Merge pull request #6309 from thinkyhead/rc_fix_minimum_pulse

Fix MINIMUM_STEPPER_PULSE calculations

Marlin/Marlin.h

@@ -60,36 +60,36 @@ void manage_inactivity(bool ignore_stepper_queue = false);
 #endif
 
 #if HAS_X2_ENABLE
-  #define  enable_x() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
-  #define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
+  #define  enable_X() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
+  #define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
 #elif HAS_X_ENABLE
-  #define  enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
-  #define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
+  #define  enable_X() X_ENABLE_WRITE( X_ENABLE_ON)
+  #define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
 #else
-  #define  enable_x() NOOP
-  #define disable_x() NOOP
+  #define  enable_X() NOOP
+  #define disable_X() NOOP
 #endif
 
 #if HAS_Y2_ENABLE
-  #define  enable_y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
-  #define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
+  #define  enable_Y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
+  #define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
 #elif HAS_Y_ENABLE
-  #define  enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
-  #define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
+  #define  enable_Y() Y_ENABLE_WRITE( Y_ENABLE_ON)
+  #define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
 #else
-  #define  enable_y() NOOP
-  #define disable_y() NOOP
+  #define  enable_Y() NOOP
+  #define disable_Y() NOOP
 #endif
 
 #if HAS_Z2_ENABLE
-  #define  enable_z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
-  #define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
+  #define  enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
+  #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
 #elif HAS_Z_ENABLE
-  #define  enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
-  #define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
+  #define  enable_Z() Z_ENABLE_WRITE( Z_ENABLE_ON)
+  #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
 #else
-  #define  enable_z() NOOP
-  #define disable_z() NOOP
+  #define  enable_Z() NOOP
+  #define disable_Z() NOOP
 #endif
 
 #if ENABLED(MIXING_EXTRUDER)
@@ -98,64 +98,64 @@ void manage_inactivity(bool ignore_stepper_queue = false);
    * Mixing steppers synchronize their enable (and direction) together
    */
   #if MIXING_STEPPERS > 3
-    #define  enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); E3_ENABLE_WRITE( E_ENABLE_ON); }
-    #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); E3_ENABLE_WRITE(!E_ENABLE_ON); }
+    #define  enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); E3_ENABLE_WRITE( E_ENABLE_ON); }
+    #define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); E3_ENABLE_WRITE(!E_ENABLE_ON); }
   #elif MIXING_STEPPERS > 2
-    #define  enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
-    #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
+    #define  enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
+    #define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
   #else
-    #define  enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
-    #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
+    #define  enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
+    #define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
   #endif
-  #define  enable_e1() NOOP
-  #define disable_e1() NOOP
-  #define  enable_e2() NOOP
-  #define disable_e2() NOOP
-  #define  enable_e3() NOOP
-  #define disable_e3() NOOP
-  #define  enable_e4() NOOP
-  #define disable_e4() NOOP
+  #define  enable_E1() NOOP
+  #define disable_E1() NOOP
+  #define  enable_E2() NOOP
+  #define disable_E2() NOOP
+  #define  enable_E3() NOOP
+  #define disable_E3() NOOP
+  #define  enable_E4() NOOP
+  #define disable_E4() NOOP
 
 #else // !MIXING_EXTRUDER
 
   #if HAS_E0_ENABLE
-    #define  enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
-    #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
+    #define  enable_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
+    #define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e0() NOOP
-    #define disable_e0() NOOP
+    #define  enable_E0() NOOP
+    #define disable_E0() NOOP
   #endif
 
   #if E_STEPPERS > 1 && HAS_E1_ENABLE
-    #define  enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
-    #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
+    #define  enable_E1() E1_ENABLE_WRITE( E_ENABLE_ON)
+    #define disable_E1() E1_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e1() NOOP
-    #define disable_e1() NOOP
+    #define  enable_E1() NOOP
+    #define disable_E1() NOOP
   #endif
 
   #if E_STEPPERS > 2 && HAS_E2_ENABLE
-    #define  enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
-    #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
+    #define  enable_E2() E2_ENABLE_WRITE( E_ENABLE_ON)
+    #define disable_E2() E2_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e2() NOOP
-    #define disable_e2() NOOP
+    #define  enable_E2() NOOP
+    #define disable_E2() NOOP
   #endif
 
   #if E_STEPPERS > 3 && HAS_E3_ENABLE
-    #define  enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
-    #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
+    #define  enable_E3() E3_ENABLE_WRITE( E_ENABLE_ON)
+    #define disable_E3() E3_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e3() NOOP
-    #define disable_e3() NOOP
+    #define  enable_E3() NOOP
+    #define disable_E3() NOOP
   #endif
 
   #if E_STEPPERS > 4 && HAS_E4_ENABLE
-    #define  enable_e4() E4_ENABLE_WRITE( E_ENABLE_ON)
-    #define disable_e4() E4_ENABLE_WRITE(!E_ENABLE_ON)
+    #define  enable_E4() E4_ENABLE_WRITE( E_ENABLE_ON)
+    #define disable_E4() E4_ENABLE_WRITE(!E_ENABLE_ON)
   #else
-    #define  enable_e4() NOOP
-    #define disable_e4() NOOP
+    #define  enable_E4() NOOP
+    #define disable_E4() NOOP
   #endif
 
 #endif // !MIXING_EXTRUDER

Marlin/Marlin_main.cpp

@@ -6489,9 +6489,9 @@ inline void gcode_M18_M84() {
     }
     else {
       stepper.synchronize();
-      if (code_seen('X')) disable_x();
-      if (code_seen('Y')) disable_y();
-      if (code_seen('Z')) disable_z();
+      if (code_seen('X')) disable_X();
+      if (code_seen('Y')) disable_Y();
+      if (code_seen('Z')) disable_Z();
       #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
         if (code_seen('E')) disable_e_steppers();
       #endif
@@ -10888,28 +10888,28 @@ void calculate_volumetric_multipliers() {
 }
 
 void enable_all_steppers() {
-  enable_x();
-  enable_y();
-  enable_z();
-  enable_e0();
-  enable_e1();
-  enable_e2();
-  enable_e3();
-  enable_e4();
+  enable_X();
+  enable_Y();
+  enable_Z();
+  enable_E0();
+  enable_E1();
+  enable_E2();
+  enable_E3();
+  enable_E4();
 }
 
 void disable_e_steppers() {
-  disable_e0();
-  disable_e1();
-  disable_e2();
-  disable_e3();
-  disable_e4();
+  disable_E0();
+  disable_E1();
+  disable_E2();
+  disable_E3();
+  disable_E4();
 }
 
 void disable_all_steppers() {
-  disable_x();
-  disable_y();
-  disable_z();
+  disable_X();
+  disable_Y();
+  disable_Z();
   disable_e_steppers();
 }
 
@@ -11011,13 +11011,13 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
   if (M600_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
       && !ignore_stepper_queue && !planner.blocks_queued()) {
     #if ENABLED(DISABLE_INACTIVE_X)
-      disable_x();
+      disable_X();
     #endif
     #if ENABLED(DISABLE_INACTIVE_Y)
-      disable_y();
+      disable_Y();
     #endif
     #if ENABLED(DISABLE_INACTIVE_Z)
-      disable_z();
+      disable_Z();
     #endif
     #if ENABLED(DISABLE_INACTIVE_E)
       disable_e_steppers();
@@ -11080,32 +11080,32 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
       bool oldstatus;
       #if ENABLED(SWITCHING_EXTRUDER)
         oldstatus = E0_ENABLE_READ;
-        enable_e0();
+        enable_E0();
       #else // !SWITCHING_EXTRUDER
         switch (active_extruder) {
           case 0:
             oldstatus = E0_ENABLE_READ;
-            enable_e0();
+            enable_E0();
             break;
           #if E_STEPPERS > 1
             case 1:
               oldstatus = E1_ENABLE_READ;
-              enable_e1();
+              enable_E1();
               break;
             #if E_STEPPERS > 2
               case 2:
                 oldstatus = E2_ENABLE_READ;
-                enable_e2();
+                enable_E2();
                 break;
               #if E_STEPPERS > 3
                 case 3:
                   oldstatus = E3_ENABLE_READ;
-                  enable_e3();
+                  enable_E3();
                   break;
                 #if E_STEPPERS > 4
                   case 4:
                     oldstatus = E4_ENABLE_READ;
-                    enable_e4();
+                    enable_E4();
                     break;
                 #endif // E_STEPPERS > 4
               #endif // E_STEPPERS > 3

Marlin/macros.h

@@ -36,8 +36,49 @@
   #define CRITICAL_SECTION_END    SREG = _sreg;
 #endif
 
-// Clock speed factor
-#define CYCLES_PER_MICROSECOND (F_CPU / 1000000UL) // 16 or 20
+// Clock speed factors
+#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
+#define DELAY_1_NOP __asm__("nop\n\t")
+#define DELAY_2_NOP DELAY_1_NOP; DELAY_1_NOP
+#define DELAY_3_NOP DELAY_1_NOP; DELAY_2_NOP
+#define DELAY_4_NOP DELAY_1_NOP; DELAY_3_NOP
+#define DELAY_5_NOP DELAY_1_NOP; DELAY_4_NOP
+
+#define DELAY_NOPS(X) \
+  switch (X) { \
+    case 20: DELAY_1_NOP; case 19: DELAY_1_NOP; \
+    case 18: DELAY_1_NOP; case 17: DELAY_1_NOP; \
+    case 16: DELAY_1_NOP; case 15: DELAY_1_NOP; \
+    case 14: DELAY_1_NOP; case 13: DELAY_1_NOP; \
+    case 12: DELAY_1_NOP; case 11: DELAY_1_NOP; \
+    case 10: DELAY_1_NOP; case 9:  DELAY_1_NOP; \
+    case 8:  DELAY_1_NOP; case 7:  DELAY_1_NOP; \
+    case 6:  DELAY_1_NOP; case 5:  DELAY_1_NOP; \
+    case 4:  DELAY_1_NOP; case 3:  DELAY_1_NOP; \
+    case 2:  DELAY_1_NOP; case 1:  DELAY_1_NOP; \
+  }
+
+#define DELAY_10_NOP DELAY_5_NOP;  DELAY_5_NOP
+#define DELAY_20_NOP DELAY_10_NOP; DELAY_10_NOP
+
+#if CYCLES_PER_MICROSECOND == 16
+  #define DELAY_1US DELAY_10_NOP; DELAY_5_NOP; DELAY_1_NOP
+#else
+  #define DELAY_1US DELAY_20_NOP
+#endif
+#define DELAY_2US  DELAY_1US; DELAY_1US
+#define DELAY_3US  DELAY_1US; DELAY_2US
+#define DELAY_4US  DELAY_1US; DELAY_3US
+#define DELAY_5US  DELAY_1US; DELAY_4US
+#define DELAY_6US  DELAY_1US; DELAY_5US
+#define DELAY_7US  DELAY_1US; DELAY_6US
+#define DELAY_8US  DELAY_1US; DELAY_7US
+#define DELAY_9US  DELAY_1US; DELAY_8US
+#define DELAY_10US DELAY_1US; DELAY_9US
 
 // Remove compiler warning on an unused variable
 #define UNUSED(x) (void) (x)

Marlin/planner.cpp

@@ -441,13 +441,13 @@ void Planner::check_axes_activity() {
     }
   }
   #if ENABLED(DISABLE_X)
-    if (!axis_active[X_AXIS]) disable_x();
+    if (!axis_active[X_AXIS]) disable_X();
   #endif
   #if ENABLED(DISABLE_Y)
-    if (!axis_active[Y_AXIS]) disable_y();
+    if (!axis_active[Y_AXIS]) disable_Y();
   #endif
   #if ENABLED(DISABLE_Z)
-    if (!axis_active[Z_AXIS]) disable_z();
+    if (!axis_active[Z_AXIS]) disable_Z();
   #endif
   #if ENABLED(DISABLE_E)
     if (!axis_active[E_AXIS]) disable_e_steppers();
@@ -832,29 +832,29 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
   //enable active axes
   #if CORE_IS_XY
     if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
-      enable_x();
-      enable_y();
+      enable_X();
+      enable_Y();
     }
     #if DISABLED(Z_LATE_ENABLE)
-      if (block->steps[Z_AXIS]) enable_z();
+      if (block->steps[Z_AXIS]) enable_Z();
     #endif
   #elif CORE_IS_XZ
     if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
-      enable_x();
-      enable_z();
+      enable_X();
+      enable_Z();
     }
-    if (block->steps[Y_AXIS]) enable_y();
+    if (block->steps[Y_AXIS]) enable_Y();
   #elif CORE_IS_YZ
     if (block->steps[B_AXIS] || block->steps[C_AXIS]) {
-      enable_y();
-      enable_z();
+      enable_Y();
+      enable_Z();
     }
-    if (block->steps[X_AXIS]) enable_x();
+    if (block->steps[X_AXIS]) enable_X();
   #else
-    if (block->steps[X_AXIS]) enable_x();
-    if (block->steps[Y_AXIS]) enable_y();
+    if (block->steps[X_AXIS]) enable_X();
+    if (block->steps[Y_AXIS]) enable_Y();
     #if DISABLED(Z_LATE_ENABLE)
-      if (block->steps[Z_AXIS]) enable_z();
+      if (block->steps[Z_AXIS]) enable_Z();
     #endif
   #endif
 
@@ -868,22 +868,22 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
 
       switch(extruder) {
         case 0:
-          enable_e0();
+          enable_E0();
           #if ENABLED(DUAL_X_CARRIAGE)
             if (extruder_duplication_enabled) {
-              enable_e1();
+              enable_E1();
               g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
             }
           #endif
           g_uc_extruder_last_move[0] = (BLOCK_BUFFER_SIZE) * 2;
           #if EXTRUDERS > 1
-            if (g_uc_extruder_last_move[1] == 0) disable_e1();
+            if (g_uc_extruder_last_move[1] == 0) disable_E1();
             #if EXTRUDERS > 2
-              if (g_uc_extruder_last_move[2] == 0) disable_e2();
+              if (g_uc_extruder_last_move[2] == 0) disable_E2();
               #if EXTRUDERS > 3
-                if (g_uc_extruder_last_move[3] == 0) disable_e3();
+                if (g_uc_extruder_last_move[3] == 0) disable_E3();
                 #if EXTRUDERS > 4
-                  if (g_uc_extruder_last_move[4] == 0) disable_e4();
+                  if (g_uc_extruder_last_move[4] == 0) disable_E4();
                 #endif // EXTRUDERS > 4
               #endif // EXTRUDERS > 3
             #endif // EXTRUDERS > 2
@@ -891,51 +891,51 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
         break;
         #if EXTRUDERS > 1
           case 1:
-            enable_e1();
+            enable_E1();
             g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
-            if (g_uc_extruder_last_move[0] == 0) disable_e0();
+            if (g_uc_extruder_last_move[0] == 0) disable_E0();
             #if EXTRUDERS > 2
-              if (g_uc_extruder_last_move[2] == 0) disable_e2();
+              if (g_uc_extruder_last_move[2] == 0) disable_E2();
               #if EXTRUDERS > 3
-                if (g_uc_extruder_last_move[3] == 0) disable_e3();
+                if (g_uc_extruder_last_move[3] == 0) disable_E3();
                 #if EXTRUDERS > 4
-                  if (g_uc_extruder_last_move[4] == 0) disable_e4();
+                  if (g_uc_extruder_last_move[4] == 0) disable_E4();
                 #endif // EXTRUDERS > 4
               #endif // EXTRUDERS > 3
             #endif // EXTRUDERS > 2
           break;
           #if EXTRUDERS > 2
             case 2:
-              enable_e2();
+              enable_E2();
               g_uc_extruder_last_move[2] = (BLOCK_BUFFER_SIZE) * 2;
-              if (g_uc_extruder_last_move[0] == 0) disable_e0();
-              if (g_uc_extruder_last_move[1] == 0) disable_e1();
+              if (g_uc_extruder_last_move[0] == 0) disable_E0();
+              if (g_uc_extruder_last_move[1] == 0) disable_E1();
               #if EXTRUDERS > 3
-                if (g_uc_extruder_last_move[3] == 0) disable_e3();
+                if (g_uc_extruder_last_move[3] == 0) disable_E3();
                 #if EXTRUDERS > 4
-                  if (g_uc_extruder_last_move[4] == 0) disable_e4();
+                  if (g_uc_extruder_last_move[4] == 0) disable_E4();
                 #endif
               #endif
             break;
             #if EXTRUDERS > 3
               case 3:
-                enable_e3();
+                enable_E3();
                 g_uc_extruder_last_move[3] = (BLOCK_BUFFER_SIZE) * 2;
-                if (g_uc_extruder_last_move[0] == 0) disable_e0();
-                if (g_uc_extruder_last_move[1] == 0) disable_e1();
-                if (g_uc_extruder_last_move[2] == 0) disable_e2();
+                if (g_uc_extruder_last_move[0] == 0) disable_E0();
+                if (g_uc_extruder_last_move[1] == 0) disable_E1();
+                if (g_uc_extruder_last_move[2] == 0) disable_E2();
                 #if EXTRUDERS > 4
-                  if (g_uc_extruder_last_move[4] == 0) disable_e4();
+                  if (g_uc_extruder_last_move[4] == 0) disable_E4();
                 #endif
               break;
               #if EXTRUDERS > 4
                 case 4:
-                  enable_e4();
+                  enable_E4();
                   g_uc_extruder_last_move[4] = (BLOCK_BUFFER_SIZE) * 2;
-                  if (g_uc_extruder_last_move[0] == 0) disable_e0();
-                  if (g_uc_extruder_last_move[1] == 0) disable_e1();
-                  if (g_uc_extruder_last_move[2] == 0) disable_e2();
-                  if (g_uc_extruder_last_move[3] == 0) disable_e3();
+                  if (g_uc_extruder_last_move[0] == 0) disable_E0();
+                  if (g_uc_extruder_last_move[1] == 0) disable_E1();
+                  if (g_uc_extruder_last_move[2] == 0) disable_E2();
+                  if (g_uc_extruder_last_move[3] == 0) disable_E3();
                 break;
               #endif // EXTRUDERS > 4
             #endif // EXTRUDERS > 3
@@ -943,11 +943,11 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
         #endif // EXTRUDERS > 1
       }
     #else
-      enable_e0();
-      enable_e1();
-      enable_e2();
-      enable_e3();
-      enable_e4();
+      enable_E0();
+      enable_E1();
+      enable_E2();
+      enable_E3();
+      enable_E4();
     #endif
   }
 

Marlin/servo.h

@@ -82,7 +82,7 @@
 
 // Say which 16 bit timers can be used and in what order
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-  //#define _useTimer1
+  //#define _useTimer1 // Timer 1 is used by the stepper ISR
   #define _useTimer3
   #define _useTimer4
   #if !HAS_MOTOR_CURRENT_PWM

Marlin/stepper.cpp

@@ -428,7 +428,7 @@ void Stepper::isr() {
 
       #if ENABLED(Z_LATE_ENABLE)
         if (current_block->steps[Z_AXIS] > 0) {
-          enable_z();
+          enable_Z();
           _NEXT_ISR(2000); // Run at slow speed - 1 KHz
           _ENABLE_ISRs(); // re-enable ISRs
           return;
@@ -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
+
+    #define CYCLES_EATEN_XYZE ((_COUNT_STEPPERS_4) * 5)
+    #define EXTRA_CYCLES_XYZE (STEP_PULSE_CYCLES - (CYCLES_EATEN_XYZE))
 
-    // If a minimum pulse time was specified get the CPU clock
-    #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
+    // 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
-    #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
-      while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_CODE) { /* nada */ }
+    // For minimum pulse time wait before stopping pulses
+    #if EXTRA_CYCLES_XYZE > 20
+      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
-      #if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
-        while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_E) { /* nada */ }
+      // For minimum pulse time wait before stopping pulses
+      #if EXTRA_CYCLES_E > 20
+        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() {
@@ -986,14 +1032,14 @@ void Stepper::init() {
 
   #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
   #define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
-  #define _DISABLE(axis) disable_## axis()
+  #define _DISABLE(AXIS) disable_## AXIS()
 
-  #define AXIS_INIT(axis, AXIS, PIN) \
+  #define AXIS_INIT(AXIS, PIN) \
     _STEP_INIT(AXIS); \
     _WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
-    _DISABLE(axis)
+    _DISABLE(AXIS)
 
-  #define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
+  #define E_AXIS_INIT(NUM) AXIS_INIT(E## NUM, E)
 
   // Init Step Pins
   #if HAS_X_STEP
@@ -1001,7 +1047,7 @@ void Stepper::init() {
       X2_STEP_INIT;
       X2_STEP_WRITE(INVERT_X_STEP_PIN);
     #endif
-    AXIS_INIT(x, X, X);
+    AXIS_INIT(X, X);
   #endif
 
   #if HAS_Y_STEP
@@ -1009,7 +1055,7 @@ void Stepper::init() {
       Y2_STEP_INIT;
       Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
     #endif
-    AXIS_INIT(y, Y, Y);
+    AXIS_INIT(Y, Y);
   #endif
 
   #if HAS_Z_STEP
@@ -1017,7 +1063,7 @@ void Stepper::init() {
       Z2_STEP_INIT;
       Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
     #endif
-    AXIS_INIT(z, Z, Z);
+    AXIS_INIT(Z, Z);
   #endif
 
   #if HAS_E0_STEP
@@ -1056,15 +1102,11 @@ void Stepper::init() {
   ENABLE_STEPPER_DRIVER_INTERRUPT();
 
   #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
-
-    for (int i = 0; i < E_STEPPERS; i++) {
-      e_steps[i] = 0;
-      #if ENABLED(LIN_ADVANCE)
-        current_adv_steps[i] = 0;
-      #endif
-    }
-
-  #endif // ADVANCE or LIN_ADVANCE
+    ZERO(e_steps);
+    #if ENABLED(LIN_ADVANCE)
+      ZERO(current_adv_steps);
+    #endif
+  #endif // ADVANCE || LIN_ADVANCE
 
   endstops.enable(true); // Start with endstops active. After homing they can be disabled
   sei();
@@ -1235,32 +1277,43 @@ 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 _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
-    #define _PULSE_WAIT 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) { \
-      old_dir = _READ_DIR(AXIS); \
-      _SAVE_START; \
+  #define BABYSTEP_AXIS(AXIS, INVERT) {                     \
+      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); \
+      _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true);     \
+      _PULSE_WAIT;                                          \
+      _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true);      \
+      _APPLY_DIR(AXIS, old_dir);                            \
     }
 
   // MUST ONLY BE CALLED BY AN ISR,
@@ -1268,60 +1321,60 @@ 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) {
 
-      case X_AXIS:
-        _ENABLE(x);
-        START_BABYSTEP_AXIS(X, false);
-        STOP_BABYSTEP_AXIS(X);
-        break;
+      #if ENABLED(BABYSTEP_XY)
 
-      case Y_AXIS:
-        _ENABLE(y);
-        START_BABYSTEP_AXIS(Y, false);
-        STOP_BABYSTEP_AXIS(Y);
-        break;
+        case X_AXIS:
+          BABYSTEP_AXIS(X, false);
+          break;
+
+        case Y_AXIS:
+          BABYSTEP_AXIS(Y, false);
+          break;
+
+      #endif
 
       case Z_AXIS: {
 
         #if DISABLED(DELTA)
 
-          _ENABLE(z);
-          START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
-          STOP_BABYSTEP_AXIS(Z);
+          BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
 
         #else // DELTA
 
           bool z_direction = direction ^ BABYSTEP_INVERT_Z;
 
-          enable_x();
-          enable_y();
-          enable_z();
+          enable_X();
+          enable_Y();
+          enable_Z();
+
           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
-            pulse_start = TCNT0;
-          #endif
+
+          _SAVE_START;
+
           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 */ }
-          #endif
+
+          _PULSE_WAIT;
+
           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);

Marlin/ultralcd_st7920_u8glib_rrd.h

@@ -43,13 +43,6 @@
 //set optimization so ARDUINO optimizes this file
 #pragma GCC optimize (3)
 
-#define DELAY_0_NOP  NOOP
-#define DELAY_1_NOP  __asm__("nop\n\t")
-#define DELAY_2_NOP  __asm__("nop\n\t" "nop\n\t")
-#define DELAY_3_NOP  __asm__("nop\n\t" "nop\n\t" "nop\n\t")
-#define DELAY_4_NOP  __asm__("nop\n\t" "nop\n\t" "nop\n\t" "nop\n\t")
-
-
 // If you want you can define your own set of delays in Configuration.h
 //#define ST7920_DELAY_1 DELAY_0_NOP
 //#define ST7920_DELAY_2 DELAY_0_NOP