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@ -97,7 +97,7 @@ long Stepper::counter_X = 0,
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volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
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volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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constexpr uint16_t ADV_NEVER = 65535;
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constexpr uint16_t ADV_NEVER = 65535;
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@ -105,18 +105,10 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
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Stepper::nextAdvanceISR = ADV_NEVER,
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Stepper::nextAdvanceISR = ADV_NEVER,
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Stepper::eISR_Rate = ADV_NEVER;
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Stepper::eISR_Rate = ADV_NEVER;
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#if ENABLED(LIN_ADVANCE)
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volatile int Stepper::e_steps[E_STEPPERS];
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volatile int Stepper::e_steps[E_STEPPERS];
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int Stepper::final_estep_rate,
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int Stepper::final_estep_rate,
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Stepper::current_estep_rate[E_STEPPERS],
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Stepper::current_estep_rate[E_STEPPERS],
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Stepper::current_adv_steps[E_STEPPERS];
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Stepper::current_adv_steps[E_STEPPERS];
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#else
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long Stepper::e_steps[E_STEPPERS],
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Stepper::final_advance = 0,
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Stepper::old_advance = 0,
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Stepper::advance_rate,
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Stepper::advance;
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#endif
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/**
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/**
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* See https://github.com/MarlinFirmware/Marlin/issues/5699#issuecomment-309264382
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* See https://github.com/MarlinFirmware/Marlin/issues/5699#issuecomment-309264382
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@ -133,7 +125,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
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return ADV_NEVER;
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return ADV_NEVER;
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}
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}
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#endif // ADVANCE || LIN_ADVANCE
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#endif // LIN_ADVANCE
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long Stepper::acceleration_time, Stepper::deceleration_time;
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long Stepper::acceleration_time, Stepper::deceleration_time;
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@ -325,7 +317,7 @@ void Stepper::set_directions() {
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SET_STEP_DIR(Z); // C
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SET_STEP_DIR(Z); // C
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#endif
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#endif
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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if (motor_direction(E_AXIS)) {
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if (motor_direction(E_AXIS)) {
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REV_E_DIR();
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REV_E_DIR();
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count_direction[E_AXIS] = -1;
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count_direction[E_AXIS] = -1;
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@ -334,7 +326,7 @@ void Stepper::set_directions() {
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NORM_E_DIR();
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NORM_E_DIR();
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count_direction[E_AXIS] = 1;
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count_direction[E_AXIS] = 1;
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}
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}
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#endif // !ADVANCE && !LIN_ADVANCE
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#endif // !LIN_ADVANCE
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}
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}
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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@ -356,7 +348,7 @@ void Stepper::set_directions() {
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* 4000 500 Hz - init rate
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* 4000 500 Hz - init rate
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*/
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*/
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ISR(TIMER1_COMPA_vect) {
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ISR(TIMER1_COMPA_vect) {
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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Stepper::advance_isr_scheduler();
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Stepper::advance_isr_scheduler();
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#else
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#else
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Stepper::isr();
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Stepper::isr();
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@ -372,7 +364,7 @@ void Stepper::isr() {
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#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
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#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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CBI(TIMSK0, OCIE0B); // Temperature ISR
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CBI(TIMSK0, OCIE0B); // Temperature ISR
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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@ -455,10 +447,6 @@ void Stepper::isr() {
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return;
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return;
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}
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}
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#endif
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#endif
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// #if ENABLED(ADVANCE)
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// e_steps[TOOL_E_INDEX] = 0;
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// #endif
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}
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}
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else {
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else {
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_NEXT_ISR(2000); // Run at slow speed - 1 KHz
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_NEXT_ISR(2000); // Run at slow speed - 1 KHz
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@ -504,33 +492,7 @@ void Stepper::isr() {
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}
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}
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#endif
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#endif
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#elif ENABLED(ADVANCE)
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#endif // LIN_ADVANCE
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// Always count the unified E axis
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counter_E += current_block->steps[E_AXIS];
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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#if DISABLED(MIXING_EXTRUDER)
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// Don't step E here for mixing extruder
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motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
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#endif
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}
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#if ENABLED(MIXING_EXTRUDER)
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// Step mixing steppers proportionally
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const bool dir = motor_direction(E_AXIS);
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MIXING_STEPPERS_LOOP(j) {
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counter_m[j] += current_block->steps[E_AXIS];
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if (counter_m[j] > 0) {
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counter_m[j] -= current_block->mix_event_count[j];
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dir ? --e_steps[j] : ++e_steps[j];
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}
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}
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#endif // MIXING_EXTRUDER
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#endif // ADVANCE or LIN_ADVANCE
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#define _COUNTER(AXIS) counter_## AXIS
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#define _COUNTER(AXIS) counter_## AXIS
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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@ -591,7 +553,7 @@ void Stepper::isr() {
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#else
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#else
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#define _CYCLE_APPROX_6 _CYCLE_APPROX_5
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#define _CYCLE_APPROX_6 _CYCLE_APPROX_5
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#endif
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#endif
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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#if ENABLED(MIXING_EXTRUDER)
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#define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + (MIXING_STEPPERS) * 6
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#define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + (MIXING_STEPPERS) * 6
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#else
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#else
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@ -627,7 +589,7 @@ void Stepper::isr() {
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#endif
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#endif
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// For non-advance use linear interpolation for E also
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// For non-advance use linear interpolation for E also
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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#if ENABLED(MIXING_EXTRUDER)
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// Keep updating the single E axis
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// Keep updating the single E axis
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counter_E += current_block->steps[E_AXIS];
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counter_E += current_block->steps[E_AXIS];
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@ -641,7 +603,7 @@ void Stepper::isr() {
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#else // !MIXING_EXTRUDER
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#else // !MIXING_EXTRUDER
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PULSE_START(E);
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PULSE_START(E);
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#endif
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#endif
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#endif // !ADVANCE && !LIN_ADVANCE
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#endif // !LIN_ADVANCE
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// For minimum pulse time wait before stopping pulses
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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 EXTRA_CYCLES_XYZE > 20
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@ -661,7 +623,7 @@ void Stepper::isr() {
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PULSE_STOP(Z);
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PULSE_STOP(Z);
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#endif
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#endif
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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#if ENABLED(MIXING_EXTRUDER)
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// Always step the single E axis
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// Always step the single E axis
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if (counter_E > 0) {
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if (counter_E > 0) {
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@ -677,7 +639,7 @@ void Stepper::isr() {
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#else // !MIXING_EXTRUDER
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#else // !MIXING_EXTRUDER
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PULSE_STOP(E);
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PULSE_STOP(E);
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#endif
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#endif
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#endif // !ADVANCE && !LIN_ADVANCE
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#endif // !LIN_ADVANCE
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if (++step_events_completed >= current_block->step_event_count) {
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if (++step_events_completed >= current_block->step_event_count) {
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all_steps_done = true;
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all_steps_done = true;
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@ -694,6 +656,7 @@ void Stepper::isr() {
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} // steps_loop
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} // steps_loop
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#if ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead) {
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if (current_block->use_advance_lead) {
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const int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX];
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const int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX];
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current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
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current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
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@ -706,12 +669,10 @@ void Stepper::isr() {
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e_steps[TOOL_E_INDEX] += delta_adv_steps;
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e_steps[TOOL_E_INDEX] += delta_adv_steps;
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#endif
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#endif
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}
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}
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#endif
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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// If we have esteps to execute, fire the next advance_isr "now"
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// If we have esteps to execute, fire the next advance_isr "now"
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if (e_steps[TOOL_E_INDEX]) nextAdvanceISR = 0;
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if (e_steps[TOOL_E_INDEX]) nextAdvanceISR = 0;
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#endif
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#endif // LIN_ADVANCE
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// Calculate new timer value
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// Calculate new timer value
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if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
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if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
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@ -740,32 +701,9 @@ void Stepper::isr() {
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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#endif
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#endif
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}
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}
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#elif ENABLED(ADVANCE)
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advance += advance_rate * step_loops;
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//NOLESS(advance, current_block->advance);
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const long advance_whole = advance >> 8,
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advance_factor = advance_whole - old_advance;
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// Do E steps + advance steps
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#if ENABLED(MIXING_EXTRUDER)
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// ...for mixing steppers proportionally
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MIXING_STEPPERS_LOOP(j)
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e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
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#else
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// ...for the active extruder
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e_steps[TOOL_E_INDEX] += advance_factor;
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#endif
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old_advance = advance_whole;
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
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eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
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#endif
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#endif // LIN_ADVANCE
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}
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}
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else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
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else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
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uint16_t step_rate;
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uint16_t step_rate;
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@ -796,30 +734,9 @@ void Stepper::isr() {
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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#endif
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#endif
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}
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}
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#elif ENABLED(ADVANCE)
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advance -= advance_rate * step_loops;
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NOLESS(advance, final_advance);
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// Do E steps + advance steps
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const long advance_whole = advance >> 8,
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advance_factor = advance_whole - old_advance;
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j)
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e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
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#else
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e_steps[TOOL_E_INDEX] += advance_factor;
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#endif
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old_advance = advance_whole;
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
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eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
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#endif
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#endif // LIN_ADVANCE
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}
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}
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else {
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else {
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@ -839,7 +756,7 @@ void Stepper::isr() {
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step_loops = step_loops_nominal;
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step_loops = step_loops_nominal;
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}
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}
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
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NOLESS(OCR1A, TCNT1 + 16);
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NOLESS(OCR1A, TCNT1 + 16);
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#endif
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#endif
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@ -848,12 +765,12 @@ void Stepper::isr() {
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current_block = NULL;
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current_block = NULL;
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planner.discard_current_block();
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planner.discard_current_block();
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}
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}
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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#if DISABLED(LIN_ADVANCE)
|
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|
_ENABLE_ISRs(); // re-enable ISRs
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|
_ENABLE_ISRs(); // re-enable ISRs
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|
#endif
|
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|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
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|
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
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|
|
#if ENABLED(LIN_ADVANCE)
|
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|
#define CYCLES_EATEN_E (E_STEPPERS * 5)
|
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|
|
#define CYCLES_EATEN_E (E_STEPPERS * 5)
|
|
|
|
#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
|
|
|
|
#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
|
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|
|
@ -987,7 +904,7 @@ void Stepper::isr() {
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|
|
_ENABLE_ISRs();
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|
|
_ENABLE_ISRs();
|
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|
|
}
|
|
|
|
}
|
|
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|
|
#endif // ADVANCE or LIN_ADVANCE
|
|
|
|
#endif // LIN_ADVANCE
|
|
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|
|
void Stepper::init() {
|
|
|
|
void Stepper::init() {
|
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|
|
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|
|
@ -1170,12 +1087,10 @@ void Stepper::init() {
|
|
|
|
TCNT1 = 0;
|
|
|
|
TCNT1 = 0;
|
|
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
for (uint8_t i = 0; i < COUNT(e_steps); i++) e_steps[i] = 0;
|
|
|
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
|
|
|
|
for (uint8_t i = 0; i < COUNT(e_steps); i++) e_steps[i] = 0;
|
|
|
|
ZERO(current_adv_steps);
|
|
|
|
ZERO(current_adv_steps);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#endif // ADVANCE || LIN_ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
endstops.enable(true); // Start with endstops active. After homing they can be disabled
|
|
|
|
endstops.enable(true); // Start with endstops active. After homing they can be disabled
|
|
|
|
sei();
|
|
|
|
sei();
|
|
|
|
|
Scott Lahteine
7 years ago