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@ -108,7 +108,7 @@ long Stepper::counter_X = 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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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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#if ENABLED(LIN_ADVANCE)
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constexpr HAL_TIMER_TYPE ADV_NEVER = HAL_TIMER_TYPE_MAX;
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constexpr HAL_TIMER_TYPE ADV_NEVER = HAL_TIMER_TYPE_MAX;
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@ -116,18 +116,10 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
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Stepper::nextAdvanceISR = ADV_NEVER,
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Stepper::nextAdvanceISR = ADV_NEVER,
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Stepper::eISR_Rate = 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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volatile int Stepper::e_steps[E_STEPPERS];
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int Stepper::final_estep_rate,
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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_estep_rate[E_STEPPERS],
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Stepper::current_adv_steps[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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/**
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/**
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* See https://github.com/MarlinFirmware/Marlin/issues/5699#issuecomment-309264382
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* See https://github.com/MarlinFirmware/Marlin/issues/5699#issuecomment-309264382
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@ -144,7 +136,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
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return ADV_NEVER;
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return ADV_NEVER;
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}
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}
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#endif // ADVANCE || LIN_ADVANCE
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#endif // LIN_ADVANCE
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long Stepper::acceleration_time, Stepper::deceleration_time;
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long Stepper::acceleration_time, Stepper::deceleration_time;
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@ -277,7 +269,7 @@ void Stepper::set_directions() {
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SET_STEP_DIR(Z); // C
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SET_STEP_DIR(Z); // C
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#endif
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#endif
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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if (motor_direction(E_AXIS)) {
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if (motor_direction(E_AXIS)) {
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REV_E_DIR();
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REV_E_DIR();
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count_direction[E_AXIS] = -1;
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count_direction[E_AXIS] = -1;
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@ -286,7 +278,7 @@ void Stepper::set_directions() {
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NORM_E_DIR();
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NORM_E_DIR();
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count_direction[E_AXIS] = 1;
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count_direction[E_AXIS] = 1;
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}
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}
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#endif // !ADVANCE && !LIN_ADVANCE
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#endif // !LIN_ADVANCE
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}
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}
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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@ -312,7 +304,7 @@ void Stepper::set_directions() {
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HAL_STEP_TIMER_ISR {
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HAL_STEP_TIMER_ISR {
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HAL_timer_isr_prologue(STEP_TIMER_NUM);
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HAL_timer_isr_prologue(STEP_TIMER_NUM);
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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Stepper::advance_isr_scheduler();
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Stepper::advance_isr_scheduler();
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#else
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#else
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Stepper::isr();
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Stepper::isr();
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@ -326,7 +318,7 @@ void Stepper::isr() {
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#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#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
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#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
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if 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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// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
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DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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@ -361,7 +353,7 @@ void Stepper::isr() {
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_NEXT_ISR(ocr_val);
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_NEXT_ISR(ocr_val);
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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#ifdef CPU_32_BIT
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#ifdef CPU_32_BIT
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HAL_timer_set_count(STEP_TIMER_NUM, ocr_val);
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HAL_timer_set_count(STEP_TIMER_NUM, ocr_val);
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#else
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#else
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@ -416,10 +408,6 @@ void Stepper::isr() {
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return;
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return;
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}
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}
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#endif
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#endif
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// #if ENABLED(ADVANCE)
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// e_steps[TOOL_E_INDEX] = 0;
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// #endif
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}
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}
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else {
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else {
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_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
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_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
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@ -465,33 +453,7 @@ void Stepper::isr() {
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}
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}
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#endif
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#endif
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#elif ENABLED(ADVANCE)
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#endif // LIN_ADVANCE
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// Always count the unified E axis
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counter_E += current_block->steps[E_AXIS];
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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#if DISABLED(MIXING_EXTRUDER)
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// Don't step E here for mixing extruder
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motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
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#endif
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}
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#if ENABLED(MIXING_EXTRUDER)
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// Step mixing steppers proportionally
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const bool dir = motor_direction(E_AXIS);
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MIXING_STEPPERS_LOOP(j) {
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counter_m[j] += current_block->steps[E_AXIS];
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if (counter_m[j] > 0) {
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counter_m[j] -= current_block->mix_event_count[j];
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dir ? --e_steps[j] : ++e_steps[j];
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}
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}
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#endif // MIXING_EXTRUDER
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#endif // ADVANCE or LIN_ADVANCE
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#define _COUNTER(AXIS) counter_## AXIS
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#define _COUNTER(AXIS) counter_## AXIS
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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@ -552,7 +514,7 @@ void Stepper::isr() {
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#else
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#else
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#define _CYCLE_APPROX_6 _CYCLE_APPROX_5
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#define _CYCLE_APPROX_6 _CYCLE_APPROX_5
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#endif
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#endif
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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#if ENABLED(MIXING_EXTRUDER)
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#define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + (MIXING_STEPPERS) * 6
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#define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + (MIXING_STEPPERS) * 6
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#else
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#else
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@ -588,7 +550,7 @@ void Stepper::isr() {
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#endif
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#endif
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// For non-advance use linear interpolation for E also
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// For non-advance use linear interpolation for E also
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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#if ENABLED(MIXING_EXTRUDER)
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// Keep updating the single E axis
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// Keep updating the single E axis
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counter_E += current_block->steps[E_AXIS];
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counter_E += current_block->steps[E_AXIS];
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@ -602,7 +564,7 @@ void Stepper::isr() {
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#else // !MIXING_EXTRUDER
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#else // !MIXING_EXTRUDER
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PULSE_START(E);
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PULSE_START(E);
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#endif
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#endif
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#endif // !ADVANCE && !LIN_ADVANCE
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#endif // !LIN_ADVANCE
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// For minimum pulse time wait before stopping pulses
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// For minimum pulse time wait before stopping pulses
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#if EXTRA_CYCLES_XYZE > 20
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#if EXTRA_CYCLES_XYZE > 20
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@ -622,7 +584,7 @@ void Stepper::isr() {
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PULSE_STOP(Z);
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PULSE_STOP(Z);
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#endif
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#endif
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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#if ENABLED(MIXING_EXTRUDER)
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// Always step the single E axis
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// Always step the single E axis
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if (counter_E > 0) {
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if (counter_E > 0) {
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@ -638,7 +600,7 @@ void Stepper::isr() {
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#else // !MIXING_EXTRUDER
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#else // !MIXING_EXTRUDER
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PULSE_STOP(E);
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PULSE_STOP(E);
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#endif
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#endif
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#endif // !ADVANCE && !LIN_ADVANCE
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#endif // !LIN_ADVANCE
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if (++step_events_completed >= current_block->step_event_count) {
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if (++step_events_completed >= current_block->step_event_count) {
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all_steps_done = true;
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all_steps_done = true;
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@ -655,6 +617,7 @@ void Stepper::isr() {
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} // steps_loop
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} // steps_loop
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#if ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead) {
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if (current_block->use_advance_lead) {
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const int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX];
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const int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX];
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current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
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current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
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@ -666,13 +629,11 @@ void Stepper::isr() {
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// For most extruders, advance the single E stepper
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// For most extruders, advance the single E stepper
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e_steps[TOOL_E_INDEX] += delta_adv_steps;
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e_steps[TOOL_E_INDEX] += delta_adv_steps;
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#endif
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#endif
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}
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}
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#endif
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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// If we have esteps to execute, fire the next advance_isr "now"
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// If we have esteps to execute, fire the next advance_isr "now"
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if (e_steps[TOOL_E_INDEX]) nextAdvanceISR = 0;
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if (e_steps[TOOL_E_INDEX]) nextAdvanceISR = 0;
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#endif
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#endif // LIN_ADVANCE
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// Calculate new timer value
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// Calculate new timer value
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if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
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if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
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@ -705,33 +666,9 @@ void Stepper::isr() {
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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#endif
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#endif
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}
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}
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#elif ENABLED(ADVANCE)
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advance += advance_rate * step_loops;
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//NOLESS(advance, current_block->advance);
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const long advance_whole = advance >> 8,
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advance_factor = advance_whole - old_advance;
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// Do E steps + advance steps
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#if ENABLED(MIXING_EXTRUDER)
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// ...for mixing steppers proportionally
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MIXING_STEPPERS_LOOP(j)
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e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
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#else
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// ...for the active extruder
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e_steps[TOOL_E_INDEX] += advance_factor;
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#endif
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old_advance = advance_whole;
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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// TODO: HAL
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eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
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eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
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#endif
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#endif // LIN_ADVANCE
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}
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}
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else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
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else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
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HAL_TIMER_TYPE step_rate;
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HAL_TIMER_TYPE step_rate;
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@ -765,30 +702,9 @@ void Stepper::isr() {
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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#endif
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#endif
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}
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}
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#elif ENABLED(ADVANCE)
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advance -= advance_rate * step_loops;
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NOLESS(advance, final_advance);
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// Do E steps + advance steps
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const long advance_whole = advance >> 8,
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advance_factor = advance_whole - old_advance;
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j)
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e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
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#else
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e_steps[TOOL_E_INDEX] += advance_factor;
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#endif
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old_advance = advance_whole;
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
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eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
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#endif
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#endif // LIN_ADVANCE
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}
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}
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else {
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else {
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@ -807,7 +723,7 @@ void Stepper::isr() {
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step_loops = step_loops_nominal;
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step_loops = step_loops_nominal;
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}
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}
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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#ifdef CPU_32_BIT
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#ifdef CPU_32_BIT
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// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
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|
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
|
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|
|
HAL_TIMER_TYPE stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM),
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|
|
HAL_TIMER_TYPE stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM),
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|
|
@ -823,12 +739,12 @@ void Stepper::isr() {
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current_block = NULL;
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current_block = NULL;
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|
planner.discard_current_block();
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|
|
planner.discard_current_block();
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}
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}
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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|
|
HAL_ENABLE_ISRs(); // re-enable ISRs
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|
|
HAL_ENABLE_ISRs(); // re-enable ISRs
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|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
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|
|
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
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|
|
#if ENABLED(LIN_ADVANCE)
|
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|
|
#define CYCLES_EATEN_E (E_STEPPERS * 5)
|
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|
|
#define CYCLES_EATEN_E (E_STEPPERS * 5)
|
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|
|
#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
|
|
|
|
#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
|
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|
|
@ -968,7 +884,7 @@ void Stepper::isr() {
|
|
|
|
HAL_ENABLE_ISRs();
|
|
|
|
HAL_ENABLE_ISRs();
|
|
|
|
}
|
|
|
|
}
|
|
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|
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|
|
#endif // ADVANCE or LIN_ADVANCE
|
|
|
|
#endif // LIN_ADVANCE
|
|
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|
|
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|
|
|
|
|
|
void Stepper::init() {
|
|
|
|
void Stepper::init() {
|
|
|
|
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|
|
|
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|
|
@ -1166,12 +1082,10 @@ void Stepper::init() {
|
|
|
|
|
|
|
|
|
|
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
for (uint8_t i = 0; i < COUNT(e_steps); i++) e_steps[i] = 0;
|
|
|
|
for (uint8_t i = 0; i < COUNT(e_steps); i++) e_steps[i] = 0;
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
ZERO(current_adv_steps);
|
|
|
|
ZERO(current_adv_steps);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#endif // ADVANCE || LIN_ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
endstops.enable(true); // Start with endstops active. After homing they can be disabled
|
|
|
|
endstops.enable(true); // Start with endstops active. After homing they can be disabled
|
|
|
|
sei();
|
|
|
|
sei();
|
|
|
|
|
Scott Lahteine
7 years ago