1635 lines
48 KiB
C++
1635 lines
48 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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/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
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and Philipp Tiefenbacher. */
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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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#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(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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bool Stepper::abort_on_endstop_hit = false;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool Stepper::performing_homing = false;
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#endif
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// private:
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unsigned char Stepper::last_direction_bits = 0; // The next stepping-bits to be output
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unsigned int Stepper::cleaning_buffer_counter = 0;
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool Stepper::locked_z_motor = false;
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bool Stepper::locked_z2_motor = false;
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#endif
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long 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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volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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constexpr uint16_t ADV_NEVER = 65535;
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uint16_t Stepper::nextMainISR = 0,
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Stepper::nextAdvanceISR = ADV_NEVER,
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Stepper::eISR_Rate = ADV_NEVER;
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#if ENABLED(LIN_ADVANCE)
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volatile int Stepper::e_steps[E_STEPPERS];
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int Stepper::final_estep_rate,
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Stepper::current_estep_rate[E_STEPPERS],
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Stepper::current_adv_steps[E_STEPPERS];
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#else
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long Stepper::e_steps[E_STEPPERS],
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Stepper::final_advance = 0,
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Stepper::old_advance = 0,
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Stepper::advance_rate,
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Stepper::advance;
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#endif
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#define ADV_RATE(T, L) (e_steps[TOOL_E_INDEX] ? (T) * (L) / abs(e_steps[TOOL_E_INDEX]) : ADV_NEVER)
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#endif
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long Stepper::acceleration_time, Stepper::deceleration_time;
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volatile long 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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long Stepper::counter_m[MIXING_STEPPERS];
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#endif
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unsigned short Stepper::acc_step_rate; // needed for deceleration start point
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uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
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unsigned short Stepper::OCR1A_nominal;
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volatile long Stepper::endstops_trigsteps[XYZ];
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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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#define X_APPLY_STEP(v,Q) do{ X_STEP_WRITE(v); X2_STEP_WRITE(v); }while(0)
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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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#define Y_APPLY_STEP(v,Q) do{ Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }while(0)
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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) \
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if (performing_homing) { \
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if (Z_HOME_DIR < 0) { \
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if (!(TEST(endstops.old_endstop_bits, Z_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
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if (!(TEST(endstops.old_endstop_bits, Z2_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
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} \
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else { \
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if (!(TEST(endstops.old_endstop_bits, Z_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
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if (!(TEST(endstops.old_endstop_bits, Z2_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
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} \
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} \
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else { \
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Z_STEP_WRITE(v); \
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Z2_STEP_WRITE(v); \
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}
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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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// r26 to store 0
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// r27 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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// B0 A0 are bits 24-39 and are the returned value
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// C1 B1 A1 is longIn1
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// D2 C2 B2 A2 is longIn2
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//
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#define MultiU24X32toH16(intRes, longIn1, longIn2) \
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asm volatile ( \
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"clr r26 \n\t" \
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"mul %A1, %B2 \n\t" \
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"mov r27, r1 \n\t" \
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"mul %B1, %C2 \n\t" \
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"movw %A0, r0 \n\t" \
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"mul %C1, %C2 \n\t" \
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"add %B0, r0 \n\t" \
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"mul %C1, %B2 \n\t" \
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"add %A0, r0 \n\t" \
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"adc %B0, r1 \n\t" \
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"mul %A1, %C2 \n\t" \
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"add r27, r0 \n\t" \
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"adc %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %B1, %B2 \n\t" \
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"add r27, r0 \n\t" \
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"adc %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %C1, %A2 \n\t" \
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"add r27, r0 \n\t" \
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"adc %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %B1, %A2 \n\t" \
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"add r27, r1 \n\t" \
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"adc %A0, r26 \n\t" \
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"adc %B0, r26 \n\t" \
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"lsr r27 \n\t" \
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"adc %A0, r26 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %D2, %A1 \n\t" \
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"add %A0, r0 \n\t" \
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"adc %B0, r1 \n\t" \
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"mul %D2, %B1 \n\t" \
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"add %B0, r0 \n\t" \
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"clr r1 \n\t" \
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: \
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"=&r" (intRes) \
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: \
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"d" (longIn1), \
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"d" (longIn2) \
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: \
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"r26" , "r27" \
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)
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// Some useful constants
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
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/**
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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(AXIS) \
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if (motor_direction(AXIS ##_AXIS)) { \
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AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR, false); \
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count_direction[AXIS ##_AXIS] = -1; \
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} \
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else { \
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AXIS ##_APPLY_DIR(!INVERT_## AXIS ##_DIR, false); \
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count_direction[AXIS ##_AXIS] = 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(ADVANCE) && 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 // !ADVANCE && !LIN_ADVANCE
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}
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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extern volatile uint8_t e_hit;
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#endif
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/**
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* Stepper Driver Interrupt
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*
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* Directly pulses the stepper motors at high frequency.
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* Timer 1 runs at a base frequency of 2MHz, with this ISR using OCR1A compare mode.
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*
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* OCR1A Frequency
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* 1 2 MHz
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* 50 40 KHz
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* 100 20 KHz - capped max rate
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* 200 10 KHz - nominal max rate
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* 2000 1 KHz - sleep rate
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* 4000 500 Hz - init rate
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*/
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ISR(TIMER1_COMPA_vect) {
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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Stepper::advance_isr_scheduler();
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#else
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Stepper::isr();
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#endif
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}
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#define _ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr) CBI(TIMSK0, OCIE0B); else SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
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void Stepper::isr() {
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uint16_t ocr_val;
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#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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CBI(TIMSK0, OCIE0B); // Temperature ISR
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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sei();
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#endif
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#define _SPLIT(L) (ocr_val = (uint16_t)L)
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#define SPLIT(L) _SPLIT(L)
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#else // sample endstops in between step pulses
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static uint32_t step_remaining = 0;
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#define SPLIT(L) do { \
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_SPLIT(L); \
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if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \
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const uint16_t remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
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ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
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step_remaining = (uint16_t)L - ocr_val; \
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} \
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} while(0)
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if (step_remaining && ENDSTOPS_ENABLED) { // Just check endstops - not yet time for a step
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endstops.update();
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if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
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step_remaining -= ENDSTOP_NOMINAL_OCR_VAL;
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ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
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}
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else {
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ocr_val = step_remaining;
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step_remaining = 0; // last one before the ISR that does the step
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}
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_NEXT_ISR(ocr_val);
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NOLESS(OCR1A, TCNT1 + 16);
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_ENABLE_ISRs(); // re-enable ISRs
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return;
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}
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#endif
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if (cleaning_buffer_counter) {
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--cleaning_buffer_counter;
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current_block = NULL;
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planner.discard_current_block();
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#ifdef SD_FINISHED_RELEASECOMMAND
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if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
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#endif
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_NEXT_ISR(200); // Run at max speed - 10 KHz
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_ENABLE_ISRs(); // re-enable ISRs
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return;
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}
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// If there is no current block, attempt to pop one from the buffer
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if (!current_block) {
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// Anything in the buffer?
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current_block = planner.get_current_block();
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if (current_block) {
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trapezoid_generator_reset();
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// Initialize Bresenham counters to 1/2 the ceiling
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counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(i)
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counter_m[i] = -(current_block->mix_event_count[i] >> 1);
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#endif
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step_events_completed = 0;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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e_hit = 2; // Needed for the case an endstop is already triggered before the new move begins.
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// No 'change' can be detected.
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#endif
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#if ENABLED(Z_LATE_ENABLE)
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if (current_block->steps[Z_AXIS] > 0) {
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enable_Z();
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_NEXT_ISR(2000); // Run at slow speed - 1 KHz
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_ENABLE_ISRs(); // re-enable ISRs
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return;
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}
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#endif
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// #if ENABLED(ADVANCE)
|
|
// e_steps[TOOL_E_INDEX] = 0;
|
|
// #endif
|
|
}
|
|
else {
|
|
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
|
|
_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 = TCNT0;
|
|
#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)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
|
pulse_start = TCNT0;
|
|
#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)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* 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) {
|
|
|
|
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
|
|
acc_step_rate += current_block->initial_rate;
|
|
|
|
// upper limit
|
|
NOMORE(acc_step_rate, current_block->nominal_rate);
|
|
|
|
// step_rate to timer interval
|
|
const uint16_t 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)
|
|
eISR_Rate = ADV_RATE(timer, step_loops);
|
|
#endif
|
|
}
|
|
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
|
|
uint16_t step_rate;
|
|
MultiU24X32toH16(step_rate, 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;
|
|
|
|
// step_rate to timer interval
|
|
const uint16_t 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(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(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)
|
|
NOLESS(OCR1A, TCNT1 + 16);
|
|
#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)
|
|
_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;
|
|
|
|
#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)
|
|
|
|
#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);
|
|
#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);
|
|
#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);
|
|
#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)
|
|
CBI(TIMSK0, OCIE0B); // 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
|
|
OCR1A = 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
|
|
OCR1A = 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
|
|
NOLESS(OCR1A, TCNT1 + 16);
|
|
|
|
// Restore original ISR settings
|
|
_ENABLE_ISRs();
|
|
}
|
|
|
|
#endif // ADVANCE or 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 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
|
|
|
|
// 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();
|
|
|
|
#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() {
|
|
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(int address, int value) {
|
|
WRITE(DIGIPOTSS_PIN, LOW); // take the SS pin low to select the chip
|
|
SPI.transfer(address); // send in 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_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
|
|
|
|
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);
|
|
digipot_current(0, motor_current_setting[0]);
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
|
|
SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN);
|
|
digipot_current(1, motor_current_setting[1]);
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
|
|
SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN);
|
|
digipot_current(2, motor_current_setting[2]);
|
|
#endif
|
|
//Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
|
|
TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
|
|
#endif
|
|
}
|
|
|
|
void Stepper::digipot_current(uint8_t driver, int current) {
|
|
#if HAS_DIGIPOTSS
|
|
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
|
|
digitalPotWrite(digipot_ch[driver], current);
|
|
#elif HAS_MOTOR_CURRENT_PWM
|
|
#define _WRITE_CURRENT_PWM(P) analogWrite(P, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
|
|
switch (driver) {
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
|
|
case 0: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_XY_PIN); break;
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
|
|
case 1: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_Z_PIN); break;
|
|
#endif
|
|
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
|
|
case 2: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_E_PIN); break;
|
|
#endif
|
|
}
|
|
#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(uint8_t driver, int8_t ms1, 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(uint8_t driver, 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;
|
|
}
|
|
}
|
|
|
|
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
|