itp feed based on itp frequency

- itp feed based on itp frequency to optimize number of calls
Paciente8159 · Apr 30, 2024 · 69b28a1 · 69b28a1
1 parent df99668
commit 69b28a1
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Showing 3 changed files with 26 additions and 26 deletions.
diff --git a/uCNC/src/cnc.c b/uCNC/src/cnc.c
@@ -245,13 +245,8 @@ bool cnc_dotasks(void)
 		return false;
 	}
 
-	if (cnc_has_alarm())
-	{
-		return !cnc_get_exec_state(EXEC_KILL);
-	}
-
 	// µCNC already in error loop. No point in sending the alarms
-	if (cnc_state.loop_state >= LOOP_FAULT)
+	if (cnc_has_alarm() || (cnc_state.loop_state >= LOOP_FAULT))
 	{
 		return !cnc_get_exec_state(EXEC_KILL);
 	}
@@ -354,31 +349,36 @@ MCU_CALLBACK void mcu_rtc_cb(uint32_t millis)
 	uint8_t mls = (uint8_t)(0xff & millis);
 	if ((mls & CTRL_SCHED_CHECK_MASK) == CTRL_SCHED_CHECK_VAL)
 	{
-		if (!cnc_lock_itp)
-		{
-			cnc_lock_itp = 1;
 #ifndef ENABLE_RT_PROBE_CHECKING
-			mcu_probe_changed_cb();
+		mcu_probe_changed_cb();
 #endif
 #ifndef ENABLE_RT_LIMITS_CHECKING
-			mcu_limits_changed_cb();
+		mcu_limits_changed_cb();
 #endif
-			mcu_controls_changed_cb();
+		mcu_controls_changed_cb();
 #if (DIN_ONCHANGE_MASK != 0 && ENCODERS < 1)
-			// extra call in case generic inputs are running with ISR disabled. Encoders need propper ISR to work.
-			mcu_inputs_changed_cb();
-#endif
-#ifdef ENABLE_ITP_FEED_TASK
-			if ((cnc_state.loop_state == LOOP_RUNNING) && (cnc_state.alarm == EXEC_ALARM_NOALARM) && !cnc_get_exec_state(EXEC_INTERLOCKING_FAIL))
-			{
-				itp_run();
-			}
+		// extra call in case generic inputs are running with ISR disabled. Encoders need propper ISR to work.
+		mcu_inputs_changed_cb();
 #endif
+	}
 
-			cnc_lock_itp = 0;
+#ifdef ENABLE_ITP_FEED_TASK
+	static uint8_t itp_feed_counter = (uint8_t)CLAMP(1, (1000 / INTERPOLATOR_FREQ), 255);
+	mls = itp_feed_counter;
+	if (!cnc_lock_itp && !mls--)
+	{
+		cnc_lock_itp = 1;
+		if ((cnc_state.loop_state == LOOP_RUNNING) && (cnc_state.alarm == EXEC_ALARM_NOALARM) && !cnc_get_exec_state(EXEC_INTERLOCKING_FAIL))
+		{
+			itp_run();
 		}
+		mls = (uint8_t)CLAMP(1, (1000 / INTERPOLATOR_FREQ), 255);
+		cnc_lock_itp = 0;
 	}
 
+	itp_feed_counter = mls;
+#endif
+
 #ifdef ENABLE_MAIN_LOOP_MODULES
 	if (!cnc_get_exec_state(EXEC_ALARM))
 	{

diff --git a/uCNC/src/core/interpolator.c b/uCNC/src/core/interpolator.c
@@ -28,11 +28,6 @@
 #define INTERPOLATOR_BUFFER_SIZE 5 // number of windows in the buffer
 #endif
 
-// sets the sample frequency for the Riemann sum integral
-#ifndef INTERPOLATOR_FREQ
-#define INTERPOLATOR_FREQ 100
-#endif
-
 #define INTERPOLATOR_DELTA_T (1.0f / INTERPOLATOR_FREQ)
 // determines the size of the maximum riemann sample that can be performed taking in acount the maximum allowable step rate
 #define INTERPOLATOR_DELTA_CONST_T (MIN((1.0f / INTERPOLATOR_BUFFER_SIZE), ((float)(0xFFFF >> DSS_MAX_OVERSAMPLING) / (float)F_STEP_MAX)))

diff --git a/uCNC/src/core/interpolator.h b/uCNC/src/core/interpolator.h
@@ -45,6 +45,11 @@ extern "C"
 #define ITP_STEP_MODE_REALTIME 2
 #define ITP_STEP_MODE_SYNC 4
 
+// sets the sample frequency for the Riemann sum integral
+#ifndef INTERPOLATOR_FREQ
+#define INTERPOLATOR_FREQ 100
+#endif
+
 	// contains data of the block being executed by the pulse routine
 	// this block has the necessary data to execute the Bresenham line algorithm
 	typedef struct itp_blk_