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334 lines
10 KiB
334 lines
10 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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* Part of 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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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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block_t* current_block = NULL; // A pointer to the block currently being traced
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#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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bool abort_on_endstop_hit = false;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool performing_homing = false;
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#endif
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#if ENABLED(ADVANCE)
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long e_steps[4];
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#endif
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private:
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unsigned char last_direction_bits = 0; // The next stepping-bits to be output
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unsigned int cleaning_buffer_counter = 0;
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool locked_z_motor = false,
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locked_z2_motor = false;
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#endif
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// Counter variables for the Bresenham line tracer
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long counter_X = 0, counter_Y = 0, counter_Z = 0, counter_E = 0;
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volatile unsigned long step_events_completed = 0; // The number of step events executed in the current block
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#if ENABLED(ADVANCE)
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unsigned char old_OCR0A;
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long advance_rate, advance, final_advance = 0;
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long old_advance = 0;
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#endif
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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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unsigned short acc_step_rate; // needed for deceleration start point
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uint8_t step_loops;
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uint8_t step_loops_nominal;
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unsigned short OCR1A_nominal;
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volatile long endstops_trigsteps[3];
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volatile long endstops_stepsTotal, endstops_stepsDone;
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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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const int motor_current_setting[3] = PWM_MOTOR_CURRENT;
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#endif
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//
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// Positions of stepper motors, in step units
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//
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volatile long count_position[NUM_AXIS] = { 0 };
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//
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// Current direction of stepper motors (+1 or -1)
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//
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volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
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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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void init();
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//
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// Interrupt Service Routines
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//
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void isr();
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#if ENABLED(ADVANCE)
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void advance_isr();
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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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void synchronize();
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//
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// Set the current position in steps
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//
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void set_position(const long& x, const long& y, const long& z, const long& e);
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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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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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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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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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float get_axis_position_mm(AxisEnum axis);
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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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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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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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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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FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
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#if HAS_DIGIPOTSS
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void digitalPotWrite(int address, int value);
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#endif
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void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
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void digipot_current(uint8_t driver, int current);
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void microstep_mode(uint8_t driver, uint8_t stepping);
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void microstep_readings();
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#if ENABLED(Z_DUAL_ENDSTOPS)
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FORCE_INLINE void set_homing_flag(bool state) { performing_homing = state; }
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FORCE_INLINE void set_z_lock(bool state) { locked_z_motor = state; }
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FORCE_INLINE void set_z2_lock(bool state) { locked_z2_motor = state; }
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#endif
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#if ENABLED(BABYSTEPPING)
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void babystep(const uint8_t 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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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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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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FORCE_INLINE float triggered_position_mm(AxisEnum axis) {
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return endstops_trigsteps[axis] / planner.axis_steps_per_unit[axis];
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}
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private:
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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) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
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return timer;
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}
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// Initializes the trapezoid generator from the current block. Called whenever a new
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// block begins.
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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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#if ENABLED(ADVANCE)
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advance = current_block->initial_advance;
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final_advance = current_block->final_advance;
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// Do E steps + advance steps
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e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
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old_advance = advance >>8;
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#endif
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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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OCR1A = acceleration_time;
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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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void digipot_init();
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void microstep_init();
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};
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#endif // STEPPER_H
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