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🩹 Ensure consistent FT Motion TICKS_BITS (#28223)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
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narno2202 2025-12-15 11:06:08 +01:00 • committed by GitHub
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commit 6cf98d0f82
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1 changed files with 10 additions and 7 deletions
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17
Marlin/src/module/ft_motion/stepping.h
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@ -30,13 +30,16 @@ FORCE_INLINE constexpr uint32_t a_times_b_shift_16(const uint32_t a, const uint3
const uint32_t hi = a >> 16, lo = a & 0x0000FFFF;
return (hi * b) + ((lo * b) >> 16);
}
#define FTM_NEVER uint32_t(UINT16_MAX) // Reserved number to indicate "no ticks in this frame" (FRAME_TICKS_FP+1 would work too)
constexpr uint32_t FRAME_TICKS = STEPPER_TIMER_RATE / FTM_FS; // Timer ticks per frame (by default, 1kHz)
constexpr uint32_t TICKS_BITS = __builtin_clzl(FRAME_TICKS + 1UL); // Bits to represent the max value (duration of a frame, +1 one for FTM_NEVER).
constexpr uint32_t FTM_Q_INT = 32u - TICKS_BITS; // Bits remaining
// "clz" counts leading zeroes.
constexpr uint32_t FTM_Q = 16u - FTM_Q_INT; // uint16 interval fractional bits.
// Intervals buffer has fixed point numbers with the point on this position
constexpr int CLZ32(const uint32_t v, const int c=0) {
return v ? (TEST32(v, 31)) ? c : CLZ32(v << 1, c + 1) : 32;
}
#define FTM_NEVER uint32_t(UINT16_MAX) // Reserved number to indicate "no ticks in this frame" (FRAME_TICKS_FP+1 would work too)
constexpr uint32_t FRAME_TICKS = STEPPER_TIMER_RATE / FTM_FS; // Timer ticks per frame (by default, 1kHz)
constexpr uint32_t TICKS_BITS = CLZ32(FRAME_TICKS + 1U); // Bits to represent the max value (duration of a frame, +1 one for FTM_NEVER).
constexpr uint32_t FTM_Q_INT = 32u - TICKS_BITS; // Bits remaining
// "clz" counts leading zeroes.
constexpr uint32_t FTM_Q = 16u - FTM_Q_INT; // uint16 interval fractional bits.
// Intervals buffer has fixed point numbers with the point on this position
static_assert(FRAME_TICKS < FTM_NEVER, "(STEPPER_TIMER_RATE / FTM_FS) must be < " STRINGIFY(FTM_NEVER) " to fit 16-bit fixed-point numbers.");
static_assert(FRAME_TICKS != 2000 || FTM_Q_INT == 11, "FTM_Q_INT should be 11");