|
|
|
|
@ -43,19 +43,169 @@
|
|
|
|
|
#ifndef STEPPER_H
|
|
|
|
|
#define STEPPER_H
|
|
|
|
|
|
|
|
|
|
#include "../inc/MarlinConfig.h"
|
|
|
|
|
|
|
|
|
|
// Disable multiple steps per ISR
|
|
|
|
|
//#define DISABLE_MULTI_STEPPING
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// Estimate the amount of time the Stepper ISR will take to execute
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
#ifndef MINIMUM_STEPPER_PULSE
|
|
|
|
|
#define MINIMUM_STEPPER_PULSE 0
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef MAXIMUM_STEPPER_RATE
|
|
|
|
|
#if MINIMUM_STEPPER_PULSE
|
|
|
|
|
#define MAXIMUM_STEPPER_RATE (1000000UL / (2UL * (MINIMUM_STEPPER_PULSE)))
|
|
|
|
|
#else
|
|
|
|
|
#define MAXIMUM_STEPPER_RATE 500000UL
|
|
|
|
|
#endif
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifdef CPU_32_BIT
|
|
|
|
|
|
|
|
|
|
// The base ISR takes 792 cycles
|
|
|
|
|
#define ISR_BASE_CYCLES 792UL
|
|
|
|
|
|
|
|
|
|
// Linear advance base time is 64 cycles
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
#define ISR_LA_BASE_CYCLES 64UL
|
|
|
|
|
#else
|
|
|
|
|
#define ISR_LA_BASE_CYCLES 0UL
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// S curve interpolation adds 40 cycles
|
|
|
|
|
#if ENABLED(S_CURVE_ACCELERATION)
|
|
|
|
|
#define ISR_S_CURVE_CYCLES 40UL
|
|
|
|
|
#else
|
|
|
|
|
#define ISR_S_CURVE_CYCLES 0UL
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Stepper Loop base cycles
|
|
|
|
|
#define ISR_LOOP_BASE_CYCLES 4UL
|
|
|
|
|
|
|
|
|
|
// And each stepper takes 16 cycles
|
|
|
|
|
#define ISR_STEPPER_CYCLES 16UL
|
|
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
|
|
// The base ISR takes 752 cycles
|
|
|
|
|
#define ISR_BASE_CYCLES 752UL
|
|
|
|
|
|
|
|
|
|
// Linear advance base time is 32 cycles
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
#define ISR_LA_BASE_CYCLES 32UL
|
|
|
|
|
#else
|
|
|
|
|
#define ISR_LA_BASE_CYCLES 0UL
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// S curve interpolation adds 160 cycles
|
|
|
|
|
#if ENABLED(S_CURVE_ACCELERATION)
|
|
|
|
|
#define ISR_S_CURVE_CYCLES 160UL
|
|
|
|
|
#else
|
|
|
|
|
#define ISR_S_CURVE_CYCLES 0UL
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Stepper Loop base cycles
|
|
|
|
|
#define ISR_LOOP_BASE_CYCLES 32UL
|
|
|
|
|
|
|
|
|
|
// And each stepper takes 88 cycles
|
|
|
|
|
#define ISR_STEPPER_CYCLES 88UL
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Add time for each stepper
|
|
|
|
|
#ifdef HAS_X_STEP
|
|
|
|
|
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
|
|
|
|
#else
|
|
|
|
|
#define ISR_X_STEPPER_CYCLES 0UL
|
|
|
|
|
#endif
|
|
|
|
|
#ifdef HAS_Y_STEP
|
|
|
|
|
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
|
|
|
|
#else
|
|
|
|
|
#define ISR_Y_STEPPER_CYCLES 0UL
|
|
|
|
|
#endif
|
|
|
|
|
#ifdef HAS_Z_STEP
|
|
|
|
|
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
|
|
|
|
#else
|
|
|
|
|
#define ISR_Z_STEPPER_CYCLES 0UL
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// E is always interpolated, even for mixing extruders
|
|
|
|
|
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
|
|
|
|
|
|
|
|
|
// If linear advance is disabled, then the loop also handles them
|
|
|
|
|
#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
|
|
|
|
|
#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
|
|
|
|
|
#else
|
|
|
|
|
#define ISR_MIXING_STEPPER_CYCLES 0UL
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// And the total minimum loop time, not including the base
|
|
|
|
|
#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
|
|
|
|
|
|
|
|
|
|
// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
|
|
|
|
|
#define _MIN_STEPPER_PULSE_CYCLES(N) max((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
|
|
|
|
|
#if MINIMUM_STEPPER_PULSE
|
|
|
|
|
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE)
|
|
|
|
|
#else
|
|
|
|
|
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1)
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#define MIN_PULSE_TICKS ((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE))
|
|
|
|
|
#define ADDED_STEP_TICKS ((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE) - MIN_PULSE_TICKS)
|
|
|
|
|
|
|
|
|
|
// But the user could be enforcing a minimum time, so the loop time is
|
|
|
|
|
#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
|
|
|
|
|
|
|
|
|
|
// If linear advance is enabled, then it is handled separately
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
// Estimate the minimum LA loop time
|
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
|
|
|
#define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
|
|
|
|
|
#else
|
|
|
|
|
#define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// And the real loop time
|
|
|
|
|
#define ISR_LA_LOOP_CYCLES max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
|
|
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
#define ISR_LA_LOOP_CYCLES 0UL
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Now estimate the total ISR execution time in cycles given a step per ISR multiplier
|
|
|
|
|
#define ISR_EXECUTION_CYCLES(R) (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES) * (R) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / (R))
|
|
|
|
|
|
|
|
|
|
// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz)
|
|
|
|
|
#define MAX_STEP_ISR_FREQUENCY_128X ((F_CPU) / ISR_EXECUTION_CYCLES(128))
|
|
|
|
|
#define MAX_STEP_ISR_FREQUENCY_64X ((F_CPU) / ISR_EXECUTION_CYCLES(64))
|
|
|
|
|
#define MAX_STEP_ISR_FREQUENCY_32X ((F_CPU) / ISR_EXECUTION_CYCLES(32))
|
|
|
|
|
#define MAX_STEP_ISR_FREQUENCY_16X ((F_CPU) / ISR_EXECUTION_CYCLES(16))
|
|
|
|
|
#define MAX_STEP_ISR_FREQUENCY_8X ((F_CPU) / ISR_EXECUTION_CYCLES(8))
|
|
|
|
|
#define MAX_STEP_ISR_FREQUENCY_4X ((F_CPU) / ISR_EXECUTION_CYCLES(4))
|
|
|
|
|
#define MAX_STEP_ISR_FREQUENCY_2X ((F_CPU) / ISR_EXECUTION_CYCLES(2))
|
|
|
|
|
#define MAX_STEP_ISR_FREQUENCY_1X ((F_CPU) / ISR_EXECUTION_CYCLES(1))
|
|
|
|
|
|
|
|
|
|
// The minimum allowable frequency for step smoothing will be 1/10 of the maximum nominal frequency (in Hz)
|
|
|
|
|
#define MIN_STEP_ISR_FREQUENCY MAX_STEP_ISR_FREQUENCY_1X
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// Stepper class definition
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
#include "stepper_indirection.h"
|
|
|
|
|
|
|
|
|
|
#ifdef __AVR__
|
|
|
|
|
#include "speed_lookuptable.h"
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#include "../inc/MarlinConfig.h"
|
|
|
|
|
#include "../module/planner.h"
|
|
|
|
|
#include "../core/language.h"
|
|
|
|
|
|
|
|
|
|
class Stepper;
|
|
|
|
|
extern Stepper stepper;
|
|
|
|
|
|
|
|
|
|
class Stepper {
|
|
|
|
|
|
|
|
|
|
public:
|
|
|
|
|
@ -303,14 +453,14 @@ class Stepper {
|
|
|
|
|
|
|
|
|
|
// The stepping frequency limits for each multistepping rate
|
|
|
|
|
static const uint32_t limit[] PROGMEM = {
|
|
|
|
|
( MAX_1X_STEP_ISR_FREQUENCY ),
|
|
|
|
|
( MAX_2X_STEP_ISR_FREQUENCY >> 1),
|
|
|
|
|
( MAX_4X_STEP_ISR_FREQUENCY >> 2),
|
|
|
|
|
( MAX_8X_STEP_ISR_FREQUENCY >> 3),
|
|
|
|
|
( MAX_16X_STEP_ISR_FREQUENCY >> 4),
|
|
|
|
|
( MAX_32X_STEP_ISR_FREQUENCY >> 5),
|
|
|
|
|
( MAX_64X_STEP_ISR_FREQUENCY >> 6),
|
|
|
|
|
(MAX_128X_STEP_ISR_FREQUENCY >> 7)
|
|
|
|
|
( MAX_STEP_ISR_FREQUENCY_1X ),
|
|
|
|
|
( MAX_STEP_ISR_FREQUENCY_2X >> 1),
|
|
|
|
|
( MAX_STEP_ISR_FREQUENCY_4X >> 2),
|
|
|
|
|
( MAX_STEP_ISR_FREQUENCY_8X >> 3),
|
|
|
|
|
( MAX_STEP_ISR_FREQUENCY_16X >> 4),
|
|
|
|
|
( MAX_STEP_ISR_FREQUENCY_32X >> 5),
|
|
|
|
|
( MAX_STEP_ISR_FREQUENCY_64X >> 6),
|
|
|
|
|
(MAX_STEP_ISR_FREQUENCY_128X >> 7)
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Select the proper multistepping
|
|
|
|
|
@ -321,7 +471,7 @@ class Stepper {
|
|
|
|
|
++idx;
|
|
|
|
|
};
|
|
|
|
|
#else
|
|
|
|
|
NOMORE(step_rate, uint32_t(MAX_1X_STEP_ISR_FREQUENCY));
|
|
|
|
|
NOMORE(step_rate, uint32_t(MAX_STEP_ISR_FREQUENCY_1X));
|
|
|
|
|
#endif
|
|
|
|
|
*loops = multistep;
|
|
|
|
|
|
|
|
|
|
@ -367,4 +517,6 @@ class Stepper {
|
|
|
|
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
extern Stepper stepper;
|
|
|
|
|
|
|
|
|
|
#endif // STEPPER_H
|
|
|
|
|
|
Scott Lahteine
7 years ago