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391 lines
13 KiB
391 lines
13 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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* Derived from Grbl
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*
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
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* Grbl is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Grbl is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef STEPPER_H
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#define STEPPER_H
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#include "planner.h"
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#include "speed_lookuptable.h"
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#include "stepper_indirection.h"
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#include "language.h"
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#include "types.h"
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class Stepper;
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extern Stepper stepper;
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// intRes = intIn1 * intIn2 >> 16
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// uses:
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// r26 to store 0
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// r27 to store the byte 1 of the 24 bit result
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#define MultiU16X8toH16(intRes, charIn1, intIn2) \
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asm volatile ( \
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"clr r26 \n\t" \
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"mul %A1, %B2 \n\t" \
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"movw %A0, r0 \n\t" \
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"mul %A1, %A2 \n\t" \
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"add %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"lsr r0 \n\t" \
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"adc %A0, r26 \n\t" \
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"adc %B0, r26 \n\t" \
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"clr r1 \n\t" \
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: \
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"=&r" (intRes) \
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: \
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"d" (charIn1), \
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"d" (intIn2) \
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: \
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"r26" \
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)
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class Stepper {
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public:
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static block_t* current_block; // A pointer to the block currently being traced
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#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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static bool abort_on_endstop_hit;
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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static bool performing_homing;
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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#ifndef PWM_MOTOR_CURRENT
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#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
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#endif
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static uint32_t motor_current_setting[3];
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#endif
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private:
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static uint8_t last_direction_bits; // The next stepping-bits to be output
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static uint16_t cleaning_buffer_counter;
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#if ENABLED(X_DUAL_ENDSTOPS)
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static bool locked_x_motor, locked_x2_motor;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static bool locked_y_motor, locked_y2_motor;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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static bool locked_z_motor, locked_z2_motor;
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#endif
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// Counter variables for the Bresenham line tracer
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static long counter_X, counter_Y, counter_Z, counter_E;
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static volatile uint32_t step_events_completed; // The number of step events executed in the current block
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#if ENABLED(LIN_ADVANCE)
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static uint16_t nextMainISR, nextAdvanceISR, eISR_Rate;
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#define _NEXT_ISR(T) nextMainISR = T
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static volatile int e_steps[E_STEPPERS];
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static int final_estep_rate;
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static int current_estep_rate[E_STEPPERS]; // Actual extruder speed [steps/s]
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static int current_adv_steps[E_STEPPERS]; // The amount of current added esteps due to advance.
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// i.e., the current amount of pressure applied
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// to the spring (=filament).
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#else // !LIN_ADVANCE
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#define _NEXT_ISR(T) OCR1A = T
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#endif // !LIN_ADVANCE
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static long acceleration_time, deceleration_time;
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//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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static unsigned short acc_step_rate; // needed for deceleration start point
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static uint8_t step_loops, step_loops_nominal;
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static unsigned short OCR1A_nominal;
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static volatile long endstops_trigsteps[XYZ];
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static volatile long endstops_stepsTotal, endstops_stepsDone;
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//
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// Positions of stepper motors, in step units
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//
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static volatile long count_position[NUM_AXIS];
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//
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// Current direction of stepper motors (+1 or -1)
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//
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static volatile signed char count_direction[NUM_AXIS];
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//
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// Mixing extruder mix counters
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//
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#if ENABLED(MIXING_EXTRUDER)
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static long counter_m[MIXING_STEPPERS];
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#define MIXING_STEPPERS_LOOP(VAR) \
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for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
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if (current_block->mix_event_count[VAR])
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#endif
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public:
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//
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// Constructor / initializer
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//
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Stepper() { };
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//
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// Initialize stepper hardware
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//
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static void init();
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//
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// Interrupt Service Routines
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//
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static void isr();
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#if ENABLED(LIN_ADVANCE)
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static void advance_isr();
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static void advance_isr_scheduler();
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#endif
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//
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// Block until all buffered steps are executed
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//
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static void synchronize();
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//
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// Set the current position in steps
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//
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static void set_position(const long &a, const long &b, const long &c, const long &e);
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static void set_position(const AxisEnum &a, const long &v);
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static void set_e_position(const long &e);
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//
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// Set direction bits for all steppers
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//
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static void set_directions();
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//
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// Get the position of a stepper, in steps
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//
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static long position(AxisEnum axis);
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//
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// Report the positions of the steppers, in steps
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//
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static void report_positions();
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//
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// Get the position (mm) of an axis based on stepper position(s)
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//
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static float get_axis_position_mm(AxisEnum axis);
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//
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// SCARA AB axes are in degrees, not mm
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//
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#if IS_SCARA
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static FORCE_INLINE float get_axis_position_degrees(AxisEnum axis) { return get_axis_position_mm(axis); }
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#endif
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//
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// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
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// to notify the subsystem that it is time to go to work.
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//
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static void wake_up();
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//
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// Wait for moves to finish and disable all steppers
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//
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static void finish_and_disable();
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//
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// Quickly stop all steppers and clear the blocks queue
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//
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static void quick_stop();
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//
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// The direction of a single motor
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//
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static FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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static void digitalPotWrite(const int16_t address, const int16_t value);
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static void digipot_current(const uint8_t driver, const int16_t current);
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#endif
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#if HAS_MICROSTEPS
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static void microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2);
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static void microstep_mode(const uint8_t driver, const uint8_t stepping);
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static void microstep_readings();
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS)
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static FORCE_INLINE void set_homing_flag_x(const bool state) { performing_homing = state; }
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static FORCE_INLINE void set_x_lock(const bool state) { locked_x_motor = state; }
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static FORCE_INLINE void set_x2_lock(const bool state) { locked_x2_motor = state; }
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static FORCE_INLINE void set_homing_flag_y(const bool state) { performing_homing = state; }
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static FORCE_INLINE void set_y_lock(const bool state) { locked_y_motor = state; }
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static FORCE_INLINE void set_y2_lock(const bool state) { locked_y2_motor = state; }
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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static FORCE_INLINE void set_homing_flag_z(const bool state) { performing_homing = state; }
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static FORCE_INLINE void set_z_lock(const bool state) { locked_z_motor = state; }
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static FORCE_INLINE void set_z2_lock(const bool state) { locked_z2_motor = state; }
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#endif
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#if ENABLED(BABYSTEPPING)
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static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
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#endif
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static inline void kill_current_block() {
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step_events_completed = current_block->step_event_count;
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}
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//
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// Handle a triggered endstop
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//
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static void endstop_triggered(AxisEnum axis);
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//
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// Triggered position of an axis in mm (not core-savvy)
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//
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static FORCE_INLINE float triggered_position_mm(AxisEnum axis) {
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return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
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}
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#if HAS_MOTOR_CURRENT_PWM
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static void refresh_motor_power();
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#endif
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private:
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static FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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unsigned short timer;
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NOMORE(step_rate, MAX_STEP_FREQUENCY);
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if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
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step_rate >>= 2;
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step_loops = 4;
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}
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else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
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step_rate >>= 1;
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step_loops = 2;
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}
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else {
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step_loops = 1;
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}
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NOLESS(step_rate, F_CPU / 500000);
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step_rate -= F_CPU / 500000; // Correct for minimal speed
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if (step_rate >= (8 * 256)) { // higher step rate
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unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate >> 8)][0];
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unsigned char tmp_step_rate = (step_rate & 0x00FF);
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unsigned short gain = (unsigned short)pgm_read_word_near(table_address + 2);
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MultiU16X8toH16(timer, tmp_step_rate, gain);
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timer = (unsigned short)pgm_read_word_near(table_address) - timer;
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}
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else { // lower step rates
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unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
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table_address += ((step_rate) >> 1) & 0xFFFC;
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timer = (unsigned short)pgm_read_word_near(table_address);
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timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
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}
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if (timer < 100) { // (20kHz - this should never happen)
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timer = 100;
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MYSERIAL.print(MSG_STEPPER_TOO_HIGH);
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MYSERIAL.println(step_rate);
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}
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return timer;
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}
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// Initialize the trapezoid generator from the current block.
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// Called whenever a new block begins.
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static FORCE_INLINE void trapezoid_generator_reset() {
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static int8_t last_extruder = -1;
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if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_extruder) {
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last_direction_bits = current_block->direction_bits;
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last_extruder = current_block->active_extruder;
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set_directions();
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}
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deceleration_time = 0;
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// step_rate to timer interval
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OCR1A_nominal = calc_timer(current_block->nominal_rate);
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// make a note of the number of step loops required at nominal speed
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step_loops_nominal = step_loops;
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acc_step_rate = current_block->initial_rate;
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acceleration_time = calc_timer(acc_step_rate);
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_NEXT_ISR(acceleration_time);
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead) {
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current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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final_estep_rate = (current_block->nominal_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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}
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#endif
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// SERIAL_ECHO_START();
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// SERIAL_ECHOPGM("advance :");
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// SERIAL_ECHO(current_block->advance/256.0);
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// SERIAL_ECHOPGM("advance rate :");
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// SERIAL_ECHO(current_block->advance_rate/256.0);
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// SERIAL_ECHOPGM("initial advance :");
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// SERIAL_ECHO(current_block->initial_advance/256.0);
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// SERIAL_ECHOPGM("final advance :");
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// SERIAL_ECHOLN(current_block->final_advance/256.0);
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}
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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static void digipot_init();
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#endif
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#if HAS_MICROSTEPS
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static void microstep_init();
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#endif
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};
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#endif // STEPPER_H
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