385 lines
12 KiB
C++
385 lines
12 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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* Derived from Grbl
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*
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
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* Grbl is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Grbl is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef STEPPER_H
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#define STEPPER_H
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#include "planner.h"
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#include "speed_lookuptable.h"
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#include "stepper_indirection.h"
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#include "language.h"
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#include "types.h"
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class Stepper;
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extern Stepper stepper;
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
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#define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A)
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#define HAL_STEPPER_TIMER_RATE ((F_CPU) * 0.125)
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// intRes = intIn1 * intIn2 >> 16
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// uses:
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// r26 to store 0
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// r27 to store the byte 1 of the 24 bit result
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static FORCE_INLINE uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
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register uint8_t tmp;
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register uint16_t intRes;
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__asm__ __volatile__ (
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A("clr %[tmp]")
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A("mul %[charIn1], %B[intIn2]")
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A("movw %A[intRes], r0")
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A("mul %[charIn1], %A[intIn2]")
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A("add %A[intRes], r1")
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A("adc %B[intRes], %[tmp]")
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A("lsr r0")
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A("adc %A[intRes], %[tmp]")
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A("adc %B[intRes], %[tmp]")
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A("clr r1")
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: [intRes] "=&r" (intRes),
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[tmp] "=&r" (tmp)
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: [charIn1] "d" (charIn1),
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[intIn2] "d" (intIn2)
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: "cc"
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);
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return intRes;
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}
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class Stepper {
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public:
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static block_t* current_block; // A pointer to the block currently being traced
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#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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static bool abort_on_endstop_hit;
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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static bool performing_homing;
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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#ifndef PWM_MOTOR_CURRENT
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#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
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#endif
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static uint32_t motor_current_setting[3];
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#endif
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static int16_t cleaning_buffer_counter;
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private:
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static uint8_t last_direction_bits; // The next stepping-bits to be output
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#if ENABLED(X_DUAL_ENDSTOPS)
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static bool locked_x_motor, locked_x2_motor;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static bool locked_y_motor, locked_y2_motor;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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static bool locked_z_motor, locked_z2_motor;
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#endif
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// Counter variables for the Bresenham line tracer
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static int32_t counter_X, counter_Y, counter_Z, counter_E;
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static volatile uint32_t step_events_completed; // The number of step events executed in the current block
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#if ENABLED(BEZIER_JERK_CONTROL)
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static int32_t bezier_A, // A coefficient in Bézier speed curve
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bezier_B, // B coefficient in Bézier speed curve
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bezier_C; // C coefficient in Bézier speed curve
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static uint32_t bezier_F, // F coefficient in Bézier speed curve
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bezier_AV; // AV coefficient in Bézier speed curve
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static bool A_negative, // If A coefficient was negative
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bezier_2nd_half; // If Bézier curve has been initialized or not
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#endif
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#if ENABLED(LIN_ADVANCE)
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static uint32_t LA_decelerate_after; // Copy from current executed block. Needed because current_block is set to NULL "too early".
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static uint16_t nextMainISR, nextAdvanceISR, eISR_Rate, current_adv_steps,
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final_adv_steps, max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
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#define _NEXT_ISR(T) nextMainISR = T
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static int8_t e_steps;
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static bool use_advance_lead;
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#if E_STEPPERS > 1
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static int8_t LA_active_extruder; // Copy from current executed block. Needed because current_block is set to NULL "too early".
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#else
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static constexpr int8_t LA_active_extruder = 0;
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#endif
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#else // !LIN_ADVANCE
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#define _NEXT_ISR(T) OCR1A = T
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#endif // !LIN_ADVANCE
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static int32_t acceleration_time, deceleration_time;
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static uint8_t step_loops, step_loops_nominal;
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static uint16_t OCR1A_nominal;
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#if DISABLED(BEZIER_JERK_CONTROL)
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static uint16_t acc_step_rate; // needed for deceleration start point
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#endif
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static volatile int32_t endstops_trigsteps[XYZ];
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static volatile int32_t endstops_stepsTotal, endstops_stepsDone;
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//
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// Positions of stepper motors, in step units
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//
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static volatile int32_t count_position[NUM_AXIS];
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//
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// Current direction of stepper motors (+1 or -1)
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//
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static volatile signed char count_direction[NUM_AXIS];
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//
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// Mixing extruder mix counters
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//
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#if ENABLED(MIXING_EXTRUDER)
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static int32_t counter_m[MIXING_STEPPERS];
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#define MIXING_STEPPERS_LOOP(VAR) \
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for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
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if (current_block->mix_event_count[VAR])
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#endif
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public:
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//
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// Constructor / initializer
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//
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Stepper() { };
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//
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// Initialize stepper hardware
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//
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static void init();
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//
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// Interrupt Service Routines
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//
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static void isr();
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#if ENABLED(LIN_ADVANCE)
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static void advance_isr();
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static void advance_isr_scheduler();
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#endif
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//
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// Set the current position in steps
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//
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static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
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FORCE_INLINE static void _set_position(const AxisEnum a, const int32_t &v) { count_position[a] = v; }
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FORCE_INLINE static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
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planner.synchronize();
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CRITICAL_SECTION_START;
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_set_position(a, b, c, e);
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CRITICAL_SECTION_END;
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}
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static void set_position(const AxisEnum a, const int32_t &v) {
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planner.synchronize();
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CRITICAL_SECTION_START;
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count_position[a] = v;
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CRITICAL_SECTION_END;
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}
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FORCE_INLINE static void _set_e_position(const int32_t &e) { count_position[E_AXIS] = e; }
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static void set_e_position(const int32_t &e) {
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planner.synchronize();
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CRITICAL_SECTION_START;
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count_position[E_AXIS] = e;
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CRITICAL_SECTION_END;
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}
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//
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// Set direction bits for all steppers
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//
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static void set_directions();
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//
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// Get the position of a stepper, in steps
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//
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static int32_t position(const AxisEnum axis);
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//
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// Report the positions of the steppers, in steps
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//
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static void report_positions();
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//
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// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
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// to notify the subsystem that it is time to go to work.
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//
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static void wake_up();
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//
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// Wait for moves to finish and disable all steppers
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//
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static void finish_and_disable();
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//
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// Quickly stop all steppers and clear the blocks queue
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//
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static void quick_stop();
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//
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// The direction of a single motor
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//
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FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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static void digitalPotWrite(const int16_t address, const int16_t value);
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static void digipot_current(const uint8_t driver, const int16_t current);
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#endif
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#if HAS_MICROSTEPS
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static void microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2);
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static void microstep_mode(const uint8_t driver, const uint8_t stepping);
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static void microstep_readings();
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_homing_flag_x(const bool state) { performing_homing = state; }
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FORCE_INLINE static void set_x_lock(const bool state) { locked_x_motor = state; }
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FORCE_INLINE static void set_x2_lock(const bool state) { locked_x2_motor = state; }
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_homing_flag_y(const bool state) { performing_homing = state; }
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FORCE_INLINE static void set_y_lock(const bool state) { locked_y_motor = state; }
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FORCE_INLINE static void set_y2_lock(const bool state) { locked_y2_motor = state; }
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_homing_flag_z(const bool state) { performing_homing = state; }
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FORCE_INLINE static void set_z_lock(const bool state) { locked_z_motor = state; }
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FORCE_INLINE static void set_z2_lock(const bool state) { locked_z2_motor = state; }
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#endif
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#if ENABLED(BABYSTEPPING)
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static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
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#endif
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static inline void kill_current_block() {
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step_events_completed = current_block->step_event_count;
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}
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//
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// Handle a triggered endstop
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//
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static void endstop_triggered(const AxisEnum axis);
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//
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// Triggered position of an axis in mm (not core-savvy)
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//
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FORCE_INLINE static float triggered_position_mm(const AxisEnum axis) {
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return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
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}
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#if HAS_MOTOR_CURRENT_PWM
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static void refresh_motor_power();
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#endif
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private:
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FORCE_INLINE static uint16_t calc_timer_interval(uint16_t step_rate) {
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uint16_t timer;
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NOMORE(step_rate, MAX_STEP_FREQUENCY);
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if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
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step_rate >>= 2;
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step_loops = 4;
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}
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else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
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step_rate >>= 1;
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step_loops = 2;
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}
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else {
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step_loops = 1;
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}
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NOLESS(step_rate, F_CPU / 500000);
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step_rate -= F_CPU / 500000; // Correct for minimal speed
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if (step_rate >= (8 * 256)) { // higher step rate
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uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
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gain = (uint16_t)pgm_read_word_near(table_address + 2);
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timer = (uint16_t)pgm_read_word_near(table_address) - MultiU16X8toH16(step_rate & 0x00FF, gain);
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}
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else { // lower step rates
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uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
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table_address += ((step_rate) >> 1) & 0xFFFC;
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timer = (uint16_t)pgm_read_word_near(table_address)
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- (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
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}
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if (timer < 100) { // (20kHz - this should never happen)
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timer = 100;
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SERIAL_PROTOCOL(MSG_STEPPER_TOO_HIGH);
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SERIAL_PROTOCOLLN(step_rate);
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}
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return timer;
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}
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#if ENABLED(BEZIER_JERK_CONTROL)
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static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
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static int32_t _eval_bezier_curve(const uint32_t curr_step);
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#endif
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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static void digipot_init();
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#endif
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#if HAS_MICROSTEPS
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static void microstep_init();
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#endif
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};
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#endif // STEPPER_H
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