN_TICKS;
ftMotion_stepper();
endstops.update();
TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
if (!nextMainISR) { // Main ISR is ready to fire during this iteration?
nextMainISR = FTM_MIN_TICKS; // Set to minimum interval (a limit on the top speed)
ftMotion_stepper(); // Run FTM Stepping
}
interval = nextMainISR;
nextMainISR -= interval;
interval = nextMainISR; // Interval is either some old nextMainISR or FTM_MIN_TICKS
nextMainISR = 0; // For FT Motion fire again ASAP
}
#endif
@@ -3448,7 +3446,8 @@ void Stepper::report_positions() {
// Use one byte to restore one stepper command in the format:
// |X_step|X_direction|Y_step|Y_direction|Z_step|Z_direction|E_step|E_direction|
const ft_command_t command = ftMotion.stepperCmdBuff[ftMotion.stepperCmdBuff_consumeIdx];
if (++ftMotion.stepperCmdBuff_consumeIdx == (FTM_STEPPERCMD_BUFF_SIZE)) ftMotion.stepperCmdBuff_consumeIdx = 0U;
if (++ftMotion.stepperCmdBuff_consumeIdx == (FTM_STEPPERCMD_BUFF_SIZE))
ftMotion.stepperCmdBuff_consumeIdx = 0;
if (abort_current_block) return;
@@ -3492,6 +3491,8 @@ void Stepper::report_positions() {
U_APPLY_STEP(axis_did_move.u, false), V_APPLY_STEP(axis_did_move.v, false), W_APPLY_STEP(axis_did_move.w, false)
);
TERN_(I2S_STEPPER_STREAM, i2s_push_sample());
// Begin waiting for the minimum pulse duration
START_TIMED_PULSE();
@@ -3533,6 +3534,12 @@ void Stepper::report_positions() {
U_APPLY_STEP(!STEP_STATE_U, false), V_APPLY_STEP(!STEP_STATE_V, false), W_APPLY_STEP(!STEP_STATE_W, false)
);
// Check endstops on every step
IF_DISABLED(ENDSTOP_INTERRUPTS_FEATURE, endstops.update());
// Also handle babystepping here
TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
} // Stepper::ftMotion_stepper
void Stepper::ftMotion_blockQueueUpdate() {