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⚡️ Remove FT Motion extraneous code (#27881)

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narno2202 2025-05-27 00:36:14 +02:00 • committed by GitHub
parent 122c4116f2
commit fde0eaf1e7
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1 changed files with 10 additions and 13 deletions
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23
Marlin/src/module/stepper.cpp
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@ -1541,7 +1541,7 @@ void Stepper::isr() {
uint8_t max_loops = 10;
#if ENABLED(FT_MOTION)
static uint32_t ftMotion_nextAuxISR = 0U; // Storage for the next ISR of the auxilliary tasks.
static uint32_t ftMotion_nextAuxISR = 0U; // Storage for the next ISR of the auxiliary tasks.
const bool using_ftMotion = ftMotion.cfg.active;
#else
constexpr bool using_ftMotion = false;
@ -1556,21 +1556,18 @@ void Stepper::isr() {
#if ENABLED(FT_MOTION)
if (using_ftMotion) {
if (!nextMainISR) { // Main ISR is ready to fire during this iteration?
nextMainISR = FTM_MIN_TICKS; // Set to minimum interval (a limit on the top speed)
ftMotion_stepper(); // Run FTM Stepping
// Define 2.5 msec task for auxilliary functions.
if (!ftMotion_nextAuxISR) {
TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
ftMotion_nextAuxISR = (STEPPER_TIMER_RATE) / 400;
}
ftMotion_stepper(); // Run FTM Stepping
// Define 2.5 msec task for auxiliary functions.
if (!ftMotion_nextAuxISR) {
TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
ftMotion_nextAuxISR = (STEPPER_TIMER_RATE) / 400;
}
// Enable ISRs to reduce latency for higher priority ISRs, or all ISRs if no prioritization.
// Enable ISRs to reduce latency for higher priority ISRs
hal.isr_on();
interval = _MIN(nextMainISR, ftMotion_nextAuxISR);
nextMainISR -= interval;
interval = FTM_MIN_TICKS;
ftMotion_nextAuxISR -= interval;
}