2530 lines
92 KiB
C++
2530 lines
92 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.cpp - A singleton object to execute motion plans using stepper motors
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* Marlin Firmware
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*
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* Derived from Grbl
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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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/**
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* Timer calculations informed by the 'RepRap cartesian firmware' by Zack Smith
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* and Philipp Tiefenbacher.
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*/
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/**
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* Jerk controlled movements planner added Apr 2018 by Eduardo José Tagle.
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* Equations based on Synthethos TinyG2 sources, but the fixed-point
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* implementation is new, as we are running the ISR with a variable period.
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* Also implemented the Bézier velocity curve evaluation in ARM assembler,
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* to avoid impacting ISR speed.
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*/
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#include "Marlin.h"
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#include "stepper.h"
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#include "endstops.h"
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#include "planner.h"
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#include "temperature.h"
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#include "ultralcd.h"
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#include "language.h"
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#include "cardreader.h"
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#include "speed_lookuptable.h"
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#include "delay.h"
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#if HAS_DIGIPOTSS
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#include <SPI.h>
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#endif
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Stepper stepper; // Singleton
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// public:
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block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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bool Stepper::performing_homing = false;
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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uint32_t Stepper::motor_current_setting[3]; // Initialized by settings.load()
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#endif
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// private:
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uint8_t Stepper::last_direction_bits = 0,
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Stepper::last_movement_extruder = 0xFF,
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Stepper::axis_did_move;
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bool Stepper::abort_current_block;
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#if ENABLED(X_DUAL_ENDSTOPS)
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bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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bool Stepper::locked_y_motor = false, Stepper::locked_y2_motor = false;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
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#endif
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int32_t Stepper::counter_X = 0,
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Stepper::counter_Y = 0,
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Stepper::counter_Z = 0,
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Stepper::counter_E = 0;
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uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
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#if ENABLED(BEZIER_JERK_CONTROL)
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int32_t __attribute__((used)) Stepper::bezier_A __asm__("bezier_A"); // A coefficient in Bézier speed curve with alias for assembler
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int32_t __attribute__((used)) Stepper::bezier_B __asm__("bezier_B"); // B coefficient in Bézier speed curve with alias for assembler
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int32_t __attribute__((used)) Stepper::bezier_C __asm__("bezier_C"); // C coefficient in Bézier speed curve with alias for assembler
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uint32_t __attribute__((used)) Stepper::bezier_F __asm__("bezier_F"); // F coefficient in Bézier speed curve with alias for assembler
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uint32_t __attribute__((used)) Stepper::bezier_AV __asm__("bezier_AV"); // AV coefficient in Bézier speed curve with alias for assembler
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bool __attribute__((used)) Stepper::A_negative __asm__("A_negative"); // If A coefficient was negative
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bool Stepper::bezier_2nd_half; // =false If Bézier curve has been initialized or not
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#endif
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uint32_t Stepper::nextMainISR = 0;
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bool Stepper::all_steps_done = false;
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#if ENABLED(LIN_ADVANCE)
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uint32_t Stepper::LA_decelerate_after;
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constexpr uint32_t ADV_NEVER = 0xFFFFFFFF;
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uint32_t Stepper::nextAdvanceISR = ADV_NEVER,
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Stepper::eISR_Rate = ADV_NEVER;
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uint16_t Stepper::current_adv_steps = 0,
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Stepper::final_adv_steps,
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Stepper::max_adv_steps;
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int8_t Stepper::e_steps = 0;
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#if E_STEPPERS > 1
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int8_t Stepper::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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constexpr int8_t Stepper::LA_active_extruder;
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#endif
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bool Stepper::use_advance_lead;
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#endif // LIN_ADVANCE
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uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
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volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
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volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
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#if ENABLED(MIXING_EXTRUDER)
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int32_t Stepper::counter_m[MIXING_STEPPERS];
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#endif
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uint32_t Stepper::ticks_nominal;
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uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
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#if DISABLED(BEZIER_JERK_CONTROL)
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uint32_t Stepper::acc_step_rate; // needed for deceleration start point
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#endif
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volatile int32_t Stepper::endstops_trigsteps[XYZ];
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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#define LOCKED_X_MOTOR locked_x_motor
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#define LOCKED_Y_MOTOR locked_y_motor
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#define LOCKED_Z_MOTOR locked_z_motor
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#define LOCKED_X2_MOTOR locked_x2_motor
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#define LOCKED_Y2_MOTOR locked_y2_motor
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#define LOCKED_Z2_MOTOR locked_z2_motor
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#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
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if (performing_homing) { \
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if (A##_HOME_DIR < 0) { \
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if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
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if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
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} \
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else { \
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if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
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if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
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} \
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} \
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else { \
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A##_STEP_WRITE(V); \
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A##2_STEP_WRITE(V); \
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}
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#endif
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#if ENABLED(X_DUAL_STEPPER_DRIVERS)
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#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
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#if ENABLED(X_DUAL_ENDSTOPS)
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#define X_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(X,v)
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#else
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#define X_APPLY_STEP(v,Q) do{ X_STEP_WRITE(v); X2_STEP_WRITE(v); }while(0)
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#endif
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#elif ENABLED(DUAL_X_CARRIAGE)
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#define X_APPLY_DIR(v,ALWAYS) \
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if (extruder_duplication_enabled || ALWAYS) { \
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X_DIR_WRITE(v); \
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X2_DIR_WRITE(v); \
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} \
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else { \
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if (current_block->active_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
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}
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#define X_APPLY_STEP(v,ALWAYS) \
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if (extruder_duplication_enabled || ALWAYS) { \
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X_STEP_WRITE(v); \
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X2_STEP_WRITE(v); \
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} \
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else { \
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if (current_block->active_extruder) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
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}
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#else
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#define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
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#define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
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#endif
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#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
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#define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }while(0)
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#if ENABLED(Y_DUAL_ENDSTOPS)
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#define Y_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Y,v)
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#else
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#define Y_APPLY_STEP(v,Q) do{ Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }while(0)
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#endif
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#else
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#define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
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#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
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#endif
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#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
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#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
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#if ENABLED(Z_DUAL_ENDSTOPS)
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#define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
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#else
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#define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0)
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#endif
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#else
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#define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
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#define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
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#endif
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#if DISABLED(MIXING_EXTRUDER)
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#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
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#endif
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// intRes = longIn1 * longIn2 >> 24
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// uses:
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// A[tmp] to store 0
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// B[tmp] to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
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// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
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// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
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// B A are bits 24-39 and are the returned value
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// C B A is longIn1
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// D C B A is longIn2
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//
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static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
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register uint8_t tmp1;
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register uint8_t tmp2;
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register uint16_t intRes;
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__asm__ __volatile__(
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A("clr %[tmp1]")
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A("mul %A[longIn1], %B[longIn2]")
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A("mov %[tmp2], r1")
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A("mul %B[longIn1], %C[longIn2]")
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A("movw %A[intRes], r0")
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A("mul %C[longIn1], %C[longIn2]")
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A("add %B[intRes], r0")
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A("mul %C[longIn1], %B[longIn2]")
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A("add %A[intRes], r0")
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A("adc %B[intRes], r1")
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A("mul %A[longIn1], %C[longIn2]")
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A("add %[tmp2], r0")
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A("adc %A[intRes], r1")
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A("adc %B[intRes], %[tmp1]")
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A("mul %B[longIn1], %B[longIn2]")
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A("add %[tmp2], r0")
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A("adc %A[intRes], r1")
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A("adc %B[intRes], %[tmp1]")
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A("mul %C[longIn1], %A[longIn2]")
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A("add %[tmp2], r0")
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A("adc %A[intRes], r1")
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A("adc %B[intRes], %[tmp1]")
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A("mul %B[longIn1], %A[longIn2]")
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A("add %[tmp2], r1")
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A("adc %A[intRes], %[tmp1]")
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A("adc %B[intRes], %[tmp1]")
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A("lsr %[tmp2]")
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A("adc %A[intRes], %[tmp1]")
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A("adc %B[intRes], %[tmp1]")
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A("mul %D[longIn2], %A[longIn1]")
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A("add %A[intRes], r0")
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A("adc %B[intRes], r1")
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A("mul %D[longIn2], %B[longIn1]")
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A("add %B[intRes], r0")
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A("clr r1")
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: [intRes] "=&r" (intRes),
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[tmp1] "=&r" (tmp1),
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[tmp2] "=&r" (tmp2)
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: [longIn1] "d" (longIn1),
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[longIn2] "d" (longIn2)
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: "cc"
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);
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return intRes;
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}
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// Some useful constants
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/**
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* __________________________
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* /| |\ _________________ ^
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* / | | \ /| |\ |
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* / | | \ / | | \ s
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* / | | | | | \ p
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* / | | | | | \ e
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* +-----+------------------------+---+--+---------------+----+ e
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* | BLOCK 1 | BLOCK 2 | d
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*
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* time ----->
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*
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* The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
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* first block->accelerate_until step_events_completed, then keeps going at constant speed until
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* step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
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* The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
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*/
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void Stepper::wake_up() {
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// TCNT1 = 0;
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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/**
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* Set the stepper direction of each axis
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*
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* COREXY: X_AXIS=A_AXIS and Y_AXIS=B_AXIS
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* COREXZ: X_AXIS=A_AXIS and Z_AXIS=C_AXIS
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* COREYZ: Y_AXIS=B_AXIS and Z_AXIS=C_AXIS
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*/
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void Stepper::set_directions() {
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#define SET_STEP_DIR(A) \
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if (motor_direction(_AXIS(A))) { \
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A##_APPLY_DIR(INVERT_## A##_DIR, false); \
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count_direction[_AXIS(A)] = -1; \
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} \
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else { \
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A##_APPLY_DIR(!INVERT_## A##_DIR, false); \
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count_direction[_AXIS(A)] = 1; \
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}
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#if HAS_X_DIR
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SET_STEP_DIR(X); // A
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#endif
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#if HAS_Y_DIR
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SET_STEP_DIR(Y); // B
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#endif
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#if HAS_Z_DIR
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SET_STEP_DIR(Z); // C
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#endif
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#if DISABLED(LIN_ADVANCE)
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if (motor_direction(E_AXIS)) {
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REV_E_DIR();
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count_direction[E_AXIS] = -1;
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}
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else {
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NORM_E_DIR();
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count_direction[E_AXIS] = 1;
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}
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#endif // !LIN_ADVANCE
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}
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#if ENABLED(BEZIER_JERK_CONTROL)
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/**
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* We are using a quintic (fifth-degree) Bézier polynomial for the velocity curve.
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* This gives us a "linear pop" velocity curve; with pop being the sixth derivative of position:
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* velocity - 1st, acceleration - 2nd, jerk - 3rd, snap - 4th, crackle - 5th, pop - 6th
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*
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* The Bézier curve takes the form:
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*
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* V(t) = P_0 * B_0(t) + P_1 * B_1(t) + P_2 * B_2(t) + P_3 * B_3(t) + P_4 * B_4(t) + P_5 * B_5(t)
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*
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* Where 0 <= t <= 1, and V(t) is the velocity. P_0 through P_5 are the control points, and B_0(t)
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* through B_5(t) are the Bernstein basis as follows:
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*
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* B_0(t) = (1-t)^5 = -t^5 + 5t^4 - 10t^3 + 10t^2 - 5t + 1
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* B_1(t) = 5(1-t)^4 * t = 5t^5 - 20t^4 + 30t^3 - 20t^2 + 5t
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* B_2(t) = 10(1-t)^3 * t^2 = -10t^5 + 30t^4 - 30t^3 + 10t^2
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* B_3(t) = 10(1-t)^2 * t^3 = 10t^5 - 20t^4 + 10t^3
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* B_4(t) = 5(1-t) * t^4 = -5t^5 + 5t^4
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* B_5(t) = t^5 = t^5
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* ^ ^ ^ ^ ^ ^
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* | | | | | |
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* A B C D E F
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*
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* Unfortunately, we cannot use forward-differencing to calculate each position through
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* the curve, as Marlin uses variable timer periods. So, we require a formula of the form:
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*
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* V_f(t) = A*t^5 + B*t^4 + C*t^3 + D*t^2 + E*t + F
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*
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* Looking at the above B_0(t) through B_5(t) expanded forms, if we take the coefficients of t^5
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* through t of the Bézier form of V(t), we can determine that:
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*
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* A = -P_0 + 5*P_1 - 10*P_2 + 10*P_3 - 5*P_4 + P_5
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* B = 5*P_0 - 20*P_1 + 30*P_2 - 20*P_3 + 5*P_4
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* C = -10*P_0 + 30*P_1 - 30*P_2 + 10*P_3
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* D = 10*P_0 - 20*P_1 + 10*P_2
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* E = - 5*P_0 + 5*P_1
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* F = P_0
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*
|
|
* Now, since we will (currently) *always* want the initial acceleration and jerk values to be 0,
|
|
* We set P_i = P_0 = P_1 = P_2 (initial velocity), and P_t = P_3 = P_4 = P_5 (target velocity),
|
|
* which, after simplification, resolves to:
|
|
*
|
|
* A = - 6*P_i + 6*P_t = 6*(P_t - P_i)
|
|
* B = 15*P_i - 15*P_t = 15*(P_i - P_t)
|
|
* C = -10*P_i + 10*P_t = 10*(P_t - P_i)
|
|
* D = 0
|
|
* E = 0
|
|
* F = P_i
|
|
*
|
|
* As the t is evaluated in non uniform steps here, there is no other way rather than evaluating
|
|
* the Bézier curve at each point:
|
|
*
|
|
* V_f(t) = A*t^5 + B*t^4 + C*t^3 + F [0 <= t <= 1]
|
|
*
|
|
* Floating point arithmetic execution time cost is prohibitive, so we will transform the math to
|
|
* use fixed point values to be able to evaluate it in realtime. Assuming a maximum of 250000 steps
|
|
* per second (driver pulses should at least be 2µS hi/2µS lo), and allocating 2 bits to avoid
|
|
* overflows on the evaluation of the Bézier curve, means we can use
|
|
*
|
|
* t: unsigned Q0.32 (0 <= t < 1) |range 0 to 0xFFFFFFFF unsigned
|
|
* A: signed Q24.7 , |range = +/- 250000 * 6 * 128 = +/- 192000000 = 0x0B71B000 | 28 bits + sign
|
|
* B: signed Q24.7 , |range = +/- 250000 *15 * 128 = +/- 480000000 = 0x1C9C3800 | 29 bits + sign
|
|
* C: signed Q24.7 , |range = +/- 250000 *10 * 128 = +/- 320000000 = 0x1312D000 | 29 bits + sign
|
|
* F: signed Q24.7 , |range = +/- 250000 * 128 = 32000000 = 0x01E84800 | 25 bits + sign
|
|
*
|
|
* The trapezoid generator state contains the following information, that we will use to create and evaluate
|
|
* the Bézier curve:
|
|
*
|
|
* blk->step_event_count [TS] = The total count of steps for this movement. (=distance)
|
|
* blk->initial_rate [VI] = The initial steps per second (=velocity)
|
|
* blk->final_rate [VF] = The ending steps per second (=velocity)
|
|
* and the count of events completed (step_events_completed) [CS] (=distance until now)
|
|
*
|
|
* Note the abbreviations we use in the following formulae are between []s
|
|
*
|
|
* For Any 32bit CPU:
|
|
*
|
|
* At the start of each trapezoid, we calculate the coefficients A,B,C,F and Advance [AV], as follows:
|
|
*
|
|
* A = 6*128*(VF - VI) = 768*(VF - VI)
|
|
* B = 15*128*(VI - VF) = 1920*(VI - VF)
|
|
* C = 10*128*(VF - VI) = 1280*(VF - VI)
|
|
* F = 128*VI = 128*VI
|
|
* AV = (1<<32)/TS ~= 0xFFFFFFFF / TS (To use ARM UDIV, that is 32 bits) (this is computed at the planner, to offload expensive calculations from the ISR)
|
|
*
|
|
* And for each point, we will evaluate the curve with the following sequence:
|
|
*
|
|
* void lsrs(uint32_t& d, uint32_t s, int cnt) {
|
|
* d = s >> cnt;
|
|
* }
|
|
* void lsls(uint32_t& d, uint32_t s, int cnt) {
|
|
* d = s << cnt;
|
|
* }
|
|
* void lsrs(int32_t& d, uint32_t s, int cnt) {
|
|
* d = uint32_t(s) >> cnt;
|
|
* }
|
|
* void lsls(int32_t& d, uint32_t s, int cnt) {
|
|
* d = uint32_t(s) << cnt;
|
|
* }
|
|
* void umull(uint32_t& rlo, uint32_t& rhi, uint32_t op1, uint32_t op2) {
|
|
* uint64_t res = uint64_t(op1) * op2;
|
|
* rlo = uint32_t(res & 0xFFFFFFFF);
|
|
* rhi = uint32_t((res >> 32) & 0xFFFFFFFF);
|
|
* }
|
|
* void smlal(int32_t& rlo, int32_t& rhi, int32_t op1, int32_t op2) {
|
|
* int64_t mul = int64_t(op1) * op2;
|
|
* int64_t s = int64_t(uint32_t(rlo) | ((uint64_t(uint32_t(rhi)) << 32U)));
|
|
* mul += s;
|
|
* rlo = int32_t(mul & 0xFFFFFFFF);
|
|
* rhi = int32_t((mul >> 32) & 0xFFFFFFFF);
|
|
* }
|
|
* int32_t _eval_bezier_curve_arm(uint32_t curr_step) {
|
|
* register uint32_t flo = 0;
|
|
* register uint32_t fhi = bezier_AV * curr_step;
|
|
* register uint32_t t = fhi;
|
|
* register int32_t alo = bezier_F;
|
|
* register int32_t ahi = 0;
|
|
* register int32_t A = bezier_A;
|
|
* register int32_t B = bezier_B;
|
|
* register int32_t C = bezier_C;
|
|
*
|
|
* lsrs(ahi, alo, 1); // a = F << 31
|
|
* lsls(alo, alo, 31); //
|
|
* umull(flo, fhi, fhi, t); // f *= t
|
|
* umull(flo, fhi, fhi, t); // f>>=32; f*=t
|
|
* lsrs(flo, fhi, 1); //
|
|
* smlal(alo, ahi, flo, C); // a+=(f>>33)*C
|
|
* umull(flo, fhi, fhi, t); // f>>=32; f*=t
|
|
* lsrs(flo, fhi, 1); //
|
|
* smlal(alo, ahi, flo, B); // a+=(f>>33)*B
|
|
* umull(flo, fhi, fhi, t); // f>>=32; f*=t
|
|
* lsrs(flo, fhi, 1); // f>>=33;
|
|
* smlal(alo, ahi, flo, A); // a+=(f>>33)*A;
|
|
* lsrs(alo, ahi, 6); // a>>=38
|
|
*
|
|
* return alo;
|
|
* }
|
|
*
|
|
* This will be rewritten in ARM assembly to get peak performance and will take 43 cycles to execute
|
|
*
|
|
* For AVR, we scale precision of coefficients to make it possible to evaluate the Bézier curve in
|
|
* realtime: Let's reduce precision as much as possible. After some experimentation we found that:
|
|
*
|
|
* Assume t and AV with 24 bits is enough
|
|
* A = 6*(VF - VI)
|
|
* B = 15*(VI - VF)
|
|
* C = 10*(VF - VI)
|
|
* F = VI
|
|
* AV = (1<<24)/TS (this is computed at the planner, to offload expensive calculations from the ISR)
|
|
*
|
|
* Instead of storing sign for each coefficient, we will store its absolute value,
|
|
* and flag the sign of the A coefficient, so we can save to store the sign bit.
|
|
* It always holds that sign(A) = - sign(B) = sign(C)
|
|
*
|
|
* So, the resulting range of the coefficients are:
|
|
*
|
|
* t: unsigned (0 <= t < 1) |range 0 to 0xFFFFFF unsigned
|
|
* A: signed Q24 , range = 250000 * 6 = 1500000 = 0x16E360 | 21 bits
|
|
* B: signed Q24 , range = 250000 *15 = 3750000 = 0x393870 | 22 bits
|
|
* C: signed Q24 , range = 250000 *10 = 2500000 = 0x1312D0 | 21 bits
|
|
* F: signed Q24 , range = 250000 = 250000 = 0x0ED090 | 20 bits
|
|
*
|
|
* And for each curve, we estimate its coefficients with:
|
|
*
|
|
* void _calc_bezier_curve_coeffs(int32_t v0, int32_t v1, uint32_t av) {
|
|
* // Calculate the Bézier coefficients
|
|
* if (v1 < v0) {
|
|
* A_negative = true;
|
|
* bezier_A = 6 * (v0 - v1);
|
|
* bezier_B = 15 * (v0 - v1);
|
|
* bezier_C = 10 * (v0 - v1);
|
|
* }
|
|
* else {
|
|
* A_negative = false;
|
|
* bezier_A = 6 * (v1 - v0);
|
|
* bezier_B = 15 * (v1 - v0);
|
|
* bezier_C = 10 * (v1 - v0);
|
|
* }
|
|
* bezier_F = v0;
|
|
* }
|
|
*
|
|
* And for each point, we will evaluate the curve with the following sequence:
|
|
*
|
|
* // unsigned multiplication of 24 bits x 24bits, return upper 16 bits
|
|
* void umul24x24to16hi(uint16_t& r, uint24_t op1, uint24_t op2) {
|
|
* r = (uint64_t(op1) * op2) >> 8;
|
|
* }
|
|
* // unsigned multiplication of 16 bits x 16bits, return upper 16 bits
|
|
* void umul16x16to16hi(uint16_t& r, uint16_t op1, uint16_t op2) {
|
|
* r = (uint32_t(op1) * op2) >> 16;
|
|
* }
|
|
* // unsigned multiplication of 16 bits x 24bits, return upper 24 bits
|
|
* void umul16x24to24hi(uint24_t& r, uint16_t op1, uint24_t op2) {
|
|
* r = uint24_t((uint64_t(op1) * op2) >> 16);
|
|
* }
|
|
*
|
|
* int32_t _eval_bezier_curve(uint32_t curr_step) {
|
|
* // To save computing, the first step is always the initial speed
|
|
* if (!curr_step)
|
|
* return bezier_F;
|
|
*
|
|
* uint16_t t;
|
|
* umul24x24to16hi(t, bezier_AV, curr_step); // t: Range 0 - 1^16 = 16 bits
|
|
* uint16_t f = t;
|
|
* umul16x16to16hi(f, f, t); // Range 16 bits (unsigned)
|
|
* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^3 (unsigned)
|
|
* uint24_t acc = bezier_F; // Range 20 bits (unsigned)
|
|
* if (A_negative) {
|
|
* uint24_t v;
|
|
* umul16x24to24hi(v, f, bezier_C); // Range 21bits
|
|
* acc -= v;
|
|
* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned)
|
|
* umul16x24to24hi(v, f, bezier_B); // Range 22bits
|
|
* acc += v;
|
|
* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned)
|
|
* umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign)
|
|
* acc -= v;
|
|
* }
|
|
* else {
|
|
* uint24_t v;
|
|
* umul16x24to24hi(v, f, bezier_C); // Range 21bits
|
|
* acc += v;
|
|
* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned)
|
|
* umul16x24to24hi(v, f, bezier_B); // Range 22bits
|
|
* acc -= v;
|
|
* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned)
|
|
* umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign)
|
|
* acc += v;
|
|
* }
|
|
* return acc;
|
|
* }
|
|
* Those functions will be translated into assembler to get peak performance. coefficient calculations takes 70 cycles,
|
|
* Bezier point evaluation takes 150 cycles
|
|
*
|
|
*/
|
|
|
|
// For AVR we use assembly to maximize speed
|
|
void Stepper::_calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av) {
|
|
|
|
// Store advance
|
|
bezier_AV = av;
|
|
|
|
// Calculate the rest of the coefficients
|
|
register uint8_t r2 = v0 & 0xFF;
|
|
register uint8_t r3 = (v0 >> 8) & 0xFF;
|
|
register uint8_t r12 = (v0 >> 16) & 0xFF;
|
|
register uint8_t r5 = v1 & 0xFF;
|
|
register uint8_t r6 = (v1 >> 8) & 0xFF;
|
|
register uint8_t r7 = (v1 >> 16) & 0xFF;
|
|
register uint8_t r4,r8,r9,r10,r11;
|
|
|
|
__asm__ __volatile__(
|
|
/* Calculate the Bézier coefficients */
|
|
/* %10:%1:%0 = v0*/
|
|
/* %5:%4:%3 = v1*/
|
|
/* %7:%6:%10 = temporary*/
|
|
/* %9 = val (must be high register!)*/
|
|
/* %10 (must be high register!)*/
|
|
|
|
/* Store initial velocity*/
|
|
A("sts bezier_F, %0")
|
|
A("sts bezier_F+1, %1")
|
|
A("sts bezier_F+2, %10") /* bezier_F = %10:%1:%0 = v0 */
|
|
|
|
/* Get delta speed */
|
|
A("ldi %2,-1") /* %2 = 0xFF, means A_negative = true */
|
|
A("clr %8") /* %8 = 0 */
|
|
A("sub %0,%3")
|
|
A("sbc %1,%4")
|
|
A("sbc %10,%5") /* v0 -= v1, C=1 if result is negative */
|
|
A("brcc 1f") /* branch if result is positive (C=0), that means v0 >= v1 */
|
|
|
|
/* Result was negative, get the absolute value*/
|
|
A("com %10")
|
|
A("com %1")
|
|
A("neg %0")
|
|
A("sbc %1,%2")
|
|
A("sbc %10,%2") /* %10:%1:%0 +1 -> %10:%1:%0 = -(v0 - v1) = (v1 - v0) */
|
|
A("clr %2") /* %2 = 0, means A_negative = false */
|
|
|
|
/* Store negative flag*/
|
|
L("1")
|
|
A("sts A_negative, %2") /* Store negative flag */
|
|
|
|
/* Compute coefficients A,B and C [20 cycles worst case]*/
|
|
A("ldi %9,6") /* %9 = 6 */
|
|
A("mul %0,%9") /* r1:r0 = 6*LO(v0-v1) */
|
|
A("sts bezier_A, r0")
|
|
A("mov %6,r1")
|
|
A("clr %7") /* %7:%6:r0 = 6*LO(v0-v1) */
|
|
A("mul %1,%9") /* r1:r0 = 6*MI(v0-v1) */
|
|
A("add %6,r0")
|
|
A("adc %7,r1") /* %7:%6:?? += 6*MI(v0-v1) << 8 */
|
|
A("mul %10,%9") /* r1:r0 = 6*HI(v0-v1) */
|
|
A("add %7,r0") /* %7:%6:?? += 6*HI(v0-v1) << 16 */
|
|
A("sts bezier_A+1, %6")
|
|
A("sts bezier_A+2, %7") /* bezier_A = %7:%6:?? = 6*(v0-v1) [35 cycles worst] */
|
|
|
|
A("ldi %9,15") /* %9 = 15 */
|
|
A("mul %0,%9") /* r1:r0 = 5*LO(v0-v1) */
|
|
A("sts bezier_B, r0")
|
|
A("mov %6,r1")
|
|
A("clr %7") /* %7:%6:?? = 5*LO(v0-v1) */
|
|
A("mul %1,%9") /* r1:r0 = 5*MI(v0-v1) */
|
|
A("add %6,r0")
|
|
A("adc %7,r1") /* %7:%6:?? += 5*MI(v0-v1) << 8 */
|
|
A("mul %10,%9") /* r1:r0 = 5*HI(v0-v1) */
|
|
A("add %7,r0") /* %7:%6:?? += 5*HI(v0-v1) << 16 */
|
|
A("sts bezier_B+1, %6")
|
|
A("sts bezier_B+2, %7") /* bezier_B = %7:%6:?? = 5*(v0-v1) [50 cycles worst] */
|
|
|
|
A("ldi %9,10") /* %9 = 10 */
|
|
A("mul %0,%9") /* r1:r0 = 10*LO(v0-v1) */
|
|
A("sts bezier_C, r0")
|
|
A("mov %6,r1")
|
|
A("clr %7") /* %7:%6:?? = 10*LO(v0-v1) */
|
|
A("mul %1,%9") /* r1:r0 = 10*MI(v0-v1) */
|
|
A("add %6,r0")
|
|
A("adc %7,r1") /* %7:%6:?? += 10*MI(v0-v1) << 8 */
|
|
A("mul %10,%9") /* r1:r0 = 10*HI(v0-v1) */
|
|
A("add %7,r0") /* %7:%6:?? += 10*HI(v0-v1) << 16 */
|
|
A("sts bezier_C+1, %6")
|
|
" sts bezier_C+2, %7" /* bezier_C = %7:%6:?? = 10*(v0-v1) [65 cycles worst] */
|
|
: "+r" (r2),
|
|
"+d" (r3),
|
|
"=r" (r4),
|
|
"+r" (r5),
|
|
"+r" (r6),
|
|
"+r" (r7),
|
|
"=r" (r8),
|
|
"=r" (r9),
|
|
"=r" (r10),
|
|
"=d" (r11),
|
|
"+r" (r12)
|
|
:
|
|
: "r0", "r1", "cc", "memory"
|
|
);
|
|
}
|
|
|
|
FORCE_INLINE int32_t Stepper::_eval_bezier_curve(const uint32_t curr_step) {
|
|
|
|
// If dealing with the first step, save expensive computing and return the initial speed
|
|
if (!curr_step)
|
|
return bezier_F;
|
|
|
|
register uint8_t r0 = 0; /* Zero register */
|
|
register uint8_t r2 = (curr_step) & 0xFF;
|
|
register uint8_t r3 = (curr_step >> 8) & 0xFF;
|
|
register uint8_t r4 = (curr_step >> 16) & 0xFF;
|
|
register uint8_t r1,r5,r6,r7,r8,r9,r10,r11; /* Temporary registers */
|
|
|
|
__asm__ __volatile(
|
|
/* umul24x24to16hi(t, bezier_AV, curr_step); t: Range 0 - 1^16 = 16 bits*/
|
|
A("lds %9,bezier_AV") /* %9 = LO(AV)*/
|
|
A("mul %9,%2") /* r1:r0 = LO(bezier_AV)*LO(curr_step)*/
|
|
A("mov %7,r1") /* %7 = LO(bezier_AV)*LO(curr_step) >> 8*/
|
|
A("clr %8") /* %8:%7 = LO(bezier_AV)*LO(curr_step) >> 8*/
|
|
A("lds %10,bezier_AV+1") /* %10 = MI(AV)*/
|
|
A("mul %10,%2") /* r1:r0 = MI(bezier_AV)*LO(curr_step)*/
|
|
A("add %7,r0")
|
|
A("adc %8,r1") /* %8:%7 += MI(bezier_AV)*LO(curr_step)*/
|
|
A("lds r1,bezier_AV+2") /* r11 = HI(AV)*/
|
|
A("mul r1,%2") /* r1:r0 = HI(bezier_AV)*LO(curr_step)*/
|
|
A("add %8,r0") /* %8:%7 += HI(bezier_AV)*LO(curr_step) << 8*/
|
|
A("mul %9,%3") /* r1:r0 = LO(bezier_AV)*MI(curr_step)*/
|
|
A("add %7,r0")
|
|
A("adc %8,r1") /* %8:%7 += LO(bezier_AV)*MI(curr_step)*/
|
|
A("mul %10,%3") /* r1:r0 = MI(bezier_AV)*MI(curr_step)*/
|
|
A("add %8,r0") /* %8:%7 += LO(bezier_AV)*MI(curr_step) << 8*/
|
|
A("mul %9,%4") /* r1:r0 = LO(bezier_AV)*HI(curr_step)*/
|
|
A("add %8,r0") /* %8:%7 += LO(bezier_AV)*HI(curr_step) << 8*/
|
|
/* %8:%7 = t*/
|
|
|
|
/* uint16_t f = t;*/
|
|
A("mov %5,%7") /* %6:%5 = f*/
|
|
A("mov %6,%8")
|
|
/* %6:%5 = f*/
|
|
|
|
/* umul16x16to16hi(f, f, t); / Range 16 bits (unsigned) [17] */
|
|
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
|
A("mov %9,r1") /* store MIL(LO(f) * LO(t)) in %9, we need it for rounding*/
|
|
A("clr %10") /* %10 = 0*/
|
|
A("clr %11") /* %11 = 0*/
|
|
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
|
A("add %9,r0") /* %9 += LO(LO(f) * HI(t))*/
|
|
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
|
A("add %9,r0") /* %9 += LO(HI(f) * LO(t))*/
|
|
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t)) */
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
|
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
|
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
|
A("mov %5,%10") /* %6:%5 = */
|
|
A("mov %6,%11") /* f = %10:%11*/
|
|
|
|
/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/
|
|
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
|
A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
|
A("clr %10") /* %10 = 0*/
|
|
A("clr %11") /* %11 = 0*/
|
|
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
|
A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
|
|
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
|
A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
|
|
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
|
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
|
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
|
A("mov %5,%10") /* %6:%5 =*/
|
|
A("mov %6,%11") /* f = %10:%11*/
|
|
/* [15 +17*2] = [49]*/
|
|
|
|
/* %4:%3:%2 will be acc from now on*/
|
|
|
|
/* uint24_t acc = bezier_F; / Range 20 bits (unsigned)*/
|
|
A("clr %9") /* "decimal place we get for free"*/
|
|
A("lds %2,bezier_F")
|
|
A("lds %3,bezier_F+1")
|
|
A("lds %4,bezier_F+2") /* %4:%3:%2 = acc*/
|
|
|
|
/* if (A_negative) {*/
|
|
A("lds r0,A_negative")
|
|
A("or r0,%0") /* Is flag signalling negative? */
|
|
A("brne 3f") /* If yes, Skip next instruction if A was negative*/
|
|
A("rjmp 1f") /* Otherwise, jump */
|
|
|
|
/* uint24_t v; */
|
|
/* umul16x24to24hi(v, f, bezier_C); / Range 21bits [29] */
|
|
/* acc -= v; */
|
|
L("3")
|
|
A("lds %10, bezier_C") /* %10 = LO(bezier_C)*/
|
|
A("mul %10,%5") /* r1:r0 = LO(bezier_C) * LO(f)*/
|
|
A("sub %9,r1")
|
|
A("sbc %2,%0")
|
|
A("sbc %3,%0")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_C) * LO(f))*/
|
|
A("lds %11, bezier_C+1") /* %11 = MI(bezier_C)*/
|
|
A("mul %11,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
|
|
A("sub %9,r0")
|
|
A("sbc %2,r1")
|
|
A("sbc %3,%0")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_C) * LO(f)*/
|
|
A("lds %1, bezier_C+2") /* %1 = HI(bezier_C)*/
|
|
A("mul %1,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 8*/
|
|
A("mul %10,%6") /* r1:r0 = LO(bezier_C) * MI(f)*/
|
|
A("sub %9,r0")
|
|
A("sbc %2,r1")
|
|
A("sbc %3,%0")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_C) * MI(f)*/
|
|
A("mul %11,%6") /* r1:r0 = MI(bezier_C) * MI(f)*/
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_C) * MI(f) << 8*/
|
|
A("mul %1,%6") /* r1:r0 = HI(bezier_C) * LO(f)*/
|
|
A("sub %3,r0")
|
|
A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 16*/
|
|
|
|
/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/
|
|
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
|
A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
|
A("clr %10") /* %10 = 0*/
|
|
A("clr %11") /* %11 = 0*/
|
|
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
|
A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
|
|
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
|
A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
|
|
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
|
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
|
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
|
A("mov %5,%10") /* %6:%5 =*/
|
|
A("mov %6,%11") /* f = %10:%11*/
|
|
|
|
/* umul16x24to24hi(v, f, bezier_B); / Range 22bits [29]*/
|
|
/* acc += v; */
|
|
A("lds %10, bezier_B") /* %10 = LO(bezier_B)*/
|
|
A("mul %10,%5") /* r1:r0 = LO(bezier_B) * LO(f)*/
|
|
A("add %9,r1")
|
|
A("adc %2,%0")
|
|
A("adc %3,%0")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_B) * LO(f))*/
|
|
A("lds %11, bezier_B+1") /* %11 = MI(bezier_B)*/
|
|
A("mul %11,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
|
|
A("add %9,r0")
|
|
A("adc %2,r1")
|
|
A("adc %3,%0")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_B) * LO(f)*/
|
|
A("lds %1, bezier_B+2") /* %1 = HI(bezier_B)*/
|
|
A("mul %1,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
|
|
A("add %2,r0")
|
|
A("adc %3,r1")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 8*/
|
|
A("mul %10,%6") /* r1:r0 = LO(bezier_B) * MI(f)*/
|
|
A("add %9,r0")
|
|
A("adc %2,r1")
|
|
A("adc %3,%0")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_B) * MI(f)*/
|
|
A("mul %11,%6") /* r1:r0 = MI(bezier_B) * MI(f)*/
|
|
A("add %2,r0")
|
|
A("adc %3,r1")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_B) * MI(f) << 8*/
|
|
A("mul %1,%6") /* r1:r0 = HI(bezier_B) * LO(f)*/
|
|
A("add %3,r0")
|
|
A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 16*/
|
|
|
|
/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^5 (unsigned) [17]*/
|
|
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
|
A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
|
A("clr %10") /* %10 = 0*/
|
|
A("clr %11") /* %11 = 0*/
|
|
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
|
A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
|
|
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
|
A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
|
|
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
|
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
|
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
|
A("mov %5,%10") /* %6:%5 =*/
|
|
A("mov %6,%11") /* f = %10:%11*/
|
|
|
|
/* umul16x24to24hi(v, f, bezier_A); / Range 21bits [29]*/
|
|
/* acc -= v; */
|
|
A("lds %10, bezier_A") /* %10 = LO(bezier_A)*/
|
|
A("mul %10,%5") /* r1:r0 = LO(bezier_A) * LO(f)*/
|
|
A("sub %9,r1")
|
|
A("sbc %2,%0")
|
|
A("sbc %3,%0")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_A) * LO(f))*/
|
|
A("lds %11, bezier_A+1") /* %11 = MI(bezier_A)*/
|
|
A("mul %11,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
|
|
A("sub %9,r0")
|
|
A("sbc %2,r1")
|
|
A("sbc %3,%0")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_A) * LO(f)*/
|
|
A("lds %1, bezier_A+2") /* %1 = HI(bezier_A)*/
|
|
A("mul %1,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 8*/
|
|
A("mul %10,%6") /* r1:r0 = LO(bezier_A) * MI(f)*/
|
|
A("sub %9,r0")
|
|
A("sbc %2,r1")
|
|
A("sbc %3,%0")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_A) * MI(f)*/
|
|
A("mul %11,%6") /* r1:r0 = MI(bezier_A) * MI(f)*/
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_A) * MI(f) << 8*/
|
|
A("mul %1,%6") /* r1:r0 = HI(bezier_A) * LO(f)*/
|
|
A("sub %3,r0")
|
|
A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 16*/
|
|
A("jmp 2f") /* Done!*/
|
|
|
|
L("1")
|
|
|
|
/* uint24_t v; */
|
|
/* umul16x24to24hi(v, f, bezier_C); / Range 21bits [29]*/
|
|
/* acc += v; */
|
|
A("lds %10, bezier_C") /* %10 = LO(bezier_C)*/
|
|
A("mul %10,%5") /* r1:r0 = LO(bezier_C) * LO(f)*/
|
|
A("add %9,r1")
|
|
A("adc %2,%0")
|
|
A("adc %3,%0")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_C) * LO(f))*/
|
|
A("lds %11, bezier_C+1") /* %11 = MI(bezier_C)*/
|
|
A("mul %11,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
|
|
A("add %9,r0")
|
|
A("adc %2,r1")
|
|
A("adc %3,%0")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_C) * LO(f)*/
|
|
A("lds %1, bezier_C+2") /* %1 = HI(bezier_C)*/
|
|
A("mul %1,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
|
|
A("add %2,r0")
|
|
A("adc %3,r1")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 8*/
|
|
A("mul %10,%6") /* r1:r0 = LO(bezier_C) * MI(f)*/
|
|
A("add %9,r0")
|
|
A("adc %2,r1")
|
|
A("adc %3,%0")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_C) * MI(f)*/
|
|
A("mul %11,%6") /* r1:r0 = MI(bezier_C) * MI(f)*/
|
|
A("add %2,r0")
|
|
A("adc %3,r1")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_C) * MI(f) << 8*/
|
|
A("mul %1,%6") /* r1:r0 = HI(bezier_C) * LO(f)*/
|
|
A("add %3,r0")
|
|
A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 16*/
|
|
|
|
/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/
|
|
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
|
A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
|
A("clr %10") /* %10 = 0*/
|
|
A("clr %11") /* %11 = 0*/
|
|
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
|
A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
|
|
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
|
A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
|
|
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
|
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
|
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
|
A("mov %5,%10") /* %6:%5 =*/
|
|
A("mov %6,%11") /* f = %10:%11*/
|
|
|
|
/* umul16x24to24hi(v, f, bezier_B); / Range 22bits [29]*/
|
|
/* acc -= v;*/
|
|
A("lds %10, bezier_B") /* %10 = LO(bezier_B)*/
|
|
A("mul %10,%5") /* r1:r0 = LO(bezier_B) * LO(f)*/
|
|
A("sub %9,r1")
|
|
A("sbc %2,%0")
|
|
A("sbc %3,%0")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_B) * LO(f))*/
|
|
A("lds %11, bezier_B+1") /* %11 = MI(bezier_B)*/
|
|
A("mul %11,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
|
|
A("sub %9,r0")
|
|
A("sbc %2,r1")
|
|
A("sbc %3,%0")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_B) * LO(f)*/
|
|
A("lds %1, bezier_B+2") /* %1 = HI(bezier_B)*/
|
|
A("mul %1,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 8*/
|
|
A("mul %10,%6") /* r1:r0 = LO(bezier_B) * MI(f)*/
|
|
A("sub %9,r0")
|
|
A("sbc %2,r1")
|
|
A("sbc %3,%0")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_B) * MI(f)*/
|
|
A("mul %11,%6") /* r1:r0 = MI(bezier_B) * MI(f)*/
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1")
|
|
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_B) * MI(f) << 8*/
|
|
A("mul %1,%6") /* r1:r0 = HI(bezier_B) * LO(f)*/
|
|
A("sub %3,r0")
|
|
A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 16*/
|
|
|
|
/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^5 (unsigned) [17]*/
|
|
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
|
A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
|
A("clr %10") /* %10 = 0*/
|
|
A("clr %11") /* %11 = 0*/
|
|
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
|
A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
|
|
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
|
A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
|
|
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
|
|
A("adc %11,%0") /* %11 += carry*/
|
|
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
|
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
|
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
|
A("mov %5,%10") /* %6:%5 =*/
|
|
A("mov %6,%11") /* f = %10:%11*/
|
|
|
|
/* umul16x24to24hi(v, f, bezier_A); / Range 21bits [29]*/
|
|
/* acc += v; */
|
|
A("lds %10, bezier_A") /* %10 = LO(bezier_A)*/
|
|
A("mul %10,%5") /* r1:r0 = LO(bezier_A) * LO(f)*/
|
|
A("add %9,r1")
|
|
A("adc %2,%0")
|
|
A("adc %3,%0")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_A) * LO(f))*/
|
|
A("lds %11, bezier_A+1") /* %11 = MI(bezier_A)*/
|
|
A("mul %11,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
|
|
A("add %9,r0")
|
|
A("adc %2,r1")
|
|
A("adc %3,%0")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_A) * LO(f)*/
|
|
A("lds %1, bezier_A+2") /* %1 = HI(bezier_A)*/
|
|
A("mul %1,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
|
|
A("add %2,r0")
|
|
A("adc %3,r1")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 8*/
|
|
A("mul %10,%6") /* r1:r0 = LO(bezier_A) * MI(f)*/
|
|
A("add %9,r0")
|
|
A("adc %2,r1")
|
|
A("adc %3,%0")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_A) * MI(f)*/
|
|
A("mul %11,%6") /* r1:r0 = MI(bezier_A) * MI(f)*/
|
|
A("add %2,r0")
|
|
A("adc %3,r1")
|
|
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_A) * MI(f) << 8*/
|
|
A("mul %1,%6") /* r1:r0 = HI(bezier_A) * LO(f)*/
|
|
A("add %3,r0")
|
|
A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 16*/
|
|
L("2")
|
|
" clr __zero_reg__" /* C runtime expects r1 = __zero_reg__ = 0 */
|
|
: "+r"(r0),
|
|
"+r"(r1),
|
|
"+r"(r2),
|
|
"+r"(r3),
|
|
"+r"(r4),
|
|
"+r"(r5),
|
|
"+r"(r6),
|
|
"+r"(r7),
|
|
"+r"(r8),
|
|
"+r"(r9),
|
|
"+r"(r10),
|
|
"+r"(r11)
|
|
:
|
|
:"cc","r0","r1"
|
|
);
|
|
return (r2 | (uint16_t(r3) << 8)) | (uint32_t(r4) << 16);
|
|
}
|
|
|
|
#endif // BEZIER_JERK_CONTROL
|
|
|
|
/**
|
|
* Stepper Driver Interrupt
|
|
*
|
|
* Directly pulses the stepper motors at high frequency.
|
|
* Timer 1 runs at a base frequency of 2MHz, with this ISR using OCR1A compare mode.
|
|
*
|
|
* OCR1A Frequency
|
|
* 1 2 MHz
|
|
* 50 40 KHz
|
|
* 100 20 KHz - capped max rate
|
|
* 200 10 KHz - nominal max rate
|
|
* 2000 1 KHz - sleep rate
|
|
* 4000 500 Hz - init rate
|
|
*/
|
|
|
|
HAL_STEP_TIMER_ISR {
|
|
HAL_timer_isr_prologue(STEP_TIMER_NUM);
|
|
|
|
// Program timer compare for the maximum period, so it does NOT
|
|
// flag an interrupt while this ISR is running - So changes from small
|
|
// periods to big periods are respected and the timer does not reset to 0
|
|
HAL_timer_set_compare(STEP_TIMER_NUM, HAL_TIMER_TYPE_MAX);
|
|
|
|
// Call the ISR scheduler
|
|
hal_timer_t ticks = Stepper::isr_scheduler();
|
|
|
|
// Now 'ticks' contains the period to the next Stepper ISR.
|
|
// Potential problem: Since the timer continues to run, the requested
|
|
// compare value may already have passed.
|
|
//
|
|
// Assuming at least 6µs between calls to this ISR...
|
|
// On AVR the ISR epilogue is estimated at 40 instructions - close to 2.5µS.
|
|
// On ARM the ISR epilogue is estimated at 10 instructions - close to 200nS.
|
|
// In either case leave at least 4µS for other tasks to execute.
|
|
const hal_timer_t minticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * 4); // ISR never takes more than 1ms, so this shouldn't cause trouble
|
|
NOLESS(ticks, MAX(minticks, hal_timer_t((STEP_TIMER_MIN_INTERVAL) * (HAL_TICKS_PER_US))));
|
|
|
|
// Set the next ISR to fire at the proper time
|
|
HAL_timer_set_compare(STEP_TIMER_NUM, ticks);
|
|
|
|
HAL_timer_isr_epilogue(STEP_TIMER_NUM);
|
|
}
|
|
|
|
#define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B)
|
|
|
|
hal_timer_t Stepper::isr_scheduler() {
|
|
uint32_t interval;
|
|
|
|
// Run main stepping pulse phase ISR if we have to
|
|
if (!nextMainISR) Stepper::stepper_pulse_phase_isr();
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
// Run linear advance stepper ISR if we have to
|
|
if (!nextAdvanceISR) nextAdvanceISR = Stepper::advance_isr();
|
|
#endif
|
|
|
|
// ^== Time critical. NOTHING besides pulse generation should be above here!!!
|
|
|
|
// Run main stepping block processing ISR if we have to
|
|
if (!nextMainISR) nextMainISR = Stepper::stepper_block_phase_isr();
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
// Select the closest interval in time
|
|
interval = (nextAdvanceISR <= nextMainISR)
|
|
? nextAdvanceISR
|
|
: nextMainISR;
|
|
|
|
#else // !ENABLED(LIN_ADVANCE)
|
|
|
|
// The interval is just the remaining time to the stepper ISR
|
|
interval = nextMainISR;
|
|
#endif
|
|
|
|
// Limit the value to the maximum possible value of the timer
|
|
if (interval > HAL_TIMER_TYPE_MAX)
|
|
interval = HAL_TIMER_TYPE_MAX;
|
|
|
|
// Compute the time remaining for the main isr
|
|
nextMainISR -= interval;
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
// Compute the time remaining for the advance isr
|
|
if (nextAdvanceISR != ADV_NEVER)
|
|
nextAdvanceISR -= interval;
|
|
#endif
|
|
|
|
return (hal_timer_t)interval;
|
|
}
|
|
|
|
// This part of the ISR should ONLY create the pulses for the steppers
|
|
// -- Nothing more, nothing less -- We want to avoid jitter from where
|
|
// the pulses should be generated (when the interrupt triggers) to the
|
|
// time pulses are actually created. So, PLEASE DO NOT PLACE ANY CODE
|
|
// above this line that can conditionally change that time (we are trying
|
|
// to keep the delay between the interrupt triggering and pulse generation
|
|
// as constant as possible!!!!
|
|
void Stepper::stepper_pulse_phase_isr() {
|
|
|
|
// If we must abort the current block, do so!
|
|
if (abort_current_block) {
|
|
abort_current_block = false;
|
|
if (current_block) {
|
|
current_block = NULL;
|
|
planner.discard_current_block();
|
|
}
|
|
}
|
|
|
|
// If there is no current block, do nothing
|
|
if (!current_block) return;
|
|
|
|
// Take multiple steps per interrupt (For high speed moves)
|
|
all_steps_done = false;
|
|
for (uint8_t i = step_loops; i--;) {
|
|
|
|
#define _COUNTER(AXIS) counter_## AXIS
|
|
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
|
|
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
|
|
|
|
// Advance the Bresenham counter; start a pulse if the axis needs a step
|
|
#define PULSE_START(AXIS) do{ \
|
|
_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
|
|
if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), 0); } \
|
|
}while(0)
|
|
|
|
// Advance the Bresenham counter; start a pulse if the axis needs a step
|
|
#define STEP_TICK(AXIS) do { \
|
|
if (_COUNTER(AXIS) > 0) { \
|
|
_COUNTER(AXIS) -= current_block->step_event_count; \
|
|
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
|
|
} \
|
|
}while(0)
|
|
|
|
// Stop an active pulse, if any
|
|
#define PULSE_STOP(AXIS) _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), 0)
|
|
|
|
/**
|
|
* Estimate the number of cycles that the stepper logic already takes
|
|
* up between the start and stop of the X stepper pulse.
|
|
*
|
|
* Currently this uses very modest estimates of around 5 cycles.
|
|
* True values may be derived by careful testing.
|
|
*
|
|
* Once any delay is added, the cost of the delay code itself
|
|
* may be subtracted from this value to get a more accurate delay.
|
|
* Delays under 20 cycles (1.25µs) will be very accurate, using NOPs.
|
|
* Longer delays use a loop. The resolution is 8 cycles.
|
|
*/
|
|
#if HAS_X_STEP
|
|
#define _CYCLE_APPROX_1 5
|
|
#else
|
|
#define _CYCLE_APPROX_1 0
|
|
#endif
|
|
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
|
|
#define _CYCLE_APPROX_2 _CYCLE_APPROX_1 + 4
|
|
#else
|
|
#define _CYCLE_APPROX_2 _CYCLE_APPROX_1
|
|
#endif
|
|
#if HAS_Y_STEP
|
|
#define _CYCLE_APPROX_3 _CYCLE_APPROX_2 + 5
|
|
#else
|
|
#define _CYCLE_APPROX_3 _CYCLE_APPROX_2
|
|
#endif
|
|
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
|
|
#define _CYCLE_APPROX_4 _CYCLE_APPROX_3 + 4
|
|
#else
|
|
#define _CYCLE_APPROX_4 _CYCLE_APPROX_3
|
|
#endif
|
|
#if HAS_Z_STEP
|
|
#define _CYCLE_APPROX_5 _CYCLE_APPROX_4 + 5
|
|
#else
|
|
#define _CYCLE_APPROX_5 _CYCLE_APPROX_4
|
|
#endif
|
|
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
|
|
#define _CYCLE_APPROX_6 _CYCLE_APPROX_5 + 4
|
|
#else
|
|
#define _CYCLE_APPROX_6 _CYCLE_APPROX_5
|
|
#endif
|
|
#if DISABLED(LIN_ADVANCE)
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
#define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + (MIXING_STEPPERS) * 6
|
|
#else
|
|
#define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + 5
|
|
#endif
|
|
#else
|
|
#define _CYCLE_APPROX_7 _CYCLE_APPROX_6
|
|
#endif
|
|
|
|
#define CYCLES_EATEN_XYZE _CYCLE_APPROX_7
|
|
#define EXTRA_CYCLES_XYZE (STEP_PULSE_CYCLES - (CYCLES_EATEN_XYZE))
|
|
|
|
/**
|
|
* If a minimum pulse time was specified get the timer 0 value.
|
|
*
|
|
* On AVR the TCNT0 timer has an 8x prescaler, so it increments every 8 cycles.
|
|
* That's every 0.5µs on 16MHz and every 0.4µs on 20MHz.
|
|
* 20 counts of TCNT0 -by itself- is a good pulse delay.
|
|
* 10µs = 160 or 200 cycles.
|
|
*/
|
|
#if EXTRA_CYCLES_XYZE > 20
|
|
hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
|
|
#endif
|
|
|
|
#if HAS_X_STEP
|
|
PULSE_START(X);
|
|
#endif
|
|
#if HAS_Y_STEP
|
|
PULSE_START(Y);
|
|
#endif
|
|
#if HAS_Z_STEP
|
|
PULSE_START(Z);
|
|
#endif
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
counter_E += current_block->steps[E_AXIS];
|
|
if (counter_E > 0) {
|
|
#if DISABLED(MIXING_EXTRUDER)
|
|
// Don't step E here for mixing extruder
|
|
motor_direction(E_AXIS) ? --e_steps : ++e_steps;
|
|
#endif
|
|
}
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
// Step mixing steppers proportionally
|
|
const bool dir = motor_direction(E_AXIS);
|
|
MIXING_STEPPERS_LOOP(j) {
|
|
counter_m[j] += current_block->steps[E_AXIS];
|
|
if (counter_m[j] > 0) {
|
|
counter_m[j] -= current_block->mix_event_count[j];
|
|
dir ? --e_steps[j] : ++e_steps[j];
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#else // !LIN_ADVANCE - use linear interpolation for E also
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
// Keep updating the single E axis
|
|
counter_E += current_block->steps[E_AXIS];
|
|
// Tick the counters used for this mix
|
|
MIXING_STEPPERS_LOOP(j) {
|
|
// Step mixing steppers (proportionally)
|
|
counter_m[j] += current_block->steps[E_AXIS];
|
|
// Step when the counter goes over zero
|
|
if (counter_m[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
|
|
}
|
|
#else // !MIXING_EXTRUDER
|
|
PULSE_START(E);
|
|
#endif
|
|
#endif // !LIN_ADVANCE
|
|
|
|
#if HAS_X_STEP
|
|
STEP_TICK(X);
|
|
#endif
|
|
#if HAS_Y_STEP
|
|
STEP_TICK(Y);
|
|
#endif
|
|
#if HAS_Z_STEP
|
|
STEP_TICK(Z);
|
|
#endif
|
|
|
|
STEP_TICK(E); // Always tick the single E axis
|
|
|
|
// For minimum pulse time wait before stopping pulses
|
|
#if EXTRA_CYCLES_XYZE > 20
|
|
while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
|
|
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
|
|
#elif EXTRA_CYCLES_XYZE > 0
|
|
DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE);
|
|
#endif
|
|
|
|
#if HAS_X_STEP
|
|
PULSE_STOP(X);
|
|
#endif
|
|
#if HAS_Y_STEP
|
|
PULSE_STOP(Y);
|
|
#endif
|
|
#if HAS_Z_STEP
|
|
PULSE_STOP(Z);
|
|
#endif
|
|
|
|
#if DISABLED(LIN_ADVANCE)
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
MIXING_STEPPERS_LOOP(j) {
|
|
if (counter_m[j] > 0) {
|
|
counter_m[j] -= current_block->mix_event_count[j];
|
|
En_STEP_WRITE(j, INVERT_E_STEP_PIN);
|
|
}
|
|
}
|
|
#else // !MIXING_EXTRUDER
|
|
PULSE_STOP(E);
|
|
#endif
|
|
#endif // !LIN_ADVANCE
|
|
|
|
if (++step_events_completed >= current_block->step_event_count) {
|
|
all_steps_done = true;
|
|
break;
|
|
}
|
|
|
|
// For minimum pulse time wait after stopping pulses also
|
|
#if EXTRA_CYCLES_XYZE > 20
|
|
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
|
|
#elif EXTRA_CYCLES_XYZE > 0
|
|
if (i) DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE);
|
|
#endif
|
|
|
|
} // steps_loop
|
|
}
|
|
|
|
// This is the last half of the stepper interrupt: This one processes and
|
|
// properly schedules blocks from the planner. This is executed after creating
|
|
// the step pulses, so it is not time critical, as pulses are already done.
|
|
|
|
uint32_t Stepper::stepper_block_phase_isr() {
|
|
|
|
// If no queued movements, just wait 1ms for the next move
|
|
uint32_t interval = (HAL_STEPPER_TIMER_RATE / 1000);
|
|
|
|
// If there is a current block
|
|
if (current_block) {
|
|
|
|
// Calculate new timer value
|
|
if (step_events_completed <= current_block->accelerate_until) {
|
|
|
|
#if ENABLED(BEZIER_JERK_CONTROL)
|
|
// Get the next speed to use (Jerk limited!)
|
|
uint32_t acc_step_rate =
|
|
acceleration_time < current_block->acceleration_time
|
|
? _eval_bezier_curve(acceleration_time)
|
|
: current_block->cruise_rate;
|
|
#else
|
|
acc_step_rate = STEP_MULTIPLY(acceleration_time, current_block->acceleration_rate) + current_block->initial_rate;
|
|
NOMORE(acc_step_rate, current_block->nominal_rate);
|
|
#endif
|
|
|
|
// step_rate to timer interval
|
|
interval = calc_timer_interval(acc_step_rate);
|
|
acceleration_time += interval;
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
if (current_block->use_advance_lead) {
|
|
if (step_events_completed == step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
|
|
nextAdvanceISR = 0; // Wake up eISR on first acceleration loop and fire ISR if final adv_rate is reached
|
|
eISR_Rate = current_block->advance_speed;
|
|
}
|
|
}
|
|
else {
|
|
eISR_Rate = ADV_NEVER;
|
|
if (e_steps) nextAdvanceISR = 0;
|
|
}
|
|
#endif // LIN_ADVANCE
|
|
}
|
|
else if (step_events_completed > current_block->decelerate_after) {
|
|
uint32_t step_rate;
|
|
|
|
#if ENABLED(BEZIER_JERK_CONTROL)
|
|
// If this is the 1st time we process the 2nd half of the trapezoid...
|
|
if (!bezier_2nd_half) {
|
|
// Initialize the Bézier speed curve
|
|
_calc_bezier_curve_coeffs(current_block->cruise_rate, current_block->final_rate, current_block->deceleration_time_inverse);
|
|
bezier_2nd_half = true;
|
|
}
|
|
|
|
// Calculate the next speed to use
|
|
step_rate = deceleration_time < current_block->deceleration_time
|
|
? _eval_bezier_curve(deceleration_time)
|
|
: current_block->final_rate;
|
|
#else
|
|
|
|
// Using the old trapezoidal control
|
|
step_rate = STEP_MULTIPLY(deceleration_time, current_block->acceleration_rate);
|
|
if (step_rate < acc_step_rate) { // Still decelerating?
|
|
step_rate = acc_step_rate - step_rate;
|
|
NOLESS(step_rate, current_block->final_rate);
|
|
}
|
|
else
|
|
step_rate = current_block->final_rate;
|
|
#endif
|
|
|
|
// step_rate to timer interval
|
|
interval = calc_timer_interval(step_rate);
|
|
deceleration_time += interval;
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
if (current_block->use_advance_lead) {
|
|
if (step_events_completed <= current_block->decelerate_after + step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
|
|
nextAdvanceISR = 0; // Wake up eISR on first deceleration loop
|
|
eISR_Rate = current_block->advance_speed;
|
|
}
|
|
}
|
|
else {
|
|
eISR_Rate = ADV_NEVER;
|
|
if (e_steps) nextAdvanceISR = 0;
|
|
}
|
|
#endif // LIN_ADVANCE
|
|
}
|
|
else {
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
// If there are any esteps, fire the next advance_isr "now"
|
|
if (e_steps && eISR_Rate != current_block->advance_speed) nextAdvanceISR = 0;
|
|
#endif
|
|
|
|
// The timer interval is just the nominal value for the nominal speed
|
|
interval = ticks_nominal;
|
|
|
|
// Ensure this runs at the correct step rate, even if it just came off an acceleration
|
|
step_loops = step_loops_nominal;
|
|
}
|
|
|
|
// If current block is finished, reset pointer
|
|
if (all_steps_done) {
|
|
current_block = NULL;
|
|
planner.discard_current_block();
|
|
}
|
|
}
|
|
|
|
// If there is no current block at this point, attempt to pop one from the buffer
|
|
// and prepare its movement
|
|
if (!current_block) {
|
|
|
|
// Anything in the buffer?
|
|
if ((current_block = planner.get_current_block())) {
|
|
|
|
// Sync block? Sync the stepper counts and return
|
|
while (TEST(current_block->flag, BLOCK_BIT_SYNC_POSITION)) {
|
|
_set_position(
|
|
current_block->position[A_AXIS], current_block->position[B_AXIS],
|
|
current_block->position[C_AXIS], current_block->position[E_AXIS]
|
|
);
|
|
planner.discard_current_block();
|
|
|
|
// Try to get a new block
|
|
if (!(current_block = planner.get_current_block()))
|
|
return interval; // No more queued movements!
|
|
}
|
|
|
|
// Flag all moving axes for proper endstop handling
|
|
|
|
#if IS_CORE
|
|
// Define conditions for checking endstops
|
|
#define S_(N) current_block->steps[CORE_AXIS_##N]
|
|
#define D_(N) motor_direction(CORE_AXIS_##N)
|
|
#endif
|
|
|
|
#if CORE_IS_XY || CORE_IS_XZ
|
|
/**
|
|
* Head direction in -X axis for CoreXY and CoreXZ bots.
|
|
*
|
|
* If steps differ, both axes are moving.
|
|
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
|
|
* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
|
|
*/
|
|
#if ENABLED(COREXY) || ENABLED(COREXZ)
|
|
#define X_CMP ==
|
|
#else
|
|
#define X_CMP !=
|
|
#endif
|
|
#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
|
|
#else
|
|
#define X_MOVE_TEST !!current_block->steps[X_AXIS]
|
|
#endif
|
|
|
|
#if CORE_IS_XY || CORE_IS_YZ
|
|
/**
|
|
* Head direction in -Y axis for CoreXY / CoreYZ bots.
|
|
*
|
|
* If steps differ, both axes are moving
|
|
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
|
|
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
|
|
*/
|
|
#if ENABLED(COREYX) || ENABLED(COREYZ)
|
|
#define Y_CMP ==
|
|
#else
|
|
#define Y_CMP !=
|
|
#endif
|
|
#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
|
|
#else
|
|
#define Y_MOVE_TEST !!current_block->steps[Y_AXIS]
|
|
#endif
|
|
|
|
#if CORE_IS_XZ || CORE_IS_YZ
|
|
/**
|
|
* Head direction in -Z axis for CoreXZ or CoreYZ bots.
|
|
*
|
|
* If steps differ, both axes are moving
|
|
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
|
|
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
|
|
*/
|
|
#if ENABLED(COREZX) || ENABLED(COREZY)
|
|
#define Z_CMP ==
|
|
#else
|
|
#define Z_CMP !=
|
|
#endif
|
|
#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
|
|
#else
|
|
#define Z_MOVE_TEST !!current_block->steps[Z_AXIS]
|
|
#endif
|
|
|
|
SET_BIT(axis_did_move, X_AXIS, X_MOVE_TEST);
|
|
SET_BIT(axis_did_move, Y_AXIS, Y_MOVE_TEST);
|
|
SET_BIT(axis_did_move, Z_AXIS, Z_MOVE_TEST);
|
|
SET_BIT(axis_did_move, E_AXIS, !!current_block->steps[E_AXIS]);
|
|
SET_BIT(axis_did_move, X_HEAD, !!current_block->steps[X_HEAD]);
|
|
SET_BIT(axis_did_move, Y_HEAD, !!current_block->steps[Y_HEAD]);
|
|
SET_BIT(axis_did_move, Z_HEAD, !!current_block->steps[Z_HEAD]);
|
|
|
|
// Initialize the trapezoid generator from the current block.
|
|
#if ENABLED(LIN_ADVANCE)
|
|
#if E_STEPPERS > 1
|
|
if (current_block->active_extruder != last_movement_extruder) {
|
|
current_adv_steps = 0; // If the now active extruder wasn't in use during the last move, its pressure is most likely gone.
|
|
LA_active_extruder = current_block->active_extruder;
|
|
}
|
|
#endif
|
|
|
|
if ((use_advance_lead = current_block->use_advance_lead)) {
|
|
LA_decelerate_after = current_block->decelerate_after;
|
|
final_adv_steps = current_block->final_adv_steps;
|
|
max_adv_steps = current_block->max_adv_steps;
|
|
}
|
|
#endif
|
|
|
|
if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_movement_extruder) {
|
|
last_direction_bits = current_block->direction_bits;
|
|
last_movement_extruder = current_block->active_extruder;
|
|
set_directions();
|
|
}
|
|
|
|
// At this point, we must ensure the movement about to execute isn't
|
|
// trying to force the head against a limit switch. If using interrupt-
|
|
// driven change detection, and already against a limit then no call to
|
|
// the endstop_triggered method will be done and the movement will be
|
|
// done against the endstop. So, check the limits here: If the movement
|
|
// is against the limits, the block will be marked as to be killed, and
|
|
// on the next call to this ISR, will be discarded.
|
|
endstops.check_possible_change();
|
|
|
|
// No acceleration / deceleration time elapsed so far
|
|
acceleration_time = deceleration_time = 0;
|
|
|
|
// No step events completed so far
|
|
step_events_completed = 0;
|
|
|
|
// step_rate to timer interval for the nominal speed
|
|
ticks_nominal = calc_timer_interval(current_block->nominal_rate);
|
|
|
|
// make a note of the number of step loops required at nominal speed
|
|
step_loops_nominal = step_loops;
|
|
|
|
#if DISABLED(BEZIER_JERK_CONTROL)
|
|
// Set as deceleration point the initial rate of the block
|
|
acc_step_rate = current_block->initial_rate;
|
|
#endif
|
|
|
|
#if ENABLED(BEZIER_JERK_CONTROL)
|
|
// Initialize the Bézier speed curve
|
|
_calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse);
|
|
|
|
// We have not started the 2nd half of the trapezoid
|
|
bezier_2nd_half = false;
|
|
#endif
|
|
|
|
// Initialize Bresenham counters to 1/2 the ceiling
|
|
counter_X = counter_Y = counter_Z = counter_E = -((int32_t)(current_block->step_event_count >> 1));
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
MIXING_STEPPERS_LOOP(i)
|
|
counter_m[i] = -(current_block->mix_event_count[i] >> 1);
|
|
#endif
|
|
|
|
#if ENABLED(Z_LATE_ENABLE)
|
|
// If delayed Z enable, enable it now. This option will severely interfere with
|
|
// timing between pulses when chaining motion between blocks, and it could lead
|
|
// to lost steps in both X and Y axis, so avoid using it unless strictly necessary!!
|
|
if (current_block->steps[Z_AXIS]) enable_Z();
|
|
#endif
|
|
}
|
|
}
|
|
|
|
// Return the interval to wait
|
|
return interval;
|
|
}
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
#define CYCLES_EATEN_E (E_STEPPERS * 5)
|
|
#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
|
|
|
|
// Timer interrupt for E. e_steps is set in the main routine;
|
|
uint32_t Stepper::advance_isr() {
|
|
uint32_t interval;
|
|
|
|
#if ENABLED(MK2_MULTIPLEXER) // For SNMM even-numbered steppers are reversed
|
|
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E0_DIR_WRITE(e_steps < 0 ? !INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0) : INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0)); }while(0)
|
|
#elif ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
|
|
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) { if (e_steps < 0) REV_E_DIR(); else NORM_E_DIR(); } }while(0)
|
|
#elif ENABLED(SWITCHING_EXTRUDER)
|
|
#if EXTRUDERS > 4
|
|
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) { switch (INDEX) { \
|
|
case 0: case 1: E0_DIR_WRITE(!INVERT_E0_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); break; \
|
|
case 2: case 3: E1_DIR_WRITE(!INVERT_E1_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); break; \
|
|
case 4: E2_DIR_WRITE(!INVERT_E2_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); \
|
|
} } }while(0)
|
|
#elif EXTRUDERS > 2
|
|
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) { switch (INDEX) { \
|
|
case 0: case 1: E0_DIR_WRITE(!INVERT_E0_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); break; \
|
|
case 2: case 3: E1_DIR_WRITE(!INVERT_E1_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); break; \
|
|
} } }while(0)
|
|
#else
|
|
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E0_DIR_WRITE(!INVERT_E0_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); }while(0)
|
|
#endif
|
|
#else
|
|
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR ^ (e_steps < 0)); }while(0)
|
|
#endif
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
|
|
#define START_E_PULSE(INDEX) do{ if (e_steps) E_STEP_WRITE(!INVERT_E_STEP_PIN); }while(0)
|
|
#define STOP_E_PULSE(INDEX) do{ if (e_steps) { e_steps < 0 ? ++e_steps : --e_steps; E_STEP_WRITE(INVERT_E_STEP_PIN); } }while(0)
|
|
#elif ENABLED(SWITCHING_EXTRUDER)
|
|
#if EXTRUDERS > 4
|
|
#define START_E_PULSE(INDEX) do{ if (e_steps) { switch (INDEX) { \
|
|
case 0: case 1: E0_DIR_WRITE(!INVERT_E_STEP_PIN); break; \
|
|
case 2: case 3: E1_DIR_WRITE(!INVERT_E_STEP_PIN); break; \
|
|
case 4: E2_DIR_WRITE(!INVERT_E_STEP_PIN); } \
|
|
} }while(0)
|
|
#define STOP_E_PULSE(INDEX) do{ if (e_steps) { \
|
|
e_steps < 0 ? ++e_steps : --e_steps; \
|
|
switch (INDEX) { \
|
|
case 0: case 1: E0_DIR_WRITE(INVERT_E_STEP_PIN); break; \
|
|
case 2: case 3: E1_DIR_WRITE(INVERT_E_STEP_PIN); break; \
|
|
case 4: E2_DIR_WRITE(INVERT_E_STEP_PIN); } \
|
|
} }while(0)
|
|
#elif EXTRUDERS > 2
|
|
#define START_E_PULSE(INDEX) do{ if (e_steps) { if (INDEX < 2) E0_DIR_WRITE(!INVERT_E_STEP_PIN); else E1_DIR_WRITE(!INVERT_E_STEP_PIN); } }while(0)
|
|
#define STOP_E_PULSE(INDEX) do{ if (e_steps) { \
|
|
e_steps < 0 ? ++e_steps : --e_steps; \
|
|
if (INDEX < 2) E0_DIR_WRITE(INVERT_E_STEP_PIN); else E1_DIR_WRITE(INVERT_E_STEP_PIN); \
|
|
} }while(0)
|
|
#else
|
|
#define START_E_PULSE(INDEX) do{ if (e_steps) E0_DIR_WRITE(!INVERT_E_STEP_PIN); }while(0)
|
|
#define STOP_E_PULSE(INDEX) do{ if (e_steps) { e_steps < 0 ? ++e_steps : --e_steps; E0_DIR_WRITE(INVERT_E_STEP_PIN); }while(0)
|
|
#endif
|
|
#else
|
|
#define START_E_PULSE(INDEX) do{ if (e_steps) E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); }while(0)
|
|
#define STOP_E_PULSE(INDEX) do { if (e_steps) { e_steps < 0 ? ++e_steps : --e_steps; E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); } }while(0)
|
|
#endif
|
|
|
|
if (use_advance_lead) {
|
|
if (step_events_completed > LA_decelerate_after && current_adv_steps > final_adv_steps) {
|
|
e_steps--;
|
|
current_adv_steps--;
|
|
interval = eISR_Rate;
|
|
}
|
|
else if (step_events_completed < LA_decelerate_after && current_adv_steps < max_adv_steps) {
|
|
//step_events_completed <= (uint32_t)current_block->accelerate_until) {
|
|
e_steps++;
|
|
current_adv_steps++;
|
|
interval = eISR_Rate;
|
|
}
|
|
else {
|
|
interval = ADV_NEVER;
|
|
eISR_Rate = ADV_NEVER;
|
|
}
|
|
}
|
|
else
|
|
interval = ADV_NEVER;
|
|
|
|
switch (LA_active_extruder) {
|
|
case 0: SET_E_STEP_DIR(0); break;
|
|
#if EXTRUDERS > 1
|
|
case 1: SET_E_STEP_DIR(1); break;
|
|
#if EXTRUDERS > 2
|
|
case 2: SET_E_STEP_DIR(2); break;
|
|
#if EXTRUDERS > 3
|
|
case 3: SET_E_STEP_DIR(3); break;
|
|
#if EXTRUDERS > 4
|
|
case 4: SET_E_STEP_DIR(4); break;
|
|
#endif // EXTRUDERS > 4
|
|
#endif // EXTRUDERS > 3
|
|
#endif // EXTRUDERS > 2
|
|
#endif // EXTRUDERS > 1
|
|
}
|
|
|
|
// Step E stepper if we have steps
|
|
while (e_steps) {
|
|
|
|
#if EXTRA_CYCLES_E > 20
|
|
hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
|
|
#endif
|
|
|
|
switch (LA_active_extruder) {
|
|
case 0: START_E_PULSE(0); break;
|
|
#if EXTRUDERS > 1
|
|
case 1: START_E_PULSE(1); break;
|
|
#if EXTRUDERS > 2
|
|
case 2: START_E_PULSE(2); break;
|
|
#if EXTRUDERS > 3
|
|
case 3: START_E_PULSE(3); break;
|
|
#if EXTRUDERS > 4
|
|
case 4: START_E_PULSE(4); break;
|
|
#endif // EXTRUDERS > 4
|
|
#endif // EXTRUDERS > 3
|
|
#endif // EXTRUDERS > 2
|
|
#endif // EXTRUDERS > 1
|
|
}
|
|
|
|
// For minimum pulse time wait before stopping pulses
|
|
#if EXTRA_CYCLES_E > 20
|
|
while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
|
|
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
|
|
#elif EXTRA_CYCLES_E > 0
|
|
DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE);
|
|
#endif
|
|
|
|
switch (LA_active_extruder) {
|
|
case 0: STOP_E_PULSE(0); break;
|
|
#if EXTRUDERS > 1
|
|
case 1: STOP_E_PULSE(1); break;
|
|
#if EXTRUDERS > 2
|
|
case 2: STOP_E_PULSE(2); break;
|
|
#if EXTRUDERS > 3
|
|
case 3: STOP_E_PULSE(3); break;
|
|
#if EXTRUDERS > 4
|
|
case 4: STOP_E_PULSE(4); break;
|
|
#endif // EXTRUDERS > 4
|
|
#endif // EXTRUDERS > 3
|
|
#endif // EXTRUDERS > 2
|
|
#endif // EXTRUDERS > 1
|
|
}
|
|
|
|
// For minimum pulse time wait before looping
|
|
#if EXTRA_CYCLES_E > 20
|
|
if (e_steps) while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
|
|
#elif EXTRA_CYCLES_E > 0
|
|
if (e_steps) DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE);
|
|
#endif
|
|
|
|
} // e_steps
|
|
|
|
return interval;
|
|
}
|
|
#endif // LIN_ADVANCE
|
|
|
|
void Stepper::init() {
|
|
|
|
// Init Digipot Motor Current
|
|
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
|
|
digipot_init();
|
|
#endif
|
|
|
|
// Init Microstepping Pins
|
|
#if HAS_MICROSTEPS
|
|
microstep_init();
|
|
#endif
|
|
|
|
// Init Dir Pins
|
|
#if HAS_X_DIR
|
|
X_DIR_INIT;
|
|
#endif
|
|
#if HAS_X2_DIR
|
|
X2_DIR_INIT;
|
|
#endif
|
|
#if HAS_Y_DIR
|
|
Y_DIR_INIT;
|
|
#if ENABLED(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_DIR
|
|
Y2_DIR_INIT;
|
|
#endif
|
|
#endif
|
|
#if HAS_Z_DIR
|
|
Z_DIR_INIT;
|
|
#if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_DIR
|
|
Z2_DIR_INIT;
|
|
#endif
|
|
#endif
|
|
#if HAS_E0_DIR
|
|
E0_DIR_INIT;
|
|
#endif
|
|
#if HAS_E1_DIR
|
|
E1_DIR_INIT;
|
|
#endif
|
|
#if HAS_E2_DIR
|
|
E2_DIR_INIT;
|
|
#endif
|
|
#if HAS_E3_DIR
|
|
E3_DIR_INIT;
|
|
#endif
|
|
#if HAS_E4_DIR
|
|
E4_DIR_INIT;
|
|
#endif
|
|
|
|
// Init Enable Pins - steppers default to disabled.
|
|
#if HAS_X_ENABLE
|
|
X_ENABLE_INIT;
|
|
if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
|
|
#if (ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)) && HAS_X2_ENABLE
|
|
X2_ENABLE_INIT;
|
|
if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
|
|
#endif
|
|
#endif
|
|
#if HAS_Y_ENABLE
|
|
Y_ENABLE_INIT;
|
|
if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
|
|
#if ENABLED(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
|
|
Y2_ENABLE_INIT;
|
|
if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
|
|
#endif
|
|
#endif
|
|
#if HAS_Z_ENABLE
|
|
Z_ENABLE_INIT;
|
|
if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
|
|
#if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_ENABLE
|
|
Z2_ENABLE_INIT;
|
|
if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
|
|
#endif
|
|
#endif
|
|
#if HAS_E0_ENABLE
|
|
E0_ENABLE_INIT;
|
|
if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
|
|
#endif
|
|
#if HAS_E1_ENABLE
|
|
E1_ENABLE_INIT;
|
|
if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
|
|
#endif
|
|
#if HAS_E2_ENABLE
|
|
E2_ENABLE_INIT;
|
|
if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
|
|
#endif
|
|
#if HAS_E3_ENABLE
|
|
E3_ENABLE_INIT;
|
|
if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
|
|
#endif
|
|
#if HAS_E4_ENABLE
|
|
E4_ENABLE_INIT;
|
|
if (!E_ENABLE_ON) E4_ENABLE_WRITE(HIGH);
|
|
#endif
|
|
|
|
#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
|
|
#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
|
|
#define _DISABLE(AXIS) disable_## AXIS()
|
|
|
|
#define AXIS_INIT(AXIS, PIN) \
|
|
_STEP_INIT(AXIS); \
|
|
_WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
|
|
_DISABLE(AXIS)
|
|
|
|
#define E_AXIS_INIT(NUM) AXIS_INIT(E## NUM, E)
|
|
|
|
// Init Step Pins
|
|
#if HAS_X_STEP
|
|
#if ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)
|
|
X2_STEP_INIT;
|
|
X2_STEP_WRITE(INVERT_X_STEP_PIN);
|
|
#endif
|
|
AXIS_INIT(X, X);
|
|
#endif
|
|
|
|
#if HAS_Y_STEP
|
|
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
|
|
Y2_STEP_INIT;
|
|
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
|
|
#endif
|
|
AXIS_INIT(Y, Y);
|
|
#endif
|
|
|
|
#if HAS_Z_STEP
|
|
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
|
|
Z2_STEP_INIT;
|
|
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
|
|
#endif
|
|
AXIS_INIT(Z, Z);
|
|
#endif
|
|
|
|
#if HAS_E0_STEP
|
|
E_AXIS_INIT(0);
|
|
#endif
|
|
#if HAS_E1_STEP
|
|
E_AXIS_INIT(1);
|
|
#endif
|
|
#if HAS_E2_STEP
|
|
E_AXIS_INIT(2);
|
|
#endif
|
|
#if HAS_E3_STEP
|
|
E_AXIS_INIT(3);
|
|
#endif
|
|
#if HAS_E4_STEP
|
|
E_AXIS_INIT(4);
|
|
#endif
|
|
|
|
// waveform generation = 0100 = CTC
|
|
SET_WGM(1, CTC_OCRnA);
|
|
|
|
// output mode = 00 (disconnected)
|
|
SET_COMA(1, NORMAL);
|
|
|
|
// Set the timer pre-scaler
|
|
// Generally we use a divider of 8, resulting in a 2MHz timer
|
|
// frequency on a 16MHz MCU. If you are going to change this, be
|
|
// sure to regenerate speed_lookuptable.h with
|
|
// create_speed_lookuptable.py
|
|
SET_CS(1, PRESCALER_8); // CS 2 = 1/8 prescaler
|
|
|
|
// Init Stepper ISR to 122 Hz for quick starting
|
|
OCR1A = 0x4000;
|
|
TCNT1 = 0;
|
|
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
endstops.enable(true); // Start with endstops active. After homing they can be disabled
|
|
sei();
|
|
|
|
set_directions(); // Init directions to last_direction_bits = 0
|
|
}
|
|
|
|
/**
|
|
* Set the stepper positions directly in steps
|
|
*
|
|
* The input is based on the typical per-axis XYZ steps.
|
|
* For CORE machines XYZ needs to be translated to ABC.
|
|
*
|
|
* This allows get_axis_position_mm to correctly
|
|
* derive the current XYZ position later on.
|
|
*/
|
|
void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
|
|
#if CORE_IS_XY
|
|
// corexy positioning
|
|
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
|
|
count_position[A_AXIS] = a + b;
|
|
count_position[B_AXIS] = CORESIGN(a - b);
|
|
count_position[Z_AXIS] = c;
|
|
#elif CORE_IS_XZ
|
|
// corexz planning
|
|
count_position[A_AXIS] = a + c;
|
|
count_position[Y_AXIS] = b;
|
|
count_position[C_AXIS] = CORESIGN(a - c);
|
|
#elif CORE_IS_YZ
|
|
// coreyz planning
|
|
count_position[X_AXIS] = a;
|
|
count_position[B_AXIS] = b + c;
|
|
count_position[C_AXIS] = CORESIGN(b - c);
|
|
#else
|
|
// default non-h-bot planning
|
|
count_position[X_AXIS] = a;
|
|
count_position[Y_AXIS] = b;
|
|
count_position[Z_AXIS] = c;
|
|
#endif
|
|
count_position[E_AXIS] = e;
|
|
}
|
|
|
|
/**
|
|
* Get a stepper's position in steps.
|
|
*/
|
|
int32_t Stepper::position(const AxisEnum axis) {
|
|
// Protect the access to the position. Only required for AVR, as
|
|
// any 32bit CPU offers atomic access to 32bit variables
|
|
const bool was_enabled = STEPPER_ISR_ENABLED();
|
|
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
const int32_t v = count_position[axis];
|
|
|
|
// Reenable Stepper ISR
|
|
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
return v;
|
|
}
|
|
|
|
// Signal endstops were triggered - This function can be called from
|
|
// an ISR context (Temperature, Stepper or limits ISR), so we must
|
|
// be very careful here. If the interrupt being preempted was the
|
|
// Stepper ISR (this CAN happen with the endstop limits ISR) then
|
|
// when the stepper ISR resumes, we must be very sure that the movement
|
|
// is properly cancelled
|
|
void Stepper::endstop_triggered(const AxisEnum axis) {
|
|
|
|
const bool was_enabled = STEPPER_ISR_ENABLED();
|
|
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
#if IS_CORE
|
|
|
|
endstops_trigsteps[axis] = 0.5f * (
|
|
axis == CORE_AXIS_2 ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
|
|
: count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
|
|
);
|
|
|
|
#else // !COREXY && !COREXZ && !COREYZ
|
|
|
|
endstops_trigsteps[axis] = count_position[axis];
|
|
|
|
#endif // !COREXY && !COREXZ && !COREYZ
|
|
|
|
// Discard the rest of the move if there is a current block
|
|
quick_stop();
|
|
|
|
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
}
|
|
|
|
int32_t Stepper::triggered_position(const AxisEnum axis) {
|
|
// Protect the access to the position. Only required for AVR, as
|
|
// any 32bit CPU offers atomic access to 32bit variables
|
|
const bool was_enabled = STEPPER_ISR_ENABLED();
|
|
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
const int32_t v = endstops_trigsteps[axis];
|
|
|
|
// Reenable Stepper ISR
|
|
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
return v;
|
|
}
|
|
|
|
void Stepper::report_positions() {
|
|
|
|
// Protect the access to the position.
|
|
const bool was_enabled = STEPPER_ISR_ENABLED();
|
|
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
const int32_t xpos = count_position[X_AXIS],
|
|
ypos = count_position[Y_AXIS],
|
|
zpos = count_position[Z_AXIS];
|
|
|
|
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA
|
|
SERIAL_PROTOCOLPGM(MSG_COUNT_A);
|
|
#else
|
|
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
|
|
#endif
|
|
SERIAL_PROTOCOL(xpos);
|
|
|
|
#if CORE_IS_XY || CORE_IS_YZ || IS_DELTA || IS_SCARA
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
#else
|
|
SERIAL_PROTOCOLPGM(" Y:");
|
|
#endif
|
|
SERIAL_PROTOCOL(ypos);
|
|
|
|
#if CORE_IS_XZ || CORE_IS_YZ || IS_DELTA
|
|
SERIAL_PROTOCOLPGM(" C:");
|
|
#else
|
|
SERIAL_PROTOCOLPGM(" Z:");
|
|
#endif
|
|
SERIAL_PROTOCOL(zpos);
|
|
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
#if ENABLED(BABYSTEPPING)
|
|
|
|
#if ENABLED(DELTA)
|
|
#define CYCLES_EATEN_BABYSTEP (2 * 15)
|
|
#else
|
|
#define CYCLES_EATEN_BABYSTEP 0
|
|
#endif
|
|
#define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
|
|
|
|
#define _ENABLE(AXIS) enable_## AXIS()
|
|
#define _READ_DIR(AXIS) AXIS ##_DIR_READ
|
|
#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
|
|
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
|
|
|
|
#if EXTRA_CYCLES_BABYSTEP > 20
|
|
#define _SAVE_START const hal_timer_t pulse_start = HAL_timer_get_count(STEP_TIMER_NUM)
|
|
#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(STEP_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
|
|
#else
|
|
#define _SAVE_START NOOP
|
|
#if EXTRA_CYCLES_BABYSTEP > 0
|
|
#define _PULSE_WAIT DELAY_NS(EXTRA_CYCLES_BABYSTEP * NANOSECONDS_PER_CYCLE)
|
|
#elif STEP_PULSE_CYCLES > 0
|
|
#define _PULSE_WAIT NOOP
|
|
#elif ENABLED(DELTA)
|
|
#define _PULSE_WAIT DELAY_US(2);
|
|
#else
|
|
#define _PULSE_WAIT DELAY_US(4);
|
|
#endif
|
|
#endif
|
|
|
|
#define BABYSTEP_AXIS(AXIS, INVERT, DIR) { \
|
|
const uint8_t old_dir = _READ_DIR(AXIS); \
|
|
_ENABLE(AXIS); \
|
|
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INVERT); \
|
|
DELAY_NS(400); /* DRV8825 */ \
|
|
_SAVE_START; \
|
|
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
|
|
_PULSE_WAIT; \
|
|
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
|
|
_APPLY_DIR(AXIS, old_dir); \
|
|
}
|
|
|
|
// MUST ONLY BE CALLED BY AN ISR,
|
|
// No other ISR should ever interrupt this!
|
|
void Stepper::babystep(const AxisEnum axis, const bool direction) {
|
|
cli();
|
|
|
|
switch (axis) {
|
|
|
|
#if ENABLED(BABYSTEP_XY)
|
|
|
|
case X_AXIS:
|
|
#if CORE_IS_XY
|
|
BABYSTEP_AXIS(X, false, direction);
|
|
BABYSTEP_AXIS(Y, false, direction);
|
|
#elif CORE_IS_XZ
|
|
BABYSTEP_AXIS(X, false, direction);
|
|
BABYSTEP_AXIS(Z, false, direction);
|
|
#else
|
|
BABYSTEP_AXIS(X, false, direction);
|
|
#endif
|
|
break;
|
|
|
|
case Y_AXIS:
|
|
#if CORE_IS_XY
|
|
BABYSTEP_AXIS(X, false, direction);
|
|
BABYSTEP_AXIS(Y, false, direction^(CORESIGN(1)<0));
|
|
#elif CORE_IS_YZ
|
|
BABYSTEP_AXIS(Y, false, direction);
|
|
BABYSTEP_AXIS(Z, false, direction^(CORESIGN(1)<0));
|
|
#else
|
|
BABYSTEP_AXIS(Y, false, direction);
|
|
#endif
|
|
break;
|
|
|
|
#endif
|
|
|
|
case Z_AXIS: {
|
|
|
|
#if CORE_IS_XZ
|
|
BABYSTEP_AXIS(X, BABYSTEP_INVERT_Z, direction);
|
|
BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
|
|
|
|
#elif CORE_IS_YZ
|
|
BABYSTEP_AXIS(Y, BABYSTEP_INVERT_Z, direction);
|
|
BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
|
|
|
|
#elif DISABLED(DELTA)
|
|
BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction);
|
|
|
|
#else // DELTA
|
|
|
|
const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
|
|
|
|
enable_X();
|
|
enable_Y();
|
|
enable_Z();
|
|
|
|
const uint8_t old_x_dir_pin = X_DIR_READ,
|
|
old_y_dir_pin = Y_DIR_READ,
|
|
old_z_dir_pin = Z_DIR_READ;
|
|
|
|
X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
|
|
Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
|
|
Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
|
|
|
|
DELAY_NS(400); // DRV8825
|
|
|
|
_SAVE_START;
|
|
|
|
X_STEP_WRITE(!INVERT_X_STEP_PIN);
|
|
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
|
|
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
|
|
|
|
_PULSE_WAIT;
|
|
|
|
X_STEP_WRITE(INVERT_X_STEP_PIN);
|
|
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
|
|
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
|
|
|
|
// Restore direction bits
|
|
X_DIR_WRITE(old_x_dir_pin);
|
|
Y_DIR_WRITE(old_y_dir_pin);
|
|
Z_DIR_WRITE(old_z_dir_pin);
|
|
|
|
#endif
|
|
|
|
} break;
|
|
|
|
default: break;
|
|
}
|
|
sei();
|
|
}
|
|
|
|
#endif // BABYSTEPPING
|
|
|
|
/**
|
|
* Software-controlled Stepper Motor Current
|
|
*/
|
|
|
|
#if HAS_DIGIPOTSS
|
|
|
|
// From Arduino DigitalPotControl example
|
|
void Stepper::digitalPotWrite(const int16_t address, const int16_t value) {
|
|
WRITE(DIGIPOTSS_PIN, LOW); // Take the SS pin low to select the chip
|
|
SPI.transfer(address); // Send the address and value via SPI
|
|
SPI.transfer(value);
|
|
WRITE(DIGIPOTSS_PIN, HIGH); // Take the SS pin high to de-select the chip
|
|
//delay(10);
|
|
}
|
|
|
|
#endif // HAS_DIGIPOTSS
|
|
|
|
#if HAS_MOTOR_CURRENT_PWM
|
|
|
|
void Stepper::refresh_motor_power() {
|
|
for (uint8_t i = 0; i < COUNT(motor_current_setting); ++i) {
|
|
switch (i) {
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
|
|
case 0:
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
|
|
case 1:
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
|
|
case 2:
|
|
#endif
|
|
digipot_current(i, motor_current_setting[i]);
|
|
default: break;
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // HAS_MOTOR_CURRENT_PWM
|
|
|
|
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
|
|
|
|
void Stepper::digipot_current(const uint8_t driver, const int current) {
|
|
|
|
#if HAS_DIGIPOTSS
|
|
|
|
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
|
|
digitalPotWrite(digipot_ch[driver], current);
|
|
|
|
#elif HAS_MOTOR_CURRENT_PWM
|
|
|
|
if (WITHIN(driver, 0, 2))
|
|
motor_current_setting[driver] = current; // update motor_current_setting
|
|
|
|
#define _WRITE_CURRENT_PWM(P) analogWrite(MOTOR_CURRENT_PWM_## P ##_PIN, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
|
|
switch (driver) {
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
|
|
case 0: _WRITE_CURRENT_PWM(XY); break;
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
|
|
case 1: _WRITE_CURRENT_PWM(Z); break;
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
|
|
case 2: _WRITE_CURRENT_PWM(E); break;
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void Stepper::digipot_init() {
|
|
|
|
#if HAS_DIGIPOTSS
|
|
|
|
static const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
|
|
|
|
SPI.begin();
|
|
SET_OUTPUT(DIGIPOTSS_PIN);
|
|
|
|
for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) {
|
|
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
|
|
digipot_current(i, digipot_motor_current[i]);
|
|
}
|
|
|
|
#elif HAS_MOTOR_CURRENT_PWM
|
|
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
|
|
SET_OUTPUT(MOTOR_CURRENT_PWM_XY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
|
|
SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
|
|
SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN);
|
|
#endif
|
|
|
|
refresh_motor_power();
|
|
|
|
// Set Timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
|
|
SET_CS5(PRESCALER_1);
|
|
|
|
#endif
|
|
}
|
|
|
|
#endif
|
|
|
|
#if HAS_MICROSTEPS
|
|
|
|
/**
|
|
* Software-controlled Microstepping
|
|
*/
|
|
|
|
void Stepper::microstep_init() {
|
|
SET_OUTPUT(X_MS1_PIN);
|
|
SET_OUTPUT(X_MS2_PIN);
|
|
#if HAS_Y_MICROSTEPS
|
|
SET_OUTPUT(Y_MS1_PIN);
|
|
SET_OUTPUT(Y_MS2_PIN);
|
|
#endif
|
|
#if HAS_Z_MICROSTEPS
|
|
SET_OUTPUT(Z_MS1_PIN);
|
|
SET_OUTPUT(Z_MS2_PIN);
|
|
#endif
|
|
#if HAS_E0_MICROSTEPS
|
|
SET_OUTPUT(E0_MS1_PIN);
|
|
SET_OUTPUT(E0_MS2_PIN);
|
|
#endif
|
|
#if HAS_E1_MICROSTEPS
|
|
SET_OUTPUT(E1_MS1_PIN);
|
|
SET_OUTPUT(E1_MS2_PIN);
|
|
#endif
|
|
#if HAS_E2_MICROSTEPS
|
|
SET_OUTPUT(E2_MS1_PIN);
|
|
SET_OUTPUT(E2_MS2_PIN);
|
|
#endif
|
|
#if HAS_E3_MICROSTEPS
|
|
SET_OUTPUT(E3_MS1_PIN);
|
|
SET_OUTPUT(E3_MS2_PIN);
|
|
#endif
|
|
#if HAS_E4_MICROSTEPS
|
|
SET_OUTPUT(E4_MS1_PIN);
|
|
SET_OUTPUT(E4_MS2_PIN);
|
|
#endif
|
|
static const uint8_t microstep_modes[] = MICROSTEP_MODES;
|
|
for (uint16_t i = 0; i < COUNT(microstep_modes); i++)
|
|
microstep_mode(i, microstep_modes[i]);
|
|
}
|
|
|
|
void Stepper::microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2) {
|
|
if (ms1 >= 0) switch (driver) {
|
|
case 0: WRITE(X_MS1_PIN, ms1); break;
|
|
#if HAS_Y_MICROSTEPS
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|
case 1: WRITE(Y_MS1_PIN, ms1); break;
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|
#endif
|
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#if HAS_Z_MICROSTEPS
|
|
case 2: WRITE(Z_MS1_PIN, ms1); break;
|
|
#endif
|
|
#if HAS_E0_MICROSTEPS
|
|
case 3: WRITE(E0_MS1_PIN, ms1); break;
|
|
#endif
|
|
#if HAS_E1_MICROSTEPS
|
|
case 4: WRITE(E1_MS1_PIN, ms1); break;
|
|
#endif
|
|
#if HAS_E2_MICROSTEPS
|
|
case 5: WRITE(E2_MS1_PIN, ms1); break;
|
|
#endif
|
|
#if HAS_E3_MICROSTEPS
|
|
case 6: WRITE(E3_MS1_PIN, ms1); break;
|
|
#endif
|
|
#if HAS_E4_MICROSTEPS
|
|
case 7: WRITE(E4_MS1_PIN, ms1); break;
|
|
#endif
|
|
}
|
|
if (ms2 >= 0) switch (driver) {
|
|
case 0: WRITE(X_MS2_PIN, ms2); break;
|
|
#if HAS_Y_MICROSTEPS
|
|
case 1: WRITE(Y_MS2_PIN, ms2); break;
|
|
#endif
|
|
#if HAS_Z_MICROSTEPS
|
|
case 2: WRITE(Z_MS2_PIN, ms2); break;
|
|
#endif
|
|
#if HAS_E0_MICROSTEPS
|
|
case 3: WRITE(E0_MS2_PIN, ms2); break;
|
|
#endif
|
|
#if HAS_E1_MICROSTEPS
|
|
case 4: WRITE(E1_MS2_PIN, ms2); break;
|
|
#endif
|
|
#if HAS_E2_MICROSTEPS
|
|
case 5: WRITE(E2_MS2_PIN, ms2); break;
|
|
#endif
|
|
#if HAS_E3_MICROSTEPS
|
|
case 6: WRITE(E3_MS2_PIN, ms2); break;
|
|
#endif
|
|
#if HAS_E4_MICROSTEPS
|
|
case 7: WRITE(E4_MS2_PIN, ms2); break;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void Stepper::microstep_mode(const uint8_t driver, const uint8_t stepping_mode) {
|
|
switch (stepping_mode) {
|
|
case 1: microstep_ms(driver, MICROSTEP1); break;
|
|
#if ENABLED(HEROIC_STEPPER_DRIVERS)
|
|
case 128: microstep_ms(driver, MICROSTEP128); break;
|
|
#else
|
|
case 2: microstep_ms(driver, MICROSTEP2); break;
|
|
case 4: microstep_ms(driver, MICROSTEP4); break;
|
|
#endif
|
|
case 8: microstep_ms(driver, MICROSTEP8); break;
|
|
case 16: microstep_ms(driver, MICROSTEP16); break;
|
|
default: SERIAL_ERROR_START(); SERIAL_ERRORLNPGM("Microsteps unavailable"); break;
|
|
}
|
|
}
|
|
|
|
void Stepper::microstep_readings() {
|
|
SERIAL_PROTOCOLLNPGM("MS1,MS2 Pins");
|
|
SERIAL_PROTOCOLPGM("X: ");
|
|
SERIAL_PROTOCOL(READ(X_MS1_PIN));
|
|
SERIAL_PROTOCOLLN(READ(X_MS2_PIN));
|
|
#if HAS_Y_MICROSTEPS
|
|
SERIAL_PROTOCOLPGM("Y: ");
|
|
SERIAL_PROTOCOL(READ(Y_MS1_PIN));
|
|
SERIAL_PROTOCOLLN(READ(Y_MS2_PIN));
|
|
#endif
|
|
#if HAS_Z_MICROSTEPS
|
|
SERIAL_PROTOCOLPGM("Z: ");
|
|
SERIAL_PROTOCOL(READ(Z_MS1_PIN));
|
|
SERIAL_PROTOCOLLN(READ(Z_MS2_PIN));
|
|
#endif
|
|
#if HAS_E0_MICROSTEPS
|
|
SERIAL_PROTOCOLPGM("E0: ");
|
|
SERIAL_PROTOCOL(READ(E0_MS1_PIN));
|
|
SERIAL_PROTOCOLLN(READ(E0_MS2_PIN));
|
|
#endif
|
|
#if HAS_E1_MICROSTEPS
|
|
SERIAL_PROTOCOLPGM("E1: ");
|
|
SERIAL_PROTOCOL(READ(E1_MS1_PIN));
|
|
SERIAL_PROTOCOLLN(READ(E1_MS2_PIN));
|
|
#endif
|
|
#if HAS_E2_MICROSTEPS
|
|
SERIAL_PROTOCOLPGM("E2: ");
|
|
SERIAL_PROTOCOL(READ(E2_MS1_PIN));
|
|
SERIAL_PROTOCOLLN(READ(E2_MS2_PIN));
|
|
#endif
|
|
#if HAS_E3_MICROSTEPS
|
|
SERIAL_PROTOCOLPGM("E3: ");
|
|
SERIAL_PROTOCOL(READ(E3_MS1_PIN));
|
|
SERIAL_PROTOCOLLN(READ(E3_MS2_PIN));
|
|
#endif
|
|
#if HAS_E4_MICROSTEPS
|
|
SERIAL_PROTOCOLPGM("E4: ");
|
|
SERIAL_PROTOCOL(READ(E4_MS1_PIN));
|
|
SERIAL_PROTOCOLLN(READ(E4_MS2_PIN));
|
|
#endif
|
|
}
|
|
|
|
#endif // HAS_MICROSTEPS
|