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MarlinFirmware/Marlin/stepper.h
Scott Lahteine 1cdcc6adfa Adaptive multiaxis step smoothing 
- Stepper bugs fixed
- Support MIXING_EXTRUDER with Linear Advance
- Miscellaneous cleanup

Co-Authored-By: ejtagle <ejtagle@hotmail.com>
2018-06-10 01:56:00 -05:00

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
* Derived from Grbl
*
* Copyright (c) 2009-2011 Simen Svale Skogsrud
*
* Grbl is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Grbl is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef STEPPER_H
#define STEPPER_H
#include "planner.h"
#include "speed_lookuptable.h"
#include "stepper_indirection.h"
#include "language.h"
#include "types.h"
class Stepper;
extern Stepper stepper;
// intRes = intIn1 * intIn2 >> 16
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 24 bit result
static FORCE_INLINE uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
register uint8_t tmp;
register uint16_t intRes;
__asm__ __volatile__ (
A("clr %[tmp]")
A("mul %[charIn1], %B[intIn2]")
A("movw %A[intRes], r0")
A("mul %[charIn1], %A[intIn2]")
A("add %A[intRes], r1")
A("adc %B[intRes], %[tmp]")
A("lsr r0")
A("adc %A[intRes], %[tmp]")
A("adc %B[intRes], %[tmp]")
A("clr r1")
: [intRes] "=&r" (intRes),
[tmp] "=&r" (tmp)
: [charIn1] "d" (charIn1),
[intIn2] "d" (intIn2)
: "cc"
);
return intRes;
}
class Stepper {
public:
static block_t* current_block; // A pointer to the block currently being traced
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
static bool homing_dual_axis;
#endif
#if HAS_MOTOR_CURRENT_PWM
#ifndef PWM_MOTOR_CURRENT
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
#endif
static uint32_t motor_current_setting[3];
#endif
private:
static uint8_t last_direction_bits, // The next stepping-bits to be output
axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
static bool abort_current_block; // Signals to the stepper that current block should be aborted
#if DISABLED(MIXING_EXTRUDER)
static uint8_t last_moved_extruder; // Last-moved extruder, as set when the last movement was fetched from planner
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
static bool locked_X_motor, locked_X2_motor;
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
static bool locked_Y_motor, locked_Y2_motor;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
static bool locked_Z_motor, locked_Z2_motor;
#endif
static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks
static uint8_t steps_per_isr; // Count of steps to perform per Stepper ISR call
#if ENABLED(ADAPTIVE_STEP_SMOOTHING)
static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis
#else
static constexpr uint8_t oversampling_factor = 0;
#endif
// Delta error variables for the Bresenham line tracer
static int32_t delta_error[XYZE];
static uint32_t advance_dividend[XYZE],
advance_divisor,
step_events_completed, // The number of step events executed in the current block
accelerate_until, // The point from where we need to stop acceleration
decelerate_after, // The point from where we need to start decelerating
step_event_count; // The total event count for the current block
// Mixing extruder mix delta_errors for bresenham tracing
#if ENABLED(MIXING_EXTRUDER)
static int32_t delta_error_m[MIXING_STEPPERS];
static uint32_t advance_dividend_m[MIXING_STEPPERS],
advance_divisor_m;
#define MIXING_STEPPERS_LOOP(VAR) \
for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++)
#else
static int8_t active_extruder; // Active extruder
#endif
#if ENABLED(S_CURVE_ACCELERATION)
static int32_t bezier_A, // A coefficient in Bézier speed curve
bezier_B, // B coefficient in Bézier speed curve
bezier_C; // C coefficient in Bézier speed curve
static uint32_t bezier_F, // F coefficient in Bézier speed curve
bezier_AV; // AV coefficient in Bézier speed curve
static bool A_negative, // If A coefficient was negative
bezier_2nd_half; // If Bézier curve has been initialized or not
#endif
static uint32_t nextMainISR; // time remaining for the next Step ISR
#if ENABLED(LIN_ADVANCE)
static uint32_t nextAdvanceISR, LA_isr_rate;
static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
static int8_t LA_steps;
static bool LA_use_advance_lead;
#endif // LIN_ADVANCE
static int32_t ticks_nominal;
#if DISABLED(S_CURVE_ACCELERATION)
static uint32_t acc_step_rate; // needed for deceleration start point
#endif
static volatile int32_t endstops_trigsteps[XYZ];
//
// Positions of stepper motors, in step units
//
static volatile int32_t count_position[NUM_AXIS];
//
// Current direction of stepper motors (+1 or -1)
//
static int8_t count_direction[NUM_AXIS];
public:
//
// Constructor / initializer
//
Stepper() { };
// Initialize stepper hardware
static void init();
// Interrupt Service Routines
// The ISR scheduler
static void isr();
// The stepper pulse phase ISR
static void stepper_pulse_phase_isr();
// The stepper block processing phase ISR
static uint32_t stepper_block_phase_isr();
#if ENABLED(LIN_ADVANCE)
// The Linear advance stepper ISR
static uint32_t advance_isr();
#endif
// Get the position of a stepper, in steps
static int32_t position(const AxisEnum axis);
// Report the positions of the steppers, in steps
static void report_positions();
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work.
static void wake_up();
// Quickly stop all steppers
FORCE_INLINE static void quick_stop() { abort_current_block = true; }
// The direction of a single motor
FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
// The extruder associated to the last movement
FORCE_INLINE static uint8_t movement_extruder() {
return
#if ENABLED(MIXING_EXTRUDER)
0
#else
last_moved_extruder
#endif
;
}
// Handle a triggered endstop
static void endstop_triggered(const AxisEnum axis);
// Triggered position of an axis in steps
static int32_t triggered_position(const AxisEnum axis);
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
static void digitalPotWrite(const int16_t address, const int16_t value);
static void digipot_current(const uint8_t driver, const int16_t current);
#endif
#if HAS_MICROSTEPS
static void microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2);
static void microstep_mode(const uint8_t driver, const uint8_t stepping);
static void microstep_readings();
#endif
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_dual_axis(const bool state) { homing_dual_axis = state; }
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
#endif
#if ENABLED(BABYSTEPPING)
static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
#endif
#if HAS_MOTOR_CURRENT_PWM
static void refresh_motor_power();
#endif
// Set the current position in steps
inline static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
_set_position(a, b, c, e);
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
inline static void set_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
count_position[a] = v;
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
private:
// Set the current position in steps
static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
// Set direction bits for all steppers
static void set_directions();
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) {
uint32_t timer;
// Scale the frequency, as requested by the caller
step_rate <<= scale;
uint8_t multistep = 1;
#if DISABLED(DISABLE_MULTI_STEPPING)
// The stepping frequency limits for each multistepping rate
static const uint32_t limit[] PROGMEM = {
( MAX_1X_STEP_ISR_FREQUENCY ),
( MAX_2X_STEP_ISR_FREQUENCY >> 1),
( MAX_4X_STEP_ISR_FREQUENCY >> 2),
( MAX_8X_STEP_ISR_FREQUENCY >> 3),
( MAX_16X_STEP_ISR_FREQUENCY >> 4),
( MAX_32X_STEP_ISR_FREQUENCY >> 5),
( MAX_64X_STEP_ISR_FREQUENCY >> 6),
(MAX_128X_STEP_ISR_FREQUENCY >> 7)
};
// Select the proper multistepping
uint8_t idx = 0;
while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) {
step_rate >>= 1;
multistep <<= 1;
++idx;
};
#else
NOMORE(step_rate, uint32_t(MAX_1X_STEP_ISR_FREQUENCY));
#endif
*loops = multistep;
constexpr uint32_t min_step_rate = F_CPU / 500000U;
NOLESS(step_rate, min_step_rate);
step_rate -= min_step_rate; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
const uint8_t tmp_step_rate = (step_rate & 0x00FF);
const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
gain = (uint16_t)pgm_read_word_near(table_address + 2);
timer = MultiU16X8toH16(tmp_step_rate, gain);
timer = (uint16_t)pgm_read_word_near(table_address) - timer;
}
else { // lower step rates
uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
table_address += ((step_rate) >> 1) & 0xFFFC;
timer = (uint16_t)pgm_read_word_near(table_address)
- (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
}
// (there is no need to limit the timer value here. All limits have been
// applied above, and AVR is able to keep up at 30khz Stepping ISR rate)
return timer;
}
#if ENABLED(S_CURVE_ACCELERATION)
static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
static int32_t _eval_bezier_curve(const uint32_t curr_step);
#endif
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
static void digipot_init();
#endif
#if HAS_MICROSTEPS
static void microstep_init();
#endif
};
#endif // STEPPER_H
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