My Marlin configs for Fabrikator Mini and CTC i3 Pro B
Ви не можете вибрати більше 25 тем Теми мають розпочинатися з літери або цифри, можуть містити дефіси (-) і не повинні перевищувати 35 символів.

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <https://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * stepper.cpp - A singleton object to execute motion plans using stepper motors
  24. * Marlin Firmware
  25. *
  26. * Derived from Grbl
  27. * Copyright (c) 2009-2011 Simen Svale Skogsrud
  28. *
  29. * Grbl is free software: you can redistribute it and/or modify
  30. * it under the terms of the GNU General Public License as published by
  31. * the Free Software Foundation, either version 3 of the License, or
  32. * (at your option) any later version.
  33. *
  34. * Grbl is distributed in the hope that it will be useful,
  35. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  36. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  37. * GNU General Public License for more details.
  38. *
  39. * You should have received a copy of the GNU General Public License
  40. * along with Grbl. If not, see <https://www.gnu.org/licenses/>.
  41. */
  42. /**
  43. * Timer calculations informed by the 'RepRap cartesian firmware' by Zack Smith
  44. * and Philipp Tiefenbacher.
  45. */
  46. /**
  47. * __________________________
  48. * /| |\ _________________ ^
  49. * / | | \ /| |\ |
  50. * / | | \ / | | \ s
  51. * / | | | | | \ p
  52. * / | | | | | \ e
  53. * +-----+------------------------+---+--+---------------+----+ e
  54. * | BLOCK 1 | BLOCK 2 | d
  55. *
  56. * time ----->
  57. *
  58. * The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
  59. * first block->accelerate_until step_events_completed, then keeps going at constant speed until
  60. * step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
  61. * The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
  62. */
  63. /**
  64. * Marlin uses the Bresenham algorithm. For a detailed explanation of theory and
  65. * method see https://www.cs.helsinki.fi/group/goa/mallinnus/lines/bresenh.html
  66. */
  67. /**
  68. * Jerk controlled movements planner added Apr 2018 by Eduardo José Tagle.
  69. * Equations based on Synthethos TinyG2 sources, but the fixed-point
  70. * implementation is new, as we are running the ISR with a variable period.
  71. * Also implemented the Bézier velocity curve evaluation in ARM assembler,
  72. * to avoid impacting ISR speed.
  73. */
  74. #include "stepper.h"
  75. Stepper stepper; // Singleton
  76. #define BABYSTEPPING_EXTRA_DIR_WAIT
  77. #ifdef __AVR__
  78. #include "stepper/speed_lookuptable.h"
  79. #endif
  80. #include "endstops.h"
  81. #include "planner.h"
  82. #include "motion.h"
  83. #include "../lcd/marlinui.h"
  84. #include "../gcode/queue.h"
  85. #include "../sd/cardreader.h"
  86. #include "../MarlinCore.h"
  87. #include "../HAL/shared/Delay.h"
  88. #if ENABLED(INTEGRATED_BABYSTEPPING)
  89. #include "../feature/babystep.h"
  90. #endif
  91. #if MB(ALLIGATOR)
  92. #include "../feature/dac/dac_dac084s085.h"
  93. #endif
  94. #if HAS_MOTOR_CURRENT_SPI
  95. #include <SPI.h>
  96. #endif
  97. #if ENABLED(MIXING_EXTRUDER)
  98. #include "../feature/mixing.h"
  99. #endif
  100. #if HAS_FILAMENT_RUNOUT_DISTANCE
  101. #include "../feature/runout.h"
  102. #endif
  103. #if HAS_L64XX
  104. #include "../libs/L64XX/L64XX_Marlin.h"
  105. uint8_t L6470_buf[MAX_L64XX + 1]; // chip command sequence - element 0 not used
  106. bool L64XX_OK_to_power_up = false; // flag to keep L64xx steppers powered down after a reset or power up
  107. #endif
  108. #if ENABLED(AUTO_POWER_CONTROL)
  109. #include "../feature/power.h"
  110. #endif
  111. #if ENABLED(POWER_LOSS_RECOVERY)
  112. #include "../feature/powerloss.h"
  113. #endif
  114. #if HAS_CUTTER
  115. #include "../feature/spindle_laser.h"
  116. #endif
  117. #if ENABLED(EXTENSIBLE_UI)
  118. #include "../lcd/extui/ui_api.h"
  119. #endif
  120. // public:
  121. #if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
  122. bool Stepper::separate_multi_axis = false;
  123. #endif
  124. #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
  125. bool Stepper::initialized; // = false
  126. uint32_t Stepper::motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load()
  127. #if HAS_MOTOR_CURRENT_SPI
  128. constexpr uint32_t Stepper::digipot_count[];
  129. #endif
  130. #endif
  131. stepper_flags_t Stepper::axis_enabled; // {0}
  132. // private:
  133. block_t* Stepper::current_block; // (= nullptr) A pointer to the block currently being traced
  134. axis_bits_t Stepper::last_direction_bits, // = 0
  135. Stepper::axis_did_move; // = 0
  136. bool Stepper::abort_current_block;
  137. #if DISABLED(MIXING_EXTRUDER) && HAS_MULTI_EXTRUDER
  138. uint8_t Stepper::last_moved_extruder = 0xFF;
  139. #endif
  140. #if ENABLED(X_DUAL_ENDSTOPS)
  141. bool Stepper::locked_X_motor = false, Stepper::locked_X2_motor = false;
  142. #endif
  143. #if ENABLED(Y_DUAL_ENDSTOPS)
  144. bool Stepper::locked_Y_motor = false, Stepper::locked_Y2_motor = false;
  145. #endif
  146. #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
  147. bool Stepper::locked_Z_motor = false, Stepper::locked_Z2_motor = false
  148. #if NUM_Z_STEPPERS >= 3
  149. , Stepper::locked_Z3_motor = false
  150. #if NUM_Z_STEPPERS >= 4
  151. , Stepper::locked_Z4_motor = false
  152. #endif
  153. #endif
  154. ;
  155. #endif
  156. uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
  157. uint8_t Stepper::steps_per_isr;
  158. #if ENABLED(FREEZE_FEATURE)
  159. bool Stepper::frozen; // = false
  160. #endif
  161. IF_DISABLED(ADAPTIVE_STEP_SMOOTHING, constexpr) uint8_t Stepper::oversampling_factor;
  162. xyze_long_t Stepper::delta_error{0};
  163. xyze_ulong_t Stepper::advance_dividend{0};
  164. uint32_t Stepper::advance_divisor = 0,
  165. Stepper::step_events_completed = 0, // The number of step events executed in the current block
  166. Stepper::accelerate_until, // The count at which to stop accelerating
  167. Stepper::decelerate_after, // The count at which to start decelerating
  168. Stepper::step_event_count; // The total event count for the current block
  169. #if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
  170. uint8_t Stepper::stepper_extruder;
  171. #else
  172. constexpr uint8_t Stepper::stepper_extruder;
  173. #endif
  174. #if ENABLED(S_CURVE_ACCELERATION)
  175. int32_t __attribute__((used)) Stepper::bezier_A __asm__("bezier_A"); // A coefficient in Bézier speed curve with alias for assembler
  176. int32_t __attribute__((used)) Stepper::bezier_B __asm__("bezier_B"); // B coefficient in Bézier speed curve with alias for assembler
  177. int32_t __attribute__((used)) Stepper::bezier_C __asm__("bezier_C"); // C coefficient in Bézier speed curve with alias for assembler
  178. uint32_t __attribute__((used)) Stepper::bezier_F __asm__("bezier_F"); // F coefficient in Bézier speed curve with alias for assembler
  179. uint32_t __attribute__((used)) Stepper::bezier_AV __asm__("bezier_AV"); // AV coefficient in Bézier speed curve with alias for assembler
  180. #ifdef __AVR__
  181. bool __attribute__((used)) Stepper::A_negative __asm__("A_negative"); // If A coefficient was negative
  182. #endif
  183. bool Stepper::bezier_2nd_half; // =false If Bézier curve has been initialized or not
  184. #endif
  185. #if ENABLED(LIN_ADVANCE)
  186. uint32_t Stepper::nextAdvanceISR = LA_ADV_NEVER,
  187. Stepper::LA_isr_rate = LA_ADV_NEVER;
  188. uint16_t Stepper::LA_current_adv_steps = 0,
  189. Stepper::LA_final_adv_steps,
  190. Stepper::LA_max_adv_steps;
  191. int8_t Stepper::LA_steps = 0;
  192. bool Stepper::LA_use_advance_lead;
  193. #endif // LIN_ADVANCE
  194. #if ENABLED(INTEGRATED_BABYSTEPPING)
  195. uint32_t Stepper::nextBabystepISR = BABYSTEP_NEVER;
  196. #endif
  197. #if ENABLED(DIRECT_STEPPING)
  198. page_step_state_t Stepper::page_step_state;
  199. #endif
  200. int32_t Stepper::ticks_nominal = -1;
  201. #if DISABLED(S_CURVE_ACCELERATION)
  202. uint32_t Stepper::acc_step_rate; // needed for deceleration start point
  203. #endif
  204. xyz_long_t Stepper::endstops_trigsteps;
  205. xyze_long_t Stepper::count_position{0};
  206. xyze_int8_t Stepper::count_direction{0};
  207. #define MINDIR(A) (count_direction[_AXIS(A)] < 0)
  208. #define MAXDIR(A) (count_direction[_AXIS(A)] > 0)
  209. #define STEPTEST(A,M,I) TERN0(HAS_ ##A## ##I## _ ##M, !(TEST(endstops.state(), A## ##I## _ ##M) && M## DIR(A)) && !locked_ ##A## ##I## _motor)
  210. #define DUAL_ENDSTOP_APPLY_STEP(A,V) \
  211. if (separate_multi_axis) { \
  212. if (ENABLED(A##_HOME_TO_MIN)) { \
  213. if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
  214. if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
  215. } \
  216. else if (ENABLED(A##_HOME_TO_MAX)) { \
  217. if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
  218. if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
  219. } \
  220. } \
  221. else { \
  222. A##_STEP_WRITE(V); \
  223. A##2_STEP_WRITE(V); \
  224. }
  225. #define DUAL_SEPARATE_APPLY_STEP(A,V) \
  226. if (separate_multi_axis) { \
  227. if (!locked_##A## _motor) A## _STEP_WRITE(V); \
  228. if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
  229. } \
  230. else { \
  231. A##_STEP_WRITE(V); \
  232. A##2_STEP_WRITE(V); \
  233. }
  234. #define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \
  235. if (separate_multi_axis) { \
  236. if (ENABLED(A##_HOME_TO_MIN)) { \
  237. if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
  238. if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
  239. if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
  240. } \
  241. else if (ENABLED(A##_HOME_TO_MAX)) { \
  242. if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
  243. if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
  244. if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
  245. } \
  246. } \
  247. else { \
  248. A##_STEP_WRITE(V); \
  249. A##2_STEP_WRITE(V); \
  250. A##3_STEP_WRITE(V); \
  251. }
  252. #define TRIPLE_SEPARATE_APPLY_STEP(A,V) \
  253. if (separate_multi_axis) { \
  254. if (!locked_##A## _motor) A## _STEP_WRITE(V); \
  255. if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
  256. if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
  257. } \
  258. else { \
  259. A## _STEP_WRITE(V); \
  260. A##2_STEP_WRITE(V); \
  261. A##3_STEP_WRITE(V); \
  262. }
  263. #define QUAD_ENDSTOP_APPLY_STEP(A,V) \
  264. if (separate_multi_axis) { \
  265. if (ENABLED(A##_HOME_TO_MIN)) { \
  266. if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
  267. if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
  268. if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
  269. if (STEPTEST(A,MIN,4)) A##4_STEP_WRITE(V); \
  270. } \
  271. else if (ENABLED(A##_HOME_TO_MAX)) { \
  272. if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
  273. if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
  274. if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
  275. if (STEPTEST(A,MAX,4)) A##4_STEP_WRITE(V); \
  276. } \
  277. } \
  278. else { \
  279. A## _STEP_WRITE(V); \
  280. A##2_STEP_WRITE(V); \
  281. A##3_STEP_WRITE(V); \
  282. A##4_STEP_WRITE(V); \
  283. }
  284. #define QUAD_SEPARATE_APPLY_STEP(A,V) \
  285. if (separate_multi_axis) { \
  286. if (!locked_##A## _motor) A## _STEP_WRITE(V); \
  287. if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
  288. if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
  289. if (!locked_##A##4_motor) A##4_STEP_WRITE(V); \
  290. } \
  291. else { \
  292. A## _STEP_WRITE(V); \
  293. A##2_STEP_WRITE(V); \
  294. A##3_STEP_WRITE(V); \
  295. A##4_STEP_WRITE(V); \
  296. }
  297. #if HAS_DUAL_X_STEPPERS
  298. #define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) ^ ENABLED(INVERT_X2_VS_X_DIR)); }while(0)
  299. #if ENABLED(X_DUAL_ENDSTOPS)
  300. #define X_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(X,v)
  301. #else
  302. #define X_APPLY_STEP(v,Q) do{ X_STEP_WRITE(v); X2_STEP_WRITE(v); }while(0)
  303. #endif
  304. #elif ENABLED(DUAL_X_CARRIAGE)
  305. #define X_APPLY_DIR(v,ALWAYS) do{ \
  306. if (extruder_duplication_enabled || ALWAYS) { X_DIR_WRITE(v); X2_DIR_WRITE((v) ^ idex_mirrored_mode); } \
  307. else if (last_moved_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
  308. }while(0)
  309. #define X_APPLY_STEP(v,ALWAYS) do{ \
  310. if (extruder_duplication_enabled || ALWAYS) { X_STEP_WRITE(v); X2_STEP_WRITE(v); } \
  311. else if (last_moved_extruder) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
  312. }while(0)
  313. #else
  314. #define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
  315. #define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
  316. #endif
  317. #if HAS_DUAL_Y_STEPPERS
  318. #define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) ^ ENABLED(INVERT_Y2_VS_Y_DIR)); }while(0)
  319. #if ENABLED(Y_DUAL_ENDSTOPS)
  320. #define Y_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Y,v)
  321. #else
  322. #define Y_APPLY_STEP(v,Q) do{ Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }while(0)
  323. #endif
  324. #elif HAS_Y_AXIS
  325. #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
  326. #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
  327. #endif
  328. #if NUM_Z_STEPPERS == 4
  329. #define Z_APPLY_DIR(v,Q) do{ \
  330. Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); \
  331. Z3_DIR_WRITE((v) ^ ENABLED(INVERT_Z3_VS_Z_DIR)); Z4_DIR_WRITE((v) ^ ENABLED(INVERT_Z4_VS_Z_DIR)); \
  332. }while(0)
  333. #if ENABLED(Z_MULTI_ENDSTOPS)
  334. #define Z_APPLY_STEP(v,Q) QUAD_ENDSTOP_APPLY_STEP(Z,v)
  335. #elif ENABLED(Z_STEPPER_AUTO_ALIGN)
  336. #define Z_APPLY_STEP(v,Q) QUAD_SEPARATE_APPLY_STEP(Z,v)
  337. #else
  338. #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); Z4_STEP_WRITE(v); }while(0)
  339. #endif
  340. #elif NUM_Z_STEPPERS == 3
  341. #define Z_APPLY_DIR(v,Q) do{ \
  342. Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); Z3_DIR_WRITE((v) ^ ENABLED(INVERT_Z3_VS_Z_DIR)); \
  343. }while(0)
  344. #if ENABLED(Z_MULTI_ENDSTOPS)
  345. #define Z_APPLY_STEP(v,Q) TRIPLE_ENDSTOP_APPLY_STEP(Z,v)
  346. #elif ENABLED(Z_STEPPER_AUTO_ALIGN)
  347. #define Z_APPLY_STEP(v,Q) TRIPLE_SEPARATE_APPLY_STEP(Z,v)
  348. #else
  349. #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); }while(0)
  350. #endif
  351. #elif NUM_Z_STEPPERS == 2
  352. #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); }while(0)
  353. #if ENABLED(Z_MULTI_ENDSTOPS)
  354. #define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
  355. #elif ENABLED(Z_STEPPER_AUTO_ALIGN)
  356. #define Z_APPLY_STEP(v,Q) DUAL_SEPARATE_APPLY_STEP(Z,v)
  357. #else
  358. #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0)
  359. #endif
  360. #elif HAS_Z_AXIS
  361. #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
  362. #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
  363. #endif
  364. #if HAS_I_AXIS
  365. #define I_APPLY_DIR(v,Q) I_DIR_WRITE(v)
  366. #define I_APPLY_STEP(v,Q) I_STEP_WRITE(v)
  367. #endif
  368. #if HAS_J_AXIS
  369. #define J_APPLY_DIR(v,Q) J_DIR_WRITE(v)
  370. #define J_APPLY_STEP(v,Q) J_STEP_WRITE(v)
  371. #endif
  372. #if HAS_K_AXIS
  373. #define K_APPLY_DIR(v,Q) K_DIR_WRITE(v)
  374. #define K_APPLY_STEP(v,Q) K_STEP_WRITE(v)
  375. #endif
  376. #if HAS_U_AXIS
  377. #define U_APPLY_DIR(v,Q) U_DIR_WRITE(v)
  378. #define U_APPLY_STEP(v,Q) U_STEP_WRITE(v)
  379. #endif
  380. #if HAS_V_AXIS
  381. #define V_APPLY_DIR(v,Q) V_DIR_WRITE(v)
  382. #define V_APPLY_STEP(v,Q) V_STEP_WRITE(v)
  383. #endif
  384. #if HAS_W_AXIS
  385. #define W_APPLY_DIR(v,Q) W_DIR_WRITE(v)
  386. #define W_APPLY_STEP(v,Q) W_STEP_WRITE(v)
  387. #endif
  388. #if DISABLED(MIXING_EXTRUDER)
  389. #define E_APPLY_STEP(v,Q) E_STEP_WRITE(stepper_extruder, v)
  390. #endif
  391. #define CYCLES_TO_NS(CYC) (1000UL * (CYC) / ((F_CPU) / 1000000))
  392. #define NS_PER_PULSE_TIMER_TICK (1000000000UL / (STEPPER_TIMER_RATE))
  393. // Round up when converting from ns to timer ticks
  394. #define NS_TO_PULSE_TIMER_TICKS(NS) (((NS) + (NS_PER_PULSE_TIMER_TICK) / 2) / (NS_PER_PULSE_TIMER_TICK))
  395. #define TIMER_SETUP_NS (CYCLES_TO_NS(TIMER_READ_ADD_AND_STORE_CYCLES))
  396. #define PULSE_HIGH_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_HIGH_NS - _MIN(_MIN_PULSE_HIGH_NS, TIMER_SETUP_NS)))
  397. #define PULSE_LOW_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_LOW_NS - _MIN(_MIN_PULSE_LOW_NS, TIMER_SETUP_NS)))
  398. #define USING_TIMED_PULSE() hal_timer_t start_pulse_count = 0
  399. #define START_TIMED_PULSE(DIR) (start_pulse_count = HAL_timer_get_count(MF_TIMER_PULSE))
  400. #define AWAIT_TIMED_PULSE(DIR) while (PULSE_##DIR##_TICK_COUNT > HAL_timer_get_count(MF_TIMER_PULSE) - start_pulse_count) { }
  401. #define START_HIGH_PULSE() START_TIMED_PULSE(HIGH)
  402. #define AWAIT_HIGH_PULSE() AWAIT_TIMED_PULSE(HIGH)
  403. #define START_LOW_PULSE() START_TIMED_PULSE(LOW)
  404. #define AWAIT_LOW_PULSE() AWAIT_TIMED_PULSE(LOW)
  405. #if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
  406. #define DIR_WAIT_BEFORE() DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY)
  407. #else
  408. #define DIR_WAIT_BEFORE()
  409. #endif
  410. #if MINIMUM_STEPPER_POST_DIR_DELAY > 0
  411. #define DIR_WAIT_AFTER() DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY)
  412. #else
  413. #define DIR_WAIT_AFTER()
  414. #endif
  415. void Stepper::enable_axis(const AxisEnum axis) {
  416. #define _CASE_ENABLE(N) case N##_AXIS: ENABLE_AXIS_##N(); break;
  417. switch (axis) {
  418. MAIN_AXIS_MAP(_CASE_ENABLE)
  419. default: break;
  420. }
  421. mark_axis_enabled(axis);
  422. }
  423. bool Stepper::disable_axis(const AxisEnum axis) {
  424. mark_axis_disabled(axis);
  425. TERN_(DWIN_LCD_PROUI, set_axis_untrusted(axis)); // MRISCOC workaround: https://github.com/MarlinFirmware/Marlin/issues/23095
  426. // If all the axes that share the enabled bit are disabled
  427. const bool can_disable = can_axis_disable(axis);
  428. if (can_disable) {
  429. #define _CASE_DISABLE(N) case N##_AXIS: DISABLE_AXIS_##N(); break;
  430. switch (axis) {
  431. MAIN_AXIS_MAP(_CASE_DISABLE)
  432. default: break;
  433. }
  434. }
  435. return can_disable;
  436. }
  437. #if HAS_EXTRUDERS
  438. void Stepper::enable_extruder(E_TERN_(const uint8_t eindex)) {
  439. IF_DISABLED(HAS_MULTI_EXTRUDER, constexpr uint8_t eindex = 0);
  440. #define _CASE_ENA_E(N) case N: ENABLE_AXIS_E##N(); mark_axis_enabled(E_AXIS E_OPTARG(eindex)); break;
  441. switch (eindex) {
  442. REPEAT(E_STEPPERS, _CASE_ENA_E)
  443. }
  444. }
  445. bool Stepper::disable_extruder(E_TERN_(const uint8_t eindex/*=0*/)) {
  446. IF_DISABLED(HAS_MULTI_EXTRUDER, constexpr uint8_t eindex = 0);
  447. mark_axis_disabled(E_AXIS E_OPTARG(eindex));
  448. const bool can_disable = can_axis_disable(E_AXIS E_OPTARG(eindex));
  449. if (can_disable) {
  450. #define _CASE_DIS_E(N) case N: DISABLE_AXIS_E##N(); break;
  451. switch (eindex) { REPEAT(E_STEPPERS, _CASE_DIS_E) }
  452. }
  453. return can_disable;
  454. }
  455. void Stepper::enable_e_steppers() {
  456. #define _ENA_E(N) ENABLE_EXTRUDER(N);
  457. REPEAT(EXTRUDERS, _ENA_E)
  458. }
  459. void Stepper::disable_e_steppers() {
  460. #define _DIS_E(N) DISABLE_EXTRUDER(N);
  461. REPEAT(EXTRUDERS, _DIS_E)
  462. }
  463. #endif
  464. void Stepper::enable_all_steppers() {
  465. TERN_(AUTO_POWER_CONTROL, powerManager.power_on());
  466. NUM_AXIS_CODE(
  467. enable_axis(X_AXIS), enable_axis(Y_AXIS), enable_axis(Z_AXIS),
  468. enable_axis(I_AXIS), enable_axis(J_AXIS), enable_axis(K_AXIS),
  469. enable_axis(U_AXIS), enable_axis(V_AXIS), enable_axis(W_AXIS)
  470. );
  471. enable_e_steppers();
  472. TERN_(EXTENSIBLE_UI, ExtUI::onSteppersEnabled());
  473. }
  474. void Stepper::disable_all_steppers() {
  475. NUM_AXIS_CODE(
  476. disable_axis(X_AXIS), disable_axis(Y_AXIS), disable_axis(Z_AXIS),
  477. disable_axis(I_AXIS), disable_axis(J_AXIS), disable_axis(K_AXIS),
  478. disable_axis(U_AXIS), disable_axis(V_AXIS), disable_axis(W_AXIS)
  479. );
  480. disable_e_steppers();
  481. TERN_(EXTENSIBLE_UI, ExtUI::onSteppersDisabled());
  482. }
  483. /**
  484. * Set the stepper direction of each axis
  485. *
  486. * COREXY: X_AXIS=A_AXIS and Y_AXIS=B_AXIS
  487. * COREXZ: X_AXIS=A_AXIS and Z_AXIS=C_AXIS
  488. * COREYZ: Y_AXIS=B_AXIS and Z_AXIS=C_AXIS
  489. */
  490. void Stepper::set_directions() {
  491. DIR_WAIT_BEFORE();
  492. #define SET_STEP_DIR(A) \
  493. if (motor_direction(_AXIS(A))) { \
  494. A##_APPLY_DIR(INVERT_##A##_DIR, false); \
  495. count_direction[_AXIS(A)] = -1; \
  496. } \
  497. else { \
  498. A##_APPLY_DIR(!INVERT_##A##_DIR, false); \
  499. count_direction[_AXIS(A)] = 1; \
  500. }
  501. TERN_(HAS_X_DIR, SET_STEP_DIR(X)); // A
  502. TERN_(HAS_Y_DIR, SET_STEP_DIR(Y)); // B
  503. TERN_(HAS_Z_DIR, SET_STEP_DIR(Z)); // C
  504. TERN_(HAS_I_DIR, SET_STEP_DIR(I));
  505. TERN_(HAS_J_DIR, SET_STEP_DIR(J));
  506. TERN_(HAS_K_DIR, SET_STEP_DIR(K));
  507. TERN_(HAS_U_DIR, SET_STEP_DIR(U));
  508. TERN_(HAS_V_DIR, SET_STEP_DIR(V));
  509. TERN_(HAS_W_DIR, SET_STEP_DIR(W));
  510. #if DISABLED(LIN_ADVANCE)
  511. #if ENABLED(MIXING_EXTRUDER)
  512. // Because this is valid for the whole block we don't know
  513. // what E steppers will step. Likely all. Set all.
  514. if (motor_direction(E_AXIS)) {
  515. MIXER_STEPPER_LOOP(j) REV_E_DIR(j);
  516. count_direction.e = -1;
  517. }
  518. else {
  519. MIXER_STEPPER_LOOP(j) NORM_E_DIR(j);
  520. count_direction.e = 1;
  521. }
  522. #elif HAS_EXTRUDERS
  523. if (motor_direction(E_AXIS)) {
  524. REV_E_DIR(stepper_extruder);
  525. count_direction.e = -1;
  526. }
  527. else {
  528. NORM_E_DIR(stepper_extruder);
  529. count_direction.e = 1;
  530. }
  531. #endif
  532. #endif // !LIN_ADVANCE
  533. #if HAS_L64XX
  534. if (L64XX_OK_to_power_up) { // OK to send the direction commands (which powers up the L64XX steppers)
  535. if (L64xxManager.spi_active) {
  536. L64xxManager.spi_abort = true; // Interrupted SPI transfer needs to shut down gracefully
  537. for (uint8_t j = 1; j <= L64XX::chain[0]; j++)
  538. L6470_buf[j] = dSPIN_NOP; // Fill buffer with NOOPs
  539. L64xxManager.transfer(L6470_buf, L64XX::chain[0]); // Send enough NOOPs to complete any command
  540. L64xxManager.transfer(L6470_buf, L64XX::chain[0]);
  541. L64xxManager.transfer(L6470_buf, L64XX::chain[0]);
  542. }
  543. // L64xxManager.dir_commands[] is an array that holds direction command for each stepper
  544. // Scan command array, copy matches into L64xxManager.transfer
  545. for (uint8_t j = 1; j <= L64XX::chain[0]; j++)
  546. L6470_buf[j] = L64xxManager.dir_commands[L64XX::chain[j]];
  547. L64xxManager.transfer(L6470_buf, L64XX::chain[0]); // send the command stream to the drivers
  548. }
  549. #endif
  550. DIR_WAIT_AFTER();
  551. }
  552. #if ENABLED(S_CURVE_ACCELERATION)
  553. /**
  554. * This uses a quintic (fifth-degree) Bézier polynomial for the velocity curve, giving
  555. * a "linear pop" velocity curve; with pop being the sixth derivative of position:
  556. * velocity - 1st, acceleration - 2nd, jerk - 3rd, snap - 4th, crackle - 5th, pop - 6th
  557. *
  558. * The Bézier curve takes the form:
  559. *
  560. * V(t) = P_0 * B_0(t) + P_1 * B_1(t) + P_2 * B_2(t) + P_3 * B_3(t) + P_4 * B_4(t) + P_5 * B_5(t)
  561. *
  562. * Where 0 <= t <= 1, and V(t) is the velocity. P_0 through P_5 are the control points, and B_0(t)
  563. * through B_5(t) are the Bernstein basis as follows:
  564. *
  565. * B_0(t) = (1-t)^5 = -t^5 + 5t^4 - 10t^3 + 10t^2 - 5t + 1
  566. * B_1(t) = 5(1-t)^4 * t = 5t^5 - 20t^4 + 30t^3 - 20t^2 + 5t
  567. * B_2(t) = 10(1-t)^3 * t^2 = -10t^5 + 30t^4 - 30t^3 + 10t^2
  568. * B_3(t) = 10(1-t)^2 * t^3 = 10t^5 - 20t^4 + 10t^3
  569. * B_4(t) = 5(1-t) * t^4 = -5t^5 + 5t^4
  570. * B_5(t) = t^5 = t^5
  571. * ^ ^ ^ ^ ^ ^
  572. * | | | | | |
  573. * A B C D E F
  574. *
  575. * Unfortunately, we cannot use forward-differencing to calculate each position through
  576. * the curve, as Marlin uses variable timer periods. So, we require a formula of the form:
  577. *
  578. * V_f(t) = A*t^5 + B*t^4 + C*t^3 + D*t^2 + E*t + F
  579. *
  580. * Looking at the above B_0(t) through B_5(t) expanded forms, if we take the coefficients of t^5
  581. * through t of the Bézier form of V(t), we can determine that:
  582. *
  583. * A = -P_0 + 5*P_1 - 10*P_2 + 10*P_3 - 5*P_4 + P_5
  584. * B = 5*P_0 - 20*P_1 + 30*P_2 - 20*P_3 + 5*P_4
  585. * C = -10*P_0 + 30*P_1 - 30*P_2 + 10*P_3
  586. * D = 10*P_0 - 20*P_1 + 10*P_2
  587. * E = - 5*P_0 + 5*P_1
  588. * F = P_0
  589. *
  590. * Now, since we will (currently) *always* want the initial acceleration and jerk values to be 0,
  591. * We set P_i = P_0 = P_1 = P_2 (initial velocity), and P_t = P_3 = P_4 = P_5 (target velocity),
  592. * which, after simplification, resolves to:
  593. *
  594. * A = - 6*P_i + 6*P_t = 6*(P_t - P_i)
  595. * B = 15*P_i - 15*P_t = 15*(P_i - P_t)
  596. * C = -10*P_i + 10*P_t = 10*(P_t - P_i)
  597. * D = 0
  598. * E = 0
  599. * F = P_i
  600. *
  601. * As the t is evaluated in non uniform steps here, there is no other way rather than evaluating
  602. * the Bézier curve at each point:
  603. *
  604. * V_f(t) = A*t^5 + B*t^4 + C*t^3 + F [0 <= t <= 1]
  605. *
  606. * Floating point arithmetic execution time cost is prohibitive, so we will transform the math to
  607. * use fixed point values to be able to evaluate it in realtime. Assuming a maximum of 250000 steps
  608. * per second (driver pulses should at least be 2µS hi/2µS lo), and allocating 2 bits to avoid
  609. * overflows on the evaluation of the Bézier curve, means we can use
  610. *
  611. * t: unsigned Q0.32 (0 <= t < 1) |range 0 to 0xFFFFFFFF unsigned
  612. * A: signed Q24.7 , |range = +/- 250000 * 6 * 128 = +/- 192000000 = 0x0B71B000 | 28 bits + sign
  613. * B: signed Q24.7 , |range = +/- 250000 *15 * 128 = +/- 480000000 = 0x1C9C3800 | 29 bits + sign
  614. * C: signed Q24.7 , |range = +/- 250000 *10 * 128 = +/- 320000000 = 0x1312D000 | 29 bits + sign
  615. * F: signed Q24.7 , |range = +/- 250000 * 128 = 32000000 = 0x01E84800 | 25 bits + sign
  616. *
  617. * The trapezoid generator state contains the following information, that we will use to create and evaluate
  618. * the Bézier curve:
  619. *
  620. * blk->step_event_count [TS] = The total count of steps for this movement. (=distance)
  621. * blk->initial_rate [VI] = The initial steps per second (=velocity)
  622. * blk->final_rate [VF] = The ending steps per second (=velocity)
  623. * and the count of events completed (step_events_completed) [CS] (=distance until now)
  624. *
  625. * Note the abbreviations we use in the following formulae are between []s
  626. *
  627. * For Any 32bit CPU:
  628. *
  629. * At the start of each trapezoid, calculate the coefficients A,B,C,F and Advance [AV], as follows:
  630. *
  631. * A = 6*128*(VF - VI) = 768*(VF - VI)
  632. * B = 15*128*(VI - VF) = 1920*(VI - VF)
  633. * C = 10*128*(VF - VI) = 1280*(VF - VI)
  634. * F = 128*VI = 128*VI
  635. * AV = (1<<32)/TS ~= 0xFFFFFFFF / TS (To use ARM UDIV, that is 32 bits) (this is computed at the planner, to offload expensive calculations from the ISR)
  636. *
  637. * And for each point, evaluate the curve with the following sequence:
  638. *
  639. * void lsrs(uint32_t& d, uint32_t s, int cnt) {
  640. * d = s >> cnt;
  641. * }
  642. * void lsls(uint32_t& d, uint32_t s, int cnt) {
  643. * d = s << cnt;
  644. * }
  645. * void lsrs(int32_t& d, uint32_t s, int cnt) {
  646. * d = uint32_t(s) >> cnt;
  647. * }
  648. * void lsls(int32_t& d, uint32_t s, int cnt) {
  649. * d = uint32_t(s) << cnt;
  650. * }
  651. * void umull(uint32_t& rlo, uint32_t& rhi, uint32_t op1, uint32_t op2) {
  652. * uint64_t res = uint64_t(op1) * op2;
  653. * rlo = uint32_t(res & 0xFFFFFFFF);
  654. * rhi = uint32_t((res >> 32) & 0xFFFFFFFF);
  655. * }
  656. * void smlal(int32_t& rlo, int32_t& rhi, int32_t op1, int32_t op2) {
  657. * int64_t mul = int64_t(op1) * op2;
  658. * int64_t s = int64_t(uint32_t(rlo) | ((uint64_t(uint32_t(rhi)) << 32U)));
  659. * mul += s;
  660. * rlo = int32_t(mul & 0xFFFFFFFF);
  661. * rhi = int32_t((mul >> 32) & 0xFFFFFFFF);
  662. * }
  663. * int32_t _eval_bezier_curve_arm(uint32_t curr_step) {
  664. * uint32_t flo = 0;
  665. * uint32_t fhi = bezier_AV * curr_step;
  666. * uint32_t t = fhi;
  667. * int32_t alo = bezier_F;
  668. * int32_t ahi = 0;
  669. * int32_t A = bezier_A;
  670. * int32_t B = bezier_B;
  671. * int32_t C = bezier_C;
  672. *
  673. * lsrs(ahi, alo, 1); // a = F << 31
  674. * lsls(alo, alo, 31); //
  675. * umull(flo, fhi, fhi, t); // f *= t
  676. * umull(flo, fhi, fhi, t); // f>>=32; f*=t
  677. * lsrs(flo, fhi, 1); //
  678. * smlal(alo, ahi, flo, C); // a+=(f>>33)*C
  679. * umull(flo, fhi, fhi, t); // f>>=32; f*=t
  680. * lsrs(flo, fhi, 1); //
  681. * smlal(alo, ahi, flo, B); // a+=(f>>33)*B
  682. * umull(flo, fhi, fhi, t); // f>>=32; f*=t
  683. * lsrs(flo, fhi, 1); // f>>=33;
  684. * smlal(alo, ahi, flo, A); // a+=(f>>33)*A;
  685. * lsrs(alo, ahi, 6); // a>>=38
  686. *
  687. * return alo;
  688. * }
  689. *
  690. * This is rewritten in ARM assembly for optimal performance (43 cycles to execute).
  691. *
  692. * For AVR, the precision of coefficients is scaled so the Bézier curve can be evaluated in real-time:
  693. * Let's reduce precision as much as possible. After some experimentation we found that:
  694. *
  695. * Assume t and AV with 24 bits is enough
  696. * A = 6*(VF - VI)
  697. * B = 15*(VI - VF)
  698. * C = 10*(VF - VI)
  699. * F = VI
  700. * AV = (1<<24)/TS (this is computed at the planner, to offload expensive calculations from the ISR)
  701. *
  702. * Instead of storing sign for each coefficient, we will store its absolute value,
  703. * and flag the sign of the A coefficient, so we can save to store the sign bit.
  704. * It always holds that sign(A) = - sign(B) = sign(C)
  705. *
  706. * So, the resulting range of the coefficients are:
  707. *
  708. * t: unsigned (0 <= t < 1) |range 0 to 0xFFFFFF unsigned
  709. * A: signed Q24 , range = 250000 * 6 = 1500000 = 0x16E360 | 21 bits
  710. * B: signed Q24 , range = 250000 *15 = 3750000 = 0x393870 | 22 bits
  711. * C: signed Q24 , range = 250000 *10 = 2500000 = 0x1312D0 | 21 bits
  712. * F: signed Q24 , range = 250000 = 250000 = 0x0ED090 | 20 bits
  713. *
  714. * And for each curve, estimate its coefficients with:
  715. *
  716. * void _calc_bezier_curve_coeffs(int32_t v0, int32_t v1, uint32_t av) {
  717. * // Calculate the Bézier coefficients
  718. * if (v1 < v0) {
  719. * A_negative = true;
  720. * bezier_A = 6 * (v0 - v1);
  721. * bezier_B = 15 * (v0 - v1);
  722. * bezier_C = 10 * (v0 - v1);
  723. * }
  724. * else {
  725. * A_negative = false;
  726. * bezier_A = 6 * (v1 - v0);
  727. * bezier_B = 15 * (v1 - v0);
  728. * bezier_C = 10 * (v1 - v0);
  729. * }
  730. * bezier_F = v0;
  731. * }
  732. *
  733. * And for each point, evaluate the curve with the following sequence:
  734. *
  735. * // unsigned multiplication of 24 bits x 24bits, return upper 16 bits
  736. * void umul24x24to16hi(uint16_t& r, uint24_t op1, uint24_t op2) {
  737. * r = (uint64_t(op1) * op2) >> 8;
  738. * }
  739. * // unsigned multiplication of 16 bits x 16bits, return upper 16 bits
  740. * void umul16x16to16hi(uint16_t& r, uint16_t op1, uint16_t op2) {
  741. * r = (uint32_t(op1) * op2) >> 16;
  742. * }
  743. * // unsigned multiplication of 16 bits x 24bits, return upper 24 bits
  744. * void umul16x24to24hi(uint24_t& r, uint16_t op1, uint24_t op2) {
  745. * r = uint24_t((uint64_t(op1) * op2) >> 16);
  746. * }
  747. *
  748. * int32_t _eval_bezier_curve(uint32_t curr_step) {
  749. * // To save computing, the first step is always the initial speed
  750. * if (!curr_step)
  751. * return bezier_F;
  752. *
  753. * uint16_t t;
  754. * umul24x24to16hi(t, bezier_AV, curr_step); // t: Range 0 - 1^16 = 16 bits
  755. * uint16_t f = t;
  756. * umul16x16to16hi(f, f, t); // Range 16 bits (unsigned)
  757. * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^3 (unsigned)
  758. * uint24_t acc = bezier_F; // Range 20 bits (unsigned)
  759. * if (A_negative) {
  760. * uint24_t v;
  761. * umul16x24to24hi(v, f, bezier_C); // Range 21bits
  762. * acc -= v;
  763. * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned)
  764. * umul16x24to24hi(v, f, bezier_B); // Range 22bits
  765. * acc += v;
  766. * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned)
  767. * umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign)
  768. * acc -= v;
  769. * }
  770. * else {
  771. * uint24_t v;
  772. * umul16x24to24hi(v, f, bezier_C); // Range 21bits
  773. * acc += v;
  774. * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned)
  775. * umul16x24to24hi(v, f, bezier_B); // Range 22bits
  776. * acc -= v;
  777. * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned)
  778. * umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign)
  779. * acc += v;
  780. * }
  781. * return acc;
  782. * }
  783. * These functions are translated to assembler for optimal performance.
  784. * Coefficient calculation takes 70 cycles. Bezier point evaluation takes 150 cycles.
  785. */
  786. #ifdef __AVR__
  787. // For AVR we use assembly to maximize speed
  788. void Stepper::_calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av) {
  789. // Store advance
  790. bezier_AV = av;
  791. // Calculate the rest of the coefficients
  792. uint8_t r2 = v0 & 0xFF;
  793. uint8_t r3 = (v0 >> 8) & 0xFF;
  794. uint8_t r12 = (v0 >> 16) & 0xFF;
  795. uint8_t r5 = v1 & 0xFF;
  796. uint8_t r6 = (v1 >> 8) & 0xFF;
  797. uint8_t r7 = (v1 >> 16) & 0xFF;
  798. uint8_t r4,r8,r9,r10,r11;
  799. __asm__ __volatile__(
  800. /* Calculate the Bézier coefficients */
  801. /* %10:%1:%0 = v0*/
  802. /* %5:%4:%3 = v1*/
  803. /* %7:%6:%10 = temporary*/
  804. /* %9 = val (must be high register!)*/
  805. /* %10 (must be high register!)*/
  806. /* Store initial velocity*/
  807. A("sts bezier_F, %0")
  808. A("sts bezier_F+1, %1")
  809. A("sts bezier_F+2, %10") /* bezier_F = %10:%1:%0 = v0 */
  810. /* Get delta speed */
  811. A("ldi %2,-1") /* %2 = 0xFF, means A_negative = true */
  812. A("clr %8") /* %8 = 0 */
  813. A("sub %0,%3")
  814. A("sbc %1,%4")
  815. A("sbc %10,%5") /* v0 -= v1, C=1 if result is negative */
  816. A("brcc 1f") /* branch if result is positive (C=0), that means v0 >= v1 */
  817. /* Result was negative, get the absolute value*/
  818. A("com %10")
  819. A("com %1")
  820. A("neg %0")
  821. A("sbc %1,%2")
  822. A("sbc %10,%2") /* %10:%1:%0 +1 -> %10:%1:%0 = -(v0 - v1) = (v1 - v0) */
  823. A("clr %2") /* %2 = 0, means A_negative = false */
  824. /* Store negative flag*/
  825. L("1")
  826. A("sts A_negative, %2") /* Store negative flag */
  827. /* Compute coefficients A,B and C [20 cycles worst case]*/
  828. A("ldi %9,6") /* %9 = 6 */
  829. A("mul %0,%9") /* r1:r0 = 6*LO(v0-v1) */
  830. A("sts bezier_A, r0")
  831. A("mov %6,r1")
  832. A("clr %7") /* %7:%6:r0 = 6*LO(v0-v1) */
  833. A("mul %1,%9") /* r1:r0 = 6*MI(v0-v1) */
  834. A("add %6,r0")
  835. A("adc %7,r1") /* %7:%6:?? += 6*MI(v0-v1) << 8 */
  836. A("mul %10,%9") /* r1:r0 = 6*HI(v0-v1) */
  837. A("add %7,r0") /* %7:%6:?? += 6*HI(v0-v1) << 16 */
  838. A("sts bezier_A+1, %6")
  839. A("sts bezier_A+2, %7") /* bezier_A = %7:%6:?? = 6*(v0-v1) [35 cycles worst] */
  840. A("ldi %9,15") /* %9 = 15 */
  841. A("mul %0,%9") /* r1:r0 = 5*LO(v0-v1) */
  842. A("sts bezier_B, r0")
  843. A("mov %6,r1")
  844. A("clr %7") /* %7:%6:?? = 5*LO(v0-v1) */
  845. A("mul %1,%9") /* r1:r0 = 5*MI(v0-v1) */
  846. A("add %6,r0")
  847. A("adc %7,r1") /* %7:%6:?? += 5*MI(v0-v1) << 8 */
  848. A("mul %10,%9") /* r1:r0 = 5*HI(v0-v1) */
  849. A("add %7,r0") /* %7:%6:?? += 5*HI(v0-v1) << 16 */
  850. A("sts bezier_B+1, %6")
  851. A("sts bezier_B+2, %7") /* bezier_B = %7:%6:?? = 5*(v0-v1) [50 cycles worst] */
  852. A("ldi %9,10") /* %9 = 10 */
  853. A("mul %0,%9") /* r1:r0 = 10*LO(v0-v1) */
  854. A("sts bezier_C, r0")
  855. A("mov %6,r1")
  856. A("clr %7") /* %7:%6:?? = 10*LO(v0-v1) */
  857. A("mul %1,%9") /* r1:r0 = 10*MI(v0-v1) */
  858. A("add %6,r0")
  859. A("adc %7,r1") /* %7:%6:?? += 10*MI(v0-v1) << 8 */
  860. A("mul %10,%9") /* r1:r0 = 10*HI(v0-v1) */
  861. A("add %7,r0") /* %7:%6:?? += 10*HI(v0-v1) << 16 */
  862. A("sts bezier_C+1, %6")
  863. " sts bezier_C+2, %7" /* bezier_C = %7:%6:?? = 10*(v0-v1) [65 cycles worst] */
  864. : "+r" (r2),
  865. "+d" (r3),
  866. "=r" (r4),
  867. "+r" (r5),
  868. "+r" (r6),
  869. "+r" (r7),
  870. "=r" (r8),
  871. "=r" (r9),
  872. "=r" (r10),
  873. "=d" (r11),
  874. "+r" (r12)
  875. :
  876. : "r0", "r1", "cc", "memory"
  877. );
  878. }
  879. FORCE_INLINE int32_t Stepper::_eval_bezier_curve(const uint32_t curr_step) {
  880. // If dealing with the first step, save expensive computing and return the initial speed
  881. if (!curr_step)
  882. return bezier_F;
  883. uint8_t r0 = 0; /* Zero register */
  884. uint8_t r2 = (curr_step) & 0xFF;
  885. uint8_t r3 = (curr_step >> 8) & 0xFF;
  886. uint8_t r4 = (curr_step >> 16) & 0xFF;
  887. uint8_t r1,r5,r6,r7,r8,r9,r10,r11; /* Temporary registers */
  888. __asm__ __volatile(
  889. /* umul24x24to16hi(t, bezier_AV, curr_step); t: Range 0 - 1^16 = 16 bits*/
  890. A("lds %9,bezier_AV") /* %9 = LO(AV)*/
  891. A("mul %9,%2") /* r1:r0 = LO(bezier_AV)*LO(curr_step)*/
  892. A("mov %7,r1") /* %7 = LO(bezier_AV)*LO(curr_step) >> 8*/
  893. A("clr %8") /* %8:%7 = LO(bezier_AV)*LO(curr_step) >> 8*/
  894. A("lds %10,bezier_AV+1") /* %10 = MI(AV)*/
  895. A("mul %10,%2") /* r1:r0 = MI(bezier_AV)*LO(curr_step)*/
  896. A("add %7,r0")
  897. A("adc %8,r1") /* %8:%7 += MI(bezier_AV)*LO(curr_step)*/
  898. A("lds r1,bezier_AV+2") /* r11 = HI(AV)*/
  899. A("mul r1,%2") /* r1:r0 = HI(bezier_AV)*LO(curr_step)*/
  900. A("add %8,r0") /* %8:%7 += HI(bezier_AV)*LO(curr_step) << 8*/
  901. A("mul %9,%3") /* r1:r0 = LO(bezier_AV)*MI(curr_step)*/
  902. A("add %7,r0")
  903. A("adc %8,r1") /* %8:%7 += LO(bezier_AV)*MI(curr_step)*/
  904. A("mul %10,%3") /* r1:r0 = MI(bezier_AV)*MI(curr_step)*/
  905. A("add %8,r0") /* %8:%7 += LO(bezier_AV)*MI(curr_step) << 8*/
  906. A("mul %9,%4") /* r1:r0 = LO(bezier_AV)*HI(curr_step)*/
  907. A("add %8,r0") /* %8:%7 += LO(bezier_AV)*HI(curr_step) << 8*/
  908. /* %8:%7 = t*/
  909. /* uint16_t f = t;*/
  910. A("mov %5,%7") /* %6:%5 = f*/
  911. A("mov %6,%8")
  912. /* %6:%5 = f*/
  913. /* umul16x16to16hi(f, f, t); / Range 16 bits (unsigned) [17] */
  914. A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
  915. A("mov %9,r1") /* store MIL(LO(f) * LO(t)) in %9, we need it for rounding*/
  916. A("clr %10") /* %10 = 0*/
  917. A("clr %11") /* %11 = 0*/
  918. A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
  919. A("add %9,r0") /* %9 += LO(LO(f) * HI(t))*/
  920. A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
  921. A("adc %11,%0") /* %11 += carry*/
  922. A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
  923. A("add %9,r0") /* %9 += LO(HI(f) * LO(t))*/
  924. A("adc %10,r1") /* %10 += HI(HI(f) * LO(t)) */
  925. A("adc %11,%0") /* %11 += carry*/
  926. A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
  927. A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
  928. A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
  929. A("mov %5,%10") /* %6:%5 = */
  930. A("mov %6,%11") /* f = %10:%11*/
  931. /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/
  932. A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
  933. A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
  934. A("clr %10") /* %10 = 0*/
  935. A("clr %11") /* %11 = 0*/
  936. A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
  937. A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
  938. A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
  939. A("adc %11,%0") /* %11 += carry*/
  940. A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
  941. A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
  942. A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
  943. A("adc %11,%0") /* %11 += carry*/
  944. A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
  945. A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
  946. A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
  947. A("mov %5,%10") /* %6:%5 =*/
  948. A("mov %6,%11") /* f = %10:%11*/
  949. /* [15 +17*2] = [49]*/
  950. /* %4:%3:%2 will be acc from now on*/
  951. /* uint24_t acc = bezier_F; / Range 20 bits (unsigned)*/
  952. A("clr %9") /* "decimal place we get for free"*/
  953. A("lds %2,bezier_F")
  954. A("lds %3,bezier_F+1")
  955. A("lds %4,bezier_F+2") /* %4:%3:%2 = acc*/
  956. /* if (A_negative) {*/
  957. A("lds r0,A_negative")
  958. A("or r0,%0") /* Is flag signalling negative? */
  959. A("brne 3f") /* If yes, Skip next instruction if A was negative*/
  960. A("rjmp 1f") /* Otherwise, jump */
  961. /* uint24_t v; */
  962. /* umul16x24to24hi(v, f, bezier_C); / Range 21bits [29] */
  963. /* acc -= v; */
  964. L("3")
  965. A("lds %10, bezier_C") /* %10 = LO(bezier_C)*/
  966. A("mul %10,%5") /* r1:r0 = LO(bezier_C) * LO(f)*/
  967. A("sub %9,r1")
  968. A("sbc %2,%0")
  969. A("sbc %3,%0")
  970. A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_C) * LO(f))*/
  971. A("lds %11, bezier_C+1") /* %11 = MI(bezier_C)*/
  972. A("mul %11,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
  973. A("sub %9,r0")
  974. A("sbc %2,r1")
  975. A("sbc %3,%0")
  976. A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_C) * LO(f)*/
  977. A("lds %1, bezier_C+2") /* %1 = HI(bezier_C)*/
  978. A("mul %1,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
  979. A("sub %2,r0")
  980. A("sbc %3,r1")
  981. A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 8*/
  982. A("mul %10,%6") /* r1:r0 = LO(bezier_C) * MI(f)*/
  983. A("sub %9,r0")
  984. A("sbc %2,r1")
  985. A("sbc %3,%0")
  986. A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_C) * MI(f)*/
  987. A("mul %11,%6") /* r1:r0 = MI(bezier_C) * MI(f)*/
  988. A("sub %2,r0")
  989. A("sbc %3,r1")
  990. A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_C) * MI(f) << 8*/
  991. A("mul %1,%6") /* r1:r0 = HI(bezier_C) * LO(f)*/
  992. A("sub %3,r0")
  993. A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 16*/
  994. /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/
  995. A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
  996. A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
  997. A("clr %10") /* %10 = 0*/
  998. A("clr %11") /* %11 = 0*/
  999. A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
  1000. A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
  1001. A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
  1002. A("adc %11,%0") /* %11 += carry*/
  1003. A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
  1004. A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
  1005. A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
  1006. A("adc %11,%0") /* %11 += carry*/
  1007. A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
  1008. A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
  1009. A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
  1010. A("mov %5,%10") /* %6:%5 =*/
  1011. A("mov %6,%11") /* f = %10:%11*/
  1012. /* umul16x24to24hi(v, f, bezier_B); / Range 22bits [29]*/
  1013. /* acc += v; */
  1014. A("lds %10, bezier_B") /* %10 = LO(bezier_B)*/
  1015. A("mul %10,%5") /* r1:r0 = LO(bezier_B) * LO(f)*/
  1016. A("add %9,r1")
  1017. A("adc %2,%0")
  1018. A("adc %3,%0")
  1019. A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_B) * LO(f))*/
  1020. A("lds %11, bezier_B+1") /* %11 = MI(bezier_B)*/
  1021. A("mul %11,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
  1022. A("add %9,r0")
  1023. A("adc %2,r1")
  1024. A("adc %3,%0")
  1025. A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_B) * LO(f)*/
  1026. A("lds %1, bezier_B+2") /* %1 = HI(bezier_B)*/
  1027. A("mul %1,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
  1028. A("add %2,r0")
  1029. A("adc %3,r1")
  1030. A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 8*/
  1031. A("mul %10,%6") /* r1:r0 = LO(bezier_B) * MI(f)*/
  1032. A("add %9,r0")
  1033. A("adc %2,r1")
  1034. A("adc %3,%0")
  1035. A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_B) * MI(f)*/
  1036. A("mul %11,%6") /* r1:r0 = MI(bezier_B) * MI(f)*/
  1037. A("add %2,r0")
  1038. A("adc %3,r1")
  1039. A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_B) * MI(f) << 8*/
  1040. A("mul %1,%6") /* r1:r0 = HI(bezier_B) * LO(f)*/
  1041. A("add %3,r0")
  1042. A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 16*/
  1043. /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^5 (unsigned) [17]*/
  1044. A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
  1045. A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
  1046. A("clr %10") /* %10 = 0*/
  1047. A("clr %11") /* %11 = 0*/
  1048. A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
  1049. A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
  1050. A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
  1051. A("adc %11,%0") /* %11 += carry*/
  1052. A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
  1053. A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
  1054. A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
  1055. A("adc %11,%0") /* %11 += carry*/
  1056. A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
  1057. A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
  1058. A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
  1059. A("mov %5,%10") /* %6:%5 =*/
  1060. A("mov %6,%11") /* f = %10:%11*/
  1061. /* umul16x24to24hi(v, f, bezier_A); / Range 21bits [29]*/
  1062. /* acc -= v; */
  1063. A("lds %10, bezier_A") /* %10 = LO(bezier_A)*/
  1064. A("mul %10,%5") /* r1:r0 = LO(bezier_A) * LO(f)*/
  1065. A("sub %9,r1")
  1066. A("sbc %2,%0")
  1067. A("sbc %3,%0")
  1068. A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_A) * LO(f))*/
  1069. A("lds %11, bezier_A+1") /* %11 = MI(bezier_A)*/
  1070. A("mul %11,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
  1071. A("sub %9,r0")
  1072. A("sbc %2,r1")
  1073. A("sbc %3,%0")
  1074. A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_A) * LO(f)*/
  1075. A("lds %1, bezier_A+2") /* %1 = HI(bezier_A)*/
  1076. A("mul %1,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
  1077. A("sub %2,r0")
  1078. A("sbc %3,r1")
  1079. A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 8*/
  1080. A("mul %10,%6") /* r1:r0 = LO(bezier_A) * MI(f)*/
  1081. A("sub %9,r0")
  1082. A("sbc %2,r1")
  1083. A("sbc %3,%0")
  1084. A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_A) * MI(f)*/
  1085. A("mul %11,%6") /* r1:r0 = MI(bezier_A) * MI(f)*/
  1086. A("sub %2,r0")
  1087. A("sbc %3,r1")
  1088. A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_A) * MI(f) << 8*/
  1089. A("mul %1,%6") /* r1:r0 = HI(bezier_A) * LO(f)*/
  1090. A("sub %3,r0")
  1091. A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 16*/
  1092. A("jmp 2f") /* Done!*/
  1093. L("1")
  1094. /* uint24_t v; */
  1095. /* umul16x24to24hi(v, f, bezier_C); / Range 21bits [29]*/
  1096. /* acc += v; */
  1097. A("lds %10, bezier_C") /* %10 = LO(bezier_C)*/
  1098. A("mul %10,%5") /* r1:r0 = LO(bezier_C) * LO(f)*/
  1099. A("add %9,r1")
  1100. A("adc %2,%0")
  1101. A("adc %3,%0")
  1102. A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_C) * LO(f))*/
  1103. A("lds %11, bezier_C+1") /* %11 = MI(bezier_C)*/
  1104. A("mul %11,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
  1105. A("add %9,r0")
  1106. A("adc %2,r1")
  1107. A("adc %3,%0")
  1108. A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_C) * LO(f)*/
  1109. A("lds %1, bezier_C+2") /* %1 = HI(bezier_C)*/
  1110. A("mul %1,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
  1111. A("add %2,r0")
  1112. A("adc %3,r1")
  1113. A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 8*/
  1114. A("mul %10,%6") /* r1:r0 = LO(bezier_C) * MI(f)*/
  1115. A("add %9,r0")
  1116. A("adc %2,r1")
  1117. A("adc %3,%0")
  1118. A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_C) * MI(f)*/
  1119. A("mul %11,%6") /* r1:r0 = MI(bezier_C) * MI(f)*/
  1120. A("add %2,r0")
  1121. A("adc %3,r1")
  1122. A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_C) * MI(f) << 8*/
  1123. A("mul %1,%6") /* r1:r0 = HI(bezier_C) * LO(f)*/
  1124. A("add %3,r0")
  1125. A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 16*/
  1126. /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/
  1127. A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
  1128. A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
  1129. A("clr %10") /* %10 = 0*/
  1130. A("clr %11") /* %11 = 0*/
  1131. A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
  1132. A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
  1133. A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
  1134. A("adc %11,%0") /* %11 += carry*/
  1135. A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
  1136. A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
  1137. A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
  1138. A("adc %11,%0") /* %11 += carry*/
  1139. A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
  1140. A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
  1141. A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
  1142. A("mov %5,%10") /* %6:%5 =*/
  1143. A("mov %6,%11") /* f = %10:%11*/
  1144. /* umul16x24to24hi(v, f, bezier_B); / Range 22bits [29]*/
  1145. /* acc -= v;*/
  1146. A("lds %10, bezier_B") /* %10 = LO(bezier_B)*/
  1147. A("mul %10,%5") /* r1:r0 = LO(bezier_B) * LO(f)*/
  1148. A("sub %9,r1")
  1149. A("sbc %2,%0")
  1150. A("sbc %3,%0")
  1151. A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_B) * LO(f))*/
  1152. A("lds %11, bezier_B+1") /* %11 = MI(bezier_B)*/
  1153. A("mul %11,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
  1154. A("sub %9,r0")
  1155. A("sbc %2,r1")
  1156. A("sbc %3,%0")
  1157. A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_B) * LO(f)*/
  1158. A("lds %1, bezier_B+2") /* %1 = HI(bezier_B)*/
  1159. A("mul %1,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
  1160. A("sub %2,r0")
  1161. A("sbc %3,r1")
  1162. A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 8*/
  1163. A("mul %10,%6") /* r1:r0 = LO(bezier_B) * MI(f)*/
  1164. A("sub %9,r0")
  1165. A("sbc %2,r1")
  1166. A("sbc %3,%0")
  1167. A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_B) * MI(f)*/
  1168. A("mul %11,%6") /* r1:r0 = MI(bezier_B) * MI(f)*/
  1169. A("sub %2,r0")
  1170. A("sbc %3,r1")
  1171. A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_B) * MI(f) << 8*/
  1172. A("mul %1,%6") /* r1:r0 = HI(bezier_B) * LO(f)*/
  1173. A("sub %3,r0")
  1174. A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 16*/
  1175. /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^5 (unsigned) [17]*/
  1176. A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
  1177. A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
  1178. A("clr %10") /* %10 = 0*/
  1179. A("clr %11") /* %11 = 0*/
  1180. A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
  1181. A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
  1182. A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
  1183. A("adc %11,%0") /* %11 += carry*/
  1184. A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
  1185. A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
  1186. A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
  1187. A("adc %11,%0") /* %11 += carry*/
  1188. A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
  1189. A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
  1190. A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
  1191. A("mov %5,%10") /* %6:%5 =*/
  1192. A("mov %6,%11") /* f = %10:%11*/
  1193. /* umul16x24to24hi(v, f, bezier_A); / Range 21bits [29]*/
  1194. /* acc += v; */
  1195. A("lds %10, bezier_A") /* %10 = LO(bezier_A)*/
  1196. A("mul %10,%5") /* r1:r0 = LO(bezier_A) * LO(f)*/
  1197. A("add %9,r1")
  1198. A("adc %2,%0")
  1199. A("adc %3,%0")
  1200. A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_A) * LO(f))*/
  1201. A("lds %11, bezier_A+1") /* %11 = MI(bezier_A)*/
  1202. A("mul %11,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
  1203. A("add %9,r0")
  1204. A("adc %2,r1")
  1205. A("adc %3,%0")
  1206. A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_A) * LO(f)*/
  1207. A("lds %1, bezier_A+2") /* %1 = HI(bezier_A)*/
  1208. A("mul %1,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
  1209. A("add %2,r0")
  1210. A("adc %3,r1")
  1211. A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 8*/
  1212. A("mul %10,%6") /* r1:r0 = LO(bezier_A) * MI(f)*/
  1213. A("add %9,r0")
  1214. A("adc %2,r1")
  1215. A("adc %3,%0")
  1216. A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_A) * MI(f)*/
  1217. A("mul %11,%6") /* r1:r0 = MI(bezier_A) * MI(f)*/
  1218. A("add %2,r0")
  1219. A("adc %3,r1")
  1220. A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_A) * MI(f) << 8*/
  1221. A("mul %1,%6") /* r1:r0 = HI(bezier_A) * LO(f)*/
  1222. A("add %3,r0")
  1223. A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 16*/
  1224. L("2")
  1225. " clr __zero_reg__" /* C runtime expects r1 = __zero_reg__ = 0 */
  1226. : "+r"(r0),
  1227. "+r"(r1),
  1228. "+r"(r2),
  1229. "+r"(r3),
  1230. "+r"(r4),
  1231. "+r"(r5),
  1232. "+r"(r6),
  1233. "+r"(r7),
  1234. "+r"(r8),
  1235. "+r"(r9),
  1236. "+r"(r10),
  1237. "+r"(r11)
  1238. :
  1239. :"cc","r0","r1"
  1240. );
  1241. return (r2 | (uint16_t(r3) << 8)) | (uint32_t(r4) << 16);
  1242. }
  1243. #else
  1244. // For all the other 32bit CPUs
  1245. FORCE_INLINE void Stepper::_calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av) {
  1246. // Calculate the Bézier coefficients
  1247. bezier_A = 768 * (v1 - v0);
  1248. bezier_B = 1920 * (v0 - v1);
  1249. bezier_C = 1280 * (v1 - v0);
  1250. bezier_F = 128 * v0;
  1251. bezier_AV = av;
  1252. }
  1253. FORCE_INLINE int32_t Stepper::_eval_bezier_curve(const uint32_t curr_step) {
  1254. #if (defined(__arm__) || defined(__thumb__)) && !defined(STM32G0B1xx) // TODO: Test define STM32G0xx versus STM32G0B1xx
  1255. // For ARM Cortex M3/M4 CPUs, we have the optimized assembler version, that takes 43 cycles to execute
  1256. uint32_t flo = 0;
  1257. uint32_t fhi = bezier_AV * curr_step;
  1258. uint32_t t = fhi;
  1259. int32_t alo = bezier_F;
  1260. int32_t ahi = 0;
  1261. int32_t A = bezier_A;
  1262. int32_t B = bezier_B;
  1263. int32_t C = bezier_C;
  1264. __asm__ __volatile__(
  1265. ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax
  1266. A("lsrs %[ahi],%[alo],#1") // a = F << 31 1 cycles
  1267. A("lsls %[alo],%[alo],#31") // 1 cycles
  1268. A("umull %[flo],%[fhi],%[fhi],%[t]") // f *= t 5 cycles [fhi:flo=64bits]
  1269. A("umull %[flo],%[fhi],%[fhi],%[t]") // f>>=32; f*=t 5 cycles [fhi:flo=64bits]
  1270. A("lsrs %[flo],%[fhi],#1") // 1 cycles [31bits]
  1271. A("smlal %[alo],%[ahi],%[flo],%[C]") // a+=(f>>33)*C; 5 cycles
  1272. A("umull %[flo],%[fhi],%[fhi],%[t]") // f>>=32; f*=t 5 cycles [fhi:flo=64bits]
  1273. A("lsrs %[flo],%[fhi],#1") // 1 cycles [31bits]
  1274. A("smlal %[alo],%[ahi],%[flo],%[B]") // a+=(f>>33)*B; 5 cycles
  1275. A("umull %[flo],%[fhi],%[fhi],%[t]") // f>>=32; f*=t 5 cycles [fhi:flo=64bits]
  1276. A("lsrs %[flo],%[fhi],#1") // f>>=33; 1 cycles [31bits]
  1277. A("smlal %[alo],%[ahi],%[flo],%[A]") // a+=(f>>33)*A; 5 cycles
  1278. A("lsrs %[alo],%[ahi],#6") // a>>=38 1 cycles
  1279. : [alo]"+r"( alo ) ,
  1280. [flo]"+r"( flo ) ,
  1281. [fhi]"+r"( fhi ) ,
  1282. [ahi]"+r"( ahi ) ,
  1283. [A]"+r"( A ) , // <== Note: Even if A, B, C, and t registers are INPUT ONLY
  1284. [B]"+r"( B ) , // GCC does bad optimizations on the code if we list them as
  1285. [C]"+r"( C ) , // such, breaking this function. So, to avoid that problem,
  1286. [t]"+r"( t ) // we list all registers as input-outputs.
  1287. :
  1288. : "cc"
  1289. );
  1290. return alo;
  1291. #else
  1292. // For non ARM targets, we provide a fallback implementation. Really doubt it
  1293. // will be useful, unless the processor is fast and 32bit
  1294. uint32_t t = bezier_AV * curr_step; // t: Range 0 - 1^32 = 32 bits
  1295. uint64_t f = t;
  1296. f *= t; // Range 32*2 = 64 bits (unsigned)
  1297. f >>= 32; // Range 32 bits (unsigned)
  1298. f *= t; // Range 32*2 = 64 bits (unsigned)
  1299. f >>= 32; // Range 32 bits : f = t^3 (unsigned)
  1300. int64_t acc = (int64_t) bezier_F << 31; // Range 63 bits (signed)
  1301. acc += ((uint32_t) f >> 1) * (int64_t) bezier_C; // Range 29bits + 31 = 60bits (plus sign)
  1302. f *= t; // Range 32*2 = 64 bits
  1303. f >>= 32; // Range 32 bits : f = t^3 (unsigned)
  1304. acc += ((uint32_t) f >> 1) * (int64_t) bezier_B; // Range 29bits + 31 = 60bits (plus sign)
  1305. f *= t; // Range 32*2 = 64 bits
  1306. f >>= 32; // Range 32 bits : f = t^3 (unsigned)
  1307. acc += ((uint32_t) f >> 1) * (int64_t) bezier_A; // Range 28bits + 31 = 59bits (plus sign)
  1308. acc >>= (31 + 7); // Range 24bits (plus sign)
  1309. return (int32_t) acc;
  1310. #endif
  1311. }
  1312. #endif
  1313. #endif // S_CURVE_ACCELERATION
  1314. /**
  1315. * Stepper Driver Interrupt
  1316. *
  1317. * Directly pulses the stepper motors at high frequency.
  1318. */
  1319. HAL_STEP_TIMER_ISR() {
  1320. HAL_timer_isr_prologue(MF_TIMER_STEP);
  1321. Stepper::isr();
  1322. HAL_timer_isr_epilogue(MF_TIMER_STEP);
  1323. }
  1324. #ifdef CPU_32_BIT
  1325. #define STEP_MULTIPLY(A,B) MultiU32X24toH32(A, B)
  1326. #else
  1327. #define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B)
  1328. #endif
  1329. void Stepper::isr() {
  1330. static uint32_t nextMainISR = 0; // Interval until the next main Stepper Pulse phase (0 = Now)
  1331. #ifndef __AVR__
  1332. // Disable interrupts, to avoid ISR preemption while we reprogram the period
  1333. // (AVR enters the ISR with global interrupts disabled, so no need to do it here)
  1334. hal.isr_off();
  1335. #endif
  1336. // Program timer compare for the maximum period, so it does NOT
  1337. // flag an interrupt while this ISR is running - So changes from small
  1338. // periods to big periods are respected and the timer does not reset to 0
  1339. HAL_timer_set_compare(MF_TIMER_STEP, hal_timer_t(HAL_TIMER_TYPE_MAX));
  1340. // Count of ticks for the next ISR
  1341. hal_timer_t next_isr_ticks = 0;
  1342. // Limit the amount of iterations
  1343. uint8_t max_loops = 10;
  1344. // We need this variable here to be able to use it in the following loop
  1345. hal_timer_t min_ticks;
  1346. do {
  1347. // Enable ISRs to reduce USART processing latency
  1348. hal.isr_on();
  1349. if (!nextMainISR) pulse_phase_isr(); // 0 = Do coordinated axes Stepper pulses
  1350. #if ENABLED(LIN_ADVANCE)
  1351. if (!nextAdvanceISR) nextAdvanceISR = advance_isr(); // 0 = Do Linear Advance E Stepper pulses
  1352. #endif
  1353. #if ENABLED(INTEGRATED_BABYSTEPPING)
  1354. const bool is_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
  1355. if (is_babystep) nextBabystepISR = babystepping_isr();
  1356. #endif
  1357. // ^== Time critical. NOTHING besides pulse generation should be above here!!!
  1358. if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block
  1359. #if ENABLED(INTEGRATED_BABYSTEPPING)
  1360. if (is_babystep) // Avoid ANY stepping too soon after baby-stepping
  1361. NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8); // FULL STOP for 125µs after a baby-step
  1362. if (nextBabystepISR != BABYSTEP_NEVER) // Avoid baby-stepping too close to axis Stepping
  1363. NOLESS(nextBabystepISR, nextMainISR / 2); // TODO: Only look at axes enabled for baby-stepping
  1364. #endif
  1365. // Get the interval to the next ISR call
  1366. const uint32_t interval = _MIN(
  1367. uint32_t(HAL_TIMER_TYPE_MAX), // Come back in a very long time
  1368. nextMainISR // Time until the next Pulse / Block phase
  1369. OPTARG(LIN_ADVANCE, nextAdvanceISR) // Come back early for Linear Advance?
  1370. OPTARG(INTEGRATED_BABYSTEPPING, nextBabystepISR) // Come back early for Babystepping?
  1371. );
  1372. //
  1373. // Compute remaining time for each ISR phase
  1374. // NEVER : The phase is idle
  1375. // Zero : The phase will occur on the next ISR call
  1376. // Non-zero : The phase will occur on a future ISR call
  1377. //
  1378. nextMainISR -= interval;
  1379. #if ENABLED(LIN_ADVANCE)
  1380. if (nextAdvanceISR != LA_ADV_NEVER) nextAdvanceISR -= interval;
  1381. #endif
  1382. #if ENABLED(INTEGRATED_BABYSTEPPING)
  1383. if (nextBabystepISR != BABYSTEP_NEVER) nextBabystepISR -= interval;
  1384. #endif
  1385. /**
  1386. * This needs to avoid a race-condition caused by interleaving
  1387. * of interrupts required by both the LA and Stepper algorithms.
  1388. *
  1389. * Assume the following tick times for stepper pulses:
  1390. * Stepper ISR (S): 1 1000 2000 3000 4000
  1391. * Linear Adv. (E): 10 1010 2010 3010 4010
  1392. *
  1393. * The current algorithm tries to interleave them, giving:
  1394. * 1:S 10:E 1000:S 1010:E 2000:S 2010:E 3000:S 3010:E 4000:S 4010:E
  1395. *
  1396. * Ideal timing would yield these delta periods:
  1397. * 1:S 9:E 990:S 10:E 990:S 10:E 990:S 10:E 990:S 10:E
  1398. *
  1399. * But, since each event must fire an ISR with a minimum duration, the
  1400. * minimum delta might be 900, so deltas under 900 get rounded up:
  1401. * 900:S d900:E d990:S d900:E d990:S d900:E d990:S d900:E d990:S d900:E
  1402. *
  1403. * It works, but divides the speed of all motors by half, leading to a sudden
  1404. * reduction to 1/2 speed! Such jumps in speed lead to lost steps (not even
  1405. * accounting for double/quad stepping, which makes it even worse).
  1406. */
  1407. // Compute the tick count for the next ISR
  1408. next_isr_ticks += interval;
  1409. /**
  1410. * The following section must be done with global interrupts disabled.
  1411. * We want nothing to interrupt it, as that could mess the calculations
  1412. * we do for the next value to program in the period register of the
  1413. * stepper timer and lead to skipped ISRs (if the value we happen to program
  1414. * is less than the current count due to something preempting between the
  1415. * read and the write of the new period value).
  1416. */
  1417. hal.isr_off();
  1418. /**
  1419. * Get the current tick value + margin
  1420. * Assuming at least 6µs between calls to this ISR...
  1421. * On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin
  1422. * On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin
  1423. */
  1424. min_ticks = HAL_timer_get_count(MF_TIMER_STEP) + hal_timer_t(
  1425. #ifdef __AVR__
  1426. 8
  1427. #else
  1428. 1
  1429. #endif
  1430. * (STEPPER_TIMER_TICKS_PER_US)
  1431. );
  1432. /**
  1433. * NB: If for some reason the stepper monopolizes the MPU, eventually the
  1434. * timer will wrap around (and so will 'next_isr_ticks'). So, limit the
  1435. * loop to 10 iterations. Beyond that, there's no way to ensure correct pulse
  1436. * timing, since the MCU isn't fast enough.
  1437. */
  1438. if (!--max_loops) next_isr_ticks = min_ticks;
  1439. // Advance pulses if not enough time to wait for the next ISR
  1440. } while (next_isr_ticks < min_ticks);
  1441. // Now 'next_isr_ticks' contains the period to the next Stepper ISR - And we are
  1442. // sure that the time has not arrived yet - Warrantied by the scheduler
  1443. // Set the next ISR to fire at the proper time
  1444. HAL_timer_set_compare(MF_TIMER_STEP, hal_timer_t(next_isr_ticks));
  1445. // Don't forget to finally reenable interrupts
  1446. hal.isr_on();
  1447. }
  1448. #if MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE
  1449. #define ISR_PULSE_CONTROL 1
  1450. #endif
  1451. #if ISR_PULSE_CONTROL && DISABLED(I2S_STEPPER_STREAM)
  1452. #define ISR_MULTI_STEPS 1
  1453. #endif
  1454. /**
  1455. * This phase of the ISR should ONLY create the pulses for the steppers.
  1456. * This prevents jitter caused by the interval between the start of the
  1457. * interrupt and the start of the pulses. DON'T add any logic ahead of the
  1458. * call to this method that might cause variation in the timing. The aim
  1459. * is to keep pulse timing as regular as possible.
  1460. */
  1461. void Stepper::pulse_phase_isr() {
  1462. // If we must abort the current block, do so!
  1463. if (abort_current_block) {
  1464. abort_current_block = false;
  1465. if (current_block) discard_current_block();
  1466. }
  1467. // If there is no current block, do nothing
  1468. if (!current_block) return;
  1469. // Skipping step processing causes motion to freeze
  1470. if (TERN0(FREEZE_FEATURE, frozen)) return;
  1471. // Count of pending loops and events for this iteration
  1472. const uint32_t pending_events = step_event_count - step_events_completed;
  1473. uint8_t events_to_do = _MIN(pending_events, steps_per_isr);
  1474. // Just update the value we will get at the end of the loop
  1475. step_events_completed += events_to_do;
  1476. // Take multiple steps per interrupt (For high speed moves)
  1477. #if ISR_MULTI_STEPS
  1478. bool firstStep = true;
  1479. USING_TIMED_PULSE();
  1480. #endif
  1481. xyze_bool_t step_needed{0};
  1482. do {
  1483. #define _APPLY_STEP(AXIS, INV, ALWAYS) AXIS ##_APPLY_STEP(INV, ALWAYS)
  1484. #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
  1485. // Determine if a pulse is needed using Bresenham
  1486. #define PULSE_PREP(AXIS) do{ \
  1487. delta_error[_AXIS(AXIS)] += advance_dividend[_AXIS(AXIS)]; \
  1488. step_needed[_AXIS(AXIS)] = (delta_error[_AXIS(AXIS)] >= 0); \
  1489. if (step_needed[_AXIS(AXIS)]) { \
  1490. count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
  1491. delta_error[_AXIS(AXIS)] -= advance_divisor; \
  1492. } \
  1493. }while(0)
  1494. // Start an active pulse if needed
  1495. #define PULSE_START(AXIS) do{ \
  1496. if (step_needed[_AXIS(AXIS)]) { \
  1497. _APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), 0); \
  1498. } \
  1499. }while(0)
  1500. // Stop an active pulse if needed
  1501. #define PULSE_STOP(AXIS) do { \
  1502. if (step_needed[_AXIS(AXIS)]) { \
  1503. _APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), 0); \
  1504. } \
  1505. }while(0)
  1506. // Direct Stepping page?
  1507. const bool is_page = current_block->is_page();
  1508. #if ENABLED(DIRECT_STEPPING)
  1509. // Direct stepping is currently not ready for HAS_I_AXIS
  1510. if (is_page) {
  1511. #if STEPPER_PAGE_FORMAT == SP_4x4D_128
  1512. #define PAGE_SEGMENT_UPDATE(AXIS, VALUE) do{ \
  1513. if ((VALUE) < 7) SBI(dm, _AXIS(AXIS)); \
  1514. else if ((VALUE) > 7) CBI(dm, _AXIS(AXIS)); \
  1515. page_step_state.sd[_AXIS(AXIS)] = VALUE; \
  1516. page_step_state.bd[_AXIS(AXIS)] += VALUE; \
  1517. }while(0)
  1518. #define PAGE_PULSE_PREP(AXIS) do{ \
  1519. step_needed[_AXIS(AXIS)] = \
  1520. pgm_read_byte(&segment_table[page_step_state.sd[_AXIS(AXIS)]][page_step_state.segment_steps & 0x7]); \
  1521. }while(0)
  1522. switch (page_step_state.segment_steps) {
  1523. case DirectStepping::Config::SEGMENT_STEPS:
  1524. page_step_state.segment_idx += 2;
  1525. page_step_state.segment_steps = 0;
  1526. // fallthru
  1527. case 0: {
  1528. const uint8_t low = page_step_state.page[page_step_state.segment_idx],
  1529. high = page_step_state.page[page_step_state.segment_idx + 1];
  1530. axis_bits_t dm = last_direction_bits;
  1531. PAGE_SEGMENT_UPDATE(X, low >> 4);
  1532. PAGE_SEGMENT_UPDATE(Y, low & 0xF);
  1533. PAGE_SEGMENT_UPDATE(Z, high >> 4);
  1534. PAGE_SEGMENT_UPDATE(E, high & 0xF);
  1535. if (dm != last_direction_bits)
  1536. set_directions(dm);
  1537. } break;
  1538. default: break;
  1539. }
  1540. PAGE_PULSE_PREP(X);
  1541. PAGE_PULSE_PREP(Y);
  1542. PAGE_PULSE_PREP(Z);
  1543. TERN_(HAS_EXTRUDERS, PAGE_PULSE_PREP(E));
  1544. page_step_state.segment_steps++;
  1545. #elif STEPPER_PAGE_FORMAT == SP_4x2_256
  1546. #define PAGE_SEGMENT_UPDATE(AXIS, VALUE) \
  1547. page_step_state.sd[_AXIS(AXIS)] = VALUE; \
  1548. page_step_state.bd[_AXIS(AXIS)] += VALUE;
  1549. #define PAGE_PULSE_PREP(AXIS) do{ \
  1550. step_needed[_AXIS(AXIS)] = \
  1551. pgm_read_byte(&segment_table[page_step_state.sd[_AXIS(AXIS)]][page_step_state.segment_steps & 0x3]); \
  1552. }while(0)
  1553. switch (page_step_state.segment_steps) {
  1554. case DirectStepping::Config::SEGMENT_STEPS:
  1555. page_step_state.segment_idx++;
  1556. page_step_state.segment_steps = 0;
  1557. // fallthru
  1558. case 0: {
  1559. const uint8_t b = page_step_state.page[page_step_state.segment_idx];
  1560. PAGE_SEGMENT_UPDATE(X, (b >> 6) & 0x3);
  1561. PAGE_SEGMENT_UPDATE(Y, (b >> 4) & 0x3);
  1562. PAGE_SEGMENT_UPDATE(Z, (b >> 2) & 0x3);
  1563. PAGE_SEGMENT_UPDATE(E, (b >> 0) & 0x3);
  1564. } break;
  1565. default: break;
  1566. }
  1567. PAGE_PULSE_PREP(X);
  1568. PAGE_PULSE_PREP(Y);
  1569. PAGE_PULSE_PREP(Z);
  1570. TERN_(HAS_EXTRUDERS, PAGE_PULSE_PREP(E));
  1571. page_step_state.segment_steps++;
  1572. #elif STEPPER_PAGE_FORMAT == SP_4x1_512
  1573. #define PAGE_PULSE_PREP(AXIS, BITS) do{ \
  1574. step_needed[_AXIS(AXIS)] = (steps >> BITS) & 0x1; \
  1575. if (step_needed[_AXIS(AXIS)]) \
  1576. page_step_state.bd[_AXIS(AXIS)]++; \
  1577. }while(0)
  1578. uint8_t steps = page_step_state.page[page_step_state.segment_idx >> 1];
  1579. if (page_step_state.segment_idx & 0x1) steps >>= 4;
  1580. PAGE_PULSE_PREP(X, 3);
  1581. PAGE_PULSE_PREP(Y, 2);
  1582. PAGE_PULSE_PREP(Z, 1);
  1583. PAGE_PULSE_PREP(E, 0);
  1584. page_step_state.segment_idx++;
  1585. #else
  1586. #error "Unknown direct stepping page format!"
  1587. #endif
  1588. }
  1589. #endif // DIRECT_STEPPING
  1590. if (!is_page) {
  1591. // Determine if pulses are needed
  1592. #if HAS_X_STEP
  1593. PULSE_PREP(X);
  1594. #endif
  1595. #if HAS_Y_STEP
  1596. PULSE_PREP(Y);
  1597. #endif
  1598. #if HAS_Z_STEP
  1599. PULSE_PREP(Z);
  1600. #endif
  1601. #if HAS_I_STEP
  1602. PULSE_PREP(I);
  1603. #endif
  1604. #if HAS_J_STEP
  1605. PULSE_PREP(J);
  1606. #endif
  1607. #if HAS_K_STEP
  1608. PULSE_PREP(K);
  1609. #endif
  1610. #if HAS_U_STEP
  1611. PULSE_PREP(U);
  1612. #endif
  1613. #if HAS_V_STEP
  1614. PULSE_PREP(V);
  1615. #endif
  1616. #if HAS_W_STEP
  1617. PULSE_PREP(W);
  1618. #endif
  1619. #if EITHER(LIN_ADVANCE, MIXING_EXTRUDER)
  1620. delta_error.e += advance_dividend.e;
  1621. if (delta_error.e >= 0) {
  1622. #if ENABLED(LIN_ADVANCE)
  1623. delta_error.e -= advance_divisor;
  1624. // Don't step E here - But remember the number of steps to perform
  1625. motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
  1626. #else
  1627. count_position.e += count_direction.e;
  1628. step_needed.e = true;
  1629. #endif
  1630. }
  1631. #elif HAS_E0_STEP
  1632. PULSE_PREP(E);
  1633. #endif
  1634. }
  1635. #if ISR_MULTI_STEPS
  1636. if (firstStep)
  1637. firstStep = false;
  1638. else
  1639. AWAIT_LOW_PULSE();
  1640. #endif
  1641. // Pulse start
  1642. #if HAS_X_STEP
  1643. PULSE_START(X);
  1644. #endif
  1645. #if HAS_Y_STEP
  1646. PULSE_START(Y);
  1647. #endif
  1648. #if HAS_Z_STEP
  1649. PULSE_START(Z);
  1650. #endif
  1651. #if HAS_I_STEP
  1652. PULSE_START(I);
  1653. #endif
  1654. #if HAS_J_STEP
  1655. PULSE_START(J);
  1656. #endif
  1657. #if HAS_K_STEP
  1658. PULSE_START(K);
  1659. #endif
  1660. #if HAS_U_STEP
  1661. PULSE_START(U);
  1662. #endif
  1663. #if HAS_V_STEP
  1664. PULSE_START(V);
  1665. #endif
  1666. #if HAS_W_STEP
  1667. PULSE_START(W);
  1668. #endif
  1669. #if DISABLED(LIN_ADVANCE)
  1670. #if ENABLED(MIXING_EXTRUDER)
  1671. if (step_needed.e) E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
  1672. #elif HAS_E0_STEP
  1673. PULSE_START(E);
  1674. #endif
  1675. #endif
  1676. TERN_(I2S_STEPPER_STREAM, i2s_push_sample());
  1677. // TODO: need to deal with MINIMUM_STEPPER_PULSE over i2s
  1678. #if ISR_MULTI_STEPS
  1679. START_HIGH_PULSE();
  1680. AWAIT_HIGH_PULSE();
  1681. #endif
  1682. // Pulse stop
  1683. #if HAS_X_STEP
  1684. PULSE_STOP(X);
  1685. #endif
  1686. #if HAS_Y_STEP
  1687. PULSE_STOP(Y);
  1688. #endif
  1689. #if HAS_Z_STEP
  1690. PULSE_STOP(Z);
  1691. #endif
  1692. #if HAS_I_STEP
  1693. PULSE_STOP(I);
  1694. #endif
  1695. #if HAS_J_STEP
  1696. PULSE_STOP(J);
  1697. #endif
  1698. #if HAS_K_STEP
  1699. PULSE_STOP(K);
  1700. #endif
  1701. #if HAS_U_STEP
  1702. PULSE_STOP(U);
  1703. #endif
  1704. #if HAS_V_STEP
  1705. PULSE_STOP(V);
  1706. #endif
  1707. #if HAS_W_STEP
  1708. PULSE_STOP(W);
  1709. #endif
  1710. #if DISABLED(LIN_ADVANCE)
  1711. #if ENABLED(MIXING_EXTRUDER)
  1712. if (delta_error.e >= 0) {
  1713. delta_error.e -= advance_divisor;
  1714. E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
  1715. }
  1716. #elif HAS_E0_STEP
  1717. PULSE_STOP(E);
  1718. #endif
  1719. #endif
  1720. #if ISR_MULTI_STEPS
  1721. if (events_to_do) START_LOW_PULSE();
  1722. #endif
  1723. } while (--events_to_do);
  1724. }
  1725. // This is the last half of the stepper interrupt: This one processes and
  1726. // properly schedules blocks from the planner. This is executed after creating
  1727. // the step pulses, so it is not time critical, as pulses are already done.
  1728. uint32_t Stepper::block_phase_isr() {
  1729. // If no queued movements, just wait 1ms for the next block
  1730. uint32_t interval = (STEPPER_TIMER_RATE) / 1000UL;
  1731. // If there is a current block
  1732. if (current_block) {
  1733. // If current block is finished, reset pointer and finalize state
  1734. if (step_events_completed >= step_event_count) {
  1735. #if ENABLED(DIRECT_STEPPING)
  1736. // Direct stepping is currently not ready for HAS_I_AXIS
  1737. #if STEPPER_PAGE_FORMAT == SP_4x4D_128
  1738. #define PAGE_SEGMENT_UPDATE_POS(AXIS) \
  1739. count_position[_AXIS(AXIS)] += page_step_state.bd[_AXIS(AXIS)] - 128 * 7;
  1740. #elif STEPPER_PAGE_FORMAT == SP_4x1_512 || STEPPER_PAGE_FORMAT == SP_4x2_256
  1741. #define PAGE_SEGMENT_UPDATE_POS(AXIS) \
  1742. count_position[_AXIS(AXIS)] += page_step_state.bd[_AXIS(AXIS)] * count_direction[_AXIS(AXIS)];
  1743. #endif
  1744. if (current_block->is_page()) {
  1745. PAGE_SEGMENT_UPDATE_POS(X);
  1746. PAGE_SEGMENT_UPDATE_POS(Y);
  1747. PAGE_SEGMENT_UPDATE_POS(Z);
  1748. PAGE_SEGMENT_UPDATE_POS(E);
  1749. }
  1750. #endif
  1751. TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, runout.block_completed(current_block));
  1752. discard_current_block();
  1753. }
  1754. else {
  1755. // Step events not completed yet...
  1756. // Are we in acceleration phase ?
  1757. if (step_events_completed <= accelerate_until) { // Calculate new timer value
  1758. #if ENABLED(S_CURVE_ACCELERATION)
  1759. // Get the next speed to use (Jerk limited!)
  1760. uint32_t acc_step_rate = acceleration_time < current_block->acceleration_time
  1761. ? _eval_bezier_curve(acceleration_time)
  1762. : current_block->cruise_rate;
  1763. #else
  1764. acc_step_rate = STEP_MULTIPLY(acceleration_time, current_block->acceleration_rate) + current_block->initial_rate;
  1765. NOMORE(acc_step_rate, current_block->nominal_rate);
  1766. #endif
  1767. // acc_step_rate is in steps/second
  1768. // step_rate to timer interval and steps per stepper isr
  1769. interval = calc_timer_interval(acc_step_rate, &steps_per_isr);
  1770. acceleration_time += interval;
  1771. #if ENABLED(LIN_ADVANCE)
  1772. if (LA_use_advance_lead) {
  1773. // Fire ISR if final adv_rate is reached
  1774. if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0;
  1775. }
  1776. else if (LA_steps) nextAdvanceISR = 0;
  1777. #endif
  1778. /*
  1779. * Adjust Laser Power - Accelerating
  1780. * isPowered - True when a move is powered.
  1781. * isEnabled - laser power is active.
  1782. * Laser power variables are calulated and stored in this block by the planner code.
  1783. *
  1784. * trap_ramp_active_pwr - the active power in this block across accel or decel trap steps.
  1785. * trap_ramp_entry_incr - holds the precalculated value to increase the current power per accel step.
  1786. *
  1787. * Apply the starting active power and then increase power per step by the trap_ramp_entry_incr value if positive.
  1788. */
  1789. #if ENABLED(LASER_POWER_TRAP)
  1790. if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
  1791. if (planner.laser_inline.status.isPowered && planner.laser_inline.status.isEnabled) {
  1792. if (current_block->laser.trap_ramp_entry_incr > 0) {
  1793. cutter.apply_power(current_block->laser.trap_ramp_active_pwr);
  1794. current_block->laser.trap_ramp_active_pwr += current_block->laser.trap_ramp_entry_incr;
  1795. }
  1796. }
  1797. // Not a powered move.
  1798. else cutter.apply_power(0);
  1799. }
  1800. #endif
  1801. }
  1802. // Are we in Deceleration phase ?
  1803. else if (step_events_completed > decelerate_after) {
  1804. uint32_t step_rate;
  1805. #if ENABLED(S_CURVE_ACCELERATION)
  1806. // If this is the 1st time we process the 2nd half of the trapezoid...
  1807. if (!bezier_2nd_half) {
  1808. // Initialize the Bézier speed curve
  1809. _calc_bezier_curve_coeffs(current_block->cruise_rate, current_block->final_rate, current_block->deceleration_time_inverse);
  1810. bezier_2nd_half = true;
  1811. // The first point starts at cruise rate. Just save evaluation of the Bézier curve
  1812. step_rate = current_block->cruise_rate;
  1813. }
  1814. else {
  1815. // Calculate the next speed to use
  1816. step_rate = deceleration_time < current_block->deceleration_time
  1817. ? _eval_bezier_curve(deceleration_time)
  1818. : current_block->final_rate;
  1819. }
  1820. #else
  1821. // Using the old trapezoidal control
  1822. step_rate = STEP_MULTIPLY(deceleration_time, current_block->acceleration_rate);
  1823. if (step_rate < acc_step_rate) { // Still decelerating?
  1824. step_rate = acc_step_rate - step_rate;
  1825. NOLESS(step_rate, current_block->final_rate);
  1826. }
  1827. else
  1828. step_rate = current_block->final_rate;
  1829. #endif
  1830. // step_rate is in steps/second
  1831. // step_rate to timer interval and steps per stepper isr
  1832. interval = calc_timer_interval(step_rate, &steps_per_isr);
  1833. deceleration_time += interval;
  1834. #if ENABLED(LIN_ADVANCE)
  1835. if (LA_use_advance_lead) {
  1836. // Wake up eISR on first deceleration loop and fire ISR if final adv_rate is reached
  1837. if (step_events_completed <= decelerate_after + steps_per_isr || (LA_steps && LA_isr_rate != current_block->advance_speed)) {
  1838. initiateLA();
  1839. LA_isr_rate = current_block->advance_speed;
  1840. }
  1841. }
  1842. else if (LA_steps) nextAdvanceISR = 0;
  1843. #endif // LIN_ADVANCE
  1844. /*
  1845. * Adjust Laser Power - Decelerating
  1846. * trap_ramp_entry_decr - holds the precalculated value to decrease the current power per decel step.
  1847. */
  1848. #if ENABLED(LASER_POWER_TRAP)
  1849. if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
  1850. if (planner.laser_inline.status.isPowered && planner.laser_inline.status.isEnabled) {
  1851. if (current_block->laser.trap_ramp_exit_decr > 0) {
  1852. current_block->laser.trap_ramp_active_pwr -= current_block->laser.trap_ramp_exit_decr;
  1853. cutter.apply_power(current_block->laser.trap_ramp_active_pwr);
  1854. }
  1855. // Not a powered move.
  1856. else cutter.apply_power(0);
  1857. }
  1858. }
  1859. #endif
  1860. }
  1861. else { // Must be in cruise phase otherwise
  1862. #if ENABLED(LIN_ADVANCE)
  1863. // If there are any esteps, fire the next advance_isr "now"
  1864. if (LA_steps && LA_isr_rate != current_block->advance_speed) initiateLA();
  1865. #endif
  1866. // Calculate the ticks_nominal for this nominal speed, if not done yet
  1867. if (ticks_nominal < 0) {
  1868. // step_rate to timer interval and loops for the nominal speed
  1869. ticks_nominal = calc_timer_interval(current_block->nominal_rate, &steps_per_isr);
  1870. }
  1871. // The timer interval is just the nominal value for the nominal speed
  1872. interval = ticks_nominal;
  1873. }
  1874. /* Adjust Laser Power - Cruise
  1875. * power - direct or floor adjusted active laser power.
  1876. */
  1877. #if ENABLED(LASER_POWER_TRAP)
  1878. if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
  1879. if (step_events_completed + 1 == accelerate_until) {
  1880. if (planner.laser_inline.status.isPowered && planner.laser_inline.status.isEnabled) {
  1881. if (current_block->laser.trap_ramp_entry_incr > 0) {
  1882. current_block->laser.trap_ramp_active_pwr = current_block->laser.power;
  1883. cutter.apply_power(current_block->laser.power);
  1884. }
  1885. }
  1886. // Not a powered move.
  1887. else cutter.apply_power(0);
  1888. }
  1889. }
  1890. #endif
  1891. }
  1892. #if ENABLED(LASER_FEATURE)
  1893. /*
  1894. * CUTTER_MODE_DYNAMIC is experimental and developing.
  1895. * Super-fast method to dynamically adjust the laser power OCR value based on the input feedrate in mm-per-minute.
  1896. * TODO: Set up Min/Max OCR offsets to allow tuning and scaling of various lasers.
  1897. * TODO: Integrate accel/decel +-rate into the dynamic laser power calc.
  1898. */
  1899. if (cutter.cutter_mode == CUTTER_MODE_DYNAMIC
  1900. && planner.laser_inline.status.isPowered // isPowered flag set on any parsed G1, G2, G3, or G5 move; cleared on any others.
  1901. && cutter.last_block_power != current_block->laser.power // Prevent constant update without change
  1902. ) {
  1903. cutter.apply_power(current_block->laser.power);
  1904. cutter.last_block_power = current_block->laser.power;
  1905. }
  1906. #endif
  1907. }
  1908. else { // !current_block
  1909. #if ENABLED(LASER_FEATURE)
  1910. if (cutter.cutter_mode == CUTTER_MODE_DYNAMIC) {
  1911. cutter.apply_power(0); // No movement in dynamic mode so turn Laser off
  1912. }
  1913. #endif
  1914. }
  1915. // If there is no current block at this point, attempt to pop one from the buffer
  1916. // and prepare its movement
  1917. if (!current_block) {
  1918. // Anything in the buffer?
  1919. if ((current_block = planner.get_current_block())) {
  1920. // Sync block? Sync the stepper counts or fan speeds and return
  1921. while (current_block->is_sync()) {
  1922. #if ENABLED(LASER_POWER_SYNC)
  1923. if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
  1924. if (current_block->is_pwr_sync()) {
  1925. planner.laser_inline.status.isSyncPower = true;
  1926. cutter.apply_power(current_block->laser.power);
  1927. }
  1928. }
  1929. #endif
  1930. TERN_(LASER_SYNCHRONOUS_M106_M107, if (current_block->is_fan_sync()) planner.sync_fan_speeds(current_block->fan_speed));
  1931. if (!(current_block->is_fan_sync() || current_block->is_pwr_sync())) _set_position(current_block->position);
  1932. discard_current_block();
  1933. // Try to get a new block
  1934. if (!(current_block = planner.get_current_block()))
  1935. return interval; // No more queued movements!
  1936. }
  1937. // For non-inline cutter, grossly apply power
  1938. #if HAS_CUTTER
  1939. if (cutter.cutter_mode == CUTTER_MODE_STANDARD) {
  1940. cutter.apply_power(current_block->cutter_power);
  1941. }
  1942. #endif
  1943. #if ENABLED(POWER_LOSS_RECOVERY)
  1944. recovery.info.sdpos = current_block->sdpos;
  1945. recovery.info.current_position = current_block->start_position;
  1946. #endif
  1947. #if ENABLED(DIRECT_STEPPING)
  1948. if (current_block->is_page()) {
  1949. page_step_state.segment_steps = 0;
  1950. page_step_state.segment_idx = 0;
  1951. page_step_state.page = page_manager.get_page(current_block->page_idx);
  1952. page_step_state.bd.reset();
  1953. if (DirectStepping::Config::DIRECTIONAL)
  1954. current_block->direction_bits = last_direction_bits;
  1955. if (!page_step_state.page) {
  1956. discard_current_block();
  1957. return interval;
  1958. }
  1959. }
  1960. #endif
  1961. // Flag all moving axes for proper endstop handling
  1962. #if IS_CORE
  1963. // Define conditions for checking endstops
  1964. #define S_(N) current_block->steps[CORE_AXIS_##N]
  1965. #define D_(N) TEST(current_block->direction_bits, CORE_AXIS_##N)
  1966. #endif
  1967. #if CORE_IS_XY || CORE_IS_XZ
  1968. /**
  1969. * Head direction in -X axis for CoreXY and CoreXZ bots.
  1970. *
  1971. * If steps differ, both axes are moving.
  1972. * If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
  1973. * If DeltaA == DeltaB, the movement is only in the 1st axis (X)
  1974. */
  1975. #if EITHER(COREXY, COREXZ)
  1976. #define X_CMP(A,B) ((A)==(B))
  1977. #else
  1978. #define X_CMP(A,B) ((A)!=(B))
  1979. #endif
  1980. #define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && X_CMP(D_(1),D_(2))) )
  1981. #elif ENABLED(MARKFORGED_XY)
  1982. #define X_MOVE_TEST (current_block->steps.a != current_block->steps.b)
  1983. #else
  1984. #define X_MOVE_TEST !!current_block->steps.a
  1985. #endif
  1986. #if CORE_IS_XY || CORE_IS_YZ
  1987. /**
  1988. * Head direction in -Y axis for CoreXY / CoreYZ bots.
  1989. *
  1990. * If steps differ, both axes are moving
  1991. * If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
  1992. * If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
  1993. */
  1994. #if EITHER(COREYX, COREYZ)
  1995. #define Y_CMP(A,B) ((A)==(B))
  1996. #else
  1997. #define Y_CMP(A,B) ((A)!=(B))
  1998. #endif
  1999. #define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Y_CMP(D_(1),D_(2))) )
  2000. #elif ENABLED(MARKFORGED_YX)
  2001. #define Y_MOVE_TEST (current_block->steps.a != current_block->steps.b)
  2002. #else
  2003. #define Y_MOVE_TEST !!current_block->steps.b
  2004. #endif
  2005. #if CORE_IS_XZ || CORE_IS_YZ
  2006. /**
  2007. * Head direction in -Z axis for CoreXZ or CoreYZ bots.
  2008. *
  2009. * If steps differ, both axes are moving
  2010. * If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
  2011. * If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
  2012. */
  2013. #if EITHER(COREZX, COREZY)
  2014. #define Z_CMP(A,B) ((A)==(B))
  2015. #else
  2016. #define Z_CMP(A,B) ((A)!=(B))
  2017. #endif
  2018. #define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Z_CMP(D_(1),D_(2))) )
  2019. #else
  2020. #define Z_MOVE_TEST !!current_block->steps.c
  2021. #endif
  2022. axis_bits_t axis_bits = 0;
  2023. NUM_AXIS_CODE(
  2024. if (X_MOVE_TEST) SBI(axis_bits, A_AXIS),
  2025. if (Y_MOVE_TEST) SBI(axis_bits, B_AXIS),
  2026. if (Z_MOVE_TEST) SBI(axis_bits, C_AXIS),
  2027. if (current_block->steps.i) SBI(axis_bits, I_AXIS),
  2028. if (current_block->steps.j) SBI(axis_bits, J_AXIS),
  2029. if (current_block->steps.k) SBI(axis_bits, K_AXIS),
  2030. if (current_block->steps.u) SBI(axis_bits, U_AXIS),
  2031. if (current_block->steps.v) SBI(axis_bits, V_AXIS),
  2032. if (current_block->steps.w) SBI(axis_bits, W_AXIS)
  2033. );
  2034. //if (current_block->steps.e) SBI(axis_bits, E_AXIS);
  2035. //if (current_block->steps.a) SBI(axis_bits, X_HEAD);
  2036. //if (current_block->steps.b) SBI(axis_bits, Y_HEAD);
  2037. //if (current_block->steps.c) SBI(axis_bits, Z_HEAD);
  2038. axis_did_move = axis_bits;
  2039. // No acceleration / deceleration time elapsed so far
  2040. acceleration_time = deceleration_time = 0;
  2041. #if ENABLED(ADAPTIVE_STEP_SMOOTHING)
  2042. uint8_t oversampling = 0; // Assume no axis smoothing (via oversampling)
  2043. // Decide if axis smoothing is possible
  2044. uint32_t max_rate = current_block->nominal_rate; // Get the step event rate
  2045. while (max_rate < MIN_STEP_ISR_FREQUENCY) { // As long as more ISRs are possible...
  2046. max_rate <<= 1; // Try to double the rate
  2047. if (max_rate < MIN_STEP_ISR_FREQUENCY) // Don't exceed the estimated ISR limit
  2048. ++oversampling; // Increase the oversampling (used for left-shift)
  2049. }
  2050. oversampling_factor = oversampling; // For all timer interval calculations
  2051. #else
  2052. constexpr uint8_t oversampling = 0;
  2053. #endif
  2054. // Based on the oversampling factor, do the calculations
  2055. step_event_count = current_block->step_event_count << oversampling;
  2056. // Initialize Bresenham delta errors to 1/2
  2057. delta_error = -int32_t(step_event_count);
  2058. // Calculate Bresenham dividends and divisors
  2059. advance_dividend = current_block->steps << 1;
  2060. advance_divisor = step_event_count << 1;
  2061. // No step events completed so far
  2062. step_events_completed = 0;
  2063. // Compute the acceleration and deceleration points
  2064. accelerate_until = current_block->accelerate_until << oversampling;
  2065. decelerate_after = current_block->decelerate_after << oversampling;
  2066. TERN_(MIXING_EXTRUDER, mixer.stepper_setup(current_block->b_color));
  2067. E_TERN_(stepper_extruder = current_block->extruder);
  2068. // Initialize the trapezoid generator from the current block.
  2069. #if ENABLED(LIN_ADVANCE)
  2070. #if DISABLED(MIXING_EXTRUDER) && E_STEPPERS > 1
  2071. // If the now active extruder wasn't in use during the last move, its pressure is most likely gone.
  2072. if (stepper_extruder != last_moved_extruder) LA_current_adv_steps = 0;
  2073. #endif
  2074. if ((LA_use_advance_lead = current_block->use_advance_lead)) {
  2075. LA_final_adv_steps = current_block->final_adv_steps;
  2076. LA_max_adv_steps = current_block->max_adv_steps;
  2077. initiateLA(); // Start the ISR
  2078. LA_isr_rate = current_block->advance_speed;
  2079. }
  2080. else LA_isr_rate = LA_ADV_NEVER;
  2081. #endif
  2082. if ( ENABLED(HAS_L64XX) // Always set direction for L64xx (Also enables the chips)
  2083. || ENABLED(DUAL_X_CARRIAGE) // TODO: Find out why this fixes "jittery" small circles
  2084. || current_block->direction_bits != last_direction_bits
  2085. || TERN(MIXING_EXTRUDER, false, stepper_extruder != last_moved_extruder)
  2086. ) {
  2087. E_TERN_(last_moved_extruder = stepper_extruder);
  2088. TERN_(HAS_L64XX, L64XX_OK_to_power_up = true);
  2089. set_directions(current_block->direction_bits);
  2090. }
  2091. #if ENABLED(LASER_FEATURE)
  2092. if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) { // Planner controls the laser
  2093. if (planner.laser_inline.status.isSyncPower)
  2094. // If the previous block was a M3 sync power then skip the trap power init otherwise it will 0 the sync power.
  2095. planner.laser_inline.status.isSyncPower = false; // Clear the flag to process subsequent trap calc's.
  2096. else if (current_block->laser.status.isEnabled) {
  2097. #if ENABLED(LASER_POWER_TRAP)
  2098. TERN_(DEBUG_LASER_TRAP, SERIAL_ECHO_MSG("InitTrapPwr:",current_block->laser.trap_ramp_active_pwr));
  2099. cutter.apply_power(current_block->laser.status.isPowered ? current_block->laser.trap_ramp_active_pwr : 0);
  2100. #else
  2101. TERN_(DEBUG_CUTTER_POWER, SERIAL_ECHO_MSG("InlinePwr:",current_block->laser.power));
  2102. cutter.apply_power(current_block->laser.status.isPowered ? current_block->laser.power : 0);
  2103. #endif
  2104. }
  2105. }
  2106. #endif // LASER_FEATURE
  2107. // If the endstop is already pressed, endstop interrupts won't invoke
  2108. // endstop_triggered and the move will grind. So check here for a
  2109. // triggered endstop, which marks the block for discard on the next ISR.
  2110. endstops.update();
  2111. #if ENABLED(Z_LATE_ENABLE)
  2112. // If delayed Z enable, enable it now. This option will severely interfere with
  2113. // timing between pulses when chaining motion between blocks, and it could lead
  2114. // to lost steps in both X and Y axis, so avoid using it unless strictly necessary!!
  2115. if (current_block->steps.z) enable_axis(Z_AXIS);
  2116. #endif
  2117. // Mark the time_nominal as not calculated yet
  2118. ticks_nominal = -1;
  2119. #if ENABLED(S_CURVE_ACCELERATION)
  2120. // Initialize the Bézier speed curve
  2121. _calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse);
  2122. // We haven't started the 2nd half of the trapezoid
  2123. bezier_2nd_half = false;
  2124. #else
  2125. // Set as deceleration point the initial rate of the block
  2126. acc_step_rate = current_block->initial_rate;
  2127. #endif
  2128. // Calculate the initial timer interval
  2129. interval = calc_timer_interval(current_block->initial_rate, &steps_per_isr);
  2130. }
  2131. }
  2132. // Return the interval to wait
  2133. return interval;
  2134. }
  2135. #if ENABLED(LIN_ADVANCE)
  2136. // Timer interrupt for E. LA_steps is set in the main routine
  2137. uint32_t Stepper::advance_isr() {
  2138. uint32_t interval;
  2139. if (LA_use_advance_lead) {
  2140. if (step_events_completed > decelerate_after && LA_current_adv_steps > LA_final_adv_steps) {
  2141. LA_steps--;
  2142. LA_current_adv_steps--;
  2143. interval = LA_isr_rate;
  2144. }
  2145. else if (step_events_completed < decelerate_after && LA_current_adv_steps < LA_max_adv_steps) {
  2146. LA_steps++;
  2147. LA_current_adv_steps++;
  2148. interval = LA_isr_rate;
  2149. }
  2150. else
  2151. interval = LA_isr_rate = LA_ADV_NEVER;
  2152. }
  2153. else
  2154. interval = LA_ADV_NEVER;
  2155. if (!LA_steps) return interval; // Leave pins alone if there are no steps!
  2156. DIR_WAIT_BEFORE();
  2157. #if ENABLED(MIXING_EXTRUDER)
  2158. // We don't know which steppers will be stepped because LA loop follows,
  2159. // with potentially multiple steps. Set all.
  2160. if (LA_steps > 0) {
  2161. MIXER_STEPPER_LOOP(j) NORM_E_DIR(j);
  2162. count_direction.e = 1;
  2163. }
  2164. else if (LA_steps < 0) {
  2165. MIXER_STEPPER_LOOP(j) REV_E_DIR(j);
  2166. count_direction.e = -1;
  2167. }
  2168. #else
  2169. if (LA_steps > 0) {
  2170. NORM_E_DIR(stepper_extruder);
  2171. count_direction.e = 1;
  2172. }
  2173. else if (LA_steps < 0) {
  2174. REV_E_DIR(stepper_extruder);
  2175. count_direction.e = -1;
  2176. }
  2177. #endif
  2178. DIR_WAIT_AFTER();
  2179. //const hal_timer_t added_step_ticks = hal_timer_t(ADDED_STEP_TICKS);
  2180. // Step E stepper if we have steps
  2181. #if ISR_MULTI_STEPS
  2182. bool firstStep = true;
  2183. USING_TIMED_PULSE();
  2184. #endif
  2185. while (LA_steps) {
  2186. #if ISR_MULTI_STEPS
  2187. if (firstStep)
  2188. firstStep = false;
  2189. else
  2190. AWAIT_LOW_PULSE();
  2191. #endif
  2192. count_position.e += count_direction.e;
  2193. // Set the STEP pulse ON
  2194. #if ENABLED(MIXING_EXTRUDER)
  2195. E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
  2196. #else
  2197. E_STEP_WRITE(stepper_extruder, !INVERT_E_STEP_PIN);
  2198. #endif
  2199. // Enforce a minimum duration for STEP pulse ON
  2200. #if ISR_PULSE_CONTROL
  2201. START_HIGH_PULSE();
  2202. #endif
  2203. LA_steps < 0 ? ++LA_steps : --LA_steps;
  2204. #if ISR_PULSE_CONTROL
  2205. AWAIT_HIGH_PULSE();
  2206. #endif
  2207. // Set the STEP pulse OFF
  2208. #if ENABLED(MIXING_EXTRUDER)
  2209. E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
  2210. #else
  2211. E_STEP_WRITE(stepper_extruder, INVERT_E_STEP_PIN);
  2212. #endif
  2213. // For minimum pulse time wait before looping
  2214. // Just wait for the requested pulse duration
  2215. #if ISR_PULSE_CONTROL
  2216. if (LA_steps) START_LOW_PULSE();
  2217. #endif
  2218. } // LA_steps
  2219. return interval;
  2220. }
  2221. #endif // LIN_ADVANCE
  2222. #if ENABLED(INTEGRATED_BABYSTEPPING)
  2223. // Timer interrupt for baby-stepping
  2224. uint32_t Stepper::babystepping_isr() {
  2225. babystep.task();
  2226. return babystep.has_steps() ? BABYSTEP_TICKS : BABYSTEP_NEVER;
  2227. }
  2228. #endif
  2229. // Check if the given block is busy or not - Must not be called from ISR contexts
  2230. // The current_block could change in the middle of the read by an Stepper ISR, so
  2231. // we must explicitly prevent that!
  2232. bool Stepper::is_block_busy(const block_t * const block) {
  2233. #ifdef __AVR__
  2234. // A SW memory barrier, to ensure GCC does not overoptimize loops
  2235. #define sw_barrier() asm volatile("": : :"memory");
  2236. // Keep reading until 2 consecutive reads return the same value,
  2237. // meaning there was no update in-between caused by an interrupt.
  2238. // This works because stepper ISRs happen at a slower rate than
  2239. // successive reads of a variable, so 2 consecutive reads with
  2240. // the same value means no interrupt updated it.
  2241. block_t *vold, *vnew = current_block;
  2242. sw_barrier();
  2243. do {
  2244. vold = vnew;
  2245. vnew = current_block;
  2246. sw_barrier();
  2247. } while (vold != vnew);
  2248. #else
  2249. block_t *vnew = current_block;
  2250. #endif
  2251. // Return if the block is busy or not
  2252. return block == vnew;
  2253. }
  2254. void Stepper::init() {
  2255. #if MB(ALLIGATOR)
  2256. const float motor_current[] = MOTOR_CURRENT;
  2257. unsigned int digipot_motor = 0;
  2258. LOOP_L_N(i, 3 + EXTRUDERS) {
  2259. digipot_motor = 255 * (motor_current[i] / 2.5);
  2260. dac084s085::setValue(i, digipot_motor);
  2261. }
  2262. #endif
  2263. // Init Microstepping Pins
  2264. TERN_(HAS_MICROSTEPS, microstep_init());
  2265. // Init Dir Pins
  2266. TERN_(HAS_X_DIR, X_DIR_INIT());
  2267. TERN_(HAS_X2_DIR, X2_DIR_INIT());
  2268. #if HAS_Y_DIR
  2269. Y_DIR_INIT();
  2270. #if BOTH(HAS_DUAL_Y_STEPPERS, HAS_Y2_DIR)
  2271. Y2_DIR_INIT();
  2272. #endif
  2273. #endif
  2274. #if HAS_Z_DIR
  2275. Z_DIR_INIT();
  2276. #if NUM_Z_STEPPERS >= 2 && HAS_Z2_DIR
  2277. Z2_DIR_INIT();
  2278. #endif
  2279. #if NUM_Z_STEPPERS >= 3 && HAS_Z3_DIR
  2280. Z3_DIR_INIT();
  2281. #endif
  2282. #if NUM_Z_STEPPERS >= 4 && HAS_Z4_DIR
  2283. Z4_DIR_INIT();
  2284. #endif
  2285. #endif
  2286. #if HAS_I_DIR
  2287. I_DIR_INIT();
  2288. #endif
  2289. #if HAS_J_DIR
  2290. J_DIR_INIT();
  2291. #endif
  2292. #if HAS_K_DIR
  2293. K_DIR_INIT();
  2294. #endif
  2295. #if HAS_U_DIR
  2296. U_DIR_INIT();
  2297. #endif
  2298. #if HAS_V_DIR
  2299. V_DIR_INIT();
  2300. #endif
  2301. #if HAS_W_DIR
  2302. W_DIR_INIT();
  2303. #endif
  2304. #if HAS_E0_DIR
  2305. E0_DIR_INIT();
  2306. #endif
  2307. #if HAS_E1_DIR
  2308. E1_DIR_INIT();
  2309. #endif
  2310. #if HAS_E2_DIR
  2311. E2_DIR_INIT();
  2312. #endif
  2313. #if HAS_E3_DIR
  2314. E3_DIR_INIT();
  2315. #endif
  2316. #if HAS_E4_DIR
  2317. E4_DIR_INIT();
  2318. #endif
  2319. #if HAS_E5_DIR
  2320. E5_DIR_INIT();
  2321. #endif
  2322. #if HAS_E6_DIR
  2323. E6_DIR_INIT();
  2324. #endif
  2325. #if HAS_E7_DIR
  2326. E7_DIR_INIT();
  2327. #endif
  2328. // Init Enable Pins - steppers default to disabled.
  2329. #if HAS_X_ENABLE
  2330. X_ENABLE_INIT();
  2331. if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
  2332. #if BOTH(HAS_X2_STEPPER, HAS_X2_ENABLE)
  2333. X2_ENABLE_INIT();
  2334. if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
  2335. #endif
  2336. #endif
  2337. #if HAS_Y_ENABLE
  2338. Y_ENABLE_INIT();
  2339. if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
  2340. #if BOTH(HAS_DUAL_Y_STEPPERS, HAS_Y2_ENABLE)
  2341. Y2_ENABLE_INIT();
  2342. if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
  2343. #endif
  2344. #endif
  2345. #if HAS_Z_ENABLE
  2346. Z_ENABLE_INIT();
  2347. if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
  2348. #if NUM_Z_STEPPERS >= 2 && HAS_Z2_ENABLE
  2349. Z2_ENABLE_INIT();
  2350. if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
  2351. #endif
  2352. #if NUM_Z_STEPPERS >= 3 && HAS_Z3_ENABLE
  2353. Z3_ENABLE_INIT();
  2354. if (!Z_ENABLE_ON) Z3_ENABLE_WRITE(HIGH);
  2355. #endif
  2356. #if NUM_Z_STEPPERS >= 4 && HAS_Z4_ENABLE
  2357. Z4_ENABLE_INIT();
  2358. if (!Z_ENABLE_ON) Z4_ENABLE_WRITE(HIGH);
  2359. #endif
  2360. #endif
  2361. #if HAS_I_ENABLE
  2362. I_ENABLE_INIT();
  2363. if (!I_ENABLE_ON) I_ENABLE_WRITE(HIGH);
  2364. #endif
  2365. #if HAS_J_ENABLE
  2366. J_ENABLE_INIT();
  2367. if (!J_ENABLE_ON) J_ENABLE_WRITE(HIGH);
  2368. #endif
  2369. #if HAS_K_ENABLE
  2370. K_ENABLE_INIT();
  2371. if (!K_ENABLE_ON) K_ENABLE_WRITE(HIGH);
  2372. #endif
  2373. #if HAS_U_ENABLE
  2374. U_ENABLE_INIT();
  2375. if (!U_ENABLE_ON) U_ENABLE_WRITE(HIGH);
  2376. #endif
  2377. #if HAS_V_ENABLE
  2378. V_ENABLE_INIT();
  2379. if (!V_ENABLE_ON) V_ENABLE_WRITE(HIGH);
  2380. #endif
  2381. #if HAS_W_ENABLE
  2382. W_ENABLE_INIT();
  2383. if (!W_ENABLE_ON) W_ENABLE_WRITE(HIGH);
  2384. #endif
  2385. #if HAS_E0_ENABLE
  2386. E0_ENABLE_INIT();
  2387. if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
  2388. #endif
  2389. #if HAS_E1_ENABLE
  2390. E1_ENABLE_INIT();
  2391. if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
  2392. #endif
  2393. #if HAS_E2_ENABLE
  2394. E2_ENABLE_INIT();
  2395. if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
  2396. #endif
  2397. #if HAS_E3_ENABLE
  2398. E3_ENABLE_INIT();
  2399. if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
  2400. #endif
  2401. #if HAS_E4_ENABLE
  2402. E4_ENABLE_INIT();
  2403. if (!E_ENABLE_ON) E4_ENABLE_WRITE(HIGH);
  2404. #endif
  2405. #if HAS_E5_ENABLE
  2406. E5_ENABLE_INIT();
  2407. if (!E_ENABLE_ON) E5_ENABLE_WRITE(HIGH);
  2408. #endif
  2409. #if HAS_E6_ENABLE
  2410. E6_ENABLE_INIT();
  2411. if (!E_ENABLE_ON) E6_ENABLE_WRITE(HIGH);
  2412. #endif
  2413. #if HAS_E7_ENABLE
  2414. E7_ENABLE_INIT();
  2415. if (!E_ENABLE_ON) E7_ENABLE_WRITE(HIGH);
  2416. #endif
  2417. #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT()
  2418. #define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
  2419. #define _DISABLE_AXIS(AXIS) DISABLE_AXIS_## AXIS()
  2420. #define AXIS_INIT(AXIS, PIN) \
  2421. _STEP_INIT(AXIS); \
  2422. _WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
  2423. _DISABLE_AXIS(AXIS)
  2424. #define E_AXIS_INIT(NUM) AXIS_INIT(E## NUM, E)
  2425. // Init Step Pins
  2426. #if HAS_X_STEP
  2427. #if HAS_X2_STEPPER
  2428. X2_STEP_INIT();
  2429. X2_STEP_WRITE(INVERT_X_STEP_PIN);
  2430. #endif
  2431. AXIS_INIT(X, X);
  2432. #endif
  2433. #if HAS_Y_STEP
  2434. #if HAS_DUAL_Y_STEPPERS
  2435. Y2_STEP_INIT();
  2436. Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
  2437. #endif
  2438. AXIS_INIT(Y, Y);
  2439. #endif
  2440. #if HAS_Z_STEP
  2441. #if NUM_Z_STEPPERS >= 2
  2442. Z2_STEP_INIT();
  2443. Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
  2444. #endif
  2445. #if NUM_Z_STEPPERS >= 3
  2446. Z3_STEP_INIT();
  2447. Z3_STEP_WRITE(INVERT_Z_STEP_PIN);
  2448. #endif
  2449. #if NUM_Z_STEPPERS >= 4
  2450. Z4_STEP_INIT();
  2451. Z4_STEP_WRITE(INVERT_Z_STEP_PIN);
  2452. #endif
  2453. AXIS_INIT(Z, Z);
  2454. #endif
  2455. #if HAS_I_STEP
  2456. AXIS_INIT(I, I);
  2457. #endif
  2458. #if HAS_J_STEP
  2459. AXIS_INIT(J, J);
  2460. #endif
  2461. #if HAS_K_STEP
  2462. AXIS_INIT(K, K);
  2463. #endif
  2464. #if HAS_U_STEP
  2465. AXIS_INIT(U, U);
  2466. #endif
  2467. #if HAS_V_STEP
  2468. AXIS_INIT(V, V);
  2469. #endif
  2470. #if HAS_W_STEP
  2471. AXIS_INIT(W, W);
  2472. #endif
  2473. #if E_STEPPERS && HAS_E0_STEP
  2474. E_AXIS_INIT(0);
  2475. #endif
  2476. #if (E_STEPPERS > 1 || ENABLED(E_DUAL_STEPPER_DRIVERS)) && HAS_E1_STEP
  2477. E_AXIS_INIT(1);
  2478. #endif
  2479. #if E_STEPPERS > 2 && HAS_E2_STEP
  2480. E_AXIS_INIT(2);
  2481. #endif
  2482. #if E_STEPPERS > 3 && HAS_E3_STEP
  2483. E_AXIS_INIT(3);
  2484. #endif
  2485. #if E_STEPPERS > 4 && HAS_E4_STEP
  2486. E_AXIS_INIT(4);
  2487. #endif
  2488. #if E_STEPPERS > 5 && HAS_E5_STEP
  2489. E_AXIS_INIT(5);
  2490. #endif
  2491. #if E_STEPPERS > 6 && HAS_E6_STEP
  2492. E_AXIS_INIT(6);
  2493. #endif
  2494. #if E_STEPPERS > 7 && HAS_E7_STEP
  2495. E_AXIS_INIT(7);
  2496. #endif
  2497. #if DISABLED(I2S_STEPPER_STREAM)
  2498. HAL_timer_start(MF_TIMER_STEP, 122); // Init Stepper ISR to 122 Hz for quick starting
  2499. wake_up();
  2500. sei();
  2501. #endif
  2502. // Init direction bits for first moves
  2503. set_directions(0
  2504. NUM_AXIS_GANG(
  2505. | TERN0(INVERT_X_DIR, _BV(X_AXIS)),
  2506. | TERN0(INVERT_Y_DIR, _BV(Y_AXIS)),
  2507. | TERN0(INVERT_Z_DIR, _BV(Z_AXIS)),
  2508. | TERN0(INVERT_I_DIR, _BV(I_AXIS)),
  2509. | TERN0(INVERT_J_DIR, _BV(J_AXIS)),
  2510. | TERN0(INVERT_K_DIR, _BV(K_AXIS)),
  2511. | TERN0(INVERT_U_DIR, _BV(U_AXIS)),
  2512. | TERN0(INVERT_V_DIR, _BV(V_AXIS)),
  2513. | TERN0(INVERT_W_DIR, _BV(W_AXIS))
  2514. )
  2515. );
  2516. #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
  2517. initialized = true;
  2518. digipot_init();
  2519. #endif
  2520. }
  2521. /**
  2522. * Set the stepper positions directly in steps
  2523. *
  2524. * The input is based on the typical per-axis XYZE steps.
  2525. * For CORE machines XYZ needs to be translated to ABC.
  2526. *
  2527. * This allows get_axis_position_mm to correctly
  2528. * derive the current XYZE position later on.
  2529. */
  2530. void Stepper::_set_position(const abce_long_t &spos) {
  2531. #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
  2532. #if CORE_IS_XY
  2533. // corexy positioning
  2534. // these equations follow the form of the dA and dB equations on https://www.corexy.com/theory.html
  2535. count_position.set(spos.a + spos.b, CORESIGN(spos.a - spos.b), spos.c);
  2536. #elif CORE_IS_XZ
  2537. // corexz planning
  2538. count_position.set(spos.a + spos.c, spos.b, CORESIGN(spos.a - spos.c));
  2539. #elif CORE_IS_YZ
  2540. // coreyz planning
  2541. count_position.set(spos.a, spos.b + spos.c, CORESIGN(spos.b - spos.c));
  2542. #elif ENABLED(MARKFORGED_XY)
  2543. count_position.set(spos.a - spos.b, spos.b, spos.c);
  2544. #elif ENABLED(MARKFORGED_YX)
  2545. count_position.set(spos.a, spos.b - spos.a, spos.c);
  2546. #endif
  2547. SECONDARY_AXIS_CODE(
  2548. count_position.i = spos.i,
  2549. count_position.j = spos.j,
  2550. count_position.k = spos.k,
  2551. count_position.u = spos.u,
  2552. count_position.v = spos.v,
  2553. count_position.w = spos.w
  2554. );
  2555. TERN_(HAS_EXTRUDERS, count_position.e = spos.e);
  2556. #else
  2557. // default non-h-bot planning
  2558. count_position = spos;
  2559. #endif
  2560. }
  2561. /**
  2562. * Get a stepper's position in steps.
  2563. */
  2564. int32_t Stepper::position(const AxisEnum axis) {
  2565. #ifdef __AVR__
  2566. // Protect the access to the position. Only required for AVR, as
  2567. // any 32bit CPU offers atomic access to 32bit variables
  2568. const bool was_enabled = suspend();
  2569. #endif
  2570. const int32_t v = count_position[axis];
  2571. #ifdef __AVR__
  2572. // Reenable Stepper ISR
  2573. if (was_enabled) wake_up();
  2574. #endif
  2575. return v;
  2576. }
  2577. // Set the current position in steps
  2578. void Stepper::set_position(const xyze_long_t &spos) {
  2579. planner.synchronize();
  2580. const bool was_enabled = suspend();
  2581. _set_position(spos);
  2582. if (was_enabled) wake_up();
  2583. }
  2584. void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
  2585. planner.synchronize();
  2586. #ifdef __AVR__
  2587. // Protect the access to the position. Only required for AVR, as
  2588. // any 32bit CPU offers atomic access to 32bit variables
  2589. const bool was_enabled = suspend();
  2590. #endif
  2591. count_position[a] = v;
  2592. #ifdef __AVR__
  2593. // Reenable Stepper ISR
  2594. if (was_enabled) wake_up();
  2595. #endif
  2596. }
  2597. // Signal endstops were triggered - This function can be called from
  2598. // an ISR context (Temperature, Stepper or limits ISR), so we must
  2599. // be very careful here. If the interrupt being preempted was the
  2600. // Stepper ISR (this CAN happen with the endstop limits ISR) then
  2601. // when the stepper ISR resumes, we must be very sure that the movement
  2602. // is properly canceled
  2603. void Stepper::endstop_triggered(const AxisEnum axis) {
  2604. const bool was_enabled = suspend();
  2605. endstops_trigsteps[axis] = (
  2606. #if IS_CORE
  2607. (axis == CORE_AXIS_2
  2608. ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
  2609. : count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
  2610. ) * double(0.5)
  2611. #elif ENABLED(MARKFORGED_XY)
  2612. axis == CORE_AXIS_1
  2613. ? count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2]
  2614. : count_position[CORE_AXIS_2]
  2615. #elif ENABLED(MARKFORGED_YX)
  2616. axis == CORE_AXIS_1
  2617. ? count_position[CORE_AXIS_1]
  2618. : count_position[CORE_AXIS_2] - count_position[CORE_AXIS_1]
  2619. #else // !IS_CORE
  2620. count_position[axis]
  2621. #endif
  2622. );
  2623. // Discard the rest of the move if there is a current block
  2624. quick_stop();
  2625. if (was_enabled) wake_up();
  2626. }
  2627. int32_t Stepper::triggered_position(const AxisEnum axis) {
  2628. #ifdef __AVR__
  2629. // Protect the access to the position. Only required for AVR, as
  2630. // any 32bit CPU offers atomic access to 32bit variables
  2631. const bool was_enabled = suspend();
  2632. #endif
  2633. const int32_t v = endstops_trigsteps[axis];
  2634. #ifdef __AVR__
  2635. // Reenable Stepper ISR
  2636. if (was_enabled) wake_up();
  2637. #endif
  2638. return v;
  2639. }
  2640. #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
  2641. #define SAYS_A 1
  2642. #endif
  2643. #if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
  2644. #define SAYS_B 1
  2645. #endif
  2646. #if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA)
  2647. #define SAYS_C 1
  2648. #endif
  2649. void Stepper::report_a_position(const xyz_long_t &pos) {
  2650. SERIAL_ECHOLNPGM_P(
  2651. LIST_N(DOUBLE(NUM_AXES),
  2652. TERN(SAYS_A, PSTR(STR_COUNT_A), PSTR(STR_COUNT_X)), pos.x,
  2653. TERN(SAYS_B, PSTR("B:"), SP_Y_LBL), pos.y,
  2654. TERN(SAYS_C, PSTR("C:"), SP_Z_LBL), pos.z,
  2655. SP_I_LBL, pos.i,
  2656. SP_J_LBL, pos.j,
  2657. SP_K_LBL, pos.k,
  2658. SP_U_LBL, pos.u,
  2659. SP_V_LBL, pos.v,
  2660. SP_W_LBL, pos.w
  2661. )
  2662. );
  2663. }
  2664. void Stepper::report_positions() {
  2665. #ifdef __AVR__
  2666. // Protect the access to the position.
  2667. const bool was_enabled = suspend();
  2668. #endif
  2669. const xyz_long_t pos = count_position;
  2670. #ifdef __AVR__
  2671. if (was_enabled) wake_up();
  2672. #endif
  2673. report_a_position(pos);
  2674. }
  2675. #if ENABLED(BABYSTEPPING)
  2676. #define _ENABLE_AXIS(A) enable_axis(_AXIS(A))
  2677. #define _READ_DIR(AXIS) AXIS ##_DIR_READ()
  2678. #define _INVERT_DIR(AXIS) ENABLED(INVERT_## AXIS ##_DIR)
  2679. #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
  2680. #if MINIMUM_STEPPER_PULSE
  2681. #define STEP_PULSE_CYCLES ((MINIMUM_STEPPER_PULSE) * CYCLES_PER_MICROSECOND)
  2682. #else
  2683. #define STEP_PULSE_CYCLES 0
  2684. #endif
  2685. #if ENABLED(DELTA)
  2686. #define CYCLES_EATEN_BABYSTEP (2 * 15)
  2687. #else
  2688. #define CYCLES_EATEN_BABYSTEP 0
  2689. #endif
  2690. #if CYCLES_EATEN_BABYSTEP < STEP_PULSE_CYCLES
  2691. #define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
  2692. #else
  2693. #define EXTRA_CYCLES_BABYSTEP 0
  2694. #endif
  2695. #if EXTRA_CYCLES_BABYSTEP > 20
  2696. #define _SAVE_START() const hal_timer_t pulse_start = HAL_timer_get_count(MF_TIMER_PULSE)
  2697. #define _PULSE_WAIT() while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(MF_TIMER_PULSE) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
  2698. #else
  2699. #define _SAVE_START() NOOP
  2700. #if EXTRA_CYCLES_BABYSTEP > 0
  2701. #define _PULSE_WAIT() DELAY_NS(EXTRA_CYCLES_BABYSTEP * NANOSECONDS_PER_CYCLE)
  2702. #elif ENABLED(DELTA)
  2703. #define _PULSE_WAIT() DELAY_US(2);
  2704. #elif STEP_PULSE_CYCLES > 0
  2705. #define _PULSE_WAIT() NOOP
  2706. #else
  2707. #define _PULSE_WAIT() DELAY_US(4);
  2708. #endif
  2709. #endif
  2710. #if ENABLED(BABYSTEPPING_EXTRA_DIR_WAIT)
  2711. #define EXTRA_DIR_WAIT_BEFORE DIR_WAIT_BEFORE
  2712. #define EXTRA_DIR_WAIT_AFTER DIR_WAIT_AFTER
  2713. #else
  2714. #define EXTRA_DIR_WAIT_BEFORE()
  2715. #define EXTRA_DIR_WAIT_AFTER()
  2716. #endif
  2717. #if DISABLED(DELTA)
  2718. #define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
  2719. const uint8_t old_dir = _READ_DIR(AXIS); \
  2720. _ENABLE_AXIS(AXIS); \
  2721. DIR_WAIT_BEFORE(); \
  2722. _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INV); \
  2723. DIR_WAIT_AFTER(); \
  2724. _SAVE_START(); \
  2725. _APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
  2726. _PULSE_WAIT(); \
  2727. _APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
  2728. EXTRA_DIR_WAIT_BEFORE(); \
  2729. _APPLY_DIR(AXIS, old_dir); \
  2730. EXTRA_DIR_WAIT_AFTER(); \
  2731. }while(0)
  2732. #endif
  2733. #if IS_CORE
  2734. #define BABYSTEP_CORE(A, B, INV, DIR, ALT) do{ \
  2735. const xy_byte_t old_dir = { _READ_DIR(A), _READ_DIR(B) }; \
  2736. _ENABLE_AXIS(A); _ENABLE_AXIS(B); \
  2737. DIR_WAIT_BEFORE(); \
  2738. _APPLY_DIR(A, _INVERT_DIR(A)^DIR^INV); \
  2739. _APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^ALT); \
  2740. DIR_WAIT_AFTER(); \
  2741. _SAVE_START(); \
  2742. _APPLY_STEP(A, !_INVERT_STEP_PIN(A), true); \
  2743. _APPLY_STEP(B, !_INVERT_STEP_PIN(B), true); \
  2744. _PULSE_WAIT(); \
  2745. _APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
  2746. _APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
  2747. EXTRA_DIR_WAIT_BEFORE(); \
  2748. _APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
  2749. EXTRA_DIR_WAIT_AFTER(); \
  2750. }while(0)
  2751. #endif
  2752. // MUST ONLY BE CALLED BY AN ISR,
  2753. // No other ISR should ever interrupt this!
  2754. void Stepper::do_babystep(const AxisEnum axis, const bool direction) {
  2755. IF_DISABLED(INTEGRATED_BABYSTEPPING, cli());
  2756. switch (axis) {
  2757. #if ENABLED(BABYSTEP_XY)
  2758. case X_AXIS:
  2759. #if CORE_IS_XY
  2760. BABYSTEP_CORE(X, Y, 0, direction, 0);
  2761. #elif CORE_IS_XZ
  2762. BABYSTEP_CORE(X, Z, 0, direction, 0);
  2763. #else
  2764. BABYSTEP_AXIS(X, 0, direction);
  2765. #endif
  2766. break;
  2767. case Y_AXIS:
  2768. #if CORE_IS_XY
  2769. BABYSTEP_CORE(X, Y, 1, !direction, (CORESIGN(1)>0));
  2770. #elif CORE_IS_YZ
  2771. BABYSTEP_CORE(Y, Z, 0, direction, (CORESIGN(1)<0));
  2772. #else
  2773. BABYSTEP_AXIS(Y, 0, direction);
  2774. #endif
  2775. break;
  2776. #endif
  2777. case Z_AXIS: {
  2778. #if CORE_IS_XZ
  2779. BABYSTEP_CORE(X, Z, BABYSTEP_INVERT_Z, direction, (CORESIGN(1)<0));
  2780. #elif CORE_IS_YZ
  2781. BABYSTEP_CORE(Y, Z, BABYSTEP_INVERT_Z, direction, (CORESIGN(1)<0));
  2782. #elif DISABLED(DELTA)
  2783. BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction);
  2784. #else // DELTA
  2785. const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
  2786. NUM_AXIS_CODE(
  2787. enable_axis(X_AXIS), enable_axis(Y_AXIS), enable_axis(Z_AXIS),
  2788. enable_axis(I_AXIS), enable_axis(J_AXIS), enable_axis(K_AXIS),
  2789. enable_axis(U_AXIS), enable_axis(V_AXIS), enable_axis(W_AXIS)
  2790. );
  2791. DIR_WAIT_BEFORE();
  2792. const xyz_byte_t old_dir = NUM_AXIS_ARRAY(
  2793. X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(),
  2794. I_DIR_READ(), J_DIR_READ(), K_DIR_READ(),
  2795. U_DIR_READ(), V_DIR_READ(), W_DIR_READ()
  2796. );
  2797. X_DIR_WRITE(ENABLED(INVERT_X_DIR) ^ z_direction);
  2798. #ifdef Y_DIR_WRITE
  2799. Y_DIR_WRITE(ENABLED(INVERT_Y_DIR) ^ z_direction);
  2800. #endif
  2801. #ifdef Z_DIR_WRITE
  2802. Z_DIR_WRITE(ENABLED(INVERT_Z_DIR) ^ z_direction);
  2803. #endif
  2804. #ifdef I_DIR_WRITE
  2805. I_DIR_WRITE(ENABLED(INVERT_I_DIR) ^ z_direction);
  2806. #endif
  2807. #ifdef J_DIR_WRITE
  2808. J_DIR_WRITE(ENABLED(INVERT_J_DIR) ^ z_direction);
  2809. #endif
  2810. #ifdef K_DIR_WRITE
  2811. K_DIR_WRITE(ENABLED(INVERT_K_DIR) ^ z_direction);
  2812. #endif
  2813. #ifdef U_DIR_WRITE
  2814. U_DIR_WRITE(ENABLED(INVERT_U_DIR) ^ z_direction);
  2815. #endif
  2816. #ifdef V_DIR_WRITE
  2817. V_DIR_WRITE(ENABLED(INVERT_V_DIR) ^ z_direction);
  2818. #endif
  2819. #ifdef W_DIR_WRITE
  2820. W_DIR_WRITE(ENABLED(INVERT_W_DIR) ^ z_direction);
  2821. #endif
  2822. DIR_WAIT_AFTER();
  2823. _SAVE_START();
  2824. X_STEP_WRITE(!INVERT_X_STEP_PIN);
  2825. #ifdef Y_STEP_WRITE
  2826. Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
  2827. #endif
  2828. #ifdef Z_STEP_WRITE
  2829. Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
  2830. #endif
  2831. #ifdef I_STEP_WRITE
  2832. I_STEP_WRITE(!INVERT_I_STEP_PIN);
  2833. #endif
  2834. #ifdef J_STEP_WRITE
  2835. J_STEP_WRITE(!INVERT_J_STEP_PIN);
  2836. #endif
  2837. #ifdef K_STEP_WRITE
  2838. K_STEP_WRITE(!INVERT_K_STEP_PIN);
  2839. #endif
  2840. #ifdef U_STEP_WRITE
  2841. U_STEP_WRITE(!INVERT_U_STEP_PIN);
  2842. #endif
  2843. #ifdef V_STEP_WRITE
  2844. V_STEP_WRITE(!INVERT_V_STEP_PIN);
  2845. #endif
  2846. #ifdef W_STEP_WRITE
  2847. W_STEP_WRITE(!INVERT_W_STEP_PIN);
  2848. #endif
  2849. _PULSE_WAIT();
  2850. X_STEP_WRITE(INVERT_X_STEP_PIN);
  2851. #ifdef Y_STEP_WRITE
  2852. Y_STEP_WRITE(INVERT_Y_STEP_PIN);
  2853. #endif
  2854. #ifdef Z_STEP_WRITE
  2855. Z_STEP_WRITE(INVERT_Z_STEP_PIN);
  2856. #endif
  2857. #ifdef I_STEP_WRITE
  2858. I_STEP_WRITE(INVERT_I_STEP_PIN);
  2859. #endif
  2860. #ifdef J_STEP_WRITE
  2861. J_STEP_WRITE(INVERT_J_STEP_PIN);
  2862. #endif
  2863. #ifdef K_STEP_WRITE
  2864. K_STEP_WRITE(INVERT_K_STEP_PIN);
  2865. #endif
  2866. #ifdef U_STEP_WRITE
  2867. U_STEP_WRITE(INVERT_U_STEP_PIN);
  2868. #endif
  2869. #ifdef V_STEP_WRITE
  2870. V_STEP_WRITE(INVERT_V_STEP_PIN);
  2871. #endif
  2872. #ifdef W_STEP_WRITE
  2873. W_STEP_WRITE(INVERT_W_STEP_PIN);
  2874. #endif
  2875. // Restore direction bits
  2876. EXTRA_DIR_WAIT_BEFORE();
  2877. X_DIR_WRITE(old_dir.x);
  2878. #ifdef Y_DIR_WRITE
  2879. Y_DIR_WRITE(old_dir.y);
  2880. #endif
  2881. #ifdef Z_DIR_WRITE
  2882. Z_DIR_WRITE(old_dir.z);
  2883. #endif
  2884. #ifdef I_DIR_WRITE
  2885. I_DIR_WRITE(old_dir.i);
  2886. #endif
  2887. #ifdef J_DIR_WRITE
  2888. J_DIR_WRITE(old_dir.j);
  2889. #endif
  2890. #ifdef K_DIR_WRITE
  2891. K_DIR_WRITE(old_dir.k);
  2892. #endif
  2893. #ifdef U_DIR_WRITE
  2894. U_DIR_WRITE(old_dir.u);
  2895. #endif
  2896. #ifdef V_DIR_WRITE
  2897. V_DIR_WRITE(old_dir.v);
  2898. #endif
  2899. #ifdef W_DIR_WRITE
  2900. W_DIR_WRITE(old_dir.w);
  2901. #endif
  2902. EXTRA_DIR_WAIT_AFTER();
  2903. #endif
  2904. } break;
  2905. #if HAS_I_AXIS
  2906. case I_AXIS: BABYSTEP_AXIS(I, 0, direction); break;
  2907. #endif
  2908. #if HAS_J_AXIS
  2909. case J_AXIS: BABYSTEP_AXIS(J, 0, direction); break;
  2910. #endif
  2911. #if HAS_K_AXIS
  2912. case K_AXIS: BABYSTEP_AXIS(K, 0, direction); break;
  2913. #endif
  2914. #if HAS_U_AXIS
  2915. case U_AXIS: BABYSTEP_AXIS(U, 0, direction); break;
  2916. #endif
  2917. #if HAS_V_AXIS
  2918. case V_AXIS: BABYSTEP_AXIS(V, 0, direction); break;
  2919. #endif
  2920. #if HAS_W_AXIS
  2921. case W_AXIS: BABYSTEP_AXIS(W, 0, direction); break;
  2922. #endif
  2923. default: break;
  2924. }
  2925. IF_DISABLED(INTEGRATED_BABYSTEPPING, sei());
  2926. }
  2927. #endif // BABYSTEPPING
  2928. /**
  2929. * Software-controlled Stepper Motor Current
  2930. */
  2931. #if HAS_MOTOR_CURRENT_SPI
  2932. // From Arduino DigitalPotControl example
  2933. void Stepper::set_digipot_value_spi(const int16_t address, const int16_t value) {
  2934. WRITE(DIGIPOTSS_PIN, LOW); // Take the SS pin low to select the chip
  2935. SPI.transfer(address); // Send the address and value via SPI
  2936. SPI.transfer(value);
  2937. WRITE(DIGIPOTSS_PIN, HIGH); // Take the SS pin high to de-select the chip
  2938. //delay(10);
  2939. }
  2940. #endif // HAS_MOTOR_CURRENT_SPI
  2941. #if HAS_MOTOR_CURRENT_PWM
  2942. void Stepper::refresh_motor_power() {
  2943. if (!initialized) return;
  2944. LOOP_L_N(i, COUNT(motor_current_setting)) {
  2945. switch (i) {
  2946. #if ANY_PIN(MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W)
  2947. case 0:
  2948. #endif
  2949. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  2950. case 1:
  2951. #endif
  2952. #if ANY_PIN(MOTOR_CURRENT_PWM_E, MOTOR_CURRENT_PWM_E0, MOTOR_CURRENT_PWM_E1)
  2953. case 2:
  2954. #endif
  2955. set_digipot_current(i, motor_current_setting[i]);
  2956. default: break;
  2957. }
  2958. }
  2959. }
  2960. #endif // HAS_MOTOR_CURRENT_PWM
  2961. #if !MB(PRINTRBOARD_G2)
  2962. #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
  2963. void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) {
  2964. if (WITHIN(driver, 0, MOTOR_CURRENT_COUNT - 1))
  2965. motor_current_setting[driver] = current; // update motor_current_setting
  2966. if (!initialized) return;
  2967. #if HAS_MOTOR_CURRENT_SPI
  2968. //SERIAL_ECHOLNPGM("Digipotss current ", current);
  2969. const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
  2970. set_digipot_value_spi(digipot_ch[driver], current);
  2971. #elif HAS_MOTOR_CURRENT_PWM
  2972. #define _WRITE_CURRENT_PWM(P) hal.set_pwm_duty(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
  2973. switch (driver) {
  2974. case 0:
  2975. #if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
  2976. _WRITE_CURRENT_PWM(X);
  2977. #endif
  2978. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
  2979. _WRITE_CURRENT_PWM(Y);
  2980. #endif
  2981. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  2982. _WRITE_CURRENT_PWM(XY);
  2983. #endif
  2984. #if PIN_EXISTS(MOTOR_CURRENT_PWM_I)
  2985. _WRITE_CURRENT_PWM(I);
  2986. #endif
  2987. #if PIN_EXISTS(MOTOR_CURRENT_PWM_J)
  2988. _WRITE_CURRENT_PWM(J);
  2989. #endif
  2990. #if PIN_EXISTS(MOTOR_CURRENT_PWM_K)
  2991. _WRITE_CURRENT_PWM(K);
  2992. #endif
  2993. #if PIN_EXISTS(MOTOR_CURRENT_PWM_U)
  2994. _WRITE_CURRENT_PWM(U);
  2995. #endif
  2996. #if PIN_EXISTS(MOTOR_CURRENT_PWM_V)
  2997. _WRITE_CURRENT_PWM(V);
  2998. #endif
  2999. #if PIN_EXISTS(MOTOR_CURRENT_PWM_W)
  3000. _WRITE_CURRENT_PWM(W);
  3001. #endif
  3002. break;
  3003. case 1:
  3004. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  3005. _WRITE_CURRENT_PWM(Z);
  3006. #endif
  3007. break;
  3008. case 2:
  3009. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  3010. _WRITE_CURRENT_PWM(E);
  3011. #endif
  3012. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
  3013. _WRITE_CURRENT_PWM(E0);
  3014. #endif
  3015. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
  3016. _WRITE_CURRENT_PWM(E1);
  3017. #endif
  3018. break;
  3019. }
  3020. #endif
  3021. }
  3022. void Stepper::digipot_init() {
  3023. #if HAS_MOTOR_CURRENT_SPI
  3024. SPI.begin();
  3025. SET_OUTPUT(DIGIPOTSS_PIN);
  3026. LOOP_L_N(i, COUNT(motor_current_setting))
  3027. set_digipot_current(i, motor_current_setting[i]);
  3028. #elif HAS_MOTOR_CURRENT_PWM
  3029. #ifdef __SAM3X8E__
  3030. #define _RESET_CURRENT_PWM_FREQ(P) NOOP
  3031. #else
  3032. #define _RESET_CURRENT_PWM_FREQ(P) hal.set_pwm_frequency(pin_t(P), MOTOR_CURRENT_PWM_FREQUENCY)
  3033. #endif
  3034. #define INIT_CURRENT_PWM(P) do{ SET_PWM(MOTOR_CURRENT_PWM_## P ##_PIN); _RESET_CURRENT_PWM_FREQ(MOTOR_CURRENT_PWM_## P ##_PIN); }while(0)
  3035. #if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
  3036. INIT_CURRENT_PWM(X);
  3037. #endif
  3038. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
  3039. INIT_CURRENT_PWM(Y);
  3040. #endif
  3041. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  3042. INIT_CURRENT_PWM(XY);
  3043. #endif
  3044. #if PIN_EXISTS(MOTOR_CURRENT_PWM_I)
  3045. INIT_CURRENT_PWM(I);
  3046. #endif
  3047. #if PIN_EXISTS(MOTOR_CURRENT_PWM_J)
  3048. INIT_CURRENT_PWM(J);
  3049. #endif
  3050. #if PIN_EXISTS(MOTOR_CURRENT_PWM_K)
  3051. INIT_CURRENT_PWM(K);
  3052. #endif
  3053. #if PIN_EXISTS(MOTOR_CURRENT_PWM_U)
  3054. INIT_CURRENT_PWM(U);
  3055. #endif
  3056. #if PIN_EXISTS(MOTOR_CURRENT_PWM_V)
  3057. INIT_CURRENT_PWM(V);
  3058. #endif
  3059. #if PIN_EXISTS(MOTOR_CURRENT_PWM_W)
  3060. INIT_CURRENT_PWM(W);
  3061. #endif
  3062. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  3063. INIT_CURRENT_PWM(Z);
  3064. #endif
  3065. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  3066. INIT_CURRENT_PWM(E);
  3067. #endif
  3068. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
  3069. INIT_CURRENT_PWM(E0);
  3070. #endif
  3071. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
  3072. INIT_CURRENT_PWM(E1);
  3073. #endif
  3074. refresh_motor_power();
  3075. #endif
  3076. }
  3077. #endif
  3078. #else // PRINTRBOARD_G2
  3079. #include HAL_PATH(../HAL, fastio/G2_PWM.h)
  3080. #endif
  3081. #if HAS_MICROSTEPS
  3082. /**
  3083. * Software-controlled Microstepping
  3084. */
  3085. void Stepper::microstep_init() {
  3086. #if HAS_X_MS_PINS
  3087. SET_OUTPUT(X_MS1_PIN); SET_OUTPUT(X_MS2_PIN);
  3088. #if PIN_EXISTS(X_MS3)
  3089. SET_OUTPUT(X_MS3_PIN);
  3090. #endif
  3091. #endif
  3092. #if HAS_X2_MS_PINS
  3093. SET_OUTPUT(X2_MS1_PIN); SET_OUTPUT(X2_MS2_PIN);
  3094. #if PIN_EXISTS(X2_MS3)
  3095. SET_OUTPUT(X2_MS3_PIN);
  3096. #endif
  3097. #endif
  3098. #if HAS_Y_MS_PINS
  3099. SET_OUTPUT(Y_MS1_PIN); SET_OUTPUT(Y_MS2_PIN);
  3100. #if PIN_EXISTS(Y_MS3)
  3101. SET_OUTPUT(Y_MS3_PIN);
  3102. #endif
  3103. #endif
  3104. #if HAS_Y2_MS_PINS
  3105. SET_OUTPUT(Y2_MS1_PIN); SET_OUTPUT(Y2_MS2_PIN);
  3106. #if PIN_EXISTS(Y2_MS3)
  3107. SET_OUTPUT(Y2_MS3_PIN);
  3108. #endif
  3109. #endif
  3110. #if HAS_Z_MS_PINS
  3111. SET_OUTPUT(Z_MS1_PIN); SET_OUTPUT(Z_MS2_PIN);
  3112. #if PIN_EXISTS(Z_MS3)
  3113. SET_OUTPUT(Z_MS3_PIN);
  3114. #endif
  3115. #endif
  3116. #if HAS_Z2_MS_PINS
  3117. SET_OUTPUT(Z2_MS1_PIN); SET_OUTPUT(Z2_MS2_PIN);
  3118. #if PIN_EXISTS(Z2_MS3)
  3119. SET_OUTPUT(Z2_MS3_PIN);
  3120. #endif
  3121. #endif
  3122. #if HAS_Z3_MS_PINS
  3123. SET_OUTPUT(Z3_MS1_PIN); SET_OUTPUT(Z3_MS2_PIN);
  3124. #if PIN_EXISTS(Z3_MS3)
  3125. SET_OUTPUT(Z3_MS3_PIN);
  3126. #endif
  3127. #endif
  3128. #if HAS_Z4_MS_PINS
  3129. SET_OUTPUT(Z4_MS1_PIN); SET_OUTPUT(Z4_MS2_PIN);
  3130. #if PIN_EXISTS(Z4_MS3)
  3131. SET_OUTPUT(Z4_MS3_PIN);
  3132. #endif
  3133. #endif
  3134. #if HAS_I_MS_PINS
  3135. SET_OUTPUT(I_MS1_PIN); SET_OUTPUT(I_MS2_PIN);
  3136. #if PIN_EXISTS(I_MS3)
  3137. SET_OUTPUT(I_MS3_PIN);
  3138. #endif
  3139. #endif
  3140. #if HAS_J_MS_PINS
  3141. SET_OUTPUT(J_MS1_PIN); SET_OUTPUT(J_MS2_PIN);
  3142. #if PIN_EXISTS(J_MS3)
  3143. SET_OUTPUT(J_MS3_PIN);
  3144. #endif
  3145. #endif
  3146. #if HAS_K_MS_PINS
  3147. SET_OUTPUT(K_MS1_PIN); SET_OUTPUT(K_MS2_PIN);
  3148. #if PIN_EXISTS(K_MS3)
  3149. SET_OUTPUT(K_MS3_PIN);
  3150. #endif
  3151. #endif
  3152. #if HAS_U_MS_PINS
  3153. SET_OUTPUT(U_MS1_PIN); SET_OUTPUT(U_MS2_PIN);
  3154. #if PIN_EXISTS(U_MS3)
  3155. SET_OUTPUT(U_MS3_PIN);
  3156. #endif
  3157. #endif
  3158. #if HAS_V_MS_PINS
  3159. SET_OUTPUT(V_MS1_PIN); SET_OUTPUT(V_MS2_PIN);
  3160. #if PIN_EXISTS(V_MS3)
  3161. SET_OUTPUT(V_MS3_PIN);
  3162. #endif
  3163. #endif
  3164. #if HAS_W_MS_PINS
  3165. SET_OUTPUT(W_MS1_PIN); SET_OUTPUT(W_MS2_PIN);
  3166. #if PIN_EXISTS(W_MS3)
  3167. SET_OUTPUT(W_MS3_PIN);
  3168. #endif
  3169. #endif
  3170. #if HAS_E0_MS_PINS
  3171. SET_OUTPUT(E0_MS1_PIN); SET_OUTPUT(E0_MS2_PIN);
  3172. #if PIN_EXISTS(E0_MS3)
  3173. SET_OUTPUT(E0_MS3_PIN);
  3174. #endif
  3175. #endif
  3176. #if HAS_E1_MS_PINS
  3177. SET_OUTPUT(E1_MS1_PIN); SET_OUTPUT(E1_MS2_PIN);
  3178. #if PIN_EXISTS(E1_MS3)
  3179. SET_OUTPUT(E1_MS3_PIN);
  3180. #endif
  3181. #endif
  3182. #if HAS_E2_MS_PINS
  3183. SET_OUTPUT(E2_MS1_PIN); SET_OUTPUT(E2_MS2_PIN);
  3184. #if PIN_EXISTS(E2_MS3)
  3185. SET_OUTPUT(E2_MS3_PIN);
  3186. #endif
  3187. #endif
  3188. #if HAS_E3_MS_PINS
  3189. SET_OUTPUT(E3_MS1_PIN); SET_OUTPUT(E3_MS2_PIN);
  3190. #if PIN_EXISTS(E3_MS3)
  3191. SET_OUTPUT(E3_MS3_PIN);
  3192. #endif
  3193. #endif
  3194. #if HAS_E4_MS_PINS
  3195. SET_OUTPUT(E4_MS1_PIN); SET_OUTPUT(E4_MS2_PIN);
  3196. #if PIN_EXISTS(E4_MS3)
  3197. SET_OUTPUT(E4_MS3_PIN);
  3198. #endif
  3199. #endif
  3200. #if HAS_E5_MS_PINS
  3201. SET_OUTPUT(E5_MS1_PIN); SET_OUTPUT(E5_MS2_PIN);
  3202. #if PIN_EXISTS(E5_MS3)
  3203. SET_OUTPUT(E5_MS3_PIN);
  3204. #endif
  3205. #endif
  3206. #if HAS_E6_MS_PINS
  3207. SET_OUTPUT(E6_MS1_PIN); SET_OUTPUT(E6_MS2_PIN);
  3208. #if PIN_EXISTS(E6_MS3)
  3209. SET_OUTPUT(E6_MS3_PIN);
  3210. #endif
  3211. #endif
  3212. #if HAS_E7_MS_PINS
  3213. SET_OUTPUT(E7_MS1_PIN); SET_OUTPUT(E7_MS2_PIN);
  3214. #if PIN_EXISTS(E7_MS3)
  3215. SET_OUTPUT(E7_MS3_PIN);
  3216. #endif
  3217. #endif
  3218. static const uint8_t microstep_modes[] = MICROSTEP_MODES;
  3219. for (uint16_t i = 0; i < COUNT(microstep_modes); i++)
  3220. microstep_mode(i, microstep_modes[i]);
  3221. }
  3222. void Stepper::microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2, const int8_t ms3) {
  3223. if (ms1 >= 0) switch (driver) {
  3224. #if HAS_X_MS_PINS || HAS_X2_MS_PINS
  3225. case X_AXIS:
  3226. #if HAS_X_MS_PINS
  3227. WRITE(X_MS1_PIN, ms1);
  3228. #endif
  3229. #if HAS_X2_MS_PINS
  3230. WRITE(X2_MS1_PIN, ms1);
  3231. #endif
  3232. break;
  3233. #endif
  3234. #if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
  3235. case Y_AXIS:
  3236. #if HAS_Y_MS_PINS
  3237. WRITE(Y_MS1_PIN, ms1);
  3238. #endif
  3239. #if HAS_Y2_MS_PINS
  3240. WRITE(Y2_MS1_PIN, ms1);
  3241. #endif
  3242. break;
  3243. #endif
  3244. #if HAS_SOME_Z_MS_PINS
  3245. case Z_AXIS:
  3246. #if HAS_Z_MS_PINS
  3247. WRITE(Z_MS1_PIN, ms1);
  3248. #endif
  3249. #if HAS_Z2_MS_PINS
  3250. WRITE(Z2_MS1_PIN, ms1);
  3251. #endif
  3252. #if HAS_Z3_MS_PINS
  3253. WRITE(Z3_MS1_PIN, ms1);
  3254. #endif
  3255. #if HAS_Z4_MS_PINS
  3256. WRITE(Z4_MS1_PIN, ms1);
  3257. #endif
  3258. break;
  3259. #endif
  3260. #if HAS_I_MS_PINS
  3261. case I_AXIS: WRITE(I_MS1_PIN, ms1); break
  3262. #endif
  3263. #if HAS_J_MS_PINS
  3264. case J_AXIS: WRITE(J_MS1_PIN, ms1); break
  3265. #endif
  3266. #if HAS_K_MS_PINS
  3267. case K_AXIS: WRITE(K_MS1_PIN, ms1); break
  3268. #endif
  3269. #if HAS_U_MS_PINS
  3270. case U_AXIS: WRITE(U_MS1_PIN, ms1); break
  3271. #endif
  3272. #if HAS_V_MS_PINS
  3273. case V_AXIS: WRITE(V_MS1_PIN, ms1); break
  3274. #endif
  3275. #if HAS_W_MS_PINS
  3276. case W_AXIS: WRITE(W_MS1_PIN, ms1); break
  3277. #endif
  3278. #if HAS_E0_MS_PINS
  3279. case E_AXIS: WRITE(E0_MS1_PIN, ms1); break;
  3280. #endif
  3281. #if HAS_E1_MS_PINS
  3282. case (E_AXIS + 1): WRITE(E1_MS1_PIN, ms1); break;
  3283. #endif
  3284. #if HAS_E2_MS_PINS
  3285. case (E_AXIS + 2): WRITE(E2_MS1_PIN, ms1); break;
  3286. #endif
  3287. #if HAS_E3_MS_PINS
  3288. case (E_AXIS + 3): WRITE(E3_MS1_PIN, ms1); break;
  3289. #endif
  3290. #if HAS_E4_MS_PINS
  3291. case (E_AXIS + 4): WRITE(E4_MS1_PIN, ms1); break;
  3292. #endif
  3293. #if HAS_E5_MS_PINS
  3294. case (E_AXIS + 5): WRITE(E5_MS1_PIN, ms1); break;
  3295. #endif
  3296. #if HAS_E6_MS_PINS
  3297. case (E_AXIS + 6): WRITE(E6_MS1_PIN, ms1); break;
  3298. #endif
  3299. #if HAS_E7_MS_PINS
  3300. case (E_AXIS + 7): WRITE(E7_MS1_PIN, ms1); break;
  3301. #endif
  3302. }
  3303. if (ms2 >= 0) switch (driver) {
  3304. #if HAS_X_MS_PINS || HAS_X2_MS_PINS
  3305. case X_AXIS:
  3306. #if HAS_X_MS_PINS
  3307. WRITE(X_MS2_PIN, ms2);
  3308. #endif
  3309. #if HAS_X2_MS_PINS
  3310. WRITE(X2_MS2_PIN, ms2);
  3311. #endif
  3312. break;
  3313. #endif
  3314. #if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
  3315. case Y_AXIS:
  3316. #if HAS_Y_MS_PINS
  3317. WRITE(Y_MS2_PIN, ms2);
  3318. #endif
  3319. #if HAS_Y2_MS_PINS
  3320. WRITE(Y2_MS2_PIN, ms2);
  3321. #endif
  3322. break;
  3323. #endif
  3324. #if HAS_SOME_Z_MS_PINS
  3325. case Z_AXIS:
  3326. #if HAS_Z_MS_PINS
  3327. WRITE(Z_MS2_PIN, ms2);
  3328. #endif
  3329. #if HAS_Z2_MS_PINS
  3330. WRITE(Z2_MS2_PIN, ms2);
  3331. #endif
  3332. #if HAS_Z3_MS_PINS
  3333. WRITE(Z3_MS2_PIN, ms2);
  3334. #endif
  3335. #if HAS_Z4_MS_PINS
  3336. WRITE(Z4_MS2_PIN, ms2);
  3337. #endif
  3338. break;
  3339. #endif
  3340. #if HAS_I_MS_PINS
  3341. case I_AXIS: WRITE(I_MS2_PIN, ms2); break
  3342. #endif
  3343. #if HAS_J_MS_PINS
  3344. case J_AXIS: WRITE(J_MS2_PIN, ms2); break
  3345. #endif
  3346. #if HAS_K_MS_PINS
  3347. case K_AXIS: WRITE(K_MS2_PIN, ms2); break
  3348. #endif
  3349. #if HAS_U_MS_PINS
  3350. case U_AXIS: WRITE(U_MS2_PIN, ms2); break
  3351. #endif
  3352. #if HAS_V_MS_PINS
  3353. case V_AXIS: WRITE(V_MS2_PIN, ms2); break
  3354. #endif
  3355. #if HAS_W_MS_PINS
  3356. case W_AXIS: WRITE(W_MS2_PIN, ms2); break
  3357. #endif
  3358. #if HAS_E0_MS_PINS
  3359. case E_AXIS: WRITE(E0_MS2_PIN, ms2); break;
  3360. #endif
  3361. #if HAS_E1_MS_PINS
  3362. case (E_AXIS + 1): WRITE(E1_MS2_PIN, ms2); break;
  3363. #endif
  3364. #if HAS_E2_MS_PINS
  3365. case (E_AXIS + 2): WRITE(E2_MS2_PIN, ms2); break;
  3366. #endif
  3367. #if HAS_E3_MS_PINS
  3368. case (E_AXIS + 3): WRITE(E3_MS2_PIN, ms2); break;
  3369. #endif
  3370. #if HAS_E4_MS_PINS
  3371. case (E_AXIS + 4): WRITE(E4_MS2_PIN, ms2); break;
  3372. #endif
  3373. #if HAS_E5_MS_PINS
  3374. case (E_AXIS + 5): WRITE(E5_MS2_PIN, ms2); break;
  3375. #endif
  3376. #if HAS_E6_MS_PINS
  3377. case (E_AXIS + 6): WRITE(E6_MS2_PIN, ms2); break;
  3378. #endif
  3379. #if HAS_E7_MS_PINS
  3380. case (E_AXIS + 7): WRITE(E7_MS2_PIN, ms2); break;
  3381. #endif
  3382. }
  3383. if (ms3 >= 0) switch (driver) {
  3384. #if HAS_X_MS_PINS || HAS_X2_MS_PINS
  3385. case X_AXIS:
  3386. #if HAS_X_MS_PINS && PIN_EXISTS(X_MS3)
  3387. WRITE(X_MS3_PIN, ms3);
  3388. #endif
  3389. #if HAS_X2_MS_PINS && PIN_EXISTS(X2_MS3)
  3390. WRITE(X2_MS3_PIN, ms3);
  3391. #endif
  3392. break;
  3393. #endif
  3394. #if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
  3395. case Y_AXIS:
  3396. #if HAS_Y_MS_PINS && PIN_EXISTS(Y_MS3)
  3397. WRITE(Y_MS3_PIN, ms3);
  3398. #endif
  3399. #if HAS_Y2_MS_PINS && PIN_EXISTS(Y2_MS3)
  3400. WRITE(Y2_MS3_PIN, ms3);
  3401. #endif
  3402. break;
  3403. #endif
  3404. #if HAS_SOME_Z_MS_PINS
  3405. case Z_AXIS:
  3406. #if HAS_Z_MS_PINS && PIN_EXISTS(Z_MS3)
  3407. WRITE(Z_MS3_PIN, ms3);
  3408. #endif
  3409. #if HAS_Z2_MS_PINS && PIN_EXISTS(Z2_MS3)
  3410. WRITE(Z2_MS3_PIN, ms3);
  3411. #endif
  3412. #if HAS_Z3_MS_PINS && PIN_EXISTS(Z3_MS3)
  3413. WRITE(Z3_MS3_PIN, ms3);
  3414. #endif
  3415. #if HAS_Z4_MS_PINS && PIN_EXISTS(Z4_MS3)
  3416. WRITE(Z4_MS3_PIN, ms3);
  3417. #endif
  3418. break;
  3419. #endif
  3420. #if HAS_I_MS_PINS
  3421. case I_AXIS: WRITE(I_MS3_PIN, ms3); break
  3422. #endif
  3423. #if HAS_J_MS_PINS
  3424. case J_AXIS: WRITE(J_MS3_PIN, ms3); break
  3425. #endif
  3426. #if HAS_K_MS_PINS
  3427. case K_AXIS: WRITE(K_MS3_PIN, ms3); break
  3428. #endif
  3429. #if HAS_U_MS_PINS
  3430. case U_AXIS: WRITE(U_MS3_PIN, ms3); break
  3431. #endif
  3432. #if HAS_V_MS_PINS
  3433. case V_AXIS: WRITE(V_MS3_PIN, ms3); break
  3434. #endif
  3435. #if HAS_W_MS_PINS
  3436. case W_AXIS: WRITE(W_MS3_PIN, ms3); break
  3437. #endif
  3438. #if HAS_E0_MS_PINS && PIN_EXISTS(E0_MS3)
  3439. case E_AXIS: WRITE(E0_MS3_PIN, ms3); break;
  3440. #endif
  3441. #if HAS_E1_MS_PINS && PIN_EXISTS(E1_MS3)
  3442. case (E_AXIS + 1): WRITE(E1_MS3_PIN, ms3); break;
  3443. #endif
  3444. #if HAS_E2_MS_PINS && PIN_EXISTS(E2_MS3)
  3445. case (E_AXIS + 2): WRITE(E2_MS3_PIN, ms3); break;
  3446. #endif
  3447. #if HAS_E3_MS_PINS && PIN_EXISTS(E3_MS3)
  3448. case (E_AXIS + 3): WRITE(E3_MS3_PIN, ms3); break;
  3449. #endif
  3450. #if HAS_E4_MS_PINS && PIN_EXISTS(E4_MS3)
  3451. case (E_AXIS + 4): WRITE(E4_MS3_PIN, ms3); break;
  3452. #endif
  3453. #if HAS_E5_MS_PINS && PIN_EXISTS(E5_MS3)
  3454. case (E_AXIS + 5): WRITE(E5_MS3_PIN, ms3); break;
  3455. #endif
  3456. #if HAS_E6_MS_PINS && PIN_EXISTS(E6_MS3)
  3457. case (E_AXIS + 6): WRITE(E6_MS3_PIN, ms3); break;
  3458. #endif
  3459. #if HAS_E7_MS_PINS && PIN_EXISTS(E7_MS3)
  3460. case (E_AXIS + 7): WRITE(E7_MS3_PIN, ms3); break;
  3461. #endif
  3462. }
  3463. }
  3464. void Stepper::microstep_mode(const uint8_t driver, const uint8_t stepping_mode) {
  3465. switch (stepping_mode) {
  3466. #if HAS_MICROSTEP1
  3467. case 1: microstep_ms(driver, MICROSTEP1); break;
  3468. #endif
  3469. #if HAS_MICROSTEP2
  3470. case 2: microstep_ms(driver, MICROSTEP2); break;
  3471. #endif
  3472. #if HAS_MICROSTEP4
  3473. case 4: microstep_ms(driver, MICROSTEP4); break;
  3474. #endif
  3475. #if HAS_MICROSTEP8
  3476. case 8: microstep_ms(driver, MICROSTEP8); break;
  3477. #endif
  3478. #if HAS_MICROSTEP16
  3479. case 16: microstep_ms(driver, MICROSTEP16); break;
  3480. #endif
  3481. #if HAS_MICROSTEP32
  3482. case 32: microstep_ms(driver, MICROSTEP32); break;
  3483. #endif
  3484. #if HAS_MICROSTEP64
  3485. case 64: microstep_ms(driver, MICROSTEP64); break;
  3486. #endif
  3487. #if HAS_MICROSTEP128
  3488. case 128: microstep_ms(driver, MICROSTEP128); break;
  3489. #endif
  3490. default: SERIAL_ERROR_MSG("Microsteps unavailable"); break;
  3491. }
  3492. }
  3493. void Stepper::microstep_readings() {
  3494. #define PIN_CHAR(P) SERIAL_CHAR('0' + READ(P##_PIN))
  3495. #define MS_LINE(A) do{ SERIAL_ECHOPGM(" " STRINGIFY(A) ":"); PIN_CHAR(A##_MS1); PIN_CHAR(A##_MS2); }while(0)
  3496. SERIAL_ECHOPGM("MS1|2|3 Pins");
  3497. #if HAS_X_MS_PINS
  3498. MS_LINE(X);
  3499. #if PIN_EXISTS(X_MS3)
  3500. PIN_CHAR(X_MS3);
  3501. #endif
  3502. #endif
  3503. #if HAS_Y_MS_PINS
  3504. MS_LINE(Y);
  3505. #if PIN_EXISTS(Y_MS3)
  3506. PIN_CHAR(Y_MS3);
  3507. #endif
  3508. #endif
  3509. #if HAS_Z_MS_PINS
  3510. MS_LINE(Z);
  3511. #if PIN_EXISTS(Z_MS3)
  3512. PIN_CHAR(Z_MS3);
  3513. #endif
  3514. #endif
  3515. #if HAS_I_MS_PINS
  3516. MS_LINE(I);
  3517. #if PIN_EXISTS(I_MS3)
  3518. PIN_CHAR(I_MS3);
  3519. #endif
  3520. #endif
  3521. #if HAS_J_MS_PINS
  3522. MS_LINE(J);
  3523. #if PIN_EXISTS(J_MS3)
  3524. PIN_CHAR(J_MS3);
  3525. #endif
  3526. #endif
  3527. #if HAS_K_MS_PINS
  3528. MS_LINE(K);
  3529. #if PIN_EXISTS(K_MS3)
  3530. PIN_CHAR(K_MS3);
  3531. #endif
  3532. #endif
  3533. #if HAS_U_MS_PINS
  3534. MS_LINE(U);
  3535. #if PIN_EXISTS(U_MS3)
  3536. PIN_CHAR(U_MS3);
  3537. #endif
  3538. #endif
  3539. #if HAS_V_MS_PINS
  3540. MS_LINE(V);
  3541. #if PIN_EXISTS(V_MS3)
  3542. PIN_CHAR(V_MS3);
  3543. #endif
  3544. #endif
  3545. #if HAS_W_MS_PINS
  3546. MS_LINE(W);
  3547. #if PIN_EXISTS(W_MS3)
  3548. PIN_CHAR(W_MS3);
  3549. #endif
  3550. #endif
  3551. #if HAS_E0_MS_PINS
  3552. MS_LINE(E0);
  3553. #if PIN_EXISTS(E0_MS3)
  3554. PIN_CHAR(E0_MS3);
  3555. #endif
  3556. #endif
  3557. #if HAS_E1_MS_PINS
  3558. MS_LINE(E1);
  3559. #if PIN_EXISTS(E1_MS3)
  3560. PIN_CHAR(E1_MS3);
  3561. #endif
  3562. #endif
  3563. #if HAS_E2_MS_PINS
  3564. MS_LINE(E2);
  3565. #if PIN_EXISTS(E2_MS3)
  3566. PIN_CHAR(E2_MS3);
  3567. #endif
  3568. #endif
  3569. #if HAS_E3_MS_PINS
  3570. MS_LINE(E3);
  3571. #if PIN_EXISTS(E3_MS3)
  3572. PIN_CHAR(E3_MS3);
  3573. #endif
  3574. #endif
  3575. #if HAS_E4_MS_PINS
  3576. MS_LINE(E4);
  3577. #if PIN_EXISTS(E4_MS3)
  3578. PIN_CHAR(E4_MS3);
  3579. #endif
  3580. #endif
  3581. #if HAS_E5_MS_PINS
  3582. MS_LINE(E5);
  3583. #if PIN_EXISTS(E5_MS3)
  3584. PIN_CHAR(E5_MS3);
  3585. #endif
  3586. #endif
  3587. #if HAS_E6_MS_PINS
  3588. MS_LINE(E6);
  3589. #if PIN_EXISTS(E6_MS3)
  3590. PIN_CHAR(E6_MS3);
  3591. #endif
  3592. #endif
  3593. #if HAS_E7_MS_PINS
  3594. MS_LINE(E7);
  3595. #if PIN_EXISTS(E7_MS3)
  3596. PIN_CHAR(E7_MS3);
  3597. #endif
  3598. #endif
  3599. SERIAL_EOL();
  3600. }
  3601. #endif // HAS_MICROSTEPS