Fix stepper pulse timing
Always honor minimum period on stepper pulse generation, and fix timing calculations Signed-off-by: etagle <ejtagle@hotmail.com>
This commit is contained in:
etagle
Scott Lahteine
parent
0d79128c8d
commit
a215725df6
8 changed files with 116 additions and 107 deletions
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@ -108,10 +108,6 @@ extern "C" {
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int freeMemory(void);
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}
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// eeprom
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//void eeprom_write_byte(unsigned char *pos, unsigned char value);
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//unsigned char eeprom_read_byte(unsigned char *pos);
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// timers
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#define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz
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@ -119,20 +115,15 @@ extern "C" {
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#define TEMP_TIMER_NUM 0
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define STEPPER_TIMER_PRESCALE 8
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
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#define TIMER_OCR_1 OCR1A
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#define TIMER_COUNTER_1 TCNT1
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define STEPPER_TIMER_PRESCALE 8
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define TIMER_OCR_0 OCR0A
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#define TIMER_COUNTER_0 TCNT0
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
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@ -173,6 +164,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t freque
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}
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}
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#define TIMER_OCR_1 OCR1A
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#define TIMER_COUNTER_1 TCNT1
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#define TIMER_OCR_0 OCR0A
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#define TIMER_COUNTER_0 TCNT0
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#define _CAT(a, ...) a ## __VA_ARGS__
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#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
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#define HAL_timer_restrain(timer, interval_ticks) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_ticks)
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@ -43,21 +43,22 @@
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typedef uint32_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
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#define STEP_TIMER_NUM 3 // index of timer to use for stepper
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#define TEMP_TIMER_NUM 4 // index of timer to use for temperature
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#define TONE_TIMER_NUM 6 // index of timer to use for beeper tones
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#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define STEP_TIMER_NUM 3 // index of timer to use for stepper
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#define TEMP_TIMER_NUM 4 // index of timer to use for temperature
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define TONE_TIMER_NUM 6 // index of timer to use for beeper tones
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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@ -66,22 +66,23 @@
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typedef uint32_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
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#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
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#define STEP_TIMER_NUM 0 // Timer Index for Stepper
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#define TEMP_TIMER_NUM 1 // Timer Index for Temperature
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PWM_TIMER_NUM 3 // Timer Index for PWM
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#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define TEMP_TIMER_RATE 1000000
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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@ -47,37 +47,34 @@
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typedef uint16_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFF
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#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
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#define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
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#define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
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#if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8)
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#define STEP_TIMER_NUM 4 // For C8/CB boards, use timer 4
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#else
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#define STEP_TIMER_NUM 5 // for other boards, five is fine.
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#endif
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#define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
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#define TEMP_TIMER_NUM 2 // index of timer to use for temperature
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#define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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timer_dev* get_timer_dev(int number);
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#define TIMER_DEV(num) get_timer_dev(num)
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#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM)
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#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM)
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//STM32_HAVE_TIMER(n);
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#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
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#define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz
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#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
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#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz
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#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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timer_dev* get_timer_dev(int number);
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#define TIMER_DEV(num) get_timer_dev(num)
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#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM)
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#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM)
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
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@ -38,21 +38,22 @@
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#define hal_timer_t uint32_t // TODO: One is 16-bit, one 32-bit - does this need to be checked?
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#define HAL_TIMER_TYPE_MAX 0xFFFF
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#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
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#define STEP_TIMER_NUM 0 // index of timer to use for stepper
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#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
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#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
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#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
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#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
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#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
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#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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@ -38,21 +38,22 @@
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#define hal_timer_t uint32_t // TODO: One is 16-bit, one 32-bit - does this need to be checked?
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#define HAL_TIMER_TYPE_MAX 0xFFFF
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#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
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#define STEP_TIMER_NUM 0 // index of timer to use for stepper
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#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
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#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
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#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
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#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
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#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
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#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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@ -43,10 +43,6 @@
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typedef uint32_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
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#define STEP_TIMER_NUM 0
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#define TEMP_TIMER_NUM 1
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define FTM0_TIMER_PRESCALE 8
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#define FTM1_TIMER_PRESCALE 4
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#define FTM0_TIMER_PRESCALE_BITS 0b011
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@ -56,14 +52,20 @@ typedef uint32_t hal_timer_t;
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#define FTM1_TIMER_RATE (F_BUS / FTM1_TIMER_PRESCALE) // 60MHz / 4 = 15MHz
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#define HAL_TIMER_RATE (FTM0_TIMER_RATE)
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#define STEP_TIMER_NUM 0
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#define TEMP_TIMER_NUM 1
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define TEMP_TIMER_FREQUENCY 1000
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
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#define TEMP_TIMER_FREQUENCY 1000
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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@ -1263,7 +1263,7 @@ void Stepper::isr() {
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#else
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1
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#endif
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* (HAL_TICKS_PER_US)
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* (STEPPER_TIMER_TICKS_PER_US)
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);
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/**
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@ -1316,10 +1316,10 @@ void Stepper::stepper_pulse_phase_isr() {
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// Just update the value we will get at the end of the loop
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step_events_completed += events_to_do;
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#if MINIMUM_STEPPER_PULSE
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
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const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
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// Take multiple steps per interrupt (For high speed moves)
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do {
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@ -1392,10 +1392,11 @@ void Stepper::stepper_pulse_phase_isr() {
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#if MINIMUM_STEPPER_PULSE
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
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pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Add the delay needed to ensure the maximum driver rate is enforced
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if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
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// Pulse stop
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#if HAS_X_STEP
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PULSE_STOP(X);
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@ -1423,15 +1424,15 @@ void Stepper::stepper_pulse_phase_isr() {
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// Decrement the count of pending pulses to do
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--events_to_do;
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#if MINIMUM_STEPPER_PULSE
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// For minimum pulse time wait after stopping pulses also
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if (events_to_do) {
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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// For minimum pulse time wait after stopping pulses also
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if (events_to_do) {
|
||||
// Just wait for the requested pulse duration
|
||||
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
|
||||
#if MINIMUM_STEPPER_PULSE
|
||||
// Add to the value, the time that the pulse must be active (to be used on the next loop)
|
||||
pulse_end += hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
|
||||
}
|
||||
#endif
|
||||
pulse_end += hal_timer_t(MIN_PULSE_TICKS);
|
||||
#endif
|
||||
}
|
||||
|
||||
} while (events_to_do);
|
||||
}
|
||||
|
|
@ -1810,13 +1811,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
|
|||
REV_E_DIR(active_extruder);
|
||||
#endif
|
||||
|
||||
// Get the timer count and estimate the end of the pulse
|
||||
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
|
||||
|
||||
const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
|
||||
|
||||
// Step E stepper if we have steps
|
||||
while (LA_steps) {
|
||||
|
||||
#if MINIMUM_STEPPER_PULSE
|
||||
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
|
||||
#endif
|
||||
|
||||
// Set the STEP pulse ON
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
// Step mixing steppers (proportionally)
|
||||
|
|
@ -1828,15 +1831,18 @@ uint32_t Stepper::stepper_block_phase_isr() {
|
|||
E_STEP_WRITE(active_extruder, !INVERT_E_STEP_PIN);
|
||||
#endif
|
||||
|
||||
// Enforce a minimum duration for STEP pulse ON
|
||||
#if MINIMUM_STEPPER_PULSE
|
||||
// Just wait for the requested pulse duration
|
||||
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
|
||||
// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
|
||||
pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
|
||||
#endif
|
||||
|
||||
// Add the delay needed to ensure the maximum driver rate is enforced
|
||||
if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
|
||||
|
||||
LA_steps < 0 ? ++LA_steps : --LA_steps;
|
||||
|
||||
// Set the STEP pulse OFF
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
if (delta_error_m[j] >= 0) {
|
||||
|
|
@ -1848,12 +1854,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
|
|||
E_STEP_WRITE(active_extruder, INVERT_E_STEP_PIN);
|
||||
#endif
|
||||
|
||||
#if MINIMUM_STEPPER_PULSE
|
||||
// For minimum pulse time wait before looping
|
||||
// Just wait for the requested pulse duration
|
||||
if (LA_steps) while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
|
||||
#endif
|
||||
|
||||
// For minimum pulse time wait before looping
|
||||
// Just wait for the requested pulse duration
|
||||
if (LA_steps) {
|
||||
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
|
||||
#if MINIMUM_STEPPER_PULSE
|
||||
// Add to the value, the time that the pulse must be active (to be used on the next loop)
|
||||
pulse_end += hal_timer_t(MIN_PULSE_TICKS);
|
||||
#endif
|
||||
}
|
||||
} // LA_steps
|
||||
|
||||
return interval;
|
||||
|
|
|
|||
Reference in a new issue