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@ -345,6 +345,13 @@ ISR(TIMER1_COMPA_vect) { |
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void Stepper::isr() { |
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#define _ENABLE_ISRs() cli(); SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT() |
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uint16_t timer, remainder, ocr_val; |
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static uint32_t step_remaining = 0; |
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#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE) |
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// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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CBI(TIMSK0, OCIE0B); // Temperature ISR
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@ -352,6 +359,36 @@ void Stepper::isr() { |
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sei(); |
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#endif |
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#define _SPLIT(L) (ocr_val = (uint16_t)L) |
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) |
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#define SPLIT(L) _SPLIT(L) |
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#else // sample endstops in between step pulses
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#define SPLIT(L) do { \ |
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_SPLIT(L); \ |
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if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \ |
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remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \ |
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ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \ |
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step_remaining = (uint16_t)L - ocr_val; \ |
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} \ |
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} while(0) |
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if (step_remaining && ENDSTOPS_ENABLED) { // Just check endstops - not yet time for a step
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endstops.update(); |
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ocr_val = step_remaining; |
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if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) { |
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step_remaining = step_remaining - ENDSTOP_NOMINAL_OCR_VAL; |
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ocr_val = ENDSTOP_NOMINAL_OCR_VAL; |
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} |
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else step_remaining = 0; // last one before the ISR that does the step
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_NEXT_ISR(ocr_val); //
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NOLESS(OCR1A, TCNT1 + 16); |
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_ENABLE_ISRs(); // re-enable ISRs
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return; |
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} |
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# endif |
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if (cleaning_buffer_counter) { |
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--cleaning_buffer_counter; |
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current_block = NULL; |
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@ -407,21 +444,16 @@ void Stepper::isr() { |
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} |
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// Update endstops state, if enabled
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if ((endstops.enabled |
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#if HAS_BED_PROBE |
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|| endstops.z_probe_enabled |
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#endif |
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) |
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) |
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&& e_hit |
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#endif |
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) { |
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endstops.update(); |
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) |
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if (ENDSTOPS_ENABLED && e_hit) { |
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endstops.update(); |
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e_hit--; |
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#endif |
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} |
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#else |
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if (ENDSTOPS_ENABLED) endstops.update(); |
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#endif |
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// Take multiple steps per interrupt (For high speed moves)
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bool all_steps_done = false; |
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@ -600,7 +632,10 @@ void Stepper::isr() { |
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// step_rate to timer interval
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uint16_t timer = calc_timer(acc_step_rate); |
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_NEXT_ISR(timer); |
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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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acceleration_time += timer; |
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#if ENABLED(LIN_ADVANCE) |
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@ -653,7 +688,10 @@ void Stepper::isr() { |
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// step_rate to timer interval
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uint16_t timer = calc_timer(step_rate); |
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_NEXT_ISR(timer); |
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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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deceleration_time += timer; |
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#if ENABLED(LIN_ADVANCE) |
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@ -702,7 +740,9 @@ void Stepper::isr() { |
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#endif |
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_NEXT_ISR(OCR1A_nominal); |
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SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
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_NEXT_ISR(ocr_val); |
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// ensure we're running at the correct step rate, even if we just came off an acceleration
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step_loops = step_loops_nominal; |
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} |
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