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⚡️ Use hal_timer_t for timing vars
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Co-Authored-By: tombrazier <[email protected]>
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@thinkyhead @tombrazier
thinkyhead and tombrazier committed Mar 12, 2023
1 parent 4fdb0fb commit 194f587
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Showing 2 changed files with 31 additions and 31 deletions.
36 changes: 18 additions & 18 deletions Marlin/src/module/stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -225,11 +225,11 @@ uint32_t Stepper::advance_divisor = 0,
#endif

#if ENABLED(LIN_ADVANCE)
uint32_t Stepper::nextAdvanceISR = LA_ADV_NEVER,
Stepper::la_interval = LA_ADV_NEVER;
int32_t Stepper::la_delta_error = 0,
Stepper::la_dividend = 0,
Stepper::la_advance_steps = 0;
hal_timer_t Stepper::nextAdvanceISR = LA_ADV_NEVER,
Stepper::la_interval = LA_ADV_NEVER;
int32_t Stepper::la_delta_error = 0,
Stepper::la_dividend = 0,
Stepper::la_advance_steps = 0;
#endif

#if HAS_SHAPING
Expand All @@ -255,14 +255,14 @@ uint32_t Stepper::advance_divisor = 0,
#endif

#if ENABLED(INTEGRATED_BABYSTEPPING)
uint32_t Stepper::nextBabystepISR = BABYSTEP_NEVER;
hal_timer_t Stepper::nextBabystepISR = BABYSTEP_NEVER;
#endif

#if ENABLED(DIRECT_STEPPING)
page_step_state_t Stepper::page_step_state;
#endif

int32_t Stepper::ticks_nominal = -1;
hal_timer_t Stepper::ticks_nominal = 0;
#if DISABLED(S_CURVE_ACCELERATION)
uint32_t Stepper::acc_step_rate; // needed for deceleration start point
#endif
Expand Down Expand Up @@ -1462,7 +1462,7 @@ HAL_STEP_TIMER_ISR() {

void Stepper::isr() {

static uint32_t nextMainISR = 0; // Interval until the next main Stepper Pulse phase (0 = Now)
static hal_timer_t nextMainISR = 0; // Interval until the next main Stepper Pulse phase (0 = Now)

#ifndef __AVR__
// Disable interrupts, to avoid ISR preemption while we reprogram the period
Expand Down Expand Up @@ -1518,8 +1518,8 @@ void Stepper::isr() {
#endif

// Get the interval to the next ISR call
const uint32_t interval = _MIN(
uint32_t(HAL_TIMER_TYPE_MAX), // Come back in a very long time
const hal_timer_t interval = _MIN(
hal_timer_t(HAL_TIMER_TYPE_MAX), // Come back in a very long time
nextMainISR // Time until the next Pulse / Block phase
OPTARG(INPUT_SHAPING_X, ShapingQueue::peek_x()) // Time until next input shaping echo for X
OPTARG(INPUT_SHAPING_Y, ShapingQueue::peek_y()) // Time until next input shaping echo for Y
Expand Down Expand Up @@ -1598,7 +1598,7 @@ void Stepper::isr() {
// sure that the time has not arrived yet - Warrantied by the scheduler

// Set the next ISR to fire at the proper time
HAL_timer_set_compare(MF_TIMER_STEP, hal_timer_t(next_isr_ticks));
HAL_timer_set_compare(MF_TIMER_STEP, next_isr_ticks);

// Don't forget to finally reenable interrupts on non-AVR.
// AVR automatically calls sei() for us on Return-from-Interrupt.
Expand Down Expand Up @@ -2046,7 +2046,7 @@ void Stepper::pulse_phase_isr() {
#endif // HAS_SHAPING

// Calculate timer interval, with all limits applied.
uint32_t Stepper::calc_timer_interval(uint32_t step_rate) {
hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate) {

#ifdef CPU_32_BIT

Expand Down Expand Up @@ -2078,7 +2078,7 @@ uint32_t Stepper::calc_timer_interval(uint32_t step_rate) {
}

// Get the timer interval and the number of loops to perform per tick
uint32_t Stepper::calc_timer_interval(uint32_t step_rate, uint8_t &loops) {
hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate, uint8_t &loops) {
uint8_t multistep = 1;
#if ENABLED(DISABLE_MULTI_STEPPING)

Expand Down Expand Up @@ -2118,10 +2118,10 @@ uint32_t Stepper::calc_timer_interval(uint32_t step_rate, uint8_t &loops) {
* schedules planner blocks. This is executed after the step pulses
* have been done, so it is less time critical.
*/
uint32_t Stepper::block_phase_isr() {
hal_timer_t Stepper::block_phase_isr() {

// If no queued movements, just wait 1ms for the next block
uint32_t interval = (STEPPER_TIMER_RATE) / 1000UL;
hal_timer_t interval = (STEPPER_TIMER_RATE) / 1000UL;

// If there is a current block
if (current_block) {
Expand Down Expand Up @@ -2296,7 +2296,7 @@ uint32_t Stepper::block_phase_isr() {
else { // Must be in cruise phase otherwise

// Calculate the ticks_nominal for this nominal speed, if not done yet
if (ticks_nominal < 0) {
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);

Expand Down Expand Up @@ -2604,7 +2604,7 @@ uint32_t Stepper::block_phase_isr() {
#endif

// Mark ticks_nominal as not-yet-calculated
ticks_nominal = -1;
ticks_nominal = 0;

#if ENABLED(S_CURVE_ACCELERATION)
// Initialize the Bézier speed curve
Expand Down Expand Up @@ -2671,7 +2671,7 @@ uint32_t Stepper::block_phase_isr() {
#if ENABLED(INTEGRATED_BABYSTEPPING)

// Timer interrupt for baby-stepping
uint32_t Stepper::babystepping_isr() {
hal_timer_t Stepper::babystepping_isr() {
babystep.task();
return babystep.has_steps() ? BABYSTEP_TICKS : BABYSTEP_NEVER;
}
Expand Down
26 changes: 13 additions & 13 deletions Marlin/src/module/stepper.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -568,24 +568,24 @@ class Stepper {
#endif

#if ENABLED(LIN_ADVANCE)
static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
static uint32_t nextAdvanceISR,
la_interval; // Interval between ISR calls for LA
static int32_t la_delta_error, // Analogue of delta_error.e for E steps in LA ISR
la_dividend, // Analogue of advance_dividend.e for E steps in LA ISR
la_advance_steps; // Count of steps added to increase nozzle pressure
static constexpr hal_timer_t LA_ADV_NEVER = HAL_TIMER_TYPE_MAX;
static hal_timer_t nextAdvanceISR,
la_interval; // Interval between ISR calls for LA
static int32_t la_delta_error, // Analogue of delta_error.e for E steps in LA ISR
la_dividend, // Analogue of advance_dividend.e for E steps in LA ISR
la_advance_steps; // Count of steps added to increase nozzle pressure
#endif

#if ENABLED(INTEGRATED_BABYSTEPPING)
static constexpr uint32_t BABYSTEP_NEVER = 0xFFFFFFFF;
static uint32_t nextBabystepISR;
static constexpr hal_timer_t BABYSTEP_NEVER = HAL_TIMER_TYPE_MAX;
static hal_timer_t nextBabystepISR;
#endif

#if ENABLED(DIRECT_STEPPING)
static page_step_state_t page_step_state;
#endif

static int32_t ticks_nominal;
static hal_timer_t ticks_nominal;
#if DISABLED(S_CURVE_ACCELERATION)
static uint32_t acc_step_rate; // needed for deceleration start point
#endif
Expand Down Expand Up @@ -624,7 +624,7 @@ class Stepper {
static void pulse_phase_isr();

// The stepper block processing ISR phase
static uint32_t block_phase_isr();
static hal_timer_t block_phase_isr();

#if HAS_SHAPING
static void shaping_isr();
Expand All @@ -637,7 +637,7 @@ class Stepper {

#if ENABLED(INTEGRATED_BABYSTEPPING)
// The Babystepping ISR phase
static uint32_t babystepping_isr();
static hal_timer_t babystepping_isr();
FORCE_INLINE static void initiateBabystepping() {
if (nextBabystepISR == BABYSTEP_NEVER) {
nextBabystepISR = 0;
Expand Down Expand Up @@ -810,10 +810,10 @@ class Stepper {
static void _set_position(const abce_long_t &spos);

// Calculate the timing interval for the given step rate
static uint32_t calc_timer_interval(uint32_t step_rate);
static hal_timer_t calc_timer_interval(uint32_t step_rate);

// Calculate timing interval and steps-per-ISR for the given step rate
static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t &loops);
static hal_timer_t calc_timer_interval(uint32_t step_rate, uint8_t &loops);

#if ENABLED(S_CURVE_ACCELERATION)
static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
Expand Down

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