Merge branch 'MK3_stepper_lowres' into MK3_fast_dbg
This commit is contained in:
bubnikv
commit
3efd90a9ea
@ -127,8 +127,6 @@
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//END AUTOSET LOCATIONS OF LIMIT SWITCHES -ZP
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//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
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// A single Z stepper driver is usually used to drive 2 stepper motors.
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// Uncomment this define to utilize a separate stepper driver for each Z axis motor.
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// Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used
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@ -227,8 +227,8 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
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// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
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// have to use intersection_distance() to calculate when to abort acceleration and start braking
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// in order to reach the final_rate exactly at the end of this block.
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if (accel_decel_steps < block->step_event_count) {
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plateau_steps = block->step_event_count - accel_decel_steps;
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if (accel_decel_steps < block->step_event_count.wide) {
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plateau_steps = block->step_event_count.wide - accel_decel_steps;
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} else {
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uint32_t acceleration_x4 = acceleration << 2;
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// Avoid negative numbers
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@ -240,26 +240,26 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
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accelerate_steps = (block->step_event_count >> 1) + (final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1 + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
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#else
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accelerate_steps = final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1;
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if (block->step_event_count & 1)
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if (block->step_event_count.wide & 1)
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accelerate_steps += acceleration_x2;
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accelerate_steps /= acceleration_x4;
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accelerate_steps += (block->step_event_count >> 1);
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accelerate_steps += (block->step_event_count.wide >> 1);
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#endif
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if (accelerate_steps > block->step_event_count)
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accelerate_steps = block->step_event_count;
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if (accelerate_steps > block->step_event_count.wide)
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accelerate_steps = block->step_event_count.wide;
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} else {
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#if 0
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decelerate_steps = (block->step_event_count >> 1) + (initial_rate_sqr - final_rate_sqr + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
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#else
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decelerate_steps = initial_rate_sqr - final_rate_sqr;
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if (block->step_event_count & 1)
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if (block->step_event_count.wide & 1)
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decelerate_steps += acceleration_x2;
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decelerate_steps /= acceleration_x4;
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decelerate_steps += (block->step_event_count >> 1);
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decelerate_steps += (block->step_event_count.wide >> 1);
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#endif
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if (decelerate_steps > block->step_event_count)
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decelerate_steps = block->step_event_count;
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accelerate_steps = block->step_event_count - decelerate_steps;
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if (decelerate_steps > block->step_event_count.wide)
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decelerate_steps = block->step_event_count.wide;
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accelerate_steps = block->step_event_count.wide - decelerate_steps;
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}
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}
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@ -449,10 +449,10 @@ void getHighESpeed()
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uint8_t block_index = block_buffer_tail;
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while(block_index != block_buffer_head) {
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if((block_buffer[block_index].steps_x != 0) ||
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(block_buffer[block_index].steps_y != 0) ||
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(block_buffer[block_index].steps_z != 0)) {
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float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
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if((block_buffer[block_index].steps_x.wide != 0) ||
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(block_buffer[block_index].steps_y.wide != 0) ||
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(block_buffer[block_index].steps_z.wide != 0)) {
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float se=(float(block_buffer[block_index].steps_e.wide)/float(block_buffer[block_index].step_event_count.wide))*block_buffer[block_index].nominal_speed;
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//se; mm/sec;
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if(se>high)
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{
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@ -493,10 +493,10 @@ void check_axes_activity()
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while(block_index != block_buffer_head)
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{
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block = &block_buffer[block_index];
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if(block->steps_x != 0) x_active++;
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if(block->steps_y != 0) y_active++;
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if(block->steps_z != 0) z_active++;
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if(block->steps_e != 0) e_active++;
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if(block->steps_x.wide != 0) x_active++;
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if(block->steps_y.wide != 0) y_active++;
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if(block->steps_z.wide != 0) z_active++;
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if(block->steps_e.wide != 0) e_active++;
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block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
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}
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}
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@ -769,26 +769,24 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
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// Number of steps for each axis
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#ifndef COREXY
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// default non-h-bot planning
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block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
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block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
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block->steps_x.wide = labs(target[X_AXIS]-position[X_AXIS]);
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block->steps_y.wide = labs(target[Y_AXIS]-position[Y_AXIS]);
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#else
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// corexy planning
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// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
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block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
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block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
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block->steps_x.wide = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
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block->steps_y.wide = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
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#endif
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block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
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block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
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block->steps_z.wide = labs(target[Z_AXIS]-position[Z_AXIS]);
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block->steps_e.wide = labs(target[E_AXIS]-position[E_AXIS]);
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if (volumetric_multiplier[active_extruder] != 1.f)
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block->steps_e *= volumetric_multiplier[active_extruder];
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if (extrudemultiply != 100) {
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block->steps_e *= extrudemultiply;
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block->steps_e /= 100;
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}
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block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
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block->steps_e.wide *= volumetric_multiplier[active_extruder];
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if (extrudemultiply != 100)
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block->steps_e.wide *= extrudemultiply * 0.01;
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block->step_event_count.wide = max(block->steps_x.wide, max(block->steps_y.wide, max(block->steps_z.wide, block->steps_e.wide)));
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// Bail if this is a zero-length block
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if (block->step_event_count <= dropsegments)
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if (block->step_event_count.wide <= dropsegments)
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{
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#ifdef PLANNER_DIAGNOSTICS
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planner_update_queue_min_counter();
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@ -832,21 +830,19 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
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//enable active axes
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#ifdef COREXY
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if((block->steps_x != 0) || (block->steps_y != 0))
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if((block->steps_x.wide != 0) || (block->steps_y.wide != 0))
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{
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enable_x();
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enable_y();
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}
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#else
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if(block->steps_x != 0) enable_x();
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if(block->steps_y != 0) enable_y();
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#endif
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#ifndef Z_LATE_ENABLE
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if(block->steps_z != 0) enable_z();
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if(block->steps_x.wide != 0) enable_x();
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if(block->steps_y.wide != 0) enable_y();
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#endif
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if(block->steps_z.wide != 0) enable_z();
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// Enable extruder(s)
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if(block->steps_e != 0)
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if(block->steps_e.wide != 0)
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{
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if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
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{
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@ -888,7 +884,7 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
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}
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}
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if (block->steps_e == 0)
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if (block->steps_e.wide == 0)
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{
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if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
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}
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@ -917,7 +913,7 @@ Having the real displacement of the head, we can calculate the total movement le
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#endif
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delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
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delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*volumetric_multiplier[active_extruder]*extrudemultiply/100.0;
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if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
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if ( block->steps_x.wide <=dropsegments && block->steps_y.wide <=dropsegments && block->steps_z.wide <=dropsegments )
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{
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block->millimeters = fabs(delta_mm[E_AXIS]);
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}
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@ -950,7 +946,7 @@ Having the real displacement of the head, we can calculate the total movement le
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#endif // SLOWDOWN
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block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
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block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
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block->nominal_rate = ceil(block->step_event_count.wide * inverse_second); // (step/sec) Always > 0
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#ifdef FILAMENT_SENSOR
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//FMM update ring buffer used for delay with filament measurements
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@ -1038,8 +1034,8 @@ Having the real displacement of the head, we can calculate the total movement le
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// Compute and limit the acceleration rate for the trapezoid generator.
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// block->step_event_count ... event count of the fastest axis
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// block->millimeters ... Euclidian length of the XYZ movement or the E length, if no XYZ movement.
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float steps_per_mm = block->step_event_count/block->millimeters;
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if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
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float steps_per_mm = block->step_event_count.wide/block->millimeters;
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if(block->steps_x.wide == 0 && block->steps_y.wide == 0 && block->steps_z.wide == 0)
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{
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block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
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}
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@ -1050,48 +1046,48 @@ Having the real displacement of the head, we can calculate the total movement le
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#ifdef SIMPLE_ACCEL_LIMIT // in some cases can be acceleration limited inproperly
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if (tmc2130_mode == TMC2130_MODE_SILENT)
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{
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if (block->steps_x || block->steps_y)
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if (block->steps_x.wide || block->steps_y.wide)
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if (block->acceleration_st > SILENT_MAX_ACCEL_ST) block->acceleration_st = SILENT_MAX_ACCEL_ST;
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}
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else
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{
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if (block->steps_x || block->steps_y)
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if (block->steps_x.wide || block->steps_y.wide)
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if (block->acceleration_st > NORMAL_MAX_ACCEL_ST) block->acceleration_st = NORMAL_MAX_ACCEL_ST;
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}
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if (block->steps_x && (block->acceleration_st > axis_steps_per_sqr_second[X_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
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if (block->steps_y && (block->acceleration_st > axis_steps_per_sqr_second[Y_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
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if (block->steps_z && (block->acceleration_st > axis_steps_per_sqr_second[Z_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
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if (block->steps_e && (block->acceleration_st > axis_steps_per_sqr_second[E_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
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if (block->steps_x.wide && (block->acceleration_st > axis_steps_per_sqr_second[X_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
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if (block->steps_y.wide && (block->acceleration_st > axis_steps_per_sqr_second[Y_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
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if (block->steps_z.wide && (block->acceleration_st > axis_steps_per_sqr_second[Z_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
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if (block->steps_e.wide && (block->acceleration_st > axis_steps_per_sqr_second[E_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
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#else // SIMPLE_ACCEL_LIMIT
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if (tmc2130_mode == TMC2130_MODE_SILENT)
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{
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if ((block->steps_x > block->step_event_count / 2) || (block->steps_y > block->step_event_count / 2))
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if ((block->steps_x.wide > block->step_event_count.wide / 2) || (block->steps_y.wide > block->step_event_count.wide / 2))
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if (block->acceleration_st > SILENT_MAX_ACCEL_ST) block->acceleration_st = SILENT_MAX_ACCEL_ST;
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}
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else
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{
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if ((block->steps_x > block->step_event_count / 2) || (block->steps_y > block->step_event_count / 2))
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if ((block->steps_x.wide > block->step_event_count.wide / 2) || (block->steps_y.wide > block->step_event_count.wide / 2))
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if (block->acceleration_st > NORMAL_MAX_ACCEL_ST) block->acceleration_st = NORMAL_MAX_ACCEL_ST;
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}
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if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
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if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
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if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
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if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Z_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
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if(((float)block->acceleration_st * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
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#endif // SIMPLE_ACCEL_LIMIT
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#else //TMC2130
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// Limit acceleration per axis
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//FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
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if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
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if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
|
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if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
|
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if(((float)block->acceleration_st * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS])
|
||||
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
|
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if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide ) > axis_steps_per_sqr_second[Z_AXIS])
|
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block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
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#endif //TMC2130
|
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}
|
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@ -1249,10 +1245,10 @@ Having the real displacement of the head, we can calculate the total movement le
|
||||
// The math is good, but we must avoid retract moves with advance!
|
||||
// de_float > 0.0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
|
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//
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||||
block->use_advance_lead = block->steps_e
|
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&& (block->steps_x || block->steps_y)
|
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block->use_advance_lead = block->steps_e.wide
|
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&& (block->steps_x.wide || block->steps_y.wide)
|
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&& extruder_advance_k
|
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&& (uint32_t)block->steps_e != block->step_event_count
|
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&& (uint32_t)block->steps_e.wide != block->step_event_count.wide
|
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&& de_float > 0.0;
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if (block->use_advance_lead)
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block->abs_adv_steps_multiplier8 = lround(
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@ -1267,6 +1263,9 @@ Having the real displacement of the head, we can calculate the total movement le
|
||||
block->speed_factor = block->nominal_rate / block->nominal_speed;
|
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calculate_trapezoid_for_block(block, block->entry_speed, safe_speed);
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|
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if (block->step_event_count.wide <= 32767)
|
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block->flag |= BLOCK_FLAG_DDA_LOWRES;
|
||||
|
||||
// Move the buffer head. From now the block may be picked up by the stepper interrupt controller.
|
||||
block_buffer_head = next_buffer_head;
|
||||
|
||||
|
||||
@ -40,6 +40,28 @@ enum BlockFlag {
|
||||
// If set, the machine will start from a halt at the start of this block,
|
||||
// respecting the maximum allowed jerk.
|
||||
BLOCK_FLAG_START_FROM_FULL_HALT = 4,
|
||||
// If set, the stepper interrupt expects, that the number of steps to tick will be lower
|
||||
// than 32767, therefore the DDA algorithm may run with 16bit resolution only.
|
||||
// In addition, the stepper routine will not do any end stop checking for higher performance.
|
||||
BLOCK_FLAG_DDA_LOWRES = 8,
|
||||
};
|
||||
|
||||
union dda_isteps_t
|
||||
{
|
||||
int32_t wide;
|
||||
struct {
|
||||
int16_t lo;
|
||||
int16_t hi;
|
||||
};
|
||||
};
|
||||
|
||||
union dda_usteps_t
|
||||
{
|
||||
uint32_t wide;
|
||||
struct {
|
||||
uint16_t lo;
|
||||
uint16_t hi;
|
||||
};
|
||||
};
|
||||
|
||||
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
|
||||
@ -47,8 +69,8 @@ enum BlockFlag {
|
||||
typedef struct {
|
||||
// Fields used by the bresenham algorithm for tracing the line
|
||||
// steps_x.y,z, step_event_count, acceleration_rate, direction_bits and active_extruder are set by plan_buffer_line().
|
||||
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
|
||||
unsigned long step_event_count; // The number of step events required to complete this block
|
||||
dda_isteps_t steps_x, steps_y, steps_z, steps_e; // Step count along each axis
|
||||
dda_usteps_t step_event_count; // The number of step events required to complete this block
|
||||
long acceleration_rate; // The acceleration rate used for acceleration calculation
|
||||
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
|
||||
unsigned char active_extruder; // Selects the active extruder
|
||||
@ -72,7 +94,7 @@ typedef struct {
|
||||
float acceleration;
|
||||
|
||||
// Bit flags defined by the BlockFlag enum.
|
||||
bool flag;
|
||||
uint8_t flag;
|
||||
|
||||
// Settings for the trapezoid generator (runs inside an interrupt handler).
|
||||
// Changing the following values in the planner needs to be synchronized with the interrupt handler by disabling the interrupts.
|
||||
|
||||
@ -62,11 +62,12 @@ bool z_max_endstop = false;
|
||||
|
||||
// Variables used by The Stepper Driver Interrupt
|
||||
static unsigned char out_bits; // The next stepping-bits to be output
|
||||
static int32_t counter_x, // Counter variables for the bresenham line tracer
|
||||
static dda_isteps_t
|
||||
counter_x, // Counter variables for the bresenham line tracer
|
||||
counter_y,
|
||||
counter_z,
|
||||
counter_e;
|
||||
volatile uint32_t step_events_completed; // The number of step events executed in the current block
|
||||
volatile dda_usteps_t step_events_completed; // The number of step events executed in the current block
|
||||
static int32_t acceleration_time, deceleration_time;
|
||||
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
|
||||
static uint16_t acc_step_rate; // needed for deccelaration start point
|
||||
@ -134,8 +135,6 @@ extern bool stepper_timer_overflow_state;
|
||||
//=============================functions ============================
|
||||
//===========================================================================
|
||||
|
||||
#define CHECK_ENDSTOPS if(check_endstops)
|
||||
|
||||
#ifndef _NO_ASM
|
||||
|
||||
// intRes = intIn1 * intIn2 >> 16
|
||||
@ -319,7 +318,7 @@ void step_wait(){
|
||||
}
|
||||
|
||||
|
||||
FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
|
||||
FORCE_INLINE unsigned short calc_timer(uint16_t step_rate) {
|
||||
unsigned short timer;
|
||||
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
|
||||
|
||||
@ -360,10 +359,10 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
|
||||
FORCE_INLINE void trapezoid_generator_reset() {
|
||||
deceleration_time = 0;
|
||||
// step_rate to timer interval
|
||||
OCR1A_nominal = calc_timer(current_block->nominal_rate);
|
||||
OCR1A_nominal = calc_timer(uint16_t(current_block->nominal_rate));
|
||||
// make a note of the number of step loops required at nominal speed
|
||||
step_loops_nominal = step_loops;
|
||||
acc_step_rate = current_block->initial_rate;
|
||||
acc_step_rate = uint16_t(current_block->initial_rate);
|
||||
acceleration_time = calc_timer(acc_step_rate);
|
||||
_NEXT_ISR(acceleration_time);
|
||||
|
||||
@ -373,7 +372,6 @@ FORCE_INLINE void trapezoid_generator_reset() {
|
||||
final_estep_rate = (current_block->nominal_rate * current_block->abs_adv_steps_multiplier8) >> 17;
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
|
||||
@ -390,10 +388,8 @@ ISR(TIMER1_COMPA_vect) {
|
||||
#endif
|
||||
}
|
||||
|
||||
void isr() {
|
||||
//if (UVLO) uvlo();
|
||||
// If there is no current block, attempt to pop one from the buffer
|
||||
if (current_block == NULL) {
|
||||
FORCE_INLINE void stepper_next_block()
|
||||
{
|
||||
// Anything in the buffer?
|
||||
current_block = plan_get_current_block();
|
||||
if (current_block != NULL) {
|
||||
@ -404,71 +400,77 @@ void isr() {
|
||||
// The busy flag is set by the plan_get_current_block() call.
|
||||
// current_block->busy = true;
|
||||
trapezoid_generator_reset();
|
||||
counter_x = -(current_block->step_event_count >> 1);
|
||||
counter_y = counter_x;
|
||||
counter_z = counter_x;
|
||||
counter_e = counter_x;
|
||||
step_events_completed = 0;
|
||||
|
||||
#ifdef Z_LATE_ENABLE
|
||||
if(current_block->steps_z > 0) {
|
||||
enable_z();
|
||||
_NEXT_ISR(2000); //1ms wait
|
||||
return;
|
||||
if (current_block->flag & BLOCK_FLAG_DDA_LOWRES) {
|
||||
counter_x.lo = -(current_block->step_event_count.lo >> 1);
|
||||
counter_y.lo = counter_x.lo;
|
||||
counter_z.lo = counter_x.lo;
|
||||
counter_e.lo = counter_x.lo;
|
||||
} else {
|
||||
counter_x.wide = -(current_block->step_event_count.wide >> 1);
|
||||
counter_y.wide = counter_x.wide;
|
||||
counter_z.wide = counter_x.wide;
|
||||
counter_e.wide = counter_x.wide;
|
||||
}
|
||||
#endif
|
||||
step_events_completed.wide = 0;
|
||||
// Set directions.
|
||||
out_bits = current_block->direction_bits;
|
||||
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
|
||||
if((out_bits & (1<<X_AXIS))!=0){
|
||||
WRITE_NC(X_DIR_PIN, INVERT_X_DIR);
|
||||
count_direction[X_AXIS]=-1;
|
||||
} else {
|
||||
WRITE_NC(X_DIR_PIN, !INVERT_X_DIR);
|
||||
count_direction[X_AXIS]=1;
|
||||
}
|
||||
if((out_bits & (1<<Y_AXIS))!=0){
|
||||
WRITE_NC(Y_DIR_PIN, INVERT_Y_DIR);
|
||||
count_direction[Y_AXIS]=-1;
|
||||
} else {
|
||||
WRITE_NC(Y_DIR_PIN, !INVERT_Y_DIR);
|
||||
count_direction[Y_AXIS]=1;
|
||||
}
|
||||
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
|
||||
WRITE_NC(Z_DIR_PIN,INVERT_Z_DIR);
|
||||
count_direction[Z_AXIS]=-1;
|
||||
} else { // +direction
|
||||
WRITE_NC(Z_DIR_PIN,!INVERT_Z_DIR);
|
||||
count_direction[Z_AXIS]=1;
|
||||
}
|
||||
#ifndef LIN_ADVANCE
|
||||
if ((out_bits & (1 << E_AXIS)) != 0) { // -direction
|
||||
WRITE(E0_DIR_PIN,
|
||||
#ifdef SNMM
|
||||
(snmm_extruder == 0 || snmm_extruder == 2) ? !INVERT_E0_DIR :
|
||||
#endif // SNMM
|
||||
INVERT_E0_DIR);
|
||||
count_direction[E_AXIS] = -1;
|
||||
} else { // +direction
|
||||
WRITE(E0_DIR_PIN,
|
||||
#ifdef SNMM
|
||||
(snmm_extruder == 0 || snmm_extruder == 2) ? INVERT_E0_DIR :
|
||||
#endif // SNMM
|
||||
!INVERT_E0_DIR);
|
||||
count_direction[E_AXIS] = 1;
|
||||
}
|
||||
#endif /* LIN_ADVANCE */
|
||||
}
|
||||
else {
|
||||
_NEXT_ISR(2000); // 1kHz.
|
||||
}
|
||||
}
|
||||
|
||||
LastStepMask = 0;
|
||||
|
||||
if (current_block != NULL) {
|
||||
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
|
||||
out_bits = current_block->direction_bits;
|
||||
|
||||
|
||||
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
|
||||
if((out_bits & (1<<X_AXIS))!=0){
|
||||
WRITE_NC(X_DIR_PIN, INVERT_X_DIR);
|
||||
count_direction[X_AXIS]=-1;
|
||||
}
|
||||
else{
|
||||
WRITE_NC(X_DIR_PIN, !INVERT_X_DIR);
|
||||
count_direction[X_AXIS]=1;
|
||||
}
|
||||
if((out_bits & (1<<Y_AXIS))!=0){
|
||||
WRITE_NC(Y_DIR_PIN, INVERT_Y_DIR);
|
||||
|
||||
#ifdef Y_DUAL_STEPPER_DRIVERS
|
||||
WRITE_NC(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
|
||||
#endif
|
||||
|
||||
count_direction[Y_AXIS]=-1;
|
||||
}
|
||||
else{
|
||||
WRITE_NC(Y_DIR_PIN, !INVERT_Y_DIR);
|
||||
|
||||
#ifdef Y_DUAL_STEPPER_DRIVERS
|
||||
WRITE_NC(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
|
||||
#endif
|
||||
|
||||
count_direction[Y_AXIS]=1;
|
||||
}
|
||||
|
||||
// Set direction en check limit switches
|
||||
#ifndef COREXY
|
||||
if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
|
||||
#else
|
||||
if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) { //-X occurs for -A and -B
|
||||
#endif
|
||||
CHECK_ENDSTOPS
|
||||
// Check limit switches.
|
||||
FORCE_INLINE void stepper_check_endstops()
|
||||
{
|
||||
if(check_endstops)
|
||||
{
|
||||
#ifndef COREXY
|
||||
if ((out_bits & (1<<X_AXIS)) != 0) // stepping along -X axis
|
||||
#else
|
||||
if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) //-X occurs for -A and -B
|
||||
#endif
|
||||
{
|
||||
#if ( (defined(X_MIN_PIN) && (X_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMINLIMIT)
|
||||
|
||||
#ifdef TMC2130_SG_HOMING
|
||||
// Stall guard homing turned on
|
||||
x_min_endstop = (READ(X_TMC2130_DIAG) != 0);
|
||||
@ -476,22 +478,15 @@ void isr() {
|
||||
// Normal homing
|
||||
x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
|
||||
#endif
|
||||
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
|
||||
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x.wide > 0)) {
|
||||
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
|
||||
endstop_x_hit=true;
|
||||
step_events_completed = current_block->step_event_count;
|
||||
step_events_completed.wide = current_block->step_event_count.wide;
|
||||
}
|
||||
old_x_min_endstop = x_min_endstop;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
else { // +direction
|
||||
CHECK_ENDSTOPS
|
||||
{
|
||||
{
|
||||
} else { // +direction
|
||||
#if ( (defined(X_MAX_PIN) && (X_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMAXLIMIT)
|
||||
|
||||
#ifdef TMC2130_SG_HOMING
|
||||
// Stall guard homing turned on
|
||||
x_max_endstop = (READ(X_TMC2130_DIAG) != 0);
|
||||
@ -499,27 +494,22 @@ void isr() {
|
||||
// Normal homing
|
||||
x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
|
||||
#endif
|
||||
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
|
||||
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x.wide > 0)){
|
||||
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
|
||||
endstop_x_hit=true;
|
||||
step_events_completed = current_block->step_event_count;
|
||||
step_events_completed.wide = current_block->step_event_count.wide;
|
||||
}
|
||||
old_x_max_endstop = x_max_endstop;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef COREXY
|
||||
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
|
||||
if ((out_bits & (1<<Y_AXIS)) != 0) // -direction
|
||||
#else
|
||||
if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) { // -Y occurs for -A and +B
|
||||
if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) // -Y occurs for -A and +B
|
||||
#endif
|
||||
CHECK_ENDSTOPS
|
||||
{
|
||||
|
||||
#if ( (defined(Y_MIN_PIN) && (Y_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMINLIMIT)
|
||||
|
||||
#ifdef TMC2130_SG_HOMING
|
||||
// Stall guard homing turned on
|
||||
y_min_endstop = (READ(Y_TMC2130_DIAG) != 0);
|
||||
@ -527,20 +517,15 @@ void isr() {
|
||||
// Normal homing
|
||||
y_min_endstop = (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
|
||||
#endif
|
||||
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
|
||||
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y.wide > 0)) {
|
||||
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
|
||||
endstop_y_hit=true;
|
||||
step_events_completed = current_block->step_event_count;
|
||||
step_events_completed.wide = current_block->step_event_count.wide;
|
||||
}
|
||||
old_y_min_endstop = y_min_endstop;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
else { // +direction
|
||||
CHECK_ENDSTOPS
|
||||
{
|
||||
} else { // +direction
|
||||
#if ( (defined(Y_MAX_PIN) && (Y_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMAXLIMIT)
|
||||
|
||||
#ifdef TMC2130_SG_HOMING
|
||||
// Stall guard homing turned on
|
||||
y_max_endstop = (READ(Y_TMC2130_DIAG) != 0);
|
||||
@ -548,52 +533,34 @@ void isr() {
|
||||
// Normal homing
|
||||
y_max_endstop = (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
|
||||
#endif
|
||||
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
|
||||
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y.wide > 0)){
|
||||
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
|
||||
endstop_y_hit=true;
|
||||
step_events_completed = current_block->step_event_count;
|
||||
step_events_completed.wide = current_block->step_event_count.wide;
|
||||
}
|
||||
old_y_max_endstop = y_max_endstop;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
|
||||
WRITE_NC(Z_DIR_PIN,INVERT_Z_DIR);
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE_NC(Z2_DIR_PIN,INVERT_Z_DIR);
|
||||
#endif
|
||||
|
||||
count_direction[Z_AXIS]=-1;
|
||||
if(check_endstops && ! check_z_endstop)
|
||||
if ((out_bits & (1<<Z_AXIS)) != 0) // -direction
|
||||
{
|
||||
#if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
|
||||
if (! check_z_endstop) {
|
||||
#ifdef TMC2130_SG_HOMING
|
||||
// Stall guard homing turned on
|
||||
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
|
||||
#else
|
||||
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
|
||||
#endif //TMC2130_SG_HOMING
|
||||
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
|
||||
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z.wide > 0)) {
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_z_hit=true;
|
||||
step_events_completed = current_block->step_event_count;
|
||||
step_events_completed.wide = current_block->step_event_count.wide;
|
||||
}
|
||||
old_z_min_endstop = z_min_endstop;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
else { // +direction
|
||||
WRITE_NC(Z_DIR_PIN,!INVERT_Z_DIR);
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE_NC(Z2_DIR_PIN,!INVERT_Z_DIR);
|
||||
#endif
|
||||
|
||||
count_direction[Z_AXIS]=1;
|
||||
CHECK_ENDSTOPS
|
||||
{
|
||||
} else { // +direction
|
||||
#if defined(Z_MAX_PIN) && (Z_MAX_PIN > -1) && !defined(DEBUG_DISABLE_ZMAXLIMIT)
|
||||
#ifdef TMC2130_SG_HOMING
|
||||
// Stall guard homing turned on
|
||||
@ -601,10 +568,10 @@ void isr() {
|
||||
#else
|
||||
z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
|
||||
#endif //TMC2130_SG_HOMING
|
||||
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
|
||||
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z.wide > 0)) {
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_z_hit=true;
|
||||
step_events_completed = current_block->step_event_count;
|
||||
step_events_completed.wide = current_block->step_event_count.wide;
|
||||
}
|
||||
old_z_max_endstop = z_max_endstop;
|
||||
#endif
|
||||
@ -625,132 +592,167 @@ void isr() {
|
||||
if(z_min_endstop && old_z_min_endstop) {
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_z_hit=true;
|
||||
step_events_completed = current_block->step_event_count;
|
||||
step_events_completed.wide = current_block->step_event_count.wide;
|
||||
}
|
||||
old_z_min_endstop = z_min_endstop;
|
||||
}
|
||||
#endif
|
||||
|
||||
if ((out_bits & (1 << E_AXIS)) != 0)
|
||||
{ // -direction
|
||||
//AKU
|
||||
#ifdef SNMM
|
||||
if (snmm_extruder == 0 || snmm_extruder == 2)
|
||||
{
|
||||
NORM_E_DIR();
|
||||
}
|
||||
else
|
||||
{
|
||||
REV_E_DIR();
|
||||
}
|
||||
#else
|
||||
REV_E_DIR();
|
||||
#endif // SNMM
|
||||
count_direction[E_AXIS] = -1;
|
||||
}
|
||||
else
|
||||
{ // +direction
|
||||
#ifdef SNMM
|
||||
if (snmm_extruder == 0 || snmm_extruder == 2)
|
||||
{
|
||||
REV_E_DIR();
|
||||
}
|
||||
else
|
||||
{
|
||||
NORM_E_DIR();
|
||||
}
|
||||
#else
|
||||
NORM_E_DIR();
|
||||
#endif // SNMM
|
||||
count_direction[E_AXIS] = 1;
|
||||
}
|
||||
|
||||
for(uint8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
|
||||
#ifndef AT90USB
|
||||
FORCE_INLINE void stepper_tick_lowres()
|
||||
{
|
||||
for (uint8_t i=0; i < step_loops; ++ i) { // Take multiple steps per interrupt (For high speed moves)
|
||||
MSerial.checkRx(); // Check for serial chars.
|
||||
#endif //RP - returned, because missing characters
|
||||
|
||||
#ifdef LIN_ADVANCE
|
||||
counter_e += current_block->steps_e;
|
||||
if (counter_e > 0) {
|
||||
counter_e -= current_block->step_event_count;
|
||||
counter_e.lo += current_block->steps_e.lo;
|
||||
if (counter_e.lo > 0) {
|
||||
counter_e.lo -= current_block->step_event_count.lo;
|
||||
count_position[E_AXIS] += count_direction[E_AXIS];
|
||||
((out_bits&(1<<E_AXIS))!=0) ? --e_steps : ++e_steps;
|
||||
}
|
||||
#endif
|
||||
|
||||
counter_x += current_block->steps_x;
|
||||
if (counter_x > 0) {
|
||||
// Step in X axis
|
||||
counter_x.lo += current_block->steps_x.lo;
|
||||
if (counter_x.lo > 0) {
|
||||
WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN);
|
||||
LastStepMask |= X_AXIS_MASK;
|
||||
#ifdef DEBUG_XSTEP_DUP_PIN
|
||||
WRITE_NC(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
|
||||
#endif //DEBUG_XSTEP_DUP_PIN
|
||||
counter_x -= current_block->step_event_count;
|
||||
counter_x.lo -= current_block->step_event_count.lo;
|
||||
count_position[X_AXIS]+=count_direction[X_AXIS];
|
||||
WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN);
|
||||
#ifdef DEBUG_XSTEP_DUP_PIN
|
||||
WRITE_NC(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
|
||||
#endif //DEBUG_XSTEP_DUP_PIN
|
||||
}
|
||||
|
||||
counter_y += current_block->steps_y;
|
||||
if (counter_y > 0) {
|
||||
// Step in Y axis
|
||||
counter_y.lo += current_block->steps_y.lo;
|
||||
if (counter_y.lo > 0) {
|
||||
WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
|
||||
LastStepMask |= Y_AXIS_MASK;
|
||||
#ifdef DEBUG_YSTEP_DUP_PIN
|
||||
WRITE_NC(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
|
||||
#endif //DEBUG_YSTEP_DUP_PIN
|
||||
|
||||
#ifdef Y_DUAL_STEPPER_DRIVERS
|
||||
WRITE_NC(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
|
||||
#endif
|
||||
|
||||
counter_y -= current_block->step_event_count;
|
||||
counter_y.lo -= current_block->step_event_count.lo;
|
||||
count_position[Y_AXIS]+=count_direction[Y_AXIS];
|
||||
WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN);
|
||||
#ifdef DEBUG_YSTEP_DUP_PIN
|
||||
WRITE_NC(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
|
||||
#endif //DEBUG_YSTEP_DUP_PIN
|
||||
|
||||
#ifdef Y_DUAL_STEPPER_DRIVERS
|
||||
WRITE_NC(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
|
||||
#endif
|
||||
}
|
||||
|
||||
counter_z += current_block->steps_z;
|
||||
if (counter_z > 0) {
|
||||
// Step in Z axis
|
||||
counter_z.lo += current_block->steps_z.lo;
|
||||
if (counter_z.lo > 0) {
|
||||
WRITE_NC(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
|
||||
LastStepMask |= Z_AXIS_MASK;
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE_NC(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
|
||||
#endif
|
||||
|
||||
counter_z -= current_block->step_event_count;
|
||||
counter_z.lo -= current_block->step_event_count.lo;
|
||||
count_position[Z_AXIS]+=count_direction[Z_AXIS];
|
||||
WRITE_NC(Z_STEP_PIN, INVERT_Z_STEP_PIN);
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE_NC(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifndef LIN_ADVANCE
|
||||
counter_e += current_block->steps_e;
|
||||
if (counter_e > 0) {
|
||||
WRITE_E_STEP(!INVERT_E_STEP_PIN);
|
||||
counter_e -= current_block->step_event_count;
|
||||
// Step in E axis
|
||||
counter_e.lo += current_block->steps_e.lo;
|
||||
if (counter_e.lo > 0) {
|
||||
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
|
||||
counter_e.lo -= current_block->step_event_count.lo;
|
||||
count_position[E_AXIS]+=count_direction[E_AXIS];
|
||||
WRITE_E_STEP(INVERT_E_STEP_PIN);
|
||||
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
|
||||
#ifdef PAT9125
|
||||
fsensor_counter++;
|
||||
++ fsensor_counter;
|
||||
#endif //PAT9125
|
||||
}
|
||||
#endif
|
||||
|
||||
step_events_completed += 1;
|
||||
if(step_events_completed >= current_block->step_event_count) break;
|
||||
if(++ step_events_completed.lo >= current_block->step_event_count.lo)
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
FORCE_INLINE void stepper_tick_highres()
|
||||
{
|
||||
for (uint8_t i=0; i < step_loops; ++ i) { // Take multiple steps per interrupt (For high speed moves)
|
||||
MSerial.checkRx(); // Check for serial chars.
|
||||
#ifdef LIN_ADVANCE
|
||||
counter_e.wide += current_block->steps_e.wide;
|
||||
if (counter_e.wide > 0) {
|
||||
counter_e.wide -= current_block->step_event_count.wide;
|
||||
count_position[E_AXIS] += count_direction[E_AXIS];
|
||||
((out_bits&(1<<E_AXIS))!=0) ? --e_steps : ++e_steps;
|
||||
}
|
||||
#endif
|
||||
// Step in X axis
|
||||
counter_x.wide += current_block->steps_x.wide;
|
||||
if (counter_x.wide > 0) {
|
||||
WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN);
|
||||
LastStepMask |= X_AXIS_MASK;
|
||||
#ifdef DEBUG_XSTEP_DUP_PIN
|
||||
WRITE_NC(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
|
||||
#endif //DEBUG_XSTEP_DUP_PIN
|
||||
counter_x.wide -= current_block->step_event_count.wide;
|
||||
count_position[X_AXIS]+=count_direction[X_AXIS];
|
||||
WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN);
|
||||
#ifdef DEBUG_XSTEP_DUP_PIN
|
||||
WRITE_NC(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
|
||||
#endif //DEBUG_XSTEP_DUP_PIN
|
||||
}
|
||||
// Step in Y axis
|
||||
counter_y.wide += current_block->steps_y.wide;
|
||||
if (counter_y.wide > 0) {
|
||||
WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
|
||||
LastStepMask |= Y_AXIS_MASK;
|
||||
#ifdef DEBUG_YSTEP_DUP_PIN
|
||||
WRITE_NC(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
|
||||
#endif //DEBUG_YSTEP_DUP_PIN
|
||||
counter_y.wide -= current_block->step_event_count.wide;
|
||||
count_position[Y_AXIS]+=count_direction[Y_AXIS];
|
||||
WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN);
|
||||
#ifdef DEBUG_YSTEP_DUP_PIN
|
||||
WRITE_NC(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
|
||||
#endif //DEBUG_YSTEP_DUP_PIN
|
||||
}
|
||||
// Step in Z axis
|
||||
counter_z.wide += current_block->steps_z.wide;
|
||||
if (counter_z.wide > 0) {
|
||||
WRITE_NC(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
|
||||
LastStepMask |= Z_AXIS_MASK;
|
||||
counter_z.wide -= current_block->step_event_count.wide;
|
||||
count_position[Z_AXIS]+=count_direction[Z_AXIS];
|
||||
WRITE_NC(Z_STEP_PIN, INVERT_Z_STEP_PIN);
|
||||
}
|
||||
#ifndef LIN_ADVANCE
|
||||
// Step in E axis
|
||||
counter_e.wide += current_block->steps_e.wide;
|
||||
if (counter_e.wide > 0) {
|
||||
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
|
||||
counter_e.wide -= current_block->step_event_count.wide;
|
||||
count_position[E_AXIS]+=count_direction[E_AXIS];
|
||||
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
|
||||
#ifdef PAT9125
|
||||
++ fsensor_counter;
|
||||
#endif //PAT9125
|
||||
}
|
||||
#endif
|
||||
if(++ step_events_completed.wide >= current_block->step_event_count.wide)
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void isr() {
|
||||
//if (UVLO) uvlo();
|
||||
// If there is no current block, attempt to pop one from the buffer
|
||||
if (current_block == NULL)
|
||||
stepper_next_block();
|
||||
|
||||
LastStepMask = 0;
|
||||
|
||||
if (current_block != NULL)
|
||||
{
|
||||
stepper_check_endstops();
|
||||
if (current_block->flag & BLOCK_FLAG_DDA_LOWRES)
|
||||
stepper_tick_lowres();
|
||||
else
|
||||
stepper_tick_highres();
|
||||
|
||||
#ifdef LIN_ADVANCE
|
||||
if (current_block->use_advance_lead) {
|
||||
const int delta_adv_steps = current_estep_rate - current_adv_steps;
|
||||
@ -764,13 +766,13 @@ void isr() {
|
||||
// Calculare new timer value
|
||||
unsigned short timer;
|
||||
uint16_t step_rate;
|
||||
if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
|
||||
if (step_events_completed.wide <= (unsigned long int)current_block->accelerate_until) {
|
||||
// v = t * a -> acc_step_rate = acceleration_time * current_block->acceleration_rate
|
||||
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
|
||||
acc_step_rate += current_block->initial_rate;
|
||||
acc_step_rate += uint16_t(current_block->initial_rate);
|
||||
|
||||
// upper limit
|
||||
if(acc_step_rate > current_block->nominal_rate)
|
||||
if(acc_step_rate > uint16_t(current_block->nominal_rate))
|
||||
acc_step_rate = current_block->nominal_rate;
|
||||
|
||||
// step_rate to timer interval
|
||||
@ -785,19 +787,19 @@ void isr() {
|
||||
eISR_Rate = ADV_RATE(timer, step_loops);
|
||||
#endif
|
||||
}
|
||||
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
|
||||
else if (step_events_completed.wide > (unsigned long int)current_block->decelerate_after) {
|
||||
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
|
||||
|
||||
if(step_rate > acc_step_rate) { // Check step_rate stays positive
|
||||
step_rate = current_block->final_rate;
|
||||
step_rate = uint16_t(current_block->final_rate);
|
||||
}
|
||||
else {
|
||||
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
|
||||
}
|
||||
|
||||
// lower limit
|
||||
if(step_rate < current_block->final_rate)
|
||||
step_rate = current_block->final_rate;
|
||||
if(step_rate < uint16_t(current_block->final_rate))
|
||||
step_rate = uint16_t(current_block->final_rate);
|
||||
|
||||
// step_rate to timer interval
|
||||
timer = calc_timer(step_rate);
|
||||
@ -825,7 +827,7 @@ void isr() {
|
||||
}
|
||||
|
||||
// If current block is finished, reset pointer
|
||||
if (step_events_completed >= current_block->step_event_count) {
|
||||
if (step_events_completed.wide >= current_block->step_event_count.wide) {
|
||||
|
||||
#ifdef PAT9125
|
||||
fsensor_st_block_chunk(current_block, fsensor_counter);
|
||||
@ -843,9 +845,11 @@ void isr() {
|
||||
}
|
||||
#endif //PAT9125
|
||||
}
|
||||
|
||||
#ifdef TMC2130
|
||||
tmc2130_st_isr(LastStepMask);
|
||||
#endif //TMC2130
|
||||
|
||||
#ifdef DEBUG_STEPPER_TIMER_MISSED
|
||||
// Verify whether the next planned timer interrupt has not been missed already.
|
||||
// This debugging test takes < 1.125us
|
||||
|
||||
@ -23,20 +23,6 @@
|
||||
|
||||
#include "planner.h"
|
||||
|
||||
#if EXTRUDERS > 2
|
||||
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
|
||||
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
|
||||
#define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
|
||||
#elif EXTRUDERS > 1
|
||||
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
|
||||
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
|
||||
#define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
|
||||
#else
|
||||
#define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
|
||||
#define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
|
||||
#define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
|
||||
#endif
|
||||
|
||||
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
|
||||
extern bool abort_on_endstop_hit;
|
||||
#endif
|
||||
|
||||
Loading…
Reference in New Issue
Block a user