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Localize stepper-specific defines
This commit is contained in:
Scott Lahteine
parent
a9861a780e
commit
0d79128c8d
@ -1444,149 +1444,4 @@
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#define USE_EXECUTE_COMMANDS_IMMEDIATE
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#endif
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// Calculate a default maximum stepper rate, if not supplied
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#ifndef MAXIMUM_STEPPER_RATE
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#if MINIMUM_STEPPER_PULSE
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#define MAXIMUM_STEPPER_RATE (1000000UL / (2UL * (MINIMUM_STEPPER_PULSE)))
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#else
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#define MAXIMUM_STEPPER_RATE 500000UL
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#endif
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#endif
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//
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// Estimate the amount of time the ISR will take to execute
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//
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#ifdef CPU_32_BIT
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// The base ISR takes 792 cycles
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#define ISR_BASE_CYCLES 792UL
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// Linear advance base time is 64 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 64UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 40 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 40UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 4UL
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// And each stepper takes 16 cycles
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#define ISR_STEPPER_CYCLES 16UL
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#else
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 32UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper takes 88 cycles
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#define ISR_STEPPER_CYCLES 88UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_X_STEPPER_CYCLES 0UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_Y_STEP
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Y_STEPPER_CYCLES 0UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_Z_STEP
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Z_STEPPER_CYCLES 0UL
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#endif
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// E is always interpolated, even for mixing extruders
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
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// If linear advance is disabled, then the loop also handles them
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#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
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#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * ISR_STEPPER_CYCLES)
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#else
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#define ISR_MIXING_STEPPER_CYCLES 0UL
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#endif
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// And the total minimum loop time is, without including the base
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#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
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// Calculate the minimum MPU cycles needed per pulse to enforce not surpassing the maximum stepper rate
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#define _MIN_STEPPER_PULSE_CYCLES(N) MAX((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
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#if MINIMUM_STEPPER_PULSE
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE)
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#else
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1)
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#endif
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// But the user could be enforcing a minimum time, so the loop time is
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#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
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// If linear advance is enabled, then it is handled separately
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#if ENABLED(LIN_ADVANCE)
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// Estimate the minimum LA loop time
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#if ENABLED(MIXING_EXTRUDER)
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#define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
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#else
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#define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES
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#endif
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// And the real loop time
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#define ISR_LA_LOOP_CYCLES MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
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#else
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#define ISR_LA_LOOP_CYCLES 0UL
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#endif
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// Now estimate the total ISR execution time in cycles given a step per ISR multiplier
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#define ISR_EXECUTION_CYCLES(rate) (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES * rate) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / rate)
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// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz)
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#define MAX_128X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(128))
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#define MAX_64X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(64))
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#define MAX_32X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(32))
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#define MAX_16X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(16))
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#define MAX_8X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(8))
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#define MAX_4X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(4))
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#define MAX_2X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(2))
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#define MAX_1X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(1))
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// The minimum allowable frequency for step smoothing will be 1/10 of the maximum nominal frequency (in Hz)
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#define MIN_STEP_ISR_FREQUENCY MAX_1X_STEP_ISR_FREQUENCY
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// Disable multiple steps per ISR
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//#define DISABLE_MULTI_STEPPING
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#endif // CONDITIONALS_POST_H
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@ -1664,7 +1664,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
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uint32_t max_rate = current_block->nominal_rate; // Get the maximum rate (maximum event speed)
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while (max_rate < MIN_STEP_ISR_FREQUENCY) {
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max_rate <<= 1;
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if (max_rate >= MAX_1X_STEP_ISR_FREQUENCY) break;
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if (max_rate >= MAX_STEP_ISR_FREQUENCY_1X) break;
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++oversampling;
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}
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oversampling_factor = oversampling;
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@ -43,19 +43,169 @@
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#ifndef STEPPER_H
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#define STEPPER_H
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#include "../inc/MarlinConfig.h"
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// Disable multiple steps per ISR
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//#define DISABLE_MULTI_STEPPING
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//
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// Estimate the amount of time the Stepper ISR will take to execute
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//
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#ifndef MINIMUM_STEPPER_PULSE
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#define MINIMUM_STEPPER_PULSE 0
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#endif
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#ifndef MAXIMUM_STEPPER_RATE
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#if MINIMUM_STEPPER_PULSE
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#define MAXIMUM_STEPPER_RATE (1000000UL / (2UL * (MINIMUM_STEPPER_PULSE)))
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#else
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#define MAXIMUM_STEPPER_RATE 500000UL
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#endif
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#endif
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#ifdef CPU_32_BIT
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// The base ISR takes 792 cycles
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#define ISR_BASE_CYCLES 792UL
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// Linear advance base time is 64 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 64UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 40 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 40UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 4UL
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// And each stepper takes 16 cycles
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#define ISR_STEPPER_CYCLES 16UL
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#else
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 32UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper takes 88 cycles
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#define ISR_STEPPER_CYCLES 88UL
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#endif
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// Add time for each stepper
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#ifdef HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_X_STEPPER_CYCLES 0UL
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#endif
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#ifdef HAS_Y_STEP
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Y_STEPPER_CYCLES 0UL
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#endif
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#ifdef HAS_Z_STEP
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Z_STEPPER_CYCLES 0UL
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#endif
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// E is always interpolated, even for mixing extruders
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
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// If linear advance is disabled, then the loop also handles them
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#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
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#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
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#else
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#define ISR_MIXING_STEPPER_CYCLES 0UL
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#endif
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// And the total minimum loop time, not including the base
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#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
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// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
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#define _MIN_STEPPER_PULSE_CYCLES(N) max((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
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#if MINIMUM_STEPPER_PULSE
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE)
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#else
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1)
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#endif
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#define MIN_PULSE_TICKS ((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE))
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#define ADDED_STEP_TICKS ((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE) - MIN_PULSE_TICKS)
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// But the user could be enforcing a minimum time, so the loop time is
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#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
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// If linear advance is enabled, then it is handled separately
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#if ENABLED(LIN_ADVANCE)
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// Estimate the minimum LA loop time
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#if ENABLED(MIXING_EXTRUDER)
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#define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
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#else
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#define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES
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#endif
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// And the real loop time
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#define ISR_LA_LOOP_CYCLES max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
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#else
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#define ISR_LA_LOOP_CYCLES 0UL
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#endif
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// Now estimate the total ISR execution time in cycles given a step per ISR multiplier
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#define ISR_EXECUTION_CYCLES(R) (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES) * (R) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / (R))
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// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz)
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#define MAX_STEP_ISR_FREQUENCY_128X ((F_CPU) / ISR_EXECUTION_CYCLES(128))
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#define MAX_STEP_ISR_FREQUENCY_64X ((F_CPU) / ISR_EXECUTION_CYCLES(64))
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#define MAX_STEP_ISR_FREQUENCY_32X ((F_CPU) / ISR_EXECUTION_CYCLES(32))
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#define MAX_STEP_ISR_FREQUENCY_16X ((F_CPU) / ISR_EXECUTION_CYCLES(16))
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#define MAX_STEP_ISR_FREQUENCY_8X ((F_CPU) / ISR_EXECUTION_CYCLES(8))
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#define MAX_STEP_ISR_FREQUENCY_4X ((F_CPU) / ISR_EXECUTION_CYCLES(4))
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#define MAX_STEP_ISR_FREQUENCY_2X ((F_CPU) / ISR_EXECUTION_CYCLES(2))
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#define MAX_STEP_ISR_FREQUENCY_1X ((F_CPU) / ISR_EXECUTION_CYCLES(1))
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// The minimum allowable frequency for step smoothing will be 1/10 of the maximum nominal frequency (in Hz)
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#define MIN_STEP_ISR_FREQUENCY MAX_STEP_ISR_FREQUENCY_1X
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//
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// Stepper class definition
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//
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#include "stepper_indirection.h"
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#ifdef __AVR__
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#include "speed_lookuptable.h"
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#endif
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#include "../inc/MarlinConfig.h"
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#include "../module/planner.h"
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#include "../core/language.h"
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class Stepper;
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extern Stepper stepper;
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class Stepper {
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public:
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@ -303,14 +453,14 @@ class Stepper {
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// The stepping frequency limits for each multistepping rate
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static const uint32_t limit[] PROGMEM = {
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( MAX_1X_STEP_ISR_FREQUENCY ),
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( MAX_2X_STEP_ISR_FREQUENCY >> 1),
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( MAX_4X_STEP_ISR_FREQUENCY >> 2),
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( MAX_8X_STEP_ISR_FREQUENCY >> 3),
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( MAX_16X_STEP_ISR_FREQUENCY >> 4),
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( MAX_32X_STEP_ISR_FREQUENCY >> 5),
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( MAX_64X_STEP_ISR_FREQUENCY >> 6),
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(MAX_128X_STEP_ISR_FREQUENCY >> 7)
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( MAX_STEP_ISR_FREQUENCY_1X ),
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( MAX_STEP_ISR_FREQUENCY_2X >> 1),
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( MAX_STEP_ISR_FREQUENCY_4X >> 2),
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( MAX_STEP_ISR_FREQUENCY_8X >> 3),
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( MAX_STEP_ISR_FREQUENCY_16X >> 4),
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( MAX_STEP_ISR_FREQUENCY_32X >> 5),
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( MAX_STEP_ISR_FREQUENCY_64X >> 6),
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(MAX_STEP_ISR_FREQUENCY_128X >> 7)
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};
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// Select the proper multistepping
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@ -321,7 +471,7 @@ class Stepper {
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++idx;
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};
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#else
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NOMORE(step_rate, uint32_t(MAX_1X_STEP_ISR_FREQUENCY));
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NOMORE(step_rate, uint32_t(MAX_STEP_ISR_FREQUENCY_1X));
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#endif
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*loops = multistep;
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@ -367,4 +517,6 @@ class Stepper {
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};
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extern Stepper stepper;
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#endif // STEPPER_H
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