From 8c7ee4599e01be99cef45e4a900bfd8e74c75219 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Tue, 30 Aug 2016 14:22:42 -0500
Subject: [PATCH] Optimize stepper advance_isr
---
Marlin/stepper.cpp | 51 ++++++++++++++++++++++++++++++++--------------
1 file changed, 36 insertions(+), 15 deletions(-)
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 1beeb2ce62..a604c92716 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -683,29 +683,50 @@ void Stepper::isr() {
old_OCR0A += eISR_Rate;
OCR0A = old_OCR0A;
- #define STEP_E_ONCE(INDEX) \
- if (e_steps[INDEX] != 0) { \
- E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
- if (e_steps[INDEX] < 0) { \
- E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
- e_steps[INDEX]++; \
- } \
- else { \
- E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
- e_steps[INDEX]--; \
- } \
+ #define SET_E_STEP_DIR(INDEX) \
+ E## INDEX ##_DIR_WRITE(e_steps[INDEX] <= 0 ? INVERT_E## INDEX ##_DIR : !INVERT_E## INDEX ##_DIR)
+
+ #define START_E_PULSE(INDEX) \
+ if (e_steps[INDEX]) E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN)
+
+ #define STOP_E_PULSE(INDEX) \
+ if (e_steps[INDEX]) { \
+ e_steps[INDEX] < 0 ? ++e_steps[INDEX] : --e_steps[INDEX]; \
E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
}
+ SET_E_STEP_DIR(0);
+ #if E_STEPPERS > 1
+ SET_E_STEP_DIR(1);
+ #if E_STEPPERS > 2
+ SET_E_STEP_DIR(2);
+ #if E_STEPPERS > 3
+ SET_E_STEP_DIR(3);
+ #endif
+ #endif
+ #endif
+
// Step all E steppers that have steps
for (uint8_t i = 0; i < step_loops; i++) {
- STEP_E_ONCE(0);
+
+ START_E_PULSE(0);
+ #if E_STEPPERS > 1
+ START_E_PULSE(1);
+ #if E_STEPPERS > 2
+ START_E_PULSE(2);
+ #if E_STEPPERS > 3
+ START_E_PULSE(3);
+ #endif
+ #endif
+ #endif
+
+ STOP_E_PULSE(0);
#if E_STEPPERS > 1
- STEP_E_ONCE(1);
+ STOP_E_PULSE(1);
#if E_STEPPERS > 2
- STEP_E_ONCE(2);
+ STOP_E_PULSE(2);
#if E_STEPPERS > 3
- STEP_E_ONCE(3);
+ STOP_E_PULSE(3);
#endif
#endif
#endif
--
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