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- /**
- * 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 "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
-
- // Add time for each stepper
- #if HAS_X_STEP
- #define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #else
- #define ISR_X_STEPPER_CYCLES 0UL
- #endif
- #if HAS_Y_STEP
- #define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #else
- #define ISR_START_Y_STEPPER_CYCLES 0UL
- #define ISR_Y_STEPPER_CYCLES 0UL
- #endif
- #if HAS_Z_STEP
- #define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
- #else
- #define ISR_Z_STEPPER_CYCLES 0UL
- #endif
-
- // E is always interpolated, even for mixing extruders
- #define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
-
- // If linear advance is disabled, the loop also handles them
- #if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
- #define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
- #else
- #define ISR_MIXING_STEPPER_CYCLES 0UL
- #endif
-
- // And the total minimum loop time, not including the base
- #define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
-
- // Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
- #define _MIN_STEPPER_PULSE_CYCLES(N) _MAX(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)
-
- //
- // Stepper class definition
- //
- class Stepper {
-
- 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
- #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
-
- private:
-
- static block_t* current_block; // A pointer to the block currently being traced
-
- static uint8_t last_direction_bits, // The next stepping-bits to be output
- axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
-
- static bool abort_current_block; // Signals to the stepper that current block should be aborted
-
- #if 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_STEPPER_DRIVERS >= 3
- , locked_Z3_motor
- #if NUM_Z_STEPPER_DRIVERS >= 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_isr_rate;
- static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
- static int8_t LA_steps;
- static bool LA_use_advance_lead;
- #endif
-
- #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;
-
- #if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
-
- typedef struct {
- bool enabled; // Trapezoid needed flag (i.e., laser on, planner in control)
- uint8_t cur_power; // Current laser power
- bool cruise_set; // Power set up for cruising?
-
- #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
- uint32_t last_step_count, // Step count from the last update
- acc_step_count; // Bresenham counter for laser accel/decel
- #else
- uint16_t till_update; // Countdown to the next update
- #endif
- } stepper_laser_t;
-
- static stepper_laser_t laser_trap;
-
- #endif
-
- 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 inline void wake_up() { ENABLE_STEPPER_DRIVER_INTERRUPT(); }
-
- static inline bool is_awake() { return STEPPER_ISR_ENABLED(); }
-
- static inline 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 uint32_t advance_isr();
- FORCE_INLINE static void initiateLA() { nextAdvanceISR = 0; }
- #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 int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
- static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); }
- 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 (IS_PAGE(current_block))
- page_manager.free_page(current_block->page_idx);
- #endif
- current_block = nullptr;
- axis_did_move = 0;
- planner.release_current_block();
- }
-
- // 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_STEPPER_DRIVERS >= 3
- FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; }
- #if NUM_Z_STEPPER_DRIVERS >= 4
- FORCE_INLINE static void set_z4_lock(const bool state) { locked_Z4_motor = state; }
- #endif
- #endif
- static inline 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_STEPPER_DRIVERS >= 3
- set_z3_lock(lock ^ (except == 2));
- #if NUM_Z_STEPPER_DRIVERS >= 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
-
- // Set direction bits for all steppers
- static void set_directions();
-
- private:
-
- // Set the current position in steps
- static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
- FORCE_INLINE static void _set_position(const abce_long_t &spos) { _set_position(spos.a, spos.b, spos.c, spos.e); }
-
- FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t* loops) {
- uint32_t timer;
-
- // Scale the frequency, as requested by the caller
- step_rate <<= oversampling_factor;
-
- uint8_t multistep = 1;
- #if DISABLED(DISABLE_MULTI_STEPPING)
-
- // The stepping frequency limits for each multistepping rate
- static const uint32_t limit[] PROGMEM = {
- ( MAX_STEP_ISR_FREQUENCY_1X ),
- ( MAX_STEP_ISR_FREQUENCY_2X >> 1),
- ( MAX_STEP_ISR_FREQUENCY_4X >> 2),
- ( MAX_STEP_ISR_FREQUENCY_8X >> 3),
- ( MAX_STEP_ISR_FREQUENCY_16X >> 4),
- ( MAX_STEP_ISR_FREQUENCY_32X >> 5),
- ( MAX_STEP_ISR_FREQUENCY_64X >> 6),
- (MAX_STEP_ISR_FREQUENCY_128X >> 7)
- };
-
- // Select the proper multistepping
- uint8_t idx = 0;
- while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) {
- step_rate >>= 1;
- multistep <<= 1;
- ++idx;
- };
- #else
- NOMORE(step_rate, uint32_t(MAX_STEP_ISR_FREQUENCY_1X));
- #endif
- *loops = multistep;
-
- #ifdef CPU_32_BIT
- // In case of high-performance processor, it is able to calculate in real-time
- timer = uint32_t(STEPPER_TIMER_RATE) / step_rate;
- #else
- constexpr uint32_t min_step_rate = (F_CPU) / 500000U;
- NOLESS(step_rate, min_step_rate);
- step_rate -= min_step_rate; // Correct for minimal speed
- if (step_rate >= (8 * 256)) { // higher step rate
- const uint8_t tmp_step_rate = (step_rate & 0x00FF);
- const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
- gain = (uint16_t)pgm_read_word(table_address + 2);
- timer = MultiU16X8toH16(tmp_step_rate, gain);
- timer = (uint16_t)pgm_read_word(table_address) - timer;
- }
- else { // lower step rates
- uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
- table_address += ((step_rate) >> 1) & 0xFFFC;
- timer = (uint16_t)pgm_read_word(table_address)
- - (((uint16_t)pgm_read_word(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
- }
- // (there is no need to limit the timer value here. All limits have been
- // applied above, and AVR is able to keep up at 30khz Stepping ISR rate)
- #endif
-
- return timer;
- }
-
- #if ENABLED(S_CURVE_ACCELERATION)
- static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
- static int32_t _eval_bezier_curve(const uint32_t curr_step);
- #endif
-
- #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
- static void digipot_init();
- #endif
-
- #if HAS_MICROSTEPS
- static void microstep_init();
- #endif
-
- };
-
- extern Stepper stepper;
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