0x90/Marlin
12
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

Merge pull request #4963 from esenapaj/Fix-for-advance-algorithm

Browse source 
Move routine of direction signal of ADVANCE and LIN_ADVANCE from Stepper::isr() to Stepper::advance_isr()
This commit is contained in:
Scott Lahteine 2016-10-07 00:33:42 -05:00 committed by GitHub
parent 48e63c4730 f8df88f271
commit 3c97fa6e29
1 changed files with 26 additions and 10 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

36
Marlin/stepper.cpp
View file

@ -91,7 +91,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
unsigned char Stepper::old_OCR0A;
unsigned char Stepper::old_OCR0A = 0;
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE)
@ -299,14 +299,16 @@ void Stepper::set_directions() {
SET_STEP_DIR(Z); // C
#endif
if (motor_direction(E_AXIS)) {
REV_E_DIR();
count_direction[E_AXIS] = -1;
}
else {
NORM_E_DIR();
count_direction[E_AXIS] = 1;
}
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
if (motor_direction(E_AXIS)) {
REV_E_DIR();
count_direction[E_AXIS] = -1;
}
else {
NORM_E_DIR();
count_direction[E_AXIS] = 1;
}
#endif // !ADVANCE && !LIN_ADVANCE
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
@ -680,15 +682,29 @@ void Stepper::isr() {
old_OCR0A += eISR_Rate;
OCR0A = old_OCR0A;
#define SET_E_STEP_DIR(INDEX) \
if (e_steps[INDEX]) E## INDEX ##_DIR_WRITE(e_steps[INDEX] < 0 ? INVERT_E## INDEX ##_DIR : !INVERT_E## INDEX ##_DIR)
#define START_E_PULSE(INDEX) \
if (e_steps[INDEX]) E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN)
#define STOP_E_PULSE(INDEX) \
if (e_steps[INDEX]) { \
e_steps[INDEX] <= 0 ? ++e_steps[INDEX] : --e_steps[INDEX]; \
e_steps[INDEX] < 0 ? ++e_steps[INDEX] : --e_steps[INDEX]; \
E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
}
SET_E_STEP_DIR(0);
#if E_STEPPERS > 1
SET_E_STEP_DIR(1);
#if E_STEPPERS > 2
SET_E_STEP_DIR(2);
#if E_STEPPERS > 3
SET_E_STEP_DIR(3);
#endif
#endif
#endif
#define CYCLES_EATEN_BY_E 60
// Step all E steppers that have steps