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Run the advance_isr faster instead of doing multiple e-steps per interrupt

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This commit is contained in:
Scott Lahteine 2016-05-06 11:03:56 -07:00
parent 6d62a4ffc8
commit 506d78b2f8
1 changed files with 22 additions and 12 deletions
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34
Marlin/stepper.cpp
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@ -506,7 +506,19 @@ void Stepper::isr() {
void Stepper::advance_isr() {
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
byte maxesteps = 0;
for (uint8_t i = 0; i < EXTRUDERS; i++)
if (abs(e_steps[i]) > maxesteps) maxesteps = abs(e_steps[i]);
if (maxesteps > 3)
old_OCR0A += 13; // ~19kHz (250000/13 = 19230 Hz)
else if (maxesteps > 2)
old_OCR0A += 17; // ~15kHz (250000/17 = 14705 Hz)
else if (maxesteps > 1)
old_OCR0A += 26; // ~10kHz (250000/26 = 9615 Hz)
else
old_OCR0A += 52; // ~5kHz (250000/26 = 4807 Hz)
OCR0A = old_OCR0A;
#define STEP_E_ONCE(INDEX) \
@ -523,19 +535,17 @@ void Stepper::isr() {
E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
}
// Step all E steppers that have steps, up to 4 steps per interrupt
for (unsigned char i = 0; i < 4; i++) {
STEP_E_ONCE(0);
#if EXTRUDERS > 1
STEP_E_ONCE(1);
#if EXTRUDERS > 2
STEP_E_ONCE(2);
#if EXTRUDERS > 3
STEP_E_ONCE(3);
#endif
// Step all E steppers that have steps
STEP_E_ONCE(0);
#if EXTRUDERS > 1
STEP_E_ONCE(1);
#if EXTRUDERS > 2
STEP_E_ONCE(2);
#if EXTRUDERS > 3
STEP_E_ONCE(3);
#endif
#endif
}
#endif
}