|
|
@ -89,13 +89,24 @@ long Stepper::counter_X = 0,
|
|
|
|
|
|
|
|
|
|
|
|
volatile unsigned long Stepper::step_events_completed = 0; // The number of step events executed in the current block
|
|
|
|
volatile unsigned long Stepper::step_events_completed = 0; // The number of step events executed in the current block
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE)
|
|
|
|
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
unsigned char Stepper::old_OCR0A;
|
|
|
|
unsigned char Stepper::old_OCR0A;
|
|
|
|
long Stepper::final_advance = 0,
|
|
|
|
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
volatile int Stepper::e_steps[EXTRUDERS];
|
|
|
|
|
|
|
|
int Stepper::extruder_advance_k = LIN_ADVANCE_K,
|
|
|
|
|
|
|
|
Stepper::final_estep_rate,
|
|
|
|
|
|
|
|
Stepper::current_estep_rate[EXTRUDERS],
|
|
|
|
|
|
|
|
Stepper::current_adv_steps[EXTRUDERS];
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
long Stepper::e_steps[EXTRUDERS],
|
|
|
|
|
|
|
|
Stepper::final_advance = 0,
|
|
|
|
Stepper::old_advance = 0,
|
|
|
|
Stepper::old_advance = 0,
|
|
|
|
Stepper::e_steps[EXTRUDERS],
|
|
|
|
|
|
|
|
Stepper::advance_rate,
|
|
|
|
Stepper::advance_rate,
|
|
|
|
Stepper::advance;
|
|
|
|
Stepper::advance;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
long Stepper::acceleration_time, Stepper::deceleration_time;
|
|
|
|
long Stepper::acceleration_time, Stepper::deceleration_time;
|
|
|
@ -344,13 +355,31 @@ void Stepper::isr() {
|
|
|
|
customizedSerial.checkRx(); // Check for serial chars.
|
|
|
|
customizedSerial.checkRx(); // Check for serial chars.
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE)
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
counter_E += current_block->steps[E_AXIS];
|
|
|
|
|
|
|
|
if (counter_E > 0) {
|
|
|
|
|
|
|
|
counter_E -= current_block->step_event_count;
|
|
|
|
|
|
|
|
count_position[E_AXIS] += count_direction[E_AXIS];
|
|
|
|
|
|
|
|
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (current_block->use_advance_lead) {
|
|
|
|
|
|
|
|
int delta_adv_steps; //Maybe a char would be enough?
|
|
|
|
|
|
|
|
delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[current_block->active_extruder]) >> 9) - current_adv_steps[current_block->active_extruder];
|
|
|
|
|
|
|
|
e_steps[current_block->active_extruder] += delta_adv_steps;
|
|
|
|
|
|
|
|
current_adv_steps[current_block->active_extruder] += delta_adv_steps;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#elif ENABLED(ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
counter_E += current_block->steps[E_AXIS];
|
|
|
|
counter_E += current_block->steps[E_AXIS];
|
|
|
|
if (counter_E > 0) {
|
|
|
|
if (counter_E > 0) {
|
|
|
|
counter_E -= current_block->step_event_count;
|
|
|
|
counter_E -= current_block->step_event_count;
|
|
|
|
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
|
|
|
|
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif //ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
#endif // ADVANCE or LIN_ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
#define _COUNTER(AXIS) counter_## AXIS
|
|
|
|
#define _COUNTER(AXIS) counter_## AXIS
|
|
|
|
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
|
|
|
|
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
|
|
|
@ -363,7 +392,7 @@ void Stepper::isr() {
|
|
|
|
STEP_ADD(X);
|
|
|
|
STEP_ADD(X);
|
|
|
|
STEP_ADD(Y);
|
|
|
|
STEP_ADD(Y);
|
|
|
|
STEP_ADD(Z);
|
|
|
|
STEP_ADD(Z);
|
|
|
|
#if DISABLED(ADVANCE)
|
|
|
|
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
|
|
|
STEP_ADD(E);
|
|
|
|
STEP_ADD(E);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
@ -377,13 +406,19 @@ void Stepper::isr() {
|
|
|
|
STEP_IF_COUNTER(X);
|
|
|
|
STEP_IF_COUNTER(X);
|
|
|
|
STEP_IF_COUNTER(Y);
|
|
|
|
STEP_IF_COUNTER(Y);
|
|
|
|
STEP_IF_COUNTER(Z);
|
|
|
|
STEP_IF_COUNTER(Z);
|
|
|
|
#if DISABLED(ADVANCE)
|
|
|
|
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
|
|
|
STEP_IF_COUNTER(E);
|
|
|
|
STEP_IF_COUNTER(E);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
step_events_completed++;
|
|
|
|
step_events_completed++;
|
|
|
|
if (step_events_completed >= current_block->step_event_count) break;
|
|
|
|
if (step_events_completed >= current_block->step_event_count) break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
// If we have esteps to execute, fire the next ISR "now"
|
|
|
|
|
|
|
|
if (e_steps[current_block->active_extruder]) OCR0A = TCNT0 + 2;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
// Calculate new timer value
|
|
|
|
// Calculate new timer value
|
|
|
|
unsigned short timer, step_rate;
|
|
|
|
unsigned short timer, step_rate;
|
|
|
|
if (step_events_completed <= (unsigned long)current_block->accelerate_until) {
|
|
|
|
if (step_events_completed <= (unsigned long)current_block->accelerate_until) {
|
|
|
@ -399,7 +434,12 @@ void Stepper::isr() {
|
|
|
|
OCR1A = timer;
|
|
|
|
OCR1A = timer;
|
|
|
|
acceleration_time += timer;
|
|
|
|
acceleration_time += timer;
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE)
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (current_block->use_advance_lead)
|
|
|
|
|
|
|
|
current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#elif ENABLED(ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
advance += advance_rate * step_loops;
|
|
|
|
advance += advance_rate * step_loops;
|
|
|
|
//NOLESS(advance, current_block->advance);
|
|
|
|
//NOLESS(advance, current_block->advance);
|
|
|
@ -408,7 +448,11 @@ void Stepper::isr() {
|
|
|
|
e_steps[current_block->active_extruder] += ((advance >> 8) - old_advance);
|
|
|
|
e_steps[current_block->active_extruder] += ((advance >> 8) - old_advance);
|
|
|
|
old_advance = advance >> 8;
|
|
|
|
old_advance = advance >> 8;
|
|
|
|
|
|
|
|
|
|
|
|
#endif //ADVANCE
|
|
|
|
#endif // ADVANCE or LIN_ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
eISR_Rate = (timer >> 2) / abs(e_steps[current_block->active_extruder]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
|
|
|
|
else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
|
|
|
|
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
|
|
|
|
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
|
|
|
@ -425,7 +469,13 @@ void Stepper::isr() {
|
|
|
|
OCR1A = timer;
|
|
|
|
OCR1A = timer;
|
|
|
|
deceleration_time += timer;
|
|
|
|
deceleration_time += timer;
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE)
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (current_block->use_advance_lead)
|
|
|
|
|
|
|
|
current_estep_rate[current_block->active_extruder] = ((unsigned long)step_rate * current_block->e_speed_multiplier8) >> 8;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#elif ENABLED(ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
advance -= advance_rate * step_loops;
|
|
|
|
advance -= advance_rate * step_loops;
|
|
|
|
NOLESS(advance, final_advance);
|
|
|
|
NOLESS(advance, final_advance);
|
|
|
|
|
|
|
|
|
|
|
@ -433,9 +483,24 @@ void Stepper::isr() {
|
|
|
|
uint32_t advance_whole = advance >> 8;
|
|
|
|
uint32_t advance_whole = advance >> 8;
|
|
|
|
e_steps[current_block->active_extruder] += advance_whole - old_advance;
|
|
|
|
e_steps[current_block->active_extruder] += advance_whole - old_advance;
|
|
|
|
old_advance = advance_whole;
|
|
|
|
old_advance = advance_whole;
|
|
|
|
#endif //ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
#endif // ADVANCE or LIN_ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
eISR_Rate = (timer >> 2) / abs(e_steps[current_block->active_extruder]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else {
|
|
|
|
else {
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (current_block->use_advance_lead)
|
|
|
|
|
|
|
|
current_estep_rate[current_block->active_extruder] = final_estep_rate;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
eISR_Rate = (OCR1A_nominal >> 2) / abs(e_steps[current_block->active_extruder]);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
OCR1A = OCR1A_nominal;
|
|
|
|
OCR1A = OCR1A_nominal;
|
|
|
|
// ensure we're running at the correct step rate, even if we just came off an acceleration
|
|
|
|
// ensure we're running at the correct step rate, even if we just came off an acceleration
|
|
|
|
step_loops = step_loops_nominal;
|
|
|
|
step_loops = step_loops_nominal;
|
|
|
@ -451,13 +516,15 @@ void Stepper::isr() {
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE)
|
|
|
|
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
// Timer interrupt for E. e_steps is set in the main routine;
|
|
|
|
// Timer interrupt for E. e_steps is set in the main routine;
|
|
|
|
// Timer 0 is shared with millies
|
|
|
|
// Timer 0 is shared with millies
|
|
|
|
ISR(TIMER0_COMPA_vect) { Stepper::advance_isr(); }
|
|
|
|
ISR(TIMER0_COMPA_vect) { Stepper::advance_isr(); }
|
|
|
|
|
|
|
|
|
|
|
|
void Stepper::advance_isr() {
|
|
|
|
void Stepper::advance_isr() {
|
|
|
|
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
|
|
|
|
|
|
|
|
|
|
|
|
old_OCR0A += eISR_Rate;
|
|
|
|
OCR0A = old_OCR0A;
|
|
|
|
OCR0A = old_OCR0A;
|
|
|
|
|
|
|
|
|
|
|
|
#define STEP_E_ONCE(INDEX) \
|
|
|
|
#define STEP_E_ONCE(INDEX) \
|
|
|
@ -474,8 +541,7 @@ void Stepper::isr() {
|
|
|
|
E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
|
|
|
|
E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// Step all E steppers that have steps, up to 4 steps per interrupt
|
|
|
|
// Step all E steppers that have steps
|
|
|
|
for (unsigned char i = 0; i < 4; i++) {
|
|
|
|
|
|
|
|
STEP_E_ONCE(0);
|
|
|
|
STEP_E_ONCE(0);
|
|
|
|
#if EXTRUDERS > 1
|
|
|
|
#if EXTRUDERS > 1
|
|
|
|
STEP_E_ONCE(1);
|
|
|
|
STEP_E_ONCE(1);
|
|
|
@ -486,10 +552,10 @@ void Stepper::isr() {
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#endif // ADVANCE
|
|
|
|
#endif // ADVANCE or LIN_ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
void Stepper::init() {
|
|
|
|
void Stepper::init() {
|
|
|
|
|
|
|
|
|
|
|
@ -656,14 +722,28 @@ void Stepper::init() {
|
|
|
|
TCNT1 = 0;
|
|
|
|
TCNT1 = 0;
|
|
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE)
|
|
|
|
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
for (int i = 0; i < EXTRUDERS; i++) {
|
|
|
|
|
|
|
|
e_steps[i] = 0;
|
|
|
|
|
|
|
|
current_adv_steps[i] = 0;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#elif ENABLED(ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
for (uint8_t i = 0; i < EXTRUDERS; i++) e_steps[i] = 0;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if defined(TCCR0A) && defined(WGM01)
|
|
|
|
#if defined(TCCR0A) && defined(WGM01)
|
|
|
|
CBI(TCCR0A, WGM01);
|
|
|
|
CBI(TCCR0A, WGM01);
|
|
|
|
CBI(TCCR0A, WGM00);
|
|
|
|
CBI(TCCR0A, WGM00);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
for (uint8_t i = 0; i < EXTRUDERS; i++) e_steps[i] = 0;
|
|
|
|
|
|
|
|
SBI(TIMSK0, OCIE0A);
|
|
|
|
SBI(TIMSK0, OCIE0A);
|
|
|
|
#endif //ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
#endif // ADVANCE or 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();
|
|
|
@ -1040,3 +1120,14 @@ void Stepper::microstep_readings() {
|
|
|
|
SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
|
|
|
|
SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void Stepper::advance_M905() {
|
|
|
|
|
|
|
|
if (code_seen('K')) extruder_advance_k = code_value();
|
|
|
|
|
|
|
|
SERIAL_ECHO_START;
|
|
|
|
|
|
|
|
SERIAL_ECHOPAIR("Advance factor: ", extruder_advance_k);
|
|
|
|
|
|
|
|
SERIAL_EOL;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#endif // LIN_ADVANCE
|
|
|
|