123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440441442443444445446447448449450451452453454455456457458459460461462463464465466467468469470471472473474475476477478479480481482483484485486487488489490491492493494495496497498499500501502503504505506507508509510511512513514515516517518519520521522523524525526527528529530531532533534535536537538539540541542543544545546547548549550551552553554555556557558559560561562563564565566567568569570571572573574575576577578579580581582583584585586587588589590591592593594595596597598599600601602603604605606607608609610611612613614615616617618619620621622623624625626627628629630631632633634635636637638639640641642643644645646647648649650651652653654655 |
- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- /**
- * stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
- * Derived from Grbl
- *
- * Copyright (c) 2009-2011 Simen Svale Skogsrud
- *
- * Grbl is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Grbl is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Grbl. If not, see <https://www.gnu.org/licenses/>.
- */
-
- #include "../inc/MarlinConfig.h"
-
- #include "planner.h"
- #include "stepper/indirection.h"
- #ifdef __AVR__
- #include "stepper/speed_lookuptable.h"
- #endif
-
- // Disable multiple steps per ISR
- //#define DISABLE_MULTI_STEPPING
-
- //
- // Estimate the amount of time the Stepper ISR will take to execute
- //
-
- /**
- * The method of calculating these cycle-constants is unclear.
- * Most of them are no longer used directly for pulse timing, and exist
- * only to estimate a maximum step rate based on the user's configuration.
- * As 32-bit processors continue to diverge, maintaining cycle counts
- * will become increasingly difficult and error-prone.
- */
-
- #ifdef CPU_32_BIT
- /**
- * Duration of START_TIMED_PULSE
- *
- * ...as measured on an LPC1768 with a scope and converted to cycles.
- * Not applicable to other 32-bit processors, but as long as others
- * take longer, pulses will be longer. For example the SKR Pro
- * (stm32f407zgt6) requires ~60 cyles.
- */
- #define TIMER_READ_ADD_AND_STORE_CYCLES 34UL
-
- // The base ISR takes 792 cycles
- #define ISR_BASE_CYCLES 792UL
-
- // Linear advance base time is 64 cycles
- #if ENABLED(LIN_ADVANCE)
- #define ISR_LA_BASE_CYCLES 64UL
- #else
- #define ISR_LA_BASE_CYCLES 0UL
- #endif
-
- // S curve interpolation adds 40 cycles
- #if ENABLED(S_CURVE_ACCELERATION)
- #define ISR_S_CURVE_CYCLES 40UL
- #else
- #define ISR_S_CURVE_CYCLES 0UL
- #endif
-
- // Stepper Loop base cycles
- #define ISR_LOOP_BASE_CYCLES 4UL
-
- // To start the step pulse, in the worst case takes
- #define ISR_START_STEPPER_CYCLES 13UL
-
- // And each stepper (start + stop pulse) takes in worst case
- #define ISR_STEPPER_CYCLES 16UL
-
- #else
- // Cycles to perform actions in START_TIMED_PULSE
- #define TIMER_READ_ADD_AND_STORE_CYCLES 13UL
-
- // The base ISR takes 752 cycles
- #define ISR_BASE_CYCLES 752UL
-
- // Linear advance base time is 32 cycles
- #if ENABLED(LIN_ADVANCE)
- #define ISR_LA_BASE_CYCLES 32UL
- #else
- #define ISR_LA_BASE_CYCLES 0UL
- #endif
-
- // S curve interpolation adds 160 cycles
- #if ENABLED(S_CURVE_ACCELERATION)
- #define ISR_S_CURVE_CYCLES 160UL
- #else
- #define ISR_S_CURVE_CYCLES 0UL
- #endif
-
- // Stepper Loop base cycles
- #define ISR_LOOP_BASE_CYCLES 32UL
-
- // To start the step pulse, in the worst case takes
- #define ISR_START_STEPPER_CYCLES 57UL
-
- // And each stepper (start + stop pulse) takes in worst case
- #define ISR_STEPPER_CYCLES 88UL
-
- #endif
-
- // If linear advance is disabled, the loop also handles them
- #if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
- #define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
- #else
- #define ISR_MIXING_STEPPER_CYCLES 0UL
- #endif
-
- // Add time for each stepper
- #if HAS_X_STEP
- #define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #endif
- #if HAS_Y_STEP
- #define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #endif
- #if HAS_Z_STEP
- #define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #endif
- #if HAS_I_STEP
- #define ISR_I_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #endif
- #if HAS_J_STEP
- #define ISR_J_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #endif
- #if HAS_K_STEP
- #define ISR_K_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #endif
- #if HAS_U_STEP
- #define ISR_U_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #endif
- #if HAS_V_STEP
- #define ISR_V_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #endif
- #if HAS_W_STEP
- #define ISR_W_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #endif
- #if HAS_EXTRUDERS
- #define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES // E is always interpolated, even for mixing extruders
- #endif
-
- // And the total minimum loop time, not including the base
- #define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_GANG(+ ISR_E_STEPPER_CYCLES, + ISR_X_STEPPER_CYCLES, + ISR_Y_STEPPER_CYCLES, + ISR_Z_STEPPER_CYCLES, + ISR_I_STEPPER_CYCLES, + ISR_J_STEPPER_CYCLES, + ISR_K_STEPPER_CYCLES, + ISR_U_STEPPER_CYCLES, + ISR_V_STEPPER_CYCLES, + ISR_W_STEPPER_CYCLES))
-
- // Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
- #define _MIN_STEPPER_PULSE_CYCLES(N) _MAX(uint32_t((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N))
- #if MINIMUM_STEPPER_PULSE
- #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(uint32_t(MINIMUM_STEPPER_PULSE))
- #elif HAS_DRIVER(LV8729)
- #define MIN_STEPPER_PULSE_CYCLES uint32_t((((F_CPU) - 1) / 2000000) + 1) // 0.5µs, aka 500ns
- #else
- #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL)
- #endif
-
- // Calculate the minimum pulse times (high and low)
- #if MINIMUM_STEPPER_PULSE && MAXIMUM_STEPPER_RATE
- constexpr uint32_t _MIN_STEP_PERIOD_NS = 1000000000UL / MAXIMUM_STEPPER_RATE;
- constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
- constexpr uint32_t _MIN_PULSE_LOW_NS = _MAX((_MIN_STEP_PERIOD_NS - _MIN(_MIN_STEP_PERIOD_NS, _MIN_PULSE_HIGH_NS)), _MIN_PULSE_HIGH_NS);
- #elif MINIMUM_STEPPER_PULSE
- // Assume 50% duty cycle
- constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
- constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
- #elif MAXIMUM_STEPPER_RATE
- // Assume 50% duty cycle
- constexpr uint32_t _MIN_PULSE_HIGH_NS = 500000000UL / MAXIMUM_STEPPER_RATE;
- constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
- #else
- #error "Expected at least one of MINIMUM_STEPPER_PULSE or MAXIMUM_STEPPER_RATE to be defined"
- #endif
-
- // But the user could be enforcing a minimum time, so the loop time is
- #define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + _MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
-
- // If linear advance is enabled, then it is handled separately
- #if ENABLED(LIN_ADVANCE)
-
- // Estimate the minimum LA loop time
- #if ENABLED(MIXING_EXTRUDER) // ToDo: ???
- // HELP ME: What is what?
- // Directions are set up for MIXING_STEPPERS - like before.
- // Finding the right stepper may last up to MIXING_STEPPERS loops in get_next_stepper().
- // These loops are a bit faster than advancing a bresenham counter.
- // Always only one E stepper is stepped.
- #define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
- #else
- #define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES
- #endif
-
- // And the real loop time
- #define ISR_LA_LOOP_CYCLES _MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
-
- #else
- #define ISR_LA_LOOP_CYCLES 0UL
- #endif
-
- // Now estimate the total ISR execution time in cycles given a step per ISR multiplier
- #define ISR_EXECUTION_CYCLES(R) (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES) * (R) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / (R))
-
- // The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz)
- #define MAX_STEP_ISR_FREQUENCY_128X ((F_CPU) / ISR_EXECUTION_CYCLES(128))
- #define MAX_STEP_ISR_FREQUENCY_64X ((F_CPU) / ISR_EXECUTION_CYCLES(64))
- #define MAX_STEP_ISR_FREQUENCY_32X ((F_CPU) / ISR_EXECUTION_CYCLES(32))
- #define MAX_STEP_ISR_FREQUENCY_16X ((F_CPU) / ISR_EXECUTION_CYCLES(16))
- #define MAX_STEP_ISR_FREQUENCY_8X ((F_CPU) / ISR_EXECUTION_CYCLES(8))
- #define MAX_STEP_ISR_FREQUENCY_4X ((F_CPU) / ISR_EXECUTION_CYCLES(4))
- #define MAX_STEP_ISR_FREQUENCY_2X ((F_CPU) / ISR_EXECUTION_CYCLES(2))
- #define MAX_STEP_ISR_FREQUENCY_1X ((F_CPU) / ISR_EXECUTION_CYCLES(1))
-
- // The minimum step ISR rate used by ADAPTIVE_STEP_SMOOTHING to target 50% CPU usage
- // This does not account for the possibility of multi-stepping.
- // Perhaps DISABLE_MULTI_STEPPING should be required with ADAPTIVE_STEP_SMOOTHING.
- #define MIN_STEP_ISR_FREQUENCY (MAX_STEP_ISR_FREQUENCY_1X / 2)
-
- #define ENABLE_COUNT (NUM_AXES + E_STEPPERS)
- #if ENABLE_COUNT > 16
- typedef uint32_t ena_mask_t;
- #else
- typedef IF<(ENABLE_COUNT > 8), uint16_t, uint8_t>::type ena_mask_t;
- #endif
-
- // Axis flags type, for enabled state or other simple state
- typedef struct {
- union {
- ena_mask_t bits;
- struct {
- bool NUM_AXIS_LIST(X:1, Y:1, Z:1, I:1, J:1, K:1, U:1, V:1, W:1);
- #if HAS_EXTRUDERS
- bool LIST_N(EXTRUDERS, E0:1, E1:1, E2:1, E3:1, E4:1, E5:1, E6:1, E7:1);
- #endif
- };
- };
- } stepper_flags_t;
-
- // All the stepper enable pins
- constexpr pin_t ena_pins[] = {
- NUM_AXIS_LIST(X_ENABLE_PIN, Y_ENABLE_PIN, Z_ENABLE_PIN, I_ENABLE_PIN, J_ENABLE_PIN, K_ENABLE_PIN, U_ENABLE_PIN, V_ENABLE_PIN, W_ENABLE_PIN),
- LIST_N(E_STEPPERS, E0_ENABLE_PIN, E1_ENABLE_PIN, E2_ENABLE_PIN, E3_ENABLE_PIN, E4_ENABLE_PIN, E5_ENABLE_PIN, E6_ENABLE_PIN, E7_ENABLE_PIN)
- };
-
- // Index of the axis or extruder element in a combined array
- constexpr uint8_t index_of_axis(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
- return uint8_t(axis) + (E_TERN0(axis < NUM_AXES ? 0 : eindex));
- }
- //#define __IAX_N(N,V...) _IAX_##N(V)
- //#define _IAX_N(N,V...) __IAX_N(N,V)
- //#define _IAX_1(A) index_of_axis(A)
- //#define _IAX_2(A,B) index_of_axis(A E_OPTARG(B))
- //#define INDEX_OF_AXIS(V...) _IAX_N(TWO_ARGS(V),V)
-
- #define INDEX_OF_AXIS(A,V...) index_of_axis(A E_OPTARG(V+0))
-
- // Bit mask for a matching enable pin, or 0
- constexpr ena_mask_t ena_same(const uint8_t a, const uint8_t b) {
- return ena_pins[a] == ena_pins[b] ? _BV(b) : 0;
- }
-
- // Recursively get the enable overlaps mask for a given linear axis or extruder
- constexpr ena_mask_t ena_overlap(const uint8_t a=0, const uint8_t b=0) {
- return b >= ENABLE_COUNT ? 0 : (a == b ? 0 : ena_same(a, b)) | ena_overlap(a, b + 1);
- }
-
- // Recursively get whether there's any overlap at all
- constexpr bool any_enable_overlap(const uint8_t a=0) {
- return a >= ENABLE_COUNT ? false : ena_overlap(a) || any_enable_overlap(a + 1);
- }
-
- // Array of axes that overlap with each
- // TODO: Consider cases where >=2 steppers are used by a linear axis or extruder
- // (e.g., CoreXY, Dual XYZ, or E with multiple steppers, etc.).
- constexpr ena_mask_t enable_overlap[] = {
- #define _OVERLAP(N) ena_overlap(INDEX_OF_AXIS(AxisEnum(N))),
- REPEAT(NUM_AXES, _OVERLAP)
- #if HAS_EXTRUDERS
- #define _E_OVERLAP(N) ena_overlap(INDEX_OF_AXIS(E_AXIS, N)),
- REPEAT(E_STEPPERS, _E_OVERLAP)
- #endif
- };
-
- //static_assert(!any_enable_overlap(), "There is some overlap.");
-
- //
- // Stepper class definition
- //
- class Stepper {
- friend class KinematicSystem;
- friend class DeltaKinematicSystem;
- friend void stepperTask(void *);
-
- public:
-
- #if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
- static bool separate_multi_axis;
- #endif
-
- #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
- #if HAS_MOTOR_CURRENT_PWM
- #ifndef PWM_MOTOR_CURRENT
- #define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
- #endif
- #ifndef MOTOR_CURRENT_PWM_FREQUENCY
- #define MOTOR_CURRENT_PWM_FREQUENCY 31400
- #endif
- #define MOTOR_CURRENT_COUNT 3
- #elif HAS_MOTOR_CURRENT_SPI
- static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
- #define MOTOR_CURRENT_COUNT COUNT(Stepper::digipot_count)
- #endif
- static bool initialized;
- static uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load()
- #endif
-
- // Last-moved extruder, as set when the last movement was fetched from planner
- #if HAS_MULTI_EXTRUDER
- static uint8_t last_moved_extruder;
- #else
- static constexpr uint8_t last_moved_extruder = 0;
- #endif
-
- #if ENABLED(FREEZE_FEATURE)
- static bool frozen; // Set this flag to instantly freeze motion
- #endif
-
- private:
-
- static block_t* current_block; // A pointer to the block currently being traced
-
- static axis_bits_t last_direction_bits, // The next stepping-bits to be output
- axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
-
- static bool abort_current_block; // Signals to the stepper that current block should be aborted
-
- #if ENABLED(X_DUAL_ENDSTOPS)
- static bool locked_X_motor, locked_X2_motor;
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- static bool locked_Y_motor, locked_Y2_motor;
- #endif
- #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
- static bool locked_Z_motor, locked_Z2_motor
- #if NUM_Z_STEPPERS >= 3
- , locked_Z3_motor
- #if NUM_Z_STEPPERS >= 4
- , locked_Z4_motor
- #endif
- #endif
- ;
- #endif
-
- static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks
- static uint8_t steps_per_isr; // Count of steps to perform per Stepper ISR call
-
- #if ENABLED(ADAPTIVE_STEP_SMOOTHING)
- static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis
- #else
- static constexpr uint8_t oversampling_factor = 0;
- #endif
-
- // Delta error variables for the Bresenham line tracer
- static xyze_long_t delta_error;
- static xyze_ulong_t advance_dividend;
- static uint32_t advance_divisor,
- step_events_completed, // The number of step events executed in the current block
- accelerate_until, // The point from where we need to stop acceleration
- decelerate_after, // The point from where we need to start decelerating
- step_event_count; // The total event count for the current block
-
- #if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
- static uint8_t stepper_extruder;
- #else
- static constexpr uint8_t stepper_extruder = 0;
- #endif
-
- #if ENABLED(S_CURVE_ACCELERATION)
- static int32_t bezier_A, // A coefficient in Bézier speed curve
- bezier_B, // B coefficient in Bézier speed curve
- bezier_C; // C coefficient in Bézier speed curve
- static uint32_t bezier_F, // F coefficient in Bézier speed curve
- bezier_AV; // AV coefficient in Bézier speed curve
- #ifdef __AVR__
- static bool A_negative; // If A coefficient was negative
- #endif
- static bool bezier_2nd_half; // If Bézier curve has been initialized or not
- #endif
-
- #if ENABLED(LIN_ADVANCE)
- static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
- static uint32_t nextAdvanceISR,
- la_interval; // Interval between ISR calls for LA
- static int32_t la_delta_error, // Analogue of delta_error.e for E steps in LA ISR
- la_dividend, // Analogue of advance_dividend.e for E steps in LA ISR
- la_advance_steps; // Count of steps added to increase nozzle pressure
- #endif
-
- #if ENABLED(INTEGRATED_BABYSTEPPING)
- static constexpr uint32_t BABYSTEP_NEVER = 0xFFFFFFFF;
- static uint32_t nextBabystepISR;
- #endif
-
- #if ENABLED(DIRECT_STEPPING)
- static page_step_state_t page_step_state;
- #endif
-
- static int32_t ticks_nominal;
- #if DISABLED(S_CURVE_ACCELERATION)
- static uint32_t acc_step_rate; // needed for deceleration start point
- #endif
-
- // Exact steps at which an endstop was triggered
- static xyz_long_t endstops_trigsteps;
-
- // Positions of stepper motors, in step units
- static xyze_long_t count_position;
-
- // Current stepper motor directions (+1 or -1)
- static xyze_int8_t count_direction;
-
- public:
- // Initialize stepper hardware
- static void init();
-
- // Interrupt Service Routine and phases
-
- // The stepper subsystem goes to sleep when it runs out of things to execute.
- // Call this to notify the subsystem that it is time to go to work.
- static void wake_up() { ENABLE_STEPPER_DRIVER_INTERRUPT(); }
-
- static bool is_awake() { return STEPPER_ISR_ENABLED(); }
-
- static bool suspend() {
- const bool awake = is_awake();
- if (awake) DISABLE_STEPPER_DRIVER_INTERRUPT();
- return awake;
- }
-
- // The ISR scheduler
- static void isr();
-
- // The stepper pulse ISR phase
- static void pulse_phase_isr();
-
- // The stepper block processing ISR phase
- static uint32_t block_phase_isr();
-
- #if ENABLED(LIN_ADVANCE)
- // The Linear advance ISR phase
- static void advance_isr();
- #endif
-
- #if ENABLED(INTEGRATED_BABYSTEPPING)
- // The Babystepping ISR phase
- static uint32_t babystepping_isr();
- FORCE_INLINE static void initiateBabystepping() {
- if (nextBabystepISR == BABYSTEP_NEVER) {
- nextBabystepISR = 0;
- wake_up();
- }
- }
- #endif
-
- // Check if the given block is busy or not - Must not be called from ISR contexts
- static bool is_block_busy(const block_t * const block);
-
- // Get the position of a stepper, in steps
- static int32_t position(const AxisEnum axis);
-
- // Set the current position in steps
- static void set_position(const xyze_long_t &spos);
- static void set_axis_position(const AxisEnum a, const int32_t &v);
-
- // Report the positions of the steppers, in steps
- static void report_a_position(const xyz_long_t &pos);
- static void report_positions();
-
- // Discard current block and free any resources
- FORCE_INLINE static void discard_current_block() {
- #if ENABLED(DIRECT_STEPPING)
- if (current_block->is_page()) page_manager.free_page(current_block->page_idx);
- #endif
- current_block = nullptr;
- axis_did_move = 0;
- planner.release_current_block();
- TERN_(LIN_ADVANCE, la_interval = nextAdvanceISR = LA_ADV_NEVER);
- }
-
- // Quickly stop all steppers
- FORCE_INLINE static void quick_stop() { abort_current_block = true; }
-
- // The direction of a single motor
- FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
-
- // The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
- FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
-
- // Handle a triggered endstop
- static void endstop_triggered(const AxisEnum axis);
-
- // Triggered position of an axis in steps
- static int32_t triggered_position(const AxisEnum axis);
-
- #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
- static void set_digipot_value_spi(const int16_t address, const int16_t value);
- static void set_digipot_current(const uint8_t driver, const int16_t current);
- #endif
-
- #if HAS_MICROSTEPS
- static void microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2, const int8_t ms3);
- static void microstep_mode(const uint8_t driver, const uint8_t stepping);
- static void microstep_readings();
- #endif
-
- #if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
- FORCE_INLINE static void set_separate_multi_axis(const bool state) { separate_multi_axis = state; }
- #endif
- #if ENABLED(X_DUAL_ENDSTOPS)
- FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
- FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
- FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
- #endif
- #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
- FORCE_INLINE static void set_z1_lock(const bool state) { locked_Z_motor = state; }
- FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
- #if NUM_Z_STEPPERS >= 3
- FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; }
- #if NUM_Z_STEPPERS >= 4
- FORCE_INLINE static void set_z4_lock(const bool state) { locked_Z4_motor = state; }
- #endif
- #endif
- static void set_all_z_lock(const bool lock, const int8_t except=-1) {
- set_z1_lock(lock ^ (except == 0));
- set_z2_lock(lock ^ (except == 1));
- #if NUM_Z_STEPPERS >= 3
- set_z3_lock(lock ^ (except == 2));
- #if NUM_Z_STEPPERS >= 4
- set_z4_lock(lock ^ (except == 3));
- #endif
- #endif
- }
- #endif
-
- #if ENABLED(BABYSTEPPING)
- static void do_babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
- #endif
-
- #if HAS_MOTOR_CURRENT_PWM
- static void refresh_motor_power();
- #endif
-
- static stepper_flags_t axis_enabled; // Axis stepper(s) ENABLED states
-
- static bool axis_is_enabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
- return TEST(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
- }
- static void mark_axis_enabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
- SBI(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
- }
- static void mark_axis_disabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
- CBI(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
- }
- static bool can_axis_disable(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
- return !any_enable_overlap() || !(axis_enabled.bits & enable_overlap[INDEX_OF_AXIS(axis, eindex)]);
- }
-
- static void enable_axis(const AxisEnum axis);
- static bool disable_axis(const AxisEnum axis);
-
- #if HAS_EXTRUDERS
- static void enable_extruder(E_TERN_(const uint8_t eindex=0));
- static bool disable_extruder(E_TERN_(const uint8_t eindex=0));
- static void enable_e_steppers();
- static void disable_e_steppers();
- #else
- static void enable_extruder() {}
- static bool disable_extruder() { return true; }
- static void enable_e_steppers() {}
- static void disable_e_steppers() {}
- #endif
-
- #define ENABLE_EXTRUDER(N) enable_extruder(E_TERN_(N))
- #define DISABLE_EXTRUDER(N) disable_extruder(E_TERN_(N))
- #define AXIS_IS_ENABLED(N,V...) axis_is_enabled(N E_OPTARG(#V))
-
- static void enable_all_steppers();
- static void disable_all_steppers();
-
- // Update direction states for all steppers
- static void set_directions();
-
- // Set direction bits and update all stepper DIR states
- static void set_directions(const axis_bits_t bits) {
- last_direction_bits = bits;
- set_directions();
- }
-
- private:
-
- // Set the current position in steps
- static void _set_position(const abce_long_t &spos);
-
- // Calculate timing interval for the given step rate
- static uint32_t calc_timer_interval(uint32_t step_rate);
- static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t &loops);
-
- #if ENABLED(S_CURVE_ACCELERATION)
- static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
- static int32_t _eval_bezier_curve(const uint32_t curr_step);
- #endif
-
- #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
- static void digipot_init();
- #endif
-
- #if HAS_MICROSTEPS
- static void microstep_init();
- #endif
-
- };
-
- extern Stepper stepper;
|