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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
View file

@ -189,7 +189,7 @@ bool Stepper::abort_current_block;
#endif
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)
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
hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate, uint8_t &loops) {
uint8_t multistep = 1;
hal_timer_t Stepper::calc_multistep_timer_interval(uint32_t step_rate) {
#if ENABLED(DISABLE_MULTI_STEPPING)
// 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)
};
// Select the proper multistepping
uint8_t idx = 0;
while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) {
// Find a doable step rate using multistepping
uint8_t multistep = 1;
for (uint8_t i = 0; i < 7 && step_rate > uint32_t(pgm_read_dword(&limit[i])); ++i) {
step_rate >>= 1;
multistep <<= 1;
++idx;
};
}
steps_per_isr = multistep;
#endif
loops = multistep;
return calc_timer_interval(step_rate);
}
@ -2176,7 +2174,7 @@ hal_timer_t Stepper::block_phase_isr() {
// acc_step_rate is in steps/second
// 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;
#if ENABLED(LIN_ADVANCE)
@ -2246,7 +2244,7 @@ hal_timer_t Stepper::block_phase_isr() {
#endif
// 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;
#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
if (ticks_nominal == 0) {
// 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 (la_active)
@ -2628,7 +2626,7 @@ hal_timer_t Stepper::block_phase_isr() {
#endif
// 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;
#if ENABLED(LIN_ADVANCE)

2
Marlin/src/module/stepper.h
View file

@ -834,7 +834,7 @@ class Stepper {
static hal_timer_t calc_timer_interval(uint32_t 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)
static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);