Return to Delay for High Low Step

MarlinKimbra/Configuration_adv.h

@@ -235,8 +235,8 @@
 // Default stepper release if idle. Set to 0 to deactivate.
 #define DEFAULT_STEPPER_DEACTIVE_TIME 60
 
-// Uncomment it if you have High speed stepping driver
-#define ENABLE_HIGH_SPEED_STEPPING
+// Decomment it if you have low speed stepper driver
+//#define STEPPER_HIGH_LOW_DELAY 1u  // Delay in microseconds
 
 #define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
 #define DEFAULT_MINTRAVELFEEDRATE     0.0

MarlinKimbra/stepper.cpp

@@ -92,7 +92,6 @@ static volatile char endstop_hit_bits = 0; // use X_MIN, Y_MIN, Z_MIN and Z_PROB
 #endif
 
 static bool check_endstops = true;
-static bool stepper_start_x, stepper_start_y, stepper_start_z, stepper_start_e = false;
 
 volatile long count_position[NUM_AXIS] = { 0 };
 volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
@@ -317,27 +316,17 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   unsigned short timer;
   if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
 
-  #ifdef ENABLE_HIGH_SPEED_STEPPING
-    if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
-      step_rate = (step_rate >> 2) & 0x3fff;
-      step_loops = 4;
-    }
-    else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
-      step_rate = (step_rate >> 1) & 0x7fff;
-      step_loops = 2;
-    }
-    else {
-      step_loops = 1;
-    }
-  #else
-    if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
-      step_rate = (step_rate >> 1) & 0x7fff;
-      step_loops = 2;
-    }
-    else {
-      step_loops = 1;
-    }
-  #endif
+  if(step_rate > (2 * DOUBLE_STEP_FREQUENCY)) { // If steprate > 2*DOUBLE_STEP_FREQUENCY >> step 4 times
+    step_rate = (step_rate >> 2) & 0x3fff;
+    step_loops = 4;
+  }
+  else if(step_rate > DOUBLE_STEP_FREQUENCY) { // If steprate > DOUBLE_STEP_FREQUENCY >> step 2 times
+    step_rate = (step_rate >> 1) & 0x7fff;
+    step_loops = 2;
+  }
+  else {
+    step_loops = 1;
+  }
 
   if (step_rate < (F_CPU / 500000)) step_rate = (F_CPU / 500000);
   step_rate -= (F_CPU / 500000); // Correct for minimal speed
@@ -457,18 +446,15 @@ FORCE_INLINE void trapezoid_generator_reset() {
 #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
 
 #define STEP_START(axis, AXIS) \
-  _COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
-  if (_COUNTER(axis) > 0) { \
-    _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); \
-    stepper_start_## axis = true; \
-    _COUNTER(axis) -= current_block->step_event_count; \
-    count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; }
+        _COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
+        if (_COUNTER(axis) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
 
 #define STEP_END(axis, AXIS) \
-  if (stepper_start_## axis) { \
-    _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
-    stepper_start_## axis = false; \
-  }
+        if (_COUNTER(axis) > 0) { \
+          _COUNTER(axis) -= current_block->step_event_count; \
+          count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
+          _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
+        }
 
 // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
 // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
@@ -663,44 +649,41 @@ ISR(TIMER1_COMPA_vect) {
       #endif
     }
 
-    #ifdef ENABLE_HIGH_SPEED_STEPPING
-      // Take multiple steps per interrupt (For high speed moves)
-      for (int8_t i = 0; i < step_loops; i++) {
-
-        #ifdef ADVANCE
-          counter_e += current_block->steps[E_AXIS];
-          if (counter_e > 0) {
-            counter_e -= current_block->step_event_count;
-            e_steps[current_block->active_driver] += TEST(out_bits, E_AXIS) ? -1 : 1;
-          }
-        #endif //ADVANCE
-
-        STEP_START(x,X);
-        STEP_START(y,Y);
-        STEP_START(z,Z);
-        #ifndef ADVANCE
-          STEP_START(e,E);
-        #endif
+    // Take multiple steps per interrupt (For high speed moves)
+    for (int8_t i = 0; i < step_loops; i++) {
+      #ifndef AT90USB
+        MSerial.checkRx(); // Check for serial chars.
+      #endif
 
-        STEP_END(x, X);
-        STEP_END(y, Y);
-        STEP_END(z, Z);
-        #ifndef ADVANCE
-          STEP_END(e, E);
-        #endif
+      #ifdef ADVANCE
+        counter_e += current_block->steps[E_AXIS];
+        if (counter_e > 0) {
+          counter_e -= current_block->step_event_count;
+          e_steps[current_block->active_driver] += TEST(out_bits, E_AXIS) ? -1 : 1;
+        }
+      #endif //ADVANCE
 
-        step_events_completed++;
-        if (step_events_completed >= current_block->step_event_count) break;
-      }
-    #else
       STEP_START(x,X);
       STEP_START(y,Y);
       STEP_START(z,Z);
       #ifndef ADVANCE
         STEP_START(e,E);
       #endif
+
+      #ifdef STEPPER_HIGH_LOW_DELAY
+        delayMicroseconds(STEPPER_HIGH_LOW_DELAY);
+      #endif
+
+      STEP_END(x, X);
+      STEP_END(y, Y);
+      STEP_END(z, Z);
+      #ifndef ADVANCE
+        STEP_END(e, E);
+      #endif
+
       step_events_completed++;
-    #endif
+      if (step_events_completed >= current_block->step_event_count) break;
+    }
 
     // Calculate new timer value
     unsigned short timer;
@@ -763,21 +746,13 @@ ISR(TIMER1_COMPA_vect) {
       // ensure we're running at the correct step rate, even if we just came off an acceleration
       step_loops = step_loops_nominal;
     }
-    #ifndef ENABLE_HIGH_SPEED_STEPPING
-      STEP_END(x, X);
-      STEP_END(y, Y);
-      STEP_END(z, Z);
-      #ifndef ADVANCE
-        STEP_END(e, E);
-      #endif
-    #endif
 
     // If current block is finished, reset pointer
     if (step_events_completed >= current_block->step_event_count) {
       current_block = NULL;
       plan_discard_current_block();
     }
-  } // current_block != NULL
+  }
 }
 
 #ifdef ADVANCE