371 lines
13 KiB
C++
371 lines
13 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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* Derived from Grbl
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*
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
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* Grbl is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Grbl is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef STEPPER_H
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#define STEPPER_H
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#include "stepper_indirection.h"
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#ifdef __AVR__
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#include "speed_lookuptable.h"
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#endif
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#include "../inc/MarlinConfig.h"
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#include "../module/planner.h"
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#include "../core/language.h"
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class Stepper;
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extern Stepper stepper;
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class Stepper {
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public:
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static block_t* current_block; // A pointer to the block currently being traced
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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static bool homing_dual_axis;
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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#ifndef PWM_MOTOR_CURRENT
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#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
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#endif
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static uint32_t motor_current_setting[3];
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#endif
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private:
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static uint8_t last_direction_bits, // The next stepping-bits to be output
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axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
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static bool abort_current_block; // Signals to the stepper that current block should be aborted
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#if DISABLED(MIXING_EXTRUDER)
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static uint8_t last_moved_extruder; // Last-moved extruder, as set when the last movement was fetched from planner
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS)
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static bool locked_X_motor, locked_X2_motor;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static bool locked_Y_motor, locked_Y2_motor;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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static bool locked_Z_motor, locked_Z2_motor;
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#endif
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static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks
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static uint8_t steps_per_isr; // Count of steps to perform per Stepper ISR call
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#if ENABLED(ADAPTIVE_STEP_SMOOTHING)
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static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis
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#else
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static constexpr uint8_t oversampling_factor = 0;
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#endif
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// Delta error variables for the Bresenham line tracer
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static int32_t delta_error[XYZE];
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static uint32_t advance_dividend[XYZE],
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advance_divisor,
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step_events_completed, // The number of step events executed in the current block
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accelerate_until, // The point from where we need to stop acceleration
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decelerate_after, // The point from where we need to start decelerating
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step_event_count; // The total event count for the current block
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// Mixing extruder mix delta_errors for bresenham tracing
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#if ENABLED(MIXING_EXTRUDER)
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static int32_t delta_error_m[MIXING_STEPPERS];
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static uint32_t advance_dividend_m[MIXING_STEPPERS],
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advance_divisor_m;
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#define MIXING_STEPPERS_LOOP(VAR) \
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for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++)
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#else
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static int8_t active_extruder; // Active extruder
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#endif
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#if ENABLED(S_CURVE_ACCELERATION)
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static int32_t bezier_A, // A coefficient in Bézier speed curve
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bezier_B, // B coefficient in Bézier speed curve
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bezier_C; // C coefficient in Bézier speed curve
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static uint32_t bezier_F, // F coefficient in Bézier speed curve
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bezier_AV; // AV coefficient in Bézier speed curve
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#ifdef __AVR__
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static bool A_negative; // If A coefficient was negative
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#endif
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static bool bezier_2nd_half; // If Bézier curve has been initialized or not
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#endif
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static uint32_t nextMainISR; // time remaining for the next Step ISR
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#if ENABLED(LIN_ADVANCE)
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static uint32_t nextAdvanceISR, LA_isr_rate;
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static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
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static int8_t LA_steps;
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static bool LA_use_advance_lead;
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#endif // LIN_ADVANCE
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static int32_t ticks_nominal;
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#if DISABLED(S_CURVE_ACCELERATION)
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static uint32_t acc_step_rate; // needed for deceleration start point
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#endif
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static volatile int32_t endstops_trigsteps[XYZ];
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//
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// Positions of stepper motors, in step units
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//
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static volatile int32_t count_position[NUM_AXIS];
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//
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// Current direction of stepper motors (+1 or -1)
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//
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static int8_t count_direction[NUM_AXIS];
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public:
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//
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// Constructor / initializer
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//
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Stepper() { };
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// Initialize stepper hardware
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static void init();
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// Interrupt Service Routines
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// The ISR scheduler
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static void isr();
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// The stepper pulse phase ISR
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static void stepper_pulse_phase_isr();
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// The stepper block processing phase ISR
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static uint32_t stepper_block_phase_isr();
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#if ENABLED(LIN_ADVANCE)
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// The Linear advance stepper ISR
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static uint32_t advance_isr();
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#endif
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// Get the position of a stepper, in steps
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static int32_t position(const AxisEnum axis);
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// Report the positions of the steppers, in steps
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static void report_positions();
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// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
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// to notify the subsystem that it is time to go to work.
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static void wake_up();
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// Quickly stop all steppers
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FORCE_INLINE static void quick_stop() { abort_current_block = true; }
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// The direction of a single motor
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FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
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// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
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FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
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// The extruder associated to the last movement
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FORCE_INLINE static uint8_t movement_extruder() {
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return
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#if ENABLED(MIXING_EXTRUDER)
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0
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#else
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last_moved_extruder
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#endif
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;
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}
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// Handle a triggered endstop
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static void endstop_triggered(const AxisEnum axis);
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// Triggered position of an axis in steps
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static int32_t triggered_position(const AxisEnum axis);
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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static void digitalPotWrite(const int16_t address, const int16_t value);
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static void digipot_current(const uint8_t driver, const int16_t current);
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#endif
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#if HAS_MICROSTEPS
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static void microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2);
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static void microstep_mode(const uint8_t driver, const uint8_t stepping);
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static void microstep_readings();
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_homing_dual_axis(const bool state) { homing_dual_axis = state; }
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
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FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
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FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
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FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
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#endif
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#if ENABLED(BABYSTEPPING)
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static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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static void refresh_motor_power();
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#endif
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// Set the current position in steps
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inline static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
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planner.synchronize();
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const bool was_enabled = STEPPER_ISR_ENABLED();
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if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
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_set_position(a, b, c, e);
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if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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inline static void set_position(const AxisEnum a, const int32_t &v) {
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planner.synchronize();
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#ifdef __AVR__
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// Protect the access to the position. Only required for AVR, as
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// any 32bit CPU offers atomic access to 32bit variables
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const bool was_enabled = STEPPER_ISR_ENABLED();
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if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
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#endif
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count_position[a] = v;
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#ifdef __AVR__
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// Reenable Stepper ISR
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if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
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#endif
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}
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private:
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// Set the current position in steps
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static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
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// Set direction bits for all steppers
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static void set_directions();
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FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) {
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uint32_t timer;
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// Scale the frequency, as requested by the caller
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step_rate <<= scale;
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uint8_t multistep = 1;
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#if DISABLED(DISABLE_MULTI_STEPPING)
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// The stepping frequency limits for each multistepping rate
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static const uint32_t limit[] PROGMEM = {
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( MAX_1X_STEP_ISR_FREQUENCY ),
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( MAX_2X_STEP_ISR_FREQUENCY >> 1),
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( MAX_4X_STEP_ISR_FREQUENCY >> 2),
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( MAX_8X_STEP_ISR_FREQUENCY >> 3),
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( MAX_16X_STEP_ISR_FREQUENCY >> 4),
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( MAX_32X_STEP_ISR_FREQUENCY >> 5),
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( MAX_64X_STEP_ISR_FREQUENCY >> 6),
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(MAX_128X_STEP_ISR_FREQUENCY >> 7)
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};
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// Select the proper multistepping
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uint8_t idx = 0;
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while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) {
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step_rate >>= 1;
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multistep <<= 1;
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++idx;
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};
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#else
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NOMORE(step_rate, uint32_t(MAX_1X_STEP_ISR_FREQUENCY));
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#endif
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*loops = multistep;
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#ifdef CPU_32_BIT
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// In case of high-performance processor, it is able to calculate in real-time
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timer = uint32_t(HAL_STEPPER_TIMER_RATE) / step_rate;
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#else
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constexpr uint32_t min_step_rate = F_CPU / 500000U;
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NOLESS(step_rate, min_step_rate);
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step_rate -= min_step_rate; // Correct for minimal speed
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if (step_rate >= (8 * 256)) { // higher step rate
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const uint8_t tmp_step_rate = (step_rate & 0x00FF);
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const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
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gain = (uint16_t)pgm_read_word_near(table_address + 2);
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timer = MultiU16X8toH16(tmp_step_rate, gain);
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timer = (uint16_t)pgm_read_word_near(table_address) - timer;
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}
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else { // lower step rates
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uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
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table_address += ((step_rate) >> 1) & 0xFFFC;
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timer = (uint16_t)pgm_read_word_near(table_address)
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- (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
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}
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// (there is no need to limit the timer value here. All limits have been
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// applied above, and AVR is able to keep up at 30khz Stepping ISR rate)
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#endif
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return timer;
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}
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#if ENABLED(S_CURVE_ACCELERATION)
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static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
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static int32_t _eval_bezier_curve(const uint32_t curr_step);
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#endif
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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static void digipot_init();
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#endif
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#if HAS_MICROSTEPS
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static void microstep_init();
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#endif
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};
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#endif // STEPPER_H
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