Fix MINIMUM_STEPPER_PULSE maths

Marlin/macros.h

@@ -36,8 +36,9 @@
   #define CRITICAL_SECTION_END    SREG = _sreg;
 #endif
 
-// Clock speed factor
+// Clock speed factors
-#define CYCLES_PER_MICROSECOND (F_CPU / 1000000UL) // 16 or 20
+#define CYCLES_PER_MICROSECOND (F_CPU / 1000000L) // 16 or 20
+#define INT0_PRESCALER 8
 
 // Highly granular delays for step pulses, etc.
 #define DELAY_0_NOP NOOP

Marlin/stepper.cpp

@@ -460,7 +460,7 @@ void Stepper::isr() {
 
   // Take multiple steps per interrupt (For high speed moves)
   bool all_steps_done = false;
-  for (int8_t i = 0; i < step_loops; i++) {
+  for (uint8_t i = step_loops; i--;) {
     #if ENABLED(LIN_ADVANCE)
 
       counter_E += current_block->steps[E_AXIS];
@@ -530,10 +530,34 @@ void Stepper::isr() {
         _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
       }
 
-    #define CYCLES_EATEN_BY_CODE 240
+    #if HAS_X_STEP
+      #define _COUNT_STEPPERS_1 1
+    #else
+      #define _COUNT_STEPPERS_1 0
+    #endif
+    #if HAS_Y_STEP
+      #define _COUNT_STEPPERS_2 _COUNT_STEPPERS_1 + 1
+    #else
+      #define _COUNT_STEPPERS_2 _COUNT_STEPPERS_1
+    #endif
+    #if HAS_Z_STEP
+      #define _COUNT_STEPPERS_3 _COUNT_STEPPERS_2 + 1
+    #else
+      #define _COUNT_STEPPERS_3 _COUNT_STEPPERS_2
+    #endif
+    #if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
+      #define _COUNT_STEPPERS_4 _COUNT_STEPPERS_3 + 1
+    #else
+      #define _COUNT_STEPPERS_4 _COUNT_STEPPERS_3
+    #endif
 
-    // If a minimum pulse time was specified get the CPU clock
+    #define CYCLES_EATEN_XYZE ((_COUNT_STEPPERS_4) * 5)
-    #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
+    #define EXTRA_CYCLES_XYZE (STEP_PULSE_CYCLES - (CYCLES_EATEN_XYZE))
+
+    // If a minimum pulse time was specified get the timer 0 value
+    // which increments every 4µs on 16MHz and every 3.2µs on 20MHz.
+    // Two or 3 counts of TCNT0 should be a sufficient delay.
+    #if EXTRA_CYCLES_XYZE > 20
       uint32_t pulse_start = TCNT0;
     #endif
 
@@ -564,9 +588,12 @@ void Stepper::isr() {
       #endif
     #endif // !ADVANCE && !LIN_ADVANCE
 
-    // For a minimum pulse time wait before stopping pulses
+    // For minimum pulse time wait before stopping pulses
-    #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
+    #if EXTRA_CYCLES_XYZE > 20
-      while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_CODE) { /* nada */ }
+      while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
+      pulse_start = TCNT0;
+    #elif EXTRA_CYCLES_XYZE > 0
+      DELAY_NOPS(EXTRA_CYCLES_XYZE);
     #endif
 
     #if HAS_X_STEP
@@ -601,7 +628,15 @@ void Stepper::isr() {
       all_steps_done = true;
       break;
     }
-  }
+
+    // For minimum pulse time wait before stopping pulses
+    #if EXTRA_CYCLES_XYZE > 20
+      if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
+    #elif EXTRA_CYCLES_XYZE > 0
+      if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
+    #endif
+
+  } // steps_loop
 
   #if ENABLED(LIN_ADVANCE)
     if (current_block->use_advance_lead) {
@@ -765,6 +800,9 @@ void Stepper::isr() {
 
 #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
 
+  #define CYCLES_EATEN_E (E_STEPPERS * 5)
+  #define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
+
   // Timer interrupt for E. e_steps is set in the main routine;
 
   void Stepper::advance_isr() {
@@ -794,12 +832,10 @@ void Stepper::isr() {
       #endif
     #endif
 
-    #define CYCLES_EATEN_BY_E 60
-
     // Step all E steppers that have steps
-    for (uint8_t i = 0; i < step_loops; i++) {
+    for (uint8_t i = step_loops; i--;) {
 
-      #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
+      #if EXTRA_CYCLES_E > 20
         uint32_t pulse_start = TCNT0;
       #endif
 
@@ -814,9 +850,12 @@ void Stepper::isr() {
         #endif
       #endif
 
-      // For a minimum pulse time wait before stopping pulses
+      // For minimum pulse time wait before stopping pulses
-      #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
+      #if EXTRA_CYCLES_E > 20
-        while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_E) { /* nada */ }
+        while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
+        pulse_start = TCNT0;
+      #elif EXTRA_CYCLES_E > 0
+        DELAY_NOPS(EXTRA_CYCLES_E);
       #endif
 
       STOP_E_PULSE(0);
@@ -829,8 +868,15 @@ void Stepper::isr() {
           #endif
         #endif
       #endif
-    }
 
+      // For minimum pulse time wait before looping
+      #if EXTRA_CYCLES_E > 20
+        if (i) while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
+      #elif EXTRA_CYCLES_E > 0
+        if (i) DELAY_NOPS(EXTRA_CYCLES_E);
+      #endif
+
+    } // steps_loop
   }
 
   void Stepper::advance_isr_scheduler() {
@@ -1056,15 +1102,11 @@ void Stepper::init() {
   ENABLE_STEPPER_DRIVER_INTERRUPT();
 
   #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
-
+    ZERO(e_steps);
-    for (int i = 0; i < E_STEPPERS; i++) {
-      e_steps[i] = 0;
     #if ENABLED(LIN_ADVANCE)
-        current_adv_steps[i] = 0;
+      ZERO(current_adv_steps);
     #endif
-    }
+  #endif // ADVANCE || LIN_ADVANCE
-
-  #endif // ADVANCE or LIN_ADVANCE
 
   endstops.enable(true); // Start with endstops active. After homing they can be disabled
   sei();
@@ -1235,29 +1277,40 @@ void Stepper::report_positions() {
 
 #if ENABLED(BABYSTEPPING)
 
-  #define CYCLES_EATEN_BY_BABYSTEP 60
+  #if ENABLED(DELTA)
+    #define CYCLES_EATEN_BABYSTEP (2 * 15)
+  #else
+    #define CYCLES_EATEN_BABYSTEP 0
+  #endif
+  #define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
 
   #define _ENABLE(AXIS) enable_## AXIS()
   #define _READ_DIR(AXIS) AXIS ##_DIR_READ
   #define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
   #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
 
-  #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
+  #if EXTRA_CYCLES_BABYSTEP > 20
     #define _SAVE_START (pulse_start = TCNT0)
-    #define _PULSE_WAIT while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
+    #define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
   #else
     #define _SAVE_START NOOP
+    #if EXTRA_CYCLES_BABYSTEP > 0
+      #define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP)
+    #elif STEP_PULSE_CYCLES > 0
       #define _PULSE_WAIT NOOP
+    #elif ENABLED(DELTA)
+      #define _PULSE_WAIT delayMicroseconds(2);
+    #else
+      #define _PULSE_WAIT delayMicroseconds(4);
+    #endif
   #endif
 
-  #define START_BABYSTEP_AXIS(AXIS, INVERT) { \
+  #define BABYSTEP_AXIS(AXIS, INVERT) {                     \
-      old_dir = _READ_DIR(AXIS); \
+      const uint8_t old_dir = _READ_DIR(AXIS);              \
+      _ENABLE(AXIS);                                        \
       _SAVE_START;                                          \
       _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
       _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true);     \
-    }
-
-  #define STOP_BABYSTEP_AXIS(AXIS) { \
       _PULSE_WAIT;                                          \
       _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true);      \
       _APPLY_DIR(AXIS, old_dir);                            \
@@ -1268,31 +1321,30 @@ void Stepper::report_positions() {
   void Stepper::babystep(const AxisEnum axis, const bool direction) {
     cli();
     uint8_t old_dir;
-    #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
+
+    #if EXTRA_CYCLES_BABYSTEP > 20
       uint32_t pulse_start;
     #endif
 
     switch (axis) {
 
+      #if ENABLED(BABYSTEP_XY)
+
         case X_AXIS:
-        _ENABLE(x);
+          BABYSTEP_AXIS(X, false);
-        START_BABYSTEP_AXIS(X, false);
-        STOP_BABYSTEP_AXIS(X);
           break;
 
         case Y_AXIS:
-        _ENABLE(y);
+          BABYSTEP_AXIS(Y, false);
-        START_BABYSTEP_AXIS(Y, false);
-        STOP_BABYSTEP_AXIS(Y);
           break;
 
+      #endif
+
       case Z_AXIS: {
 
         #if DISABLED(DELTA)
 
-          _ENABLE(z);
+          BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
-          START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
-          STOP_BABYSTEP_AXIS(Z);
 
         #else // DELTA
 
@@ -1305,24 +1357,24 @@ void Stepper::report_positions() {
           uint8_t old_x_dir_pin = X_DIR_READ,
                   old_y_dir_pin = Y_DIR_READ,
                   old_z_dir_pin = Z_DIR_READ;
-          //setup new step
+
           X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
           Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
           Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
-          //perform step
+
-          #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
+          _SAVE_START;
-            pulse_start = TCNT0;
+
-          #endif
           X_STEP_WRITE(!INVERT_X_STEP_PIN);
           Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
           Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
-          #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
+
-            while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
+          _PULSE_WAIT;
-          #endif
+
           X_STEP_WRITE(INVERT_X_STEP_PIN);
           Y_STEP_WRITE(INVERT_Y_STEP_PIN);
           Z_STEP_WRITE(INVERT_Z_STEP_PIN);
-          //get old pin state back.
+
+          // Restore direction bits
           X_DIR_WRITE(old_x_dir_pin);
           Y_DIR_WRITE(old_y_dir_pin);
           Z_DIR_WRITE(old_z_dir_pin);