LIN_ADVANCE bug fix and optimization
.) long to int: Extruder stalls at 10kHz / 20kHz step limits with long. .) Take the delta_adv_steps calculation out of the step_loops loop. Wasted calculation performance if done inside. .) >> 2 replaced by 3: Is divide by 8. Reason: Timer 0 runs at 16/8=2MHz, Timer 1 at 16/64=0.25MHz. ==> 2/0.25=8.
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@ -95,7 +95,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
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volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
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#if ENABLED(LIN_ADVANCE)
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volatile long Stepper::e_steps[E_STEPPERS];
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volatile int Stepper::e_steps[E_STEPPERS];
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int Stepper::extruder_advance_k = LIN_ADVANCE_K,
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Stepper::final_estep_rate,
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Stepper::current_estep_rate[E_STEPPERS],
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@ -391,7 +391,7 @@ void Stepper::isr() {
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#if ENABLED(MIXING_EXTRUDER)
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// Step mixing steppers proportionally
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bool dir = motor_direction(E_AXIS);
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const bool dir = motor_direction(E_AXIS);
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MIXING_STEPPERS_LOOP(j) {
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counter_m[j] += current_block->steps[E_AXIS];
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if (counter_m[j] > 0) {
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@ -401,22 +401,6 @@ void Stepper::isr() {
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}
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#endif
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if (current_block->use_advance_lead) {
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int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
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#if ENABLED(MIXING_EXTRUDER)
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// Mixing extruders apply advance lead proportionally
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MIXING_STEPPERS_LOOP(j) {
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int steps = delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
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e_steps[j] += steps;
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current_adv_steps[j] += steps;
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}
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#else
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// For most extruders, advance the single E stepper
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e_steps[TOOL_E_INDEX] += delta_adv_steps;
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current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
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#endif
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}
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#elif ENABLED(ADVANCE)
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// Always count the unified E axis
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@ -432,7 +416,7 @@ void Stepper::isr() {
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#if ENABLED(MIXING_EXTRUDER)
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// Step mixing steppers proportionally
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bool dir = motor_direction(E_AXIS);
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const bool dir = motor_direction(E_AXIS);
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MIXING_STEPPERS_LOOP(j) {
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counter_m[j] += current_block->steps[E_AXIS];
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if (counter_m[j] > 0) {
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@ -536,6 +520,21 @@ void Stepper::isr() {
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}
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}
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead) {
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int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
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current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
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#if ENABLED(MIXING_EXTRUDER)
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// Mixing extruders apply advance lead proportionally
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MIXING_STEPPERS_LOOP(j)
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e_steps[j] += delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
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#else
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// For most extruders, advance the single E stepper
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e_steps[TOOL_E_INDEX] += delta_adv_steps;
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#endif
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}
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#endif
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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// If we have esteps to execute, fire the next advance_isr "now"
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if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2;
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@ -593,7 +592,7 @@ void Stepper::isr() {
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
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eISR_Rate = (timer >> 3) * step_loops / abs(e_steps[TOOL_E_INDEX]); //>> 3 is divide by 8. Reason: Timer 0 runs at 16/8=2MHz, Timer 1 at 16/64=0.25MHz. ==> 2/0.25=8.
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#endif
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}
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else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
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@ -643,7 +642,7 @@ void Stepper::isr() {
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
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eISR_Rate = (timer >> 3) * step_loops / abs(e_steps[TOOL_E_INDEX]);
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#endif
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}
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else {
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@ -653,7 +652,7 @@ void Stepper::isr() {
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if (current_block->use_advance_lead)
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current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
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eISR_Rate = (OCR1A_nominal >> 2) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
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eISR_Rate = (OCR1A_nominal >> 3) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
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#endif
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@ -108,7 +108,7 @@ class Stepper {
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static unsigned char old_OCR0A;
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static volatile unsigned char eISR_Rate;
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#if ENABLED(LIN_ADVANCE)
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static volatile long e_steps[E_STEPPERS];
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static volatile int e_steps[E_STEPPERS];
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static int extruder_advance_k;
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static int final_estep_rate;
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static int current_estep_rate[E_STEPPERS]; // Actual extruder speed [steps/s]
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