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154 | 154 |
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155 | 155 | // Add time for each stepper
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156 | 156 | #if HAS_X_STEP
|
157 |
| - #define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| 157 | + #define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES |
158 | 158 | #endif
|
159 | 159 | #if HAS_Y_STEP
|
160 |
| - #define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| 160 | + #define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES |
161 | 161 | #endif
|
162 | 162 | #if HAS_Z_STEP
|
163 |
| - #define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| 163 | + #define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES |
164 | 164 | #endif
|
165 | 165 | #if HAS_I_STEP
|
166 |
| - #define ISR_I_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| 166 | + #define ISR_I_STEPPER_CYCLES ISR_STEPPER_CYCLES |
167 | 167 | #endif
|
168 | 168 | #if HAS_J_STEP
|
169 |
| - #define ISR_J_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| 169 | + #define ISR_J_STEPPER_CYCLES ISR_STEPPER_CYCLES |
170 | 170 | #endif
|
171 | 171 | #if HAS_K_STEP
|
172 |
| - #define ISR_K_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| 172 | + #define ISR_K_STEPPER_CYCLES ISR_STEPPER_CYCLES |
173 | 173 | #endif
|
174 | 174 | #if HAS_U_STEP
|
175 |
| - #define ISR_U_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| 175 | + #define ISR_U_STEPPER_CYCLES ISR_STEPPER_CYCLES |
176 | 176 | #endif
|
177 | 177 | #if HAS_V_STEP
|
178 |
| - #define ISR_V_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| 178 | + #define ISR_V_STEPPER_CYCLES ISR_STEPPER_CYCLES |
179 | 179 | #endif
|
180 | 180 | #if HAS_W_STEP
|
181 |
| - #define ISR_W_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| 181 | + #define ISR_W_STEPPER_CYCLES ISR_STEPPER_CYCLES |
182 | 182 | #endif
|
183 | 183 | #if HAS_EXTRUDERS
|
184 |
| - #define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES // E is always interpolated, even for mixing extruders |
| 184 | + #define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES // E is always interpolated, even for mixing extruders |
185 | 185 | #endif
|
186 | 186 |
|
187 | 187 | // And the total minimum loop time, not including the base
|
188 |
| -#define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_GANG(+ ISR_E_STEPPER_CYCLES, + ISR_X_STEPPER_CYCLES, + ISR_Y_STEPPER_CYCLES, + ISR_Z_STEPPER_CYCLES, + ISR_I_STEPPER_CYCLES, + ISR_J_STEPPER_CYCLES, + ISR_K_STEPPER_CYCLES, + ISR_U_STEPPER_CYCLES, + ISR_V_STEPPER_CYCLES, + ISR_W_STEPPER_CYCLES)) |
| 188 | +#define _PLUS_AXIS_CYCLES(A) + (ISR_##A##_STEPPER_CYCLES) |
| 189 | +#define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_MAP(_PLUS_AXIS_CYCLES)) |
189 | 190 |
|
190 | 191 | // Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
|
191 | 192 | #define _MIN_STEPPER_PULSE_CYCLES(N) _MAX(uint32_t((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N))
|
@@ -802,9 +803,9 @@ class Stepper {
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802 | 803 | }
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803 | 804 |
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804 | 805 | #if HAS_SHAPING
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805 |
| - static void set_shaping_damping_ratio(const AxisEnum axis, const float zeta); |
| 806 | + static void set_shaping_damping_ratio(const AxisEnum axis, const_float_t zeta); |
806 | 807 | static float get_shaping_damping_ratio(const AxisEnum axis);
|
807 |
| - static void set_shaping_frequency(const AxisEnum axis, const float freq); |
| 808 | + static void set_shaping_frequency(const AxisEnum axis, const_float_t freq); |
808 | 809 | static float get_shaping_frequency(const AxisEnum axis);
|
809 | 810 | #endif
|
810 | 811 |
|
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