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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
- * Derived from Grbl
- *
- * Copyright (c) 2009-2011 Simen Svale Skogsrud
- *
- * Grbl is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Grbl is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Grbl. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #ifndef STEPPER_H
- #define STEPPER_H
-
- #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:
-
- static block_t* current_block; // A pointer to the block currently being traced
-
- #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
- static bool homing_dual_axis;
- #endif
-
- #if HAS_MOTOR_CURRENT_PWM
- #ifndef PWM_MOTOR_CURRENT
- #define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
- #endif
- static uint32_t motor_current_setting[3];
- #endif
-
- private:
-
- static uint8_t last_direction_bits, // The next stepping-bits to be output
- axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
-
- static bool abort_current_block; // Signals to the stepper that current block should be aborted
-
- #if DISABLED(MIXING_EXTRUDER)
- static uint8_t last_moved_extruder; // Last-moved extruder, as set when the last movement was fetched from planner
- #endif
-
- #if ENABLED(X_DUAL_ENDSTOPS)
- static bool locked_X_motor, locked_X2_motor;
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- static bool locked_Y_motor, locked_Y2_motor;
- #endif
- #if ENABLED(Z_DUAL_ENDSTOPS)
- static bool locked_Z_motor, locked_Z2_motor;
- #endif
-
- static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks
- static uint8_t steps_per_isr; // Count of steps to perform per Stepper ISR call
-
- #if ENABLED(ADAPTIVE_STEP_SMOOTHING)
- static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis
- #else
- static constexpr uint8_t oversampling_factor = 0;
- #endif
-
- // Delta error variables for the Bresenham line tracer
- static int32_t delta_error[XYZE];
- static uint32_t advance_dividend[XYZE],
- advance_divisor,
- step_events_completed, // The number of step events executed in the current block
- accelerate_until, // The point from where we need to stop acceleration
- decelerate_after, // The point from where we need to start decelerating
- step_event_count; // The total event count for the current block
-
- // Mixing extruder mix delta_errors for bresenham tracing
- #if ENABLED(MIXING_EXTRUDER)
- static int32_t delta_error_m[MIXING_STEPPERS];
- static uint32_t advance_dividend_m[MIXING_STEPPERS],
- advance_divisor_m;
- #define MIXING_STEPPERS_LOOP(VAR) \
- for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++)
- #else
- static int8_t active_extruder; // Active extruder
- #endif
-
- #if ENABLED(S_CURVE_ACCELERATION)
- static int32_t bezier_A, // A coefficient in Bézier speed curve
- bezier_B, // B coefficient in Bézier speed curve
- bezier_C; // C coefficient in Bézier speed curve
- static uint32_t bezier_F, // F coefficient in Bézier speed curve
- bezier_AV; // AV coefficient in Bézier speed curve
- #ifdef __AVR__
- static bool A_negative; // If A coefficient was negative
- #endif
- static bool bezier_2nd_half; // If Bézier curve has been initialized or not
- #endif
-
- static uint32_t nextMainISR; // time remaining for the next Step ISR
- #if ENABLED(LIN_ADVANCE)
- static uint32_t nextAdvanceISR, LA_isr_rate;
- static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
- static int8_t LA_steps;
- static bool LA_use_advance_lead;
- #endif // LIN_ADVANCE
-
- static int32_t ticks_nominal;
- #if DISABLED(S_CURVE_ACCELERATION)
- static uint32_t acc_step_rate; // needed for deceleration start point
- #endif
-
- static volatile int32_t endstops_trigsteps[XYZ];
-
- //
- // Positions of stepper motors, in step units
- //
- static volatile int32_t count_position[NUM_AXIS];
-
- //
- // Current direction of stepper motors (+1 or -1)
- //
- static int8_t count_direction[NUM_AXIS];
-
- public:
-
- //
- // Constructor / initializer
- //
- Stepper() { };
-
- // Initialize stepper hardware
- static void init();
-
- // Interrupt Service Routines
-
- // The ISR scheduler
- static void isr();
-
- // The stepper pulse phase ISR
- static void stepper_pulse_phase_isr();
-
- // The stepper block processing phase ISR
- static uint32_t stepper_block_phase_isr();
-
- #if ENABLED(LIN_ADVANCE)
- // The Linear advance stepper ISR
- static uint32_t advance_isr();
- #endif
-
- // Get the position of a stepper, in steps
- static int32_t position(const AxisEnum axis);
-
- // Report the positions of the steppers, in steps
- static void report_positions();
-
- // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
- // to notify the subsystem that it is time to go to work.
- static void wake_up();
-
- // Quickly stop all steppers
- FORCE_INLINE static void quick_stop() { abort_current_block = true; }
-
- // The direction of a single motor
- FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
-
- // The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
- FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
-
- // The extruder associated to the last movement
- FORCE_INLINE static uint8_t movement_extruder() {
- return
- #if ENABLED(MIXING_EXTRUDER)
- 0
- #else
- last_moved_extruder
- #endif
- ;
- }
-
- // Handle a triggered endstop
- static void endstop_triggered(const AxisEnum axis);
-
- // Triggered position of an axis in steps
- static int32_t triggered_position(const AxisEnum axis);
-
- #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
- static void digitalPotWrite(const int16_t address, const int16_t value);
- static void digipot_current(const uint8_t driver, const int16_t current);
- #endif
-
- #if HAS_MICROSTEPS
- static void microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2);
- static void microstep_mode(const uint8_t driver, const uint8_t stepping);
- static void microstep_readings();
- #endif
-
- #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
- FORCE_INLINE static void set_homing_dual_axis(const bool state) { homing_dual_axis = state; }
- #endif
- #if ENABLED(X_DUAL_ENDSTOPS)
- FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
- FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
- FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
- #endif
- #if ENABLED(Z_DUAL_ENDSTOPS)
- FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
- FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
- #endif
-
- #if ENABLED(BABYSTEPPING)
- static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
- #endif
-
- #if HAS_MOTOR_CURRENT_PWM
- static void refresh_motor_power();
- #endif
-
- // Set the current position in steps
- inline static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
- planner.synchronize();
- const bool was_enabled = STEPPER_ISR_ENABLED();
- if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
- _set_position(a, b, c, e);
- if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
- }
-
- inline static void set_position(const AxisEnum a, const int32_t &v) {
- planner.synchronize();
-
- #ifdef __AVR__
- // Protect the access to the position. Only required for AVR, as
- // any 32bit CPU offers atomic access to 32bit variables
- const bool was_enabled = STEPPER_ISR_ENABLED();
- if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
- #endif
-
- count_position[a] = v;
-
- #ifdef __AVR__
- // Reenable Stepper ISR
- if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
- #endif
- }
-
- private:
-
- // Set the current position in steps
- static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
-
- // Set direction bits for all steppers
- static void set_directions();
-
- FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) {
- uint32_t timer;
-
- // Scale the frequency, as requested by the caller
- step_rate <<= scale;
-
- uint8_t multistep = 1;
- #if DISABLED(DISABLE_MULTI_STEPPING)
-
- // 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)
- };
-
- // Select the proper multistepping
- uint8_t idx = 0;
- while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) {
- step_rate >>= 1;
- multistep <<= 1;
- ++idx;
- };
- #else
- NOMORE(step_rate, uint32_t(MAX_1X_STEP_ISR_FREQUENCY));
- #endif
- *loops = multistep;
-
- #ifdef CPU_32_BIT
- // In case of high-performance processor, it is able to calculate in real-time
- timer = uint32_t(HAL_STEPPER_TIMER_RATE) / step_rate;
- #else
- constexpr uint32_t min_step_rate = F_CPU / 500000U;
- NOLESS(step_rate, min_step_rate);
- step_rate -= min_step_rate; // Correct for minimal speed
- if (step_rate >= (8 * 256)) { // higher step rate
- const uint8_t tmp_step_rate = (step_rate & 0x00FF);
- const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
- gain = (uint16_t)pgm_read_word_near(table_address + 2);
- timer = MultiU16X8toH16(tmp_step_rate, gain);
- timer = (uint16_t)pgm_read_word_near(table_address) - timer;
- }
- else { // lower step rates
- uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
- table_address += ((step_rate) >> 1) & 0xFFFC;
- timer = (uint16_t)pgm_read_word_near(table_address)
- - (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
- }
- // (there is no need to limit the timer value here. All limits have been
- // applied above, and AVR is able to keep up at 30khz Stepping ISR rate)
- #endif
-
- return timer;
- }
-
- #if ENABLED(S_CURVE_ACCELERATION)
- static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
- static int32_t _eval_bezier_curve(const uint32_t curr_step);
- #endif
-
- #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
- static void digipot_init();
- #endif
-
- #if HAS_MICROSTEPS
- static void microstep_init();
- #endif
-
- };
-
- #endif // STEPPER_H
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