MPCNC/Firmware2
1
0
Fork 0
Code Issues 1 Pull Requests Releases Wiki Activity
e31385ecf6
Firmware2/Marlin/src/module/stepper.cpp
Chris Pepper 46b2773e13 General fixes for LPC1768 (#7834) 
* fixed some include paths

* LPC1768: Fix Serial API

Add missing serial methods used if TX_BUFFER_SIZE is set
Change return value of HalSerial:read to match Arduino API

* LPC1768: add filters to ADC

This is to try and compensate for hardware issue and oversensitivity to noise

* LPC1768: remove the polling section of delayMicroseconds

* LPC1768: lock usb mass storage device while device accesses it.

Currently only applicable to persistent store,
The device always has priority and will unmount the sd card from the host, Windows then tries to automount again so it can look like the explorer window freezes. Linux Mint, by default, just closes the Nemo window.

* Add timeout to make sure if Serial never connects that Marlin still boots

* Remove unneeded ifdef CPU_32_BIT

In general the need for ifdef CPU_32_BIT blocks means that something is missing from the HAL API or a Platform, in this case HAL_TICKS_PER_US was missing from the AVR Platform

* LPC1768: relocate RE-ARM debug_extra_script.py
2017-10-04 15:40:54 -05:00

1711 lines
50 KiB
C++
Raw Blame History

/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* stepper.cpp - A singleton object to execute motion plans using stepper motors
* Marlin Firmware
*
* Derived from Grbl
* Copyright (c) 2009-2011 Simen Svale Skogsrud
*
* Grbl is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Grbl is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
and Philipp Tiefenbacher. */
#include "stepper.h"
#ifdef __AVR__
#include "speed_lookuptable.h"
#endif
#include "endstops.h"
#include "planner.h"
#include "motion.h"
#include "../Marlin.h"
#include "../module/temperature.h"
#include "../lcd/ultralcd.h"
#include "../core/language.h"
#include "../gcode/queue.h"
#include "../sd/cardreader.h"
#if MB(ALLIGATOR)
#include "../feature/dac/dac_dac084s085.h"
#endif
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
Stepper stepper; // Singleton
// public:
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
bool Stepper::abort_on_endstop_hit = false;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
bool Stepper::performing_homing = false;
#endif
#if HAS_MOTOR_CURRENT_PWM
uint32_t Stepper::motor_current_setting[3]; // Initialized by settings.load()
#endif
// private:
uint8_t Stepper::last_direction_bits = 0; // The next stepping-bits to be output
uint16_t Stepper::cleaning_buffer_counter = 0;
#if ENABLED(Z_DUAL_ENDSTOPS)
bool Stepper::locked_z_motor = false;
bool Stepper::locked_z2_motor = false;
#endif
long Stepper::counter_X = 0,
Stepper::counter_Y = 0,
Stepper::counter_Z = 0,
Stepper::counter_E = 0;
volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
constexpr HAL_TIMER_TYPE ADV_NEVER = HAL_TIMER_TYPE_MAX;
HAL_TIMER_TYPE Stepper::nextMainISR = 0,
Stepper::nextAdvanceISR = ADV_NEVER,
Stepper::eISR_Rate = ADV_NEVER;
#if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[E_STEPPERS];
int Stepper::final_estep_rate,
Stepper::current_estep_rate[E_STEPPERS],
Stepper::current_adv_steps[E_STEPPERS];
#else
long Stepper::e_steps[E_STEPPERS],
Stepper::final_advance = 0,
Stepper::old_advance = 0,
Stepper::advance_rate,
Stepper::advance;
#endif
/**
* See https://github.com/MarlinFirmware/Marlin/issues/5699#issuecomment-309264382
*
* This fix isn't perfect and may lose steps - but better than locking up completely
* in future the planner should slow down if advance stepping rate would be too high
*/
FORCE_INLINE HAL_TIMER_TYPE adv_rate(const int steps, const HAL_TIMER_TYPE timer, const uint8_t loops) {
if (steps) {
const HAL_TIMER_TYPE rate = (timer * loops) / abs(steps);
//return constrain(rate, 1, ADV_NEVER - 1)
return rate ? rate : 1;
}
return ADV_NEVER;
}
#endif // ADVANCE || LIN_ADVANCE
long Stepper::acceleration_time, Stepper::deceleration_time;
volatile long Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER)
long Stepper::counter_m[MIXING_STEPPERS];
#endif
HAL_TIMER_TYPE Stepper::acc_step_rate; // needed for deceleration start point
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
HAL_TIMER_TYPE Stepper::OCR1A_nominal;
volatile long Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
#define X_APPLY_STEP(v,Q) do{ X_STEP_WRITE(v); X2_STEP_WRITE(v); }while(0)
#elif ENABLED(DUAL_X_CARRIAGE)
#define X_APPLY_DIR(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
X_DIR_WRITE(v); \
X2_DIR_WRITE(v); \
} \
else { \
if (current_block->active_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
}
#define X_APPLY_STEP(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
X_STEP_WRITE(v); \
X2_STEP_WRITE(v); \
} \
else { \
if (current_block->active_extruder) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
}
#else
#define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
#define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
#endif
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
#define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }while(0)
#define Y_APPLY_STEP(v,Q) do{ Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }while(0)
#else
#define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
#endif
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
#if ENABLED(Z_DUAL_ENDSTOPS)
#define Z_APPLY_STEP(v,Q) \
if (performing_homing) { \
if (Z_HOME_DIR < 0) { \
if (!(TEST(endstops.old_endstop_bits, Z_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
if (!(TEST(endstops.old_endstop_bits, Z2_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
} \
else { \
if (!(TEST(endstops.old_endstop_bits, Z_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
if (!(TEST(endstops.old_endstop_bits, Z2_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
} \
} \
else { \
Z_STEP_WRITE(v); \
Z2_STEP_WRITE(v); \
}
#else
#define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0)
#endif
#else
#define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
#define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
#endif
#if DISABLED(MIXING_EXTRUDER)
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
#endif
/**
* __________________________
* /| |\ _________________ ^
* / | | \ /| |\ |
* / | | \ / | | \ s
* / | | | | | \ p
* / | | | | | \ e
* +-----+------------------------+---+--+---------------+----+ e
* | BLOCK 1 | BLOCK 2 | d
*
* time ----->
*
* The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
* first block->accelerate_until step_events_completed, then keeps going at constant speed until
* step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
* The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
*/
void Stepper::wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
/**
* Set the stepper direction of each axis
*
* COREXY: X_AXIS=A_AXIS and Y_AXIS=B_AXIS
* COREXZ: X_AXIS=A_AXIS and Z_AXIS=C_AXIS
* COREYZ: Y_AXIS=B_AXIS and Z_AXIS=C_AXIS
*/
void Stepper::set_directions() {
#define SET_STEP_DIR(AXIS) \
if (motor_direction(AXIS ##_AXIS)) { \
AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR, false); \
count_direction[AXIS ##_AXIS] = -1; \
} \
else { \
AXIS ##_APPLY_DIR(!INVERT_## AXIS ##_DIR, false); \
count_direction[AXIS ##_AXIS] = 1; \
}
#if HAS_X_DIR
SET_STEP_DIR(X); // A
#endif
#if HAS_Y_DIR
SET_STEP_DIR(Y); // B
#endif
#if HAS_Z_DIR
SET_STEP_DIR(Z); // C
#endif
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
if (motor_direction(E_AXIS)) {
REV_E_DIR();
count_direction[E_AXIS] = -1;
}
else {
NORM_E_DIR();
count_direction[E_AXIS] = 1;
}
#endif // !ADVANCE && !LIN_ADVANCE
}
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
extern volatile uint8_t e_hit;
#endif
/**
* Stepper Driver Interrupt
*
* Directly pulses the stepper motors at high frequency.
*
* AVR :
* 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);
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
Stepper::advance_isr_scheduler();
#else
Stepper::isr();
#endif
}
void Stepper::isr() {
HAL_TIMER_TYPE ocr_val;
#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
#ifndef CPU_32_BIT
sei();
#endif
#endif
static uint32_t step_remaining = 0; // SPLIT function always runs. This allows 16 bit timers to be
// used to generate the stepper ISR.
#define SPLIT(L) do { \
if (L > ENDSTOP_NOMINAL_OCR_VAL) { \
const uint32_t remainder = (uint32_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
step_remaining = (uint32_t)L - ocr_val; \
} \
else \
ocr_val = L;\
}while(0)
if (step_remaining) {
if (ENDSTOPS_ENABLED)
endstops.update();
if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
step_remaining -= ENDSTOP_NOMINAL_OCR_VAL;
ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
}
else {
ocr_val = step_remaining;
step_remaining = 0; // last one before the ISR that does the step
}
_NEXT_ISR(ocr_val);
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
#ifdef CPU_32_BIT
HAL_timer_set_count(STEP_TIMER_NUM, ocr_val);
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
HAL_ENABLE_ISRs(); // re-enable ISRs
#endif
return;
}
if (cleaning_buffer_counter) {
--cleaning_buffer_counter;
current_block = NULL;
planner.discard_current_block();
#ifdef SD_FINISHED_RELEASECOMMAND
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
// If there is no current block, attempt to pop one from the buffer
if (!current_block) {
// Anything in the buffer?
current_block = planner.get_current_block();
if (current_block) {
trapezoid_generator_reset();
// Initialize Bresenham counters to 1/2 the ceiling
counter_X = counter_Y = counter_Z = counter_E = -(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
step_events_completed = 0;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
e_hit = 2; // Needed for the case an endstop is already triggered before the new move begins.
// No 'change' can be detected.
#endif
#if ENABLED(Z_LATE_ENABLE)
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
#endif
// #if ENABLED(ADVANCE)
// e_steps[TOOL_E_INDEX] = 0;
// #endif
}
else {
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
}
// Update endstops state, if enabled
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (e_hit && ENDSTOPS_ENABLED) {
endstops.update();
e_hit--;
}
#else
if (ENDSTOPS_ENABLED) endstops.update();
#endif
// Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false;
for (uint8_t i = step_loops; i--;) {
#if ENABLED(LIN_ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
#if DISABLED(MIXING_EXTRUDER)
// Don't step E here for mixing extruder
count_position[E_AXIS] += count_direction[E_AXIS];
motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
#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
#elif ENABLED(ADVANCE)
// Always count the unified E axis
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
#if DISABLED(MIXING_EXTRUDER)
// Don't step E here for mixing extruder
motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
#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 // MIXING_EXTRUDER
#endif // ADVANCE or LIN_ADVANCE
#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) \
_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
// Stop an active pulse, reset the Bresenham counter, update the position
#define PULSE_STOP(AXIS) \
if (_COUNTER(AXIS) > 0) { \
_COUNTER(AXIS) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(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(ADVANCE) && 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.
*
* TCNT0 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
uint32_t pulse_start = HAL_timer_get_current_count(STEP_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
// For non-advance use linear interpolation for E also
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
#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 // !ADVANCE && !LIN_ADVANCE
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_XYZE > 20
while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
#elif EXTRA_CYCLES_XYZE > 0
DELAY_NOPS(EXTRA_CYCLES_XYZE);
#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(ADVANCE) && DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
// Always step the single E axis
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
count_position[E_AXIS] += count_direction[E_AXIS];
}
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 // !ADVANCE && !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_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_XYZE > 0
if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
#endif
} // steps_loop
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) {
const int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX];
current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
#if ENABLED(MIXING_EXTRUDER)
// Mixing extruders apply advance lead proportionally
MIXING_STEPPERS_LOOP(j)
e_steps[j] += delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
#else
// For most extruders, advance the single E stepper
e_steps[TOOL_E_INDEX] += delta_adv_steps;
#endif
}
#endif
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// If we have esteps to execute, fire the next advance_isr "now"
if (e_steps[TOOL_E_INDEX]) nextAdvanceISR = 0;
#endif
// Calculate new timer value
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
#ifdef CPU_32_BIT
MultiU32X24toH32(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#endif
acc_step_rate += current_block->initial_rate;
// upper limit
NOMORE(acc_step_rate, current_block->nominal_rate);
// step_rate to timer interval
const HAL_TIMER_TYPE timer = calc_timer(acc_step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
acceleration_time += timer;
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) {
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j)
current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 17;
#else
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
#endif
}
#elif ENABLED(ADVANCE)
advance += advance_rate * step_loops;
//NOLESS(advance, current_block->advance);
const long advance_whole = advance >> 8,
advance_factor = advance_whole - old_advance;
// Do E steps + advance steps
#if ENABLED(MIXING_EXTRUDER)
// ...for mixing steppers proportionally
MIXING_STEPPERS_LOOP(j)
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
#else
// ...for the active extruder
e_steps[TOOL_E_INDEX] += advance_factor;
#endif
old_advance = advance_whole;
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// TODO: HAL
eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
#endif
}
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
HAL_TIMER_TYPE step_rate;
#ifdef CPU_32_BIT
MultiU32X24toH32(step_rate, deceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
#endif
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;
// step_rate to timer interval
const HAL_TIMER_TYPE timer = calc_timer(step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
deceleration_time += timer;
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) {
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j)
current_estep_rate[j] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 17;
#else
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
#endif
}
#elif ENABLED(ADVANCE)
advance -= advance_rate * step_loops;
NOLESS(advance, final_advance);
// Do E steps + advance steps
const long advance_whole = advance >> 8,
advance_factor = advance_whole - old_advance;
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j)
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
#else
e_steps[TOOL_E_INDEX] += advance_factor;
#endif
old_advance = advance_whole;
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
#endif
}
else {
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead)
current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], OCR1A_nominal, step_loops_nominal);
#endif
SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
}
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
#ifdef CPU_32_BIT
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
HAL_TIMER_TYPE stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM),
stepper_timer_current_count = HAL_timer_get_current_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US;
HAL_timer_set_count(STEP_TIMER_NUM, max(stepper_timer_count, stepper_timer_current_count));
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
#endif
// If current block is finished, reset pointer
if (all_steps_done) {
current_block = NULL;
planner.discard_current_block();
}
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
HAL_ENABLE_ISRs(); // re-enable ISRs
#endif
}
#if ENABLED(ADVANCE) || 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;
void Stepper::advance_isr() {
nextAdvanceISR = eISR_Rate;
#if ENABLED(MK2_MULTIPLEXER)
// Even-numbered steppers are reversed
#define SET_E_STEP_DIR(INDEX) \
if (e_steps[INDEX]) E## INDEX ##_DIR_WRITE(e_steps[INDEX] < 0 ? !INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0) : INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0))
#else
#define SET_E_STEP_DIR(INDEX) \
if (e_steps[INDEX]) E## INDEX ##_DIR_WRITE(e_steps[INDEX] < 0 ? INVERT_E## INDEX ##_DIR : !INVERT_E## INDEX ##_DIR)
#endif
#define START_E_PULSE(INDEX) \
if (e_steps[INDEX]) E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN)
#define STOP_E_PULSE(INDEX) \
if (e_steps[INDEX]) { \
e_steps[INDEX] < 0 ? ++e_steps[INDEX] : --e_steps[INDEX]; \
E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
}
SET_E_STEP_DIR(0);
#if E_STEPPERS > 1
SET_E_STEP_DIR(1);
#if E_STEPPERS > 2
SET_E_STEP_DIR(2);
#if E_STEPPERS > 3
SET_E_STEP_DIR(3);
#if E_STEPPERS > 4
SET_E_STEP_DIR(4);
#endif
#endif
#endif
#endif
// Step all E steppers that have steps
for (uint8_t i = step_loops; i--;) {
#if EXTRA_CYCLES_E > 20
uint32_t pulse_start = TCNT0;
#endif
START_E_PULSE(0);
#if E_STEPPERS > 1
START_E_PULSE(1);
#if E_STEPPERS > 2
START_E_PULSE(2);
#if E_STEPPERS > 3
START_E_PULSE(3);
#if E_STEPPERS > 4
START_E_PULSE(4);
#endif
#endif
#endif
#endif
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_E > 20
while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
pulse_start = TCNT0;
#elif EXTRA_CYCLES_E > 0
DELAY_NOPS(EXTRA_CYCLES_E);
#endif
STOP_E_PULSE(0);
#if E_STEPPERS > 1
STOP_E_PULSE(1);
#if E_STEPPERS > 2
STOP_E_PULSE(2);
#if E_STEPPERS > 3
STOP_E_PULSE(3);
#if E_STEPPERS > 4
STOP_E_PULSE(4);
#endif
#endif
#endif
#endif
// For minimum pulse time wait before looping
#if EXTRA_CYCLES_E > 20
if (i) while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
#elif EXTRA_CYCLES_E > 0
if (i) DELAY_NOPS(EXTRA_CYCLES_E);
#endif
} // steps_loop
}
void Stepper::advance_isr_scheduler() {
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
// Run Advance stepping ISR if flagged
if (!nextAdvanceISR) advance_isr();
// Is the next advance ISR scheduled before the next main ISR?
if (nextAdvanceISR <= nextMainISR) {
// Set up the next interrupt
HAL_timer_set_count(STEP_TIMER_NUM, nextAdvanceISR);
// New interval for the next main ISR
if (nextMainISR) nextMainISR -= nextAdvanceISR;
// Will call Stepper::advance_isr on the next interrupt
nextAdvanceISR = 0;
}
else {
// The next main ISR comes first
HAL_timer_set_count(STEP_TIMER_NUM, nextMainISR);
// New interval for the next advance ISR, if any
if (nextAdvanceISR && nextAdvanceISR != ADV_NEVER)
nextAdvanceISR -= nextMainISR;
// Will call Stepper::isr on the next interrupt
nextMainISR = 0;
}
// Don't run the ISR faster than possible
#ifdef CPU_32_BIT
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
uint32_t stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM),
stepper_timer_current_count = HAL_timer_get_current_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US;
HAL_timer_set_count(STEP_TIMER_NUM, max(stepper_timer_count, stepper_timer_current_count));
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
// Restore original ISR settings
HAL_ENABLE_ISRs();
}
#endif // ADVANCE or LIN_ADVANCE
void Stepper::init() {
// Init Digipot Motor Current
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
digipot_init();
#endif
#if MB(ALLIGATOR)
const float motor_current[] = MOTOR_CURRENT;
unsigned int digipot_motor = 0;
for (uint8_t i = 0; i < 3 + EXTRUDERS; i++) {
digipot_motor = 255 * (motor_current[i] / 2.5);
dac084s085::setValue(i, digipot_motor);
}
#endif//MB(ALLIGATOR)
// Init Microstepping Pins
#if HAS_MICROSTEPS
microstep_init();
#endif
// Init TMC Steppers
#if ENABLED(HAVE_TMCDRIVER)
tmc_init();
#endif
// Init TMC2130 Steppers
#if ENABLED(HAVE_TMC2130)
tmc2130_init();
#endif
// Init L6470 Steppers
#if ENABLED(HAVE_L6470DRIVER)
L6470_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) && 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
// Init endstops and pullups
endstops.init();
#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
#ifdef __AVR__
// 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;
#else
// Init Stepper ISR to 122 Hz for quick starting
HAL_timer_start(STEP_TIMER_NUM, 122);
#endif
ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
for (uint8_t i = 0; i < COUNT(e_steps); i++) e_steps[i] = 0;
#if ENABLED(LIN_ADVANCE)
ZERO(current_adv_steps);
#endif
#endif // ADVANCE || LIN_ADVANCE
endstops.enable(true); // Start with endstops active. After homing they can be disabled
sei();
set_directions(); // Init directions to last_direction_bits = 0
}
/**
* Block until all buffered steps are executed
*/
void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
/**
* 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 long &a, const long &b, const long &c, const long &e) {
synchronize(); // Bad to set stepper counts in the middle of a move
CRITICAL_SECTION_START;
#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;
CRITICAL_SECTION_END;
}
void Stepper::set_position(const AxisEnum &axis, const long &v) {
CRITICAL_SECTION_START;
count_position[axis] = v;
CRITICAL_SECTION_END;
}
void Stepper::set_e_position(const long &e) {
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
/**
* Get a stepper's position in steps.
*/
long Stepper::position(AxisEnum axis) {
CRITICAL_SECTION_START;
const long count_pos = count_position[axis];
CRITICAL_SECTION_END;
return count_pos;
}
/**
* Get an axis position according to stepper position(s)
* For CORE machines apply translation from ABC to XYZ.
*/
float Stepper::get_axis_position_mm(AxisEnum axis) {
float axis_steps;
#if IS_CORE
// Requesting one of the "core" axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
CRITICAL_SECTION_START;
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
axis_steps = 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]
);
CRITICAL_SECTION_END;
}
else
axis_steps = position(axis);
#else
axis_steps = position(axis);
#endif
return axis_steps * planner.steps_to_mm[axis];
}
void Stepper::finish_and_disable() {
synchronize();
disable_all_steppers();
}
void Stepper::quick_stop() {
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL)
if (!ubl.lcd_map_control)
#endif
cleaning_buffer_counter = 5000;
DISABLE_STEPPER_DRIVER_INTERRUPT();
while (planner.blocks_queued()) planner.discard_current_block();
current_block = NULL;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(ULTRA_LCD)
planner.clear_block_buffer_runtime();
#endif
}
void Stepper::endstop_triggered(AxisEnum axis) {
#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
kill_current_block();
}
void Stepper::report_positions() {
CRITICAL_SECTION_START;
const long xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
#if CORE_IS_XY || CORE_IS_XZ || 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_SCARA
SERIAL_PROTOCOLPGM(" B:");
#else
SERIAL_PROTOCOLPGM(" Y:");
#endif
SERIAL_PROTOCOL(ypos);
#if CORE_IS_XZ || CORE_IS_YZ
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 uint32_t pulse_start = TCNT0
#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
#else
#define _SAVE_START NOOP
#if EXTRA_CYCLES_BABYSTEP > 0
#define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP)
#elif STEP_PULSE_CYCLES > 0
#define _PULSE_WAIT NOOP
#elif ENABLED(DELTA)
#define _PULSE_WAIT delayMicroseconds(2);
#else
#define _PULSE_WAIT delayMicroseconds(4);
#endif
#endif
#define BABYSTEP_AXIS(AXIS, INVERT) { \
const uint8_t old_dir = _READ_DIR(AXIS); \
_ENABLE(AXIS); \
_SAVE_START; \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
_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:
BABYSTEP_AXIS(X, false);
break;
case Y_AXIS:
BABYSTEP_AXIS(Y, false);
break;
#endif
case Z_AXIS: {
#if DISABLED(DELTA)
BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
#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);
_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
case 1: WRITE(Y_MS1_PIN, ms1); break;
#endif
#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;
case 2: microstep_ms(driver, MICROSTEP2); break;
case 4: microstep_ms(driver, MICROSTEP4); break;
case 8: microstep_ms(driver, MICROSTEP8); break;
case 16: microstep_ms(driver, MICROSTEP16); break;
#if MB(ALLIGATOR)
case 32: microstep_ms(driver, MICROSTEP32); break;
#endif
}
}
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
Reference in New Issue View Git Blame Copy Permalink