My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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stepper.h 12KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
  24. * Derived from Grbl
  25. *
  26. * Copyright (c) 2009-2011 Simen Svale Skogsrud
  27. *
  28. * Grbl is free software: you can redistribute it and/or modify
  29. * it under the terms of the GNU General Public License as published by
  30. * the Free Software Foundation, either version 3 of the License, or
  31. * (at your option) any later version.
  32. *
  33. * Grbl is distributed in the hope that it will be useful,
  34. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  35. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  36. * GNU General Public License for more details.
  37. *
  38. * You should have received a copy of the GNU General Public License
  39. * along with Grbl. If not, see <http://www.gnu.org/licenses/>.
  40. */
  41. #ifndef STEPPER_H
  42. #define STEPPER_H
  43. #include "planner.h"
  44. #include "speed_lookuptable.h"
  45. #include "stepper_indirection.h"
  46. #include "language.h"
  47. class Stepper;
  48. extern Stepper stepper;
  49. // intRes = intIn1 * intIn2 >> 16
  50. // uses:
  51. // r26 to store 0
  52. // r27 to store the byte 1 of the 24 bit result
  53. #define MultiU16X8toH16(intRes, charIn1, intIn2) \
  54. asm volatile ( \
  55. "clr r26 \n\t" \
  56. "mul %A1, %B2 \n\t" \
  57. "movw %A0, r0 \n\t" \
  58. "mul %A1, %A2 \n\t" \
  59. "add %A0, r1 \n\t" \
  60. "adc %B0, r26 \n\t" \
  61. "lsr r0 \n\t" \
  62. "adc %A0, r26 \n\t" \
  63. "adc %B0, r26 \n\t" \
  64. "clr r1 \n\t" \
  65. : \
  66. "=&r" (intRes) \
  67. : \
  68. "d" (charIn1), \
  69. "d" (intIn2) \
  70. : \
  71. "r26" \
  72. )
  73. class Stepper {
  74. public:
  75. static block_t* current_block; // A pointer to the block currently being traced
  76. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  77. static bool abort_on_endstop_hit;
  78. #endif
  79. #if ENABLED(Z_DUAL_ENDSTOPS)
  80. static bool performing_homing;
  81. #endif
  82. private:
  83. static unsigned char last_direction_bits; // The next stepping-bits to be output
  84. static unsigned int cleaning_buffer_counter;
  85. #if ENABLED(Z_DUAL_ENDSTOPS)
  86. static bool locked_z_motor, locked_z2_motor;
  87. #endif
  88. // Counter variables for the Bresenham line tracer
  89. static long counter_X, counter_Y, counter_Z, counter_E;
  90. static volatile unsigned long step_events_completed; // The number of step events executed in the current block
  91. #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
  92. static unsigned char old_OCR0A;
  93. static volatile unsigned char eISR_Rate;
  94. #if ENABLED(LIN_ADVANCE)
  95. static volatile int e_steps[EXTRUDERS];
  96. static int extruder_advance_k;
  97. static int final_estep_rate;
  98. static int current_estep_rate[EXTRUDERS]; // Actual extruder speed [steps/s]
  99. static int current_adv_steps[EXTRUDERS]; // The amount of current added esteps due to advance.
  100. // i.e., the current amount of pressure applied
  101. // to the spring (=filament).
  102. #else
  103. static long e_steps[EXTRUDERS];
  104. static long advance_rate, advance, final_advance;
  105. static long old_advance;
  106. #endif
  107. #endif // ADVANCE or LIN_ADVANCE
  108. static long acceleration_time, deceleration_time;
  109. //unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
  110. static unsigned short acc_step_rate; // needed for deceleration start point
  111. static uint8_t step_loops, step_loops_nominal;
  112. static unsigned short OCR1A_nominal;
  113. static volatile long endstops_trigsteps[3];
  114. static volatile long endstops_stepsTotal, endstops_stepsDone;
  115. #if HAS_MOTOR_CURRENT_PWM
  116. #ifndef PWM_MOTOR_CURRENT
  117. #define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
  118. #endif
  119. static constexpr int motor_current_setting[3] = PWM_MOTOR_CURRENT;
  120. #endif
  121. //
  122. // Positions of stepper motors, in step units
  123. //
  124. static volatile long count_position[NUM_AXIS];
  125. //
  126. // Current direction of stepper motors (+1 or -1)
  127. //
  128. static volatile signed char count_direction[NUM_AXIS];
  129. public:
  130. //
  131. // Constructor / initializer
  132. //
  133. Stepper() { };
  134. //
  135. // Initialize stepper hardware
  136. //
  137. static void init();
  138. //
  139. // Interrupt Service Routines
  140. //
  141. static void isr();
  142. #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
  143. static void advance_isr();
  144. #endif
  145. //
  146. // Block until all buffered steps are executed
  147. //
  148. static void synchronize();
  149. //
  150. // Set the current position in steps
  151. //
  152. static void set_position(const long& x, const long& y, const long& z, const long& e);
  153. static void set_e_position(const long& e);
  154. //
  155. // Set direction bits for all steppers
  156. //
  157. static void set_directions();
  158. //
  159. // Get the position of a stepper, in steps
  160. //
  161. static long position(AxisEnum axis);
  162. //
  163. // Report the positions of the steppers, in steps
  164. //
  165. static void report_positions();
  166. //
  167. // Get the position (mm) of an axis based on stepper position(s)
  168. //
  169. static float get_axis_position_mm(AxisEnum axis);
  170. //
  171. // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
  172. // to notify the subsystem that it is time to go to work.
  173. //
  174. static void wake_up();
  175. //
  176. // Wait for moves to finish and disable all steppers
  177. //
  178. static void finish_and_disable();
  179. //
  180. // Quickly stop all steppers and clear the blocks queue
  181. //
  182. static void quick_stop();
  183. //
  184. // The direction of a single motor
  185. //
  186. static FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
  187. #if HAS_DIGIPOTSS
  188. static void digitalPotWrite(int address, int value);
  189. #endif
  190. static void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
  191. static void digipot_current(uint8_t driver, int current);
  192. static void microstep_mode(uint8_t driver, uint8_t stepping);
  193. static void microstep_readings();
  194. #if ENABLED(Z_DUAL_ENDSTOPS)
  195. static FORCE_INLINE void set_homing_flag(bool state) { performing_homing = state; }
  196. static FORCE_INLINE void set_z_lock(bool state) { locked_z_motor = state; }
  197. static FORCE_INLINE void set_z2_lock(bool state) { locked_z2_motor = state; }
  198. #endif
  199. #if ENABLED(BABYSTEPPING)
  200. static void babystep(const uint8_t axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
  201. #endif
  202. static inline void kill_current_block() {
  203. step_events_completed = current_block->step_event_count;
  204. }
  205. //
  206. // Handle a triggered endstop
  207. //
  208. static void endstop_triggered(AxisEnum axis);
  209. //
  210. // Triggered position of an axis in mm (not core-savvy)
  211. //
  212. static FORCE_INLINE float triggered_position_mm(AxisEnum axis) {
  213. return endstops_trigsteps[axis] / planner.axis_steps_per_mm[axis];
  214. }
  215. #if ENABLED(LIN_ADVANCE)
  216. void advance_M905(const float &k);
  217. FORCE_INLINE int get_advance_k() { return extruder_advance_k; }
  218. #endif
  219. private:
  220. static FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
  221. unsigned short timer;
  222. NOMORE(step_rate, MAX_STEP_FREQUENCY);
  223. if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
  224. step_rate >>= 2;
  225. step_loops = 4;
  226. }
  227. else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
  228. step_rate >>= 1;
  229. step_loops = 2;
  230. }
  231. else {
  232. step_loops = 1;
  233. }
  234. NOLESS(step_rate, F_CPU / 500000);
  235. step_rate -= F_CPU / 500000; // Correct for minimal speed
  236. if (step_rate >= (8 * 256)) { // higher step rate
  237. unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate >> 8)][0];
  238. unsigned char tmp_step_rate = (step_rate & 0x00ff);
  239. unsigned short gain = (unsigned short)pgm_read_word_near(table_address + 2);
  240. MultiU16X8toH16(timer, tmp_step_rate, gain);
  241. timer = (unsigned short)pgm_read_word_near(table_address) - timer;
  242. }
  243. else { // lower step rates
  244. unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
  245. table_address += ((step_rate) >> 1) & 0xfffc;
  246. timer = (unsigned short)pgm_read_word_near(table_address);
  247. timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
  248. }
  249. if (timer < 100) { // (20kHz - this should never happen)
  250. timer = 100;
  251. MYSERIAL.print(MSG_STEPPER_TOO_HIGH);
  252. MYSERIAL.println(step_rate);
  253. }
  254. return timer;
  255. }
  256. // Initializes the trapezoid generator from the current block. Called whenever a new
  257. // block begins.
  258. static FORCE_INLINE void trapezoid_generator_reset() {
  259. static int8_t last_extruder = -1;
  260. if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_extruder) {
  261. last_direction_bits = current_block->direction_bits;
  262. last_extruder = current_block->active_extruder;
  263. set_directions();
  264. }
  265. #if ENABLED(ADVANCE)
  266. advance = current_block->initial_advance;
  267. final_advance = current_block->final_advance;
  268. // Do E steps + advance steps
  269. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  270. old_advance = advance >>8;
  271. #endif
  272. deceleration_time = 0;
  273. // step_rate to timer interval
  274. OCR1A_nominal = calc_timer(current_block->nominal_rate);
  275. // make a note of the number of step loops required at nominal speed
  276. step_loops_nominal = step_loops;
  277. acc_step_rate = current_block->initial_rate;
  278. acceleration_time = calc_timer(acc_step_rate);
  279. OCR1A = acceleration_time;
  280. #if ENABLED(LIN_ADVANCE)
  281. if (current_block->use_advance_lead) {
  282. current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
  283. final_estep_rate = (current_block->nominal_rate * current_block->e_speed_multiplier8) >> 8;
  284. }
  285. #endif
  286. // SERIAL_ECHO_START;
  287. // SERIAL_ECHOPGM("advance :");
  288. // SERIAL_ECHO(current_block->advance/256.0);
  289. // SERIAL_ECHOPGM("advance rate :");
  290. // SERIAL_ECHO(current_block->advance_rate/256.0);
  291. // SERIAL_ECHOPGM("initial advance :");
  292. // SERIAL_ECHO(current_block->initial_advance/256.0);
  293. // SERIAL_ECHOPGM("final advance :");
  294. // SERIAL_ECHOLN(current_block->final_advance/256.0);
  295. }
  296. static void digipot_init();
  297. static void microstep_init();
  298. };
  299. #endif // STEPPER_H