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@ -428,7 +428,7 @@ void Stepper::isr() {
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#if ENABLED(Z_LATE_ENABLE)
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if (current_block->steps[Z_AXIS] > 0) {
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enable_z();
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enable_Z();
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_NEXT_ISR(2000); // Run at slow speed - 1 KHz
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_ENABLE_ISRs(); // re-enable ISRs
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return;
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@ -460,7 +460,7 @@ void Stepper::isr() {
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// Take multiple steps per interrupt (For high speed moves)
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bool all_steps_done = false;
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for (int8_t i = 0; i < step_loops; i++) {
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for (uint8_t i = step_loops; i--;) {
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#if ENABLED(LIN_ADVANCE)
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counter_E += current_block->steps[E_AXIS];
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@ -530,10 +530,34 @@ void Stepper::isr() {
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
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}
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#define CYCLES_EATEN_BY_CODE 240
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#if HAS_X_STEP
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#define _COUNT_STEPPERS_1 1
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#else
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#define _COUNT_STEPPERS_1 0
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#endif
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#if HAS_Y_STEP
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#define _COUNT_STEPPERS_2 _COUNT_STEPPERS_1 + 1
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#else
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#define _COUNT_STEPPERS_2 _COUNT_STEPPERS_1
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#endif
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#if HAS_Z_STEP
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#define _COUNT_STEPPERS_3 _COUNT_STEPPERS_2 + 1
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#else
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#define _COUNT_STEPPERS_3 _COUNT_STEPPERS_2
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#endif
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#define _COUNT_STEPPERS_4 _COUNT_STEPPERS_3 + 1
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#else
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#define _COUNT_STEPPERS_4 _COUNT_STEPPERS_3
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#endif
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// If a minimum pulse time was specified get the CPU clock
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
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#define CYCLES_EATEN_XYZE ((_COUNT_STEPPERS_4) * 5)
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#define EXTRA_CYCLES_XYZE (STEP_PULSE_CYCLES - (CYCLES_EATEN_XYZE))
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// If a minimum pulse time was specified get the timer 0 value
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// which increments every 4µs on 16MHz and every 3.2µs on 20MHz.
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// Two or 3 counts of TCNT0 should be a sufficient delay.
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#if EXTRA_CYCLES_XYZE > 20
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uint32_t pulse_start = TCNT0;
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#endif
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@ -564,9 +588,12 @@ void Stepper::isr() {
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#endif
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#endif // !ADVANCE && !LIN_ADVANCE
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// For a minimum pulse time wait before stopping pulses
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
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while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_CODE) { /* nada */ }
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// For minimum pulse time wait before stopping pulses
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#if EXTRA_CYCLES_XYZE > 20
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while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
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pulse_start = TCNT0;
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#elif EXTRA_CYCLES_XYZE > 0
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DELAY_NOPS(EXTRA_CYCLES_XYZE);
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#endif
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#if HAS_X_STEP
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@ -601,7 +628,15 @@ void Stepper::isr() {
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all_steps_done = true;
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break;
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}
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}
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// For minimum pulse time wait before stopping pulses
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#if EXTRA_CYCLES_XYZE > 20
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if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
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#elif EXTRA_CYCLES_XYZE > 0
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if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
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#endif
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} // steps_loop
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead) {
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@ -765,6 +800,9 @@ void Stepper::isr() {
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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#define CYCLES_EATEN_E (E_STEPPERS * 5)
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#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
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// Timer interrupt for E. e_steps is set in the main routine;
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void Stepper::advance_isr() {
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@ -794,12 +832,10 @@ void Stepper::isr() {
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#endif
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#endif
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#define CYCLES_EATEN_BY_E 60
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// Step all E steppers that have steps
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for (uint8_t i = 0; i < step_loops; i++) {
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for (uint8_t i = step_loops; i--;) {
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
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#if EXTRA_CYCLES_E > 20
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uint32_t pulse_start = TCNT0;
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#endif
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@ -814,9 +850,12 @@ void Stepper::isr() {
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#endif
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#endif
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// For a minimum pulse time wait before stopping pulses
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
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while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_E) { /* nada */ }
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// For minimum pulse time wait before stopping pulses
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#if EXTRA_CYCLES_E > 20
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while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
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pulse_start = TCNT0;
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#elif EXTRA_CYCLES_E > 0
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DELAY_NOPS(EXTRA_CYCLES_E);
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#endif
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STOP_E_PULSE(0);
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@ -829,8 +868,15 @@ void Stepper::isr() {
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#endif
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#endif
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#endif
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}
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// For minimum pulse time wait before looping
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#if EXTRA_CYCLES_E > 20
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if (i) while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
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#elif EXTRA_CYCLES_E > 0
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if (i) DELAY_NOPS(EXTRA_CYCLES_E);
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#endif
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} // steps_loop
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}
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void Stepper::advance_isr_scheduler() {
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@ -986,14 +1032,14 @@ void Stepper::init() {
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#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
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#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
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#define _DISABLE(axis) disable_## axis()
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#define _DISABLE(AXIS) disable_## AXIS()
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#define AXIS_INIT(axis, AXIS, PIN) \
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#define AXIS_INIT(AXIS, PIN) \
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_STEP_INIT(AXIS); \
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_WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
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_DISABLE(axis)
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_DISABLE(AXIS)
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#define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
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#define E_AXIS_INIT(NUM) AXIS_INIT(E## NUM, E)
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// Init Step Pins
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#if HAS_X_STEP
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@ -1001,7 +1047,7 @@ void Stepper::init() {
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X2_STEP_INIT;
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X2_STEP_WRITE(INVERT_X_STEP_PIN);
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#endif
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AXIS_INIT(x, X, X);
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AXIS_INIT(X, X);
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#endif
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#if HAS_Y_STEP
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@ -1009,7 +1055,7 @@ void Stepper::init() {
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Y2_STEP_INIT;
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Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
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#endif
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AXIS_INIT(y, Y, Y);
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AXIS_INIT(Y, Y);
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#endif
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#if HAS_Z_STEP
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@ -1017,7 +1063,7 @@ void Stepper::init() {
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Z2_STEP_INIT;
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Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
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#endif
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AXIS_INIT(z, Z, Z);
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AXIS_INIT(Z, Z);
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#endif
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#if HAS_E0_STEP
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@ -1056,15 +1102,11 @@ void Stepper::init() {
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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for (int i = 0; i < E_STEPPERS; i++) {
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e_steps[i] = 0;
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ZERO(e_steps);
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#if ENABLED(LIN_ADVANCE)
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current_adv_steps[i] = 0;
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ZERO(current_adv_steps);
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#endif
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}
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#endif // ADVANCE or LIN_ADVANCE
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#endif // ADVANCE || LIN_ADVANCE
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endstops.enable(true); // Start with endstops active. After homing they can be disabled
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sei();
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@ -1235,29 +1277,40 @@ void Stepper::report_positions() {
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#if ENABLED(BABYSTEPPING)
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#define CYCLES_EATEN_BY_BABYSTEP 60
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#if ENABLED(DELTA)
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#define CYCLES_EATEN_BABYSTEP (2 * 15)
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#else
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#define CYCLES_EATEN_BABYSTEP 0
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#endif
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#define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
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#define _ENABLE(axis) enable_## axis()
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#define _ENABLE(AXIS) enable_## AXIS()
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#define _READ_DIR(AXIS) AXIS ##_DIR_READ
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#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
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#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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#if EXTRA_CYCLES_BABYSTEP > 20
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#define _SAVE_START (pulse_start = TCNT0)
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#define _PULSE_WAIT while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
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#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
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#else
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#define _SAVE_START NOOP
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#if EXTRA_CYCLES_BABYSTEP > 0
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#define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP)
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#elif STEP_PULSE_CYCLES > 0
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#define _PULSE_WAIT NOOP
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#elif ENABLED(DELTA)
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#define _PULSE_WAIT delayMicroseconds(2);
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#else
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#define _PULSE_WAIT delayMicroseconds(4);
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#endif
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#endif
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#define START_BABYSTEP_AXIS(AXIS, INVERT) { \
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old_dir = _READ_DIR(AXIS); \
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#define BABYSTEP_AXIS(AXIS, INVERT) { \
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const uint8_t old_dir = _READ_DIR(AXIS); \
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_ENABLE(AXIS); \
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_SAVE_START; \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
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}
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#define STOP_BABYSTEP_AXIS(AXIS) { \
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_PULSE_WAIT; \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_DIR(AXIS, old_dir); \
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@ -1268,60 +1321,60 @@ void Stepper::report_positions() {
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void Stepper::babystep(const AxisEnum axis, const bool direction) {
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cli();
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uint8_t old_dir;
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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#if EXTRA_CYCLES_BABYSTEP > 20
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uint32_t pulse_start;
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#endif
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switch (axis) {
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#if ENABLED(BABYSTEP_XY)
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case X_AXIS:
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_ENABLE(x);
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START_BABYSTEP_AXIS(X, false);
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STOP_BABYSTEP_AXIS(X);
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BABYSTEP_AXIS(X, false);
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break;
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case Y_AXIS:
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_ENABLE(y);
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START_BABYSTEP_AXIS(Y, false);
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STOP_BABYSTEP_AXIS(Y);
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BABYSTEP_AXIS(Y, false);
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break;
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#endif
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case Z_AXIS: {
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#if DISABLED(DELTA)
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_ENABLE(z);
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START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
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STOP_BABYSTEP_AXIS(Z);
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BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
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#else // DELTA
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bool z_direction = direction ^ BABYSTEP_INVERT_Z;
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enable_x();
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enable_y();
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enable_z();
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enable_X();
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enable_Y();
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enable_Z();
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uint8_t old_x_dir_pin = X_DIR_READ,
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old_y_dir_pin = Y_DIR_READ,
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old_z_dir_pin = Z_DIR_READ;
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//setup new step
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X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
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Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
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Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
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//perform step
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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pulse_start = TCNT0;
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#endif
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_SAVE_START;
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X_STEP_WRITE(!INVERT_X_STEP_PIN);
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Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
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Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
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#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
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while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
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#endif
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_PULSE_WAIT;
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X_STEP_WRITE(INVERT_X_STEP_PIN);
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Y_STEP_WRITE(INVERT_Y_STEP_PIN);
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Z_STEP_WRITE(INVERT_Z_STEP_PIN);
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//get old pin state back.
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// Restore direction bits
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X_DIR_WRITE(old_x_dir_pin);
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Y_DIR_WRITE(old_y_dir_pin);
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Z_DIR_WRITE(old_z_dir_pin);
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Scott Lahteine
8 years ago
committed by