Adaptive multiaxis step smoothing
- Stepper bugs fixed - Support MIXING_EXTRUDER with Linear Advance - Miscellaneous cleanup Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine
parent
aab9cb0bbe
commit
1cdcc6adfa
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@ -205,15 +205,6 @@
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#define MAX_AUTORETRACT 99
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#endif
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/**
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* MAX_STEP_FREQUENCY differs for TOSHIBA
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*/
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#if ENABLED(CONFIG_STEPPERS_TOSHIBA)
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#define MAX_STEP_FREQUENCY 10000 // Max step frequency for Toshiba Stepper Controllers
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#else
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#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
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#endif
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// MS1 MS2 Stepper Driver Microstepping mode table
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#define MICROSTEP1 LOW,LOW
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#if ENABLED(HEROIC_STEPPER_DRIVERS)
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@ -1320,4 +1311,109 @@
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#define HAS_FOLDER_SORTING (FOLDER_SORTING || ENABLED(SDSORT_GCODE))
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#endif
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// Calculate a default maximum stepper rate, if not supplied
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#ifndef MAXIMUM_STEPPER_RATE
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#define MAXIMUM_STEPPER_RATE (1000000UL / (2UL * (MINIMUM_STEPPER_PULSE)))
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#endif
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//
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// Estimate the amount of time the ISR will take to execute
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//
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 32UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper takes 88 cycles
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#define ISR_STEPPER_CYCLES 88UL
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// For each stepper, we add its time
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#ifdef HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_X_STEPPER_CYCLES 0UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_Y_STEP
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Y_STEPPER_CYCLES 0UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_Z_STEP
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Z_STEPPER_CYCLES 0UL
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#endif
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// E is always interpolated, even for mixing extruders
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
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// If linear advance is disabled, then the loop also handles them
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#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
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#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * ISR_STEPPER_CYCLES)
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#else
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#define ISR_MIXING_STEPPER_CYCLES 0UL
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#endif
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// And the total minimum loop time is, without including the base
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#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
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// But the user could be enforcing a minimum time, so the loop time is
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#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
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// If linear advance is enabled, then it is handled separately
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#if ENABLED(LIN_ADVANCE)
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// Estimate the minimum LA loop time
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#if ENABLED(MIXING_EXTRUDER)
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#define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
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#else
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#define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES
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#endif
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// And the real loop time
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#define ISR_LA_LOOP_CYCLES MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
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#else
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#define ISR_LA_LOOP_CYCLES 0UL
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#endif
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// Now estimate the total ISR execution time in cycles given a step per ISR multiplier
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#define ISR_EXECUTION_CYCLES(rate) (((ISR_BASE_CYCLES + (ISR_LOOP_CYCLES * rate) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / rate)
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// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz)
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#define MAX_128X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(128))
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#define MAX_64X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(64))
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#define MAX_32X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(32))
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#define MAX_16X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(16))
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#define MAX_8X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(8))
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#define MAX_4X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(4))
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#define MAX_2X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(2))
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#define MAX_1X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(1))
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// The minimum allowable frequency for step smoothing will be 1/10 of the maximum nominal frequency (in Hz)
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#define MIN_STEP_ISR_FREQUENCY MAX_1X_STEP_ISR_FREQUENCY
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// Disable multiple steps per ISR
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//#define DISABLE_MULTI_STEPPING
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#endif // CONDITIONALS_POST_H
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 4, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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@ -450,6 +450,14 @@
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//#define JUNCTION_DEVIATION_INCLUDE_E
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#endif
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/**
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* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
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* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
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* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
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* lowest stepping frequencies.
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*/
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//#define ADAPTIVE_STEP_SMOOTHING
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// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
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#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
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|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -453,6 +453,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -452,6 +452,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -452,6 +452,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -452,6 +452,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -452,6 +452,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -452,6 +452,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -457,6 +457,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -452,6 +452,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -450,6 +450,14 @@
|
|||
//#define JUNCTION_DEVIATION_INCLUDE_E
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies
|
||||
* below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible
|
||||
* vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the
|
||||
* lowest stepping frequencies.
|
||||
*/
|
||||
//#define ADAPTIVE_STEP_SMOOTHING
|
||||
|
||||
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
|
||||
#define MICROSTEP_MODES { 16, 16, 16, 16, 16 } // [1,2,4,8,16]
|
||||
|
||||
|
|
|
|||
|
|
@ -1628,10 +1628,16 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
|
|||
// Bail if this is a zero-length block
|
||||
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return false;
|
||||
|
||||
// For a mixing extruder, get a magnified step_event_count for each
|
||||
// For a mixing extruder, get a magnified esteps for each
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
|
||||
block->mix_event_count[i] = mixing_factor[i] * block->step_event_count;
|
||||
block->mix_steps[i] = mixing_factor[i] * (
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
esteps
|
||||
#else
|
||||
block->step_event_count
|
||||
#endif
|
||||
);
|
||||
#endif
|
||||
|
||||
#if FAN_COUNT > 0
|
||||
|
|
|
|||
|
|
@ -103,7 +103,7 @@ typedef struct {
|
|||
uint8_t active_extruder; // The extruder to move (if E move)
|
||||
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
uint32_t mix_event_count[MIXING_STEPPERS]; // Scaled step_event_count for the mixing steppers
|
||||
uint32_t mix_steps[MIXING_STEPPERS]; // Scaled steps[E_AXIS] for the mixing steppers
|
||||
#endif
|
||||
|
||||
// Settings for the trapezoid generator
|
||||
|
|
@ -125,7 +125,7 @@ typedef struct {
|
|||
// Advance extrusion
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
bool use_advance_lead;
|
||||
uint16_t advance_speed, // Timer value for extruder speed offset
|
||||
uint16_t advance_speed, // STEP timer value for extruder speed offset ISR
|
||||
max_adv_steps, // max. advance steps to get cruising speed pressure (not always nominal_speed!)
|
||||
final_adv_steps; // advance steps due to exit speed
|
||||
float e_D_ratio;
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
134
Marlin/stepper.h
134
Marlin/stepper.h
|
|
@ -99,10 +99,14 @@ class Stepper {
|
|||
private:
|
||||
|
||||
static uint8_t last_direction_bits, // The next stepping-bits to be output
|
||||
last_movement_extruder, // Last movement extruder, as computed when the last movement was fetched from planner
|
||||
axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
|
||||
|
||||
static bool abort_current_block; // Signals to the stepper that current block should be aborted
|
||||
|
||||
#if DISABLED(MIXING_EXTRUDER)
|
||||
static uint8_t last_moved_extruder; // Last-moved extruder, as set when the last movement was fetched from planner
|
||||
#endif
|
||||
|
||||
#if ENABLED(X_DUAL_ENDSTOPS)
|
||||
static bool locked_X_motor, locked_X2_motor;
|
||||
#endif
|
||||
|
|
@ -113,9 +117,34 @@ class Stepper {
|
|||
static bool locked_Z_motor, locked_Z2_motor;
|
||||
#endif
|
||||
|
||||
// Counter variables for the Bresenham line tracer
|
||||
static int32_t counter_X, counter_Y, counter_Z, counter_E;
|
||||
static uint32_t step_events_completed; // The number of step events executed in the current block
|
||||
static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks
|
||||
static uint8_t steps_per_isr; // Count of steps to perform per Stepper ISR call
|
||||
|
||||
#if ENABLED(ADAPTIVE_STEP_SMOOTHING)
|
||||
static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis
|
||||
#else
|
||||
static constexpr uint8_t oversampling_factor = 0;
|
||||
#endif
|
||||
|
||||
// Delta error variables for the Bresenham line tracer
|
||||
static int32_t delta_error[XYZE];
|
||||
static uint32_t advance_dividend[XYZE],
|
||||
advance_divisor,
|
||||
step_events_completed, // The number of step events executed in the current block
|
||||
accelerate_until, // The point from where we need to stop acceleration
|
||||
decelerate_after, // The point from where we need to start decelerating
|
||||
step_event_count; // The total event count for the current block
|
||||
|
||||
// Mixing extruder mix delta_errors for bresenham tracing
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
static int32_t delta_error_m[MIXING_STEPPERS];
|
||||
static uint32_t advance_dividend_m[MIXING_STEPPERS],
|
||||
advance_divisor_m;
|
||||
#define MIXING_STEPPERS_LOOP(VAR) \
|
||||
for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++)
|
||||
#else
|
||||
static int8_t active_extruder; // Active extruder
|
||||
#endif
|
||||
|
||||
#if ENABLED(S_CURVE_ACCELERATION)
|
||||
static int32_t bezier_A, // A coefficient in Bézier speed curve
|
||||
|
|
@ -128,33 +157,19 @@ class Stepper {
|
|||
#endif
|
||||
|
||||
static uint32_t nextMainISR; // time remaining for the next Step ISR
|
||||
static bool all_steps_done; // all steps done
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
static uint32_t LA_decelerate_after; // Copy from current executed block. Needed because current_block is set to NULL "too early".
|
||||
static uint32_t nextAdvanceISR, eISR_Rate;
|
||||
static uint16_t current_adv_steps, final_adv_steps, max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
|
||||
static int8_t e_steps;
|
||||
static bool use_advance_lead;
|
||||
#if E_STEPPERS > 1
|
||||
static int8_t LA_active_extruder; // Copy from current executed block. Needed because current_block is set to NULL "too early".
|
||||
#else
|
||||
static constexpr int8_t LA_active_extruder = 0;
|
||||
#endif
|
||||
|
||||
static uint32_t nextAdvanceISR, LA_isr_rate;
|
||||
static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
|
||||
static int8_t LA_steps;
|
||||
static bool LA_use_advance_lead;
|
||||
#endif // LIN_ADVANCE
|
||||
|
||||
static uint32_t acceleration_time, deceleration_time;
|
||||
static uint8_t step_loops, step_loops_nominal;
|
||||
|
||||
static uint32_t ticks_nominal;
|
||||
static int32_t ticks_nominal;
|
||||
#if DISABLED(S_CURVE_ACCELERATION)
|
||||
static uint32_t acc_step_rate; // needed for deceleration start point
|
||||
#endif
|
||||
|
||||
static volatile int32_t endstops_trigsteps[XYZ];
|
||||
static volatile int32_t endstops_stepsTotal, endstops_stepsDone;
|
||||
|
||||
//
|
||||
// Positions of stepper motors, in step units
|
||||
|
|
@ -166,16 +181,6 @@ class Stepper {
|
|||
//
|
||||
static int8_t count_direction[NUM_AXIS];
|
||||
|
||||
//
|
||||
// Mixing extruder mix counters
|
||||
//
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
static int32_t counter_m[MIXING_STEPPERS];
|
||||
#define MIXING_STEPPERS_LOOP(VAR) \
|
||||
for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
|
||||
if (current_block->mix_event_count[VAR])
|
||||
#endif
|
||||
|
||||
public:
|
||||
|
||||
//
|
||||
|
|
@ -222,7 +227,15 @@ class Stepper {
|
|||
FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
|
||||
|
||||
// The extruder associated to the last movement
|
||||
FORCE_INLINE static uint8_t movement_extruder() { return last_movement_extruder; }
|
||||
FORCE_INLINE static uint8_t movement_extruder() {
|
||||
return
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
0
|
||||
#else
|
||||
last_moved_extruder
|
||||
#endif
|
||||
;
|
||||
}
|
||||
|
||||
// Handle a triggered endstop
|
||||
static void endstop_triggered(const AxisEnum axis);
|
||||
|
|
@ -290,25 +303,42 @@ class Stepper {
|
|||
// Set direction bits for all steppers
|
||||
static void set_directions();
|
||||
|
||||
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate) {
|
||||
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) {
|
||||
uint32_t timer;
|
||||
|
||||
NOMORE(step_rate, uint32_t(MAX_STEP_FREQUENCY));
|
||||
// Scale the frequency, as requested by the caller
|
||||
step_rate <<= scale;
|
||||
|
||||
if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
|
||||
step_rate >>= 2;
|
||||
step_loops = 4;
|
||||
}
|
||||
else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
|
||||
step_rate >>= 1;
|
||||
step_loops = 2;
|
||||
}
|
||||
else {
|
||||
step_loops = 1;
|
||||
}
|
||||
uint8_t multistep = 1;
|
||||
#if DISABLED(DISABLE_MULTI_STEPPING)
|
||||
|
||||
NOLESS(step_rate, uint32_t(F_CPU / 500000U));
|
||||
step_rate -= F_CPU / 500000; // Correct for minimal speed
|
||||
// The stepping frequency limits for each multistepping rate
|
||||
static const uint32_t limit[] PROGMEM = {
|
||||
( MAX_1X_STEP_ISR_FREQUENCY ),
|
||||
( MAX_2X_STEP_ISR_FREQUENCY >> 1),
|
||||
( MAX_4X_STEP_ISR_FREQUENCY >> 2),
|
||||
( MAX_8X_STEP_ISR_FREQUENCY >> 3),
|
||||
( MAX_16X_STEP_ISR_FREQUENCY >> 4),
|
||||
( MAX_32X_STEP_ISR_FREQUENCY >> 5),
|
||||
( MAX_64X_STEP_ISR_FREQUENCY >> 6),
|
||||
(MAX_128X_STEP_ISR_FREQUENCY >> 7)
|
||||
};
|
||||
|
||||
// Select the proper multistepping
|
||||
uint8_t idx = 0;
|
||||
while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) {
|
||||
step_rate >>= 1;
|
||||
multistep <<= 1;
|
||||
++idx;
|
||||
};
|
||||
#else
|
||||
NOMORE(step_rate, uint32_t(MAX_1X_STEP_ISR_FREQUENCY));
|
||||
#endif
|
||||
*loops = multistep;
|
||||
|
||||
constexpr uint32_t min_step_rate = F_CPU / 500000U;
|
||||
NOLESS(step_rate, min_step_rate);
|
||||
step_rate -= min_step_rate; // Correct for minimal speed
|
||||
if (step_rate >= (8 * 256)) { // higher step rate
|
||||
const uint8_t tmp_step_rate = (step_rate & 0x00FF);
|
||||
const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
|
||||
|
|
@ -322,10 +352,8 @@ class Stepper {
|
|||
timer = (uint16_t)pgm_read_word_near(table_address)
|
||||
- (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
|
||||
}
|
||||
if (timer < 100) { // (20kHz - this should never happen)
|
||||
timer = 100;
|
||||
SERIAL_ECHOLNPAIR(MSG_STEPPER_TOO_HIGH, step_rate);
|
||||
}
|
||||
// (there is no need to limit the timer value here. All limits have been
|
||||
// applied above, and AVR is able to keep up at 30khz Stepping ISR rate)
|
||||
|
||||
return timer;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user