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@ -120,9 +120,9 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even |
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#if ENABLED(LIN_ADVANCE) |
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constexpr timer_t ADV_NEVER = HAL_TIMER_TYPE_MAX; |
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constexpr hal_timer_t ADV_NEVER = HAL_TIMER_TYPE_MAX; |
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timer_t Stepper::nextMainISR = 0, |
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hal_timer_t Stepper::nextMainISR = 0, |
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Stepper::nextAdvanceISR = ADV_NEVER, |
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Stepper::eISR_Rate = ADV_NEVER; |
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@ -137,9 +137,9 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even |
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* This fix isn't perfect and may lose steps - but better than locking up completely |
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* in future the planner should slow down if advance stepping rate would be too high |
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*/ |
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FORCE_INLINE timer_t adv_rate(const int steps, const timer_t timer, const uint8_t loops) { |
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FORCE_INLINE hal_timer_t adv_rate(const int steps, const hal_timer_t timer, const uint8_t loops) { |
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if (steps) { |
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const timer_t rate = (timer * loops) / abs(steps); |
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const hal_timer_t rate = (timer * loops) / abs(steps); |
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//return constrain(rate, 1, ADV_NEVER - 1)
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return rate ? rate : 1; |
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} |
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@ -157,9 +157,9 @@ volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 }; |
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long Stepper::counter_m[MIXING_STEPPERS]; |
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#endif |
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timer_t Stepper::acc_step_rate; // needed for deceleration start point
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hal_timer_t Stepper::acc_step_rate; // needed for deceleration start point
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uint8_t Stepper::step_loops, Stepper::step_loops_nominal; |
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timer_t Stepper::OCR1A_nominal; |
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hal_timer_t Stepper::OCR1A_nominal; |
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volatile long Stepper::endstops_trigsteps[XYZ]; |
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@ -341,7 +341,7 @@ HAL_STEP_TIMER_ISR { |
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void Stepper::isr() { |
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timer_t ocr_val; |
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hal_timer_t ocr_val; |
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#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
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@ -677,7 +677,7 @@ void Stepper::isr() { |
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NOMORE(acc_step_rate, current_block->nominal_rate); |
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// step_rate to timer interval
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const timer_t timer = calc_timer(acc_step_rate); |
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const hal_timer_t timer = calc_timer(acc_step_rate); |
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SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
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_NEXT_ISR(ocr_val); |
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@ -699,7 +699,7 @@ void Stepper::isr() { |
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#endif // LIN_ADVANCE
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} |
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else if (step_events_completed > (uint32_t)current_block->decelerate_after) { |
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timer_t step_rate; |
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hal_timer_t step_rate; |
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#ifdef CPU_32_BIT |
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MultiU32X24toH32(step_rate, deceleration_time, current_block->acceleration_rate); |
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#else |
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@ -714,7 +714,7 @@ void Stepper::isr() { |
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step_rate = current_block->final_rate; |
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// step_rate to timer interval
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const timer_t timer = calc_timer(step_rate); |
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const hal_timer_t timer = calc_timer(step_rate); |
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SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
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_NEXT_ISR(ocr_val); |
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@ -754,7 +754,7 @@ void Stepper::isr() { |
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#if DISABLED(LIN_ADVANCE) |
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#ifdef CPU_32_BIT |
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// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
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timer_t stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM), |
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hal_timer_t stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM), |
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stepper_timer_current_count = HAL_timer_get_current_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US; |
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HAL_timer_set_count(STEP_TIMER_NUM, max(stepper_timer_count, stepper_timer_current_count)); |
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#else |
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Scott Lahteine
7 years ago