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Merge pull request #457 from bubnikv/MK3_fast_dbg

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Mk3 fast dbg
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PavelSindler 2018-03-13 14:13:29 +01:00 committed by GitHub
commit 98e96c9182
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8 changed files with 718 additions and 599 deletions
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4
Firmware/Configuration_adv.h
View File

@ -127,8 +127,6 @@
//END AUTOSET LOCATIONS OF LIMIT SWITCHES -ZP //END AUTOSET LOCATIONS OF LIMIT SWITCHES -ZP
//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
// A single Z stepper driver is usually used to drive 2 stepper motors. // A single Z stepper driver is usually used to drive 2 stepper motors.
// Uncomment this define to utilize a separate stepper driver for each Z axis motor. // Uncomment this define to utilize a separate stepper driver for each Z axis motor.
// Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used // Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used
@ -318,7 +316,7 @@
* K=0 means advance disabled. * K=0 means advance disabled.
* See Marlin documentation for calibration instructions. * See Marlin documentation for calibration instructions.
*/ */
//#define LIN_ADVANCE #define LIN_ADVANCE
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
#define LIN_ADVANCE_K 0 //Try around 45 for PLA, around 25 for ABS. #define LIN_ADVANCE_K 0 //Try around 45 for PLA, around 25 for ABS.

4
Firmware/Configuration_prusa.h
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@ -120,7 +120,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
//#define DEBUG_DISABLE_YMAXLIMIT //y max limit ignored //#define DEBUG_DISABLE_YMAXLIMIT //y max limit ignored
//#define DEBUG_DISABLE_ZMINLIMIT //z min limit ignored //#define DEBUG_DISABLE_ZMINLIMIT //z min limit ignored
//#define DEBUG_DISABLE_ZMAXLIMIT //z max limit ignored //#define DEBUG_DISABLE_ZMAXLIMIT //z max limit ignored
#define DEBUG_DISABLE_STARTMSGS //no startup messages //#define DEBUG_DISABLE_STARTMSGS //no startup messages
//#define DEBUG_DISABLE_MINTEMP //mintemp error ignored //#define DEBUG_DISABLE_MINTEMP //mintemp error ignored
//#define DEBUG_DISABLE_SWLIMITS //sw limits ignored //#define DEBUG_DISABLE_SWLIMITS //sw limits ignored
//#define DEBUG_DISABLE_LCD_STATUS_LINE //empty four lcd line //#define DEBUG_DISABLE_LCD_STATUS_LINE //empty four lcd line
@ -131,7 +131,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
//#define DEBUG_BLINK_ACTIVE //#define DEBUG_BLINK_ACTIVE
//#define DEBUG_DISABLE_FANCHECK //disable fan check (no ISR INT7, check disabled) //#define DEBUG_DISABLE_FANCHECK //disable fan check (no ISR INT7, check disabled)
//#define DEBUG_DISABLE_FSENSORCHECK //disable fsensor check (no ISR INT7, check disabled) //#define DEBUG_DISABLE_FSENSORCHECK //disable fsensor check (no ISR INT7, check disabled)
#define DEBUG_DUMP_TO_2ND_SERIAL //dump received characters to 2nd serial line //#define DEBUG_DUMP_TO_2ND_SERIAL //dump received characters to 2nd serial line
#define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message. #define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message.
#define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display. #define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display.
#endif /* DEBUG_BUILD */ #endif /* DEBUG_BUILD */

29
Firmware/pins_Einy_0_4.h
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@ -142,11 +142,24 @@
#define LOGIC_ANALYZER_CH6 17 // PH1 (TXD2) #define LOGIC_ANALYZER_CH6 17 // PH1 (TXD2)
#define LOGIC_ANALYZER_CH7 76 // PJ5 #define LOGIC_ANALYZER_CH7 76 // PJ5
#define LOGIC_ANALYZER_CH0_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH0) #define LOGIC_ANALYZER_CH0_ENABLE do { SET_OUTPUT(LOGIC_ANALYZER_CH0); WRITE(LOGIC_ANALYZER_CH0, false); } while (0)
#define LOGIC_ANALYZER_CH1_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH1) #define LOGIC_ANALYZER_CH1_ENABLE do { SET_OUTPUT(LOGIC_ANALYZER_CH1); WRITE(LOGIC_ANALYZER_CH1, false); } while (0)
#define LOGIC_ANALYZER_CH2_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH2) #define LOGIC_ANALYZER_CH2_ENABLE do { SET_OUTPUT(LOGIC_ANALYZER_CH2); WRITE(LOGIC_ANALYZER_CH2, false); } while (0)
#define LOGIC_ANALYZER_CH3_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH3) #define LOGIC_ANALYZER_CH3_ENABLE do { SET_OUTPUT(LOGIC_ANALYZER_CH3); WRITE(LOGIC_ANALYZER_CH3, false); } while (0)
#define LOGIC_ANALYZER_CH4_ENABLE do { DDRK |= 1 << 0; } while (0) #define LOGIC_ANALYZER_CH4_ENABLE do { DDRK |= 1 << 0; WRITE_LOGIC_ANALYZER_CH4(false); } while (0)
#define LOGIC_ANALYZER_CH5_ENABLE do { cbi(UCSR2B, TXEN2); cbi(UCSR2B, RXEN2); cbi(UCSR2B, RXCIE2); SET_OUTPUT(LOGIC_ANALYZER_CH5); } while (0) #define LOGIC_ANALYZER_CH5_ENABLE do { cbi(UCSR2B, TXEN2); cbi(UCSR2B, RXEN2); cbi(UCSR2B, RXCIE2); SET_OUTPUT(LOGIC_ANALYZER_CH5); WRITE(LOGIC_ANALYZER_CH5, false); } while (0)
#define LOGIC_ANALYZER_CH6_ENABLE do { cbi(UCSR2B, TXEN2); cbi(UCSR2B, RXEN2); cbi(UCSR2B, RXCIE2); SET_OUTPUT(LOGIC_ANALYZER_CH6); } while (0) #define LOGIC_ANALYZER_CH6_ENABLE do { cbi(UCSR2B, TXEN2); cbi(UCSR2B, RXEN2); cbi(UCSR2B, RXCIE2); SET_OUTPUT(LOGIC_ANALYZER_CH6); WRITE(LOGIC_ANALYZER_CH6, false); } while (0)
#define LOGIC_ANALYZER_CH7_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH7) #define LOGIC_ANALYZER_CH7_ENABLE do { SET_OUTPUT(LOGIC_ANALYZER_CH7); WRITE(LOGIC_ANALYZER_CH7, false); } while (0)
// Async output on channel 5 of the logical analyzer.
// Baud rate 2MBit, 9 bits, 1 stop bit.
#define LOGIC_ANALYZER_SERIAL_TX_ENABLE do { UBRR2H = 0; UBRR2L = 0; UCSR2B = (1 << TXEN2) | (1 << UCSZ02); UCSR2C = 0x06; } while (0)
// Non-checked (quicker) variant. Use it if you are sure that the transmit buffer is already empty.
#define LOGIC_ANALYZER_SERIAL_TX_WRITE_NC(C) do { if (C & 0x100) UCSR2B |= 1; else UCSR2B &= ~1; UDR2 = C; } while (0)
#define LOGIC_ANALYZER_SERIAL_TX_WRITE(C) do { \
/* Wait for empty transmit buffer */ \
while (!(UCSR2A & (1<<UDRE2))); \
/* Put data into buffer, sends the data */ \
LOGIC_ANALYZER_SERIAL_TX_WRITE_NC(C); \
} while (0)

121
Firmware/planner.cpp
View File

@ -182,12 +182,16 @@ FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, f
} }
} }
// Minimum stepper rate 120Hz.
#define MINIMAL_STEP_RATE 120 #define MINIMAL_STEP_RATE 120
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed) void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed)
{ {
// These two lines are the only floating point calculations performed in this routine. // These two lines are the only floating point calculations performed in this routine.
// initial_rate, final_rate in Hz.
// Minimum stepper rate 120Hz, maximum 40kHz. If the stepper rate goes above 10kHz,
// the stepper interrupt routine groups the pulses by 2 or 4 pulses per interrupt tick.
uint32_t initial_rate = ceil(entry_speed * block->speed_factor); // (step/min) uint32_t initial_rate = ceil(entry_speed * block->speed_factor); // (step/min)
uint32_t final_rate = ceil(exit_speed * block->speed_factor); // (step/min) uint32_t final_rate = ceil(exit_speed * block->speed_factor); // (step/min)
@ -223,8 +227,8 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking // have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block. // in order to reach the final_rate exactly at the end of this block.
if (accel_decel_steps < block->step_event_count) { if (accel_decel_steps < block->step_event_count.wide) {
plateau_steps = block->step_event_count - accel_decel_steps; plateau_steps = block->step_event_count.wide - accel_decel_steps;
} else { } else {
uint32_t acceleration_x4 = acceleration << 2; uint32_t acceleration_x4 = acceleration << 2;
// Avoid negative numbers // Avoid negative numbers
@ -236,26 +240,26 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
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; 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;
#else #else
accelerate_steps = final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1; accelerate_steps = final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1;
if (block->step_event_count & 1) if (block->step_event_count.wide & 1)
accelerate_steps += acceleration_x2; accelerate_steps += acceleration_x2;
accelerate_steps /= acceleration_x4; accelerate_steps /= acceleration_x4;
accelerate_steps += (block->step_event_count >> 1); accelerate_steps += (block->step_event_count.wide >> 1);
#endif #endif
if (accelerate_steps > block->step_event_count) if (accelerate_steps > block->step_event_count.wide)
accelerate_steps = block->step_event_count; accelerate_steps = block->step_event_count.wide;
} else { } else {
#if 0 #if 0
decelerate_steps = (block->step_event_count >> 1) + (initial_rate_sqr - final_rate_sqr + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4; decelerate_steps = (block->step_event_count >> 1) + (initial_rate_sqr - final_rate_sqr + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
#else #else
decelerate_steps = initial_rate_sqr - final_rate_sqr; decelerate_steps = initial_rate_sqr - final_rate_sqr;
if (block->step_event_count & 1) if (block->step_event_count.wide & 1)
decelerate_steps += acceleration_x2; decelerate_steps += acceleration_x2;
decelerate_steps /= acceleration_x4; decelerate_steps /= acceleration_x4;
decelerate_steps += (block->step_event_count >> 1); decelerate_steps += (block->step_event_count.wide >> 1);
#endif #endif
if (decelerate_steps > block->step_event_count) if (decelerate_steps > block->step_event_count.wide)
decelerate_steps = block->step_event_count; decelerate_steps = block->step_event_count.wide;
accelerate_steps = block->step_event_count - decelerate_steps; accelerate_steps = block->step_event_count.wide - decelerate_steps;
} }
} }
@ -449,10 +453,10 @@ void getHighESpeed()
uint8_t block_index = block_buffer_tail; uint8_t block_index = block_buffer_tail;
while(block_index != block_buffer_head) { while(block_index != block_buffer_head) {
if((block_buffer[block_index].steps_x != 0) || if((block_buffer[block_index].steps_x.wide != 0) ||
(block_buffer[block_index].steps_y != 0) || (block_buffer[block_index].steps_y.wide != 0) ||
(block_buffer[block_index].steps_z != 0)) { (block_buffer[block_index].steps_z.wide != 0)) {
float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed; 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;
//se; mm/sec; //se; mm/sec;
if(se>high) if(se>high)
{ {
@ -493,10 +497,10 @@ void check_axes_activity()
while(block_index != block_buffer_head) while(block_index != block_buffer_head)
{ {
block = &block_buffer[block_index]; block = &block_buffer[block_index];
if(block->steps_x != 0) x_active++; if(block->steps_x.wide != 0) x_active++;
if(block->steps_y != 0) y_active++; if(block->steps_y.wide != 0) y_active++;
if(block->steps_z != 0) z_active++; if(block->steps_z.wide != 0) z_active++;
if(block->steps_e != 0) e_active++; if(block->steps_e.wide != 0) e_active++;
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
} }
} }
@ -768,20 +772,20 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
// Number of steps for each axis // Number of steps for each axis
#ifndef COREXY #ifndef COREXY
// default non-h-bot planning // default non-h-bot planning
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]); block->steps_x.wide = labs(target[X_AXIS]-position[X_AXIS]);
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); block->steps_y.wide = labs(target[Y_AXIS]-position[Y_AXIS]);
#else #else
// corexy planning // corexy planning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS])); block->steps_x.wide = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS])); block->steps_y.wide = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
#endif #endif
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); block->steps_z.wide = labs(target[Z_AXIS]-position[Z_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]); block->steps_e.wide = labs(target[E_AXIS]-position[E_AXIS]);
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e))); block->step_event_count.wide = max(block->steps_x.wide, max(block->steps_y.wide, max(block->steps_z.wide, block->steps_e.wide)));
// Bail if this is a zero-length block // Bail if this is a zero-length block
if (block->step_event_count <= dropsegments) if (block->step_event_count.wide <= dropsegments)
{ {
#ifdef PLANNER_DIAGNOSTICS #ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter(); planner_update_queue_min_counter();
@ -825,21 +829,19 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
//enable active axes //enable active axes
#ifdef COREXY #ifdef COREXY
if((block->steps_x != 0) || (block->steps_y != 0)) if((block->steps_x.wide != 0) || (block->steps_y.wide != 0))
{ {
enable_x(); enable_x();
enable_y(); enable_y();
} }
#else #else
if(block->steps_x != 0) enable_x(); if(block->steps_x.wide != 0) enable_x();
if(block->steps_y != 0) enable_y(); if(block->steps_y.wide != 0) enable_y();
#endif #endif
#ifndef Z_LATE_ENABLE if(block->steps_z.wide != 0) enable_z();
if(block->steps_z != 0) enable_z();
#endif
// Enable extruder(s) // Enable extruder(s)
if(block->steps_e != 0) if(block->steps_e.wide != 0)
{ {
if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
{ {
@ -881,7 +883,7 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
} }
} }
if (block->steps_e == 0) if (block->steps_e.wide == 0)
{ {
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate; if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
} }
@ -910,7 +912,7 @@ Having the real displacement of the head, we can calculate the total movement le
#endif #endif
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS]; delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) if ( block->steps_x.wide <=dropsegments && block->steps_y.wide <=dropsegments && block->steps_z.wide <=dropsegments )
{ {
block->millimeters = fabs(delta_mm[E_AXIS]); block->millimeters = fabs(delta_mm[E_AXIS]);
} }
@ -943,7 +945,7 @@ Having the real displacement of the head, we can calculate the total movement le
#endif // SLOWDOWN #endif // SLOWDOWN
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0 block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0 block->nominal_rate = ceil(block->step_event_count.wide * inverse_second); // (step/sec) Always > 0
// Calculate and limit speed in mm/sec for each axis // Calculate and limit speed in mm/sec for each axis
float current_speed[4]; float current_speed[4];
@ -988,8 +990,8 @@ Having the real displacement of the head, we can calculate the total movement le
// Compute and limit the acceleration rate for the trapezoid generator. // Compute and limit the acceleration rate for the trapezoid generator.
// block->step_event_count ... event count of the fastest axis // block->step_event_count ... event count of the fastest axis
// block->millimeters ... Euclidian length of the XYZ movement or the E length, if no XYZ movement. // block->millimeters ... Euclidian length of the XYZ movement or the E length, if no XYZ movement.
float steps_per_mm = block->step_event_count/block->millimeters; float steps_per_mm = block->step_event_count.wide/block->millimeters;
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) if(block->steps_x.wide == 0 && block->steps_y.wide == 0 && block->steps_z.wide == 0)
{ {
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
} }
@ -1000,48 +1002,48 @@ Having the real displacement of the head, we can calculate the total movement le
#ifdef SIMPLE_ACCEL_LIMIT // in some cases can be acceleration limited inproperly #ifdef SIMPLE_ACCEL_LIMIT // in some cases can be acceleration limited inproperly
if (tmc2130_mode == TMC2130_MODE_SILENT) if (tmc2130_mode == TMC2130_MODE_SILENT)
{ {
if (block->steps_x || block->steps_y) if (block->steps_x.wide || block->steps_y.wide)
if (block->acceleration_st > SILENT_MAX_ACCEL_ST) block->acceleration_st = SILENT_MAX_ACCEL_ST; if (block->acceleration_st > SILENT_MAX_ACCEL_ST) block->acceleration_st = SILENT_MAX_ACCEL_ST;
} }
else else
{ {
if (block->steps_x || block->steps_y) if (block->steps_x.wide || block->steps_y.wide)
if (block->acceleration_st > NORMAL_MAX_ACCEL_ST) block->acceleration_st = NORMAL_MAX_ACCEL_ST; if (block->acceleration_st > NORMAL_MAX_ACCEL_ST) block->acceleration_st = NORMAL_MAX_ACCEL_ST;
} }
if (block->steps_x && (block->acceleration_st > axis_steps_per_sqr_second[X_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; 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];
if (block->steps_y && (block->acceleration_st > axis_steps_per_sqr_second[Y_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; 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];
if (block->steps_z && (block->acceleration_st > axis_steps_per_sqr_second[Z_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; 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];
if (block->steps_e && (block->acceleration_st > axis_steps_per_sqr_second[E_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; 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];
#else // SIMPLE_ACCEL_LIMIT #else // SIMPLE_ACCEL_LIMIT
if (tmc2130_mode == TMC2130_MODE_SILENT) if (tmc2130_mode == TMC2130_MODE_SILENT)
{ {
if ((block->steps_x > block->step_event_count / 2) || (block->steps_y > block->step_event_count / 2)) if ((block->steps_x.wide > block->step_event_count.wide / 2) || (block->steps_y.wide > block->step_event_count.wide / 2))
if (block->acceleration_st > SILENT_MAX_ACCEL_ST) block->acceleration_st = SILENT_MAX_ACCEL_ST; if (block->acceleration_st > SILENT_MAX_ACCEL_ST) block->acceleration_st = SILENT_MAX_ACCEL_ST;
} }
else else
{ {
if ((block->steps_x > block->step_event_count / 2) || (block->steps_y > block->step_event_count / 2)) if ((block->steps_x.wide > block->step_event_count.wide / 2) || (block->steps_y.wide > block->step_event_count.wide / 2))
if (block->acceleration_st > NORMAL_MAX_ACCEL_ST) block->acceleration_st = NORMAL_MAX_ACCEL_ST; if (block->acceleration_st > NORMAL_MAX_ACCEL_ST) block->acceleration_st = NORMAL_MAX_ACCEL_ST;
} }
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS]) if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS]) if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS]) 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]; block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
#endif // SIMPLE_ACCEL_LIMIT #endif // SIMPLE_ACCEL_LIMIT
#else //TMC2130 #else //TMC2130
// Limit acceleration per axis // Limit acceleration per axis
//FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit. //FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS]) if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS]) 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]; block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS]) if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide ) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
#endif //TMC2130 #endif //TMC2130
} }
@ -1199,10 +1201,10 @@ 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! // 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) // de_float > 0.0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
// //
block->use_advance_lead = block->steps_e block->use_advance_lead = block->steps_e.wide
&& (block->steps_x || block->steps_y) && (block->steps_x.wide || block->steps_y.wide)
&& extruder_advance_k && extruder_advance_k
&& (uint32_t)block->steps_e != block->step_event_count && (uint32_t)block->steps_e.wide != block->step_event_count.wide
&& de_float > 0.0; && de_float > 0.0;
if (block->use_advance_lead) if (block->use_advance_lead)
block->abs_adv_steps_multiplier8 = lround( block->abs_adv_steps_multiplier8 = lround(
@ -1217,6 +1219,9 @@ Having the real displacement of the head, we can calculate the total movement le
block->speed_factor = block->nominal_rate / block->nominal_speed; block->speed_factor = block->nominal_rate / block->nominal_speed;
calculate_trapezoid_for_block(block, block->entry_speed, safe_speed); calculate_trapezoid_for_block(block, block->entry_speed, safe_speed);
if (block->step_event_count.wide <= 32767)
block->flag |= BLOCK_FLAG_DDA_LOWRES;
// Move the buffer head. From now the block may be picked up by the stepper interrupt controller. // Move the buffer head. From now the block may be picked up by the stepper interrupt controller.
block_buffer_head = next_buffer_head; block_buffer_head = next_buffer_head;

28
Firmware/planner.h
View File

@ -40,6 +40,28 @@ enum BlockFlag {
// If set, the machine will start from a halt at the start of this block, // If set, the machine will start from a halt at the start of this block,
// respecting the maximum allowed jerk. // respecting the maximum allowed jerk.
BLOCK_FLAG_START_FROM_FULL_HALT = 4, 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 // 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 { typedef struct {
// Fields used by the bresenham algorithm for tracing the line // 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(). // 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 dda_isteps_t 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_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 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 direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
unsigned char active_extruder; // Selects the active extruder unsigned char active_extruder; // Selects the active extruder
@ -72,7 +94,7 @@ typedef struct {
float acceleration; float acceleration;
// Bit flags defined by the BlockFlag enum. // Bit flags defined by the BlockFlag enum.
bool flag; uint8_t flag;
// Settings for the trapezoid generator (runs inside an interrupt handler). // 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. // Changing the following values in the planner needs to be synchronized with the interrupt handler by disabling the interrupts.

1098
Firmware/stepper.cpp
View File

File diff suppressed because it is too large Load Diff

14
Firmware/stepper.h
View File

@ -26,20 +26,6 @@
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A) #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A) #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
#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 #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
extern bool abort_on_endstop_hit; extern bool abort_on_endstop_hit;
#endif #endif

19
Firmware/ultralcd.cpp
View File

@ -5422,14 +5422,21 @@ void stack_error() {
#ifdef DEBUG_STEPPER_TIMER_MISSED #ifdef DEBUG_STEPPER_TIMER_MISSED
bool stepper_timer_overflow_state = false; bool stepper_timer_overflow_state = false;
uint16_t stepper_timer_overflow_max = 0;
uint16_t stepper_timer_overflow_last = 0;
uint16_t stepper_timer_overflow_cnt = 0;
void stepper_timer_overflow() { void stepper_timer_overflow() {
SET_OUTPUT(BEEPER); char msg[28];
WRITE(BEEPER, HIGH); sprintf_P(msg, PSTR("#%d %d max %d"), ++ stepper_timer_overflow_cnt, stepper_timer_overflow_last >> 1, stepper_timer_overflow_max >> 1);
delay(1000); lcd_setstatus(msg);
stepper_timer_overflow_state = false;
if (stepper_timer_overflow_last > stepper_timer_overflow_max)
stepper_timer_overflow_max = stepper_timer_overflow_last;
SERIAL_ECHOPGM("Stepper timer overflow: ");
MYSERIAL.print(msg);
SERIAL_ECHOLNPGM("");
WRITE(BEEPER, LOW); WRITE(BEEPER, LOW);
lcd_display_message_fullscreen_P(MSG_STEPPER_TIMER_OVERFLOW_ERROR);
//err_triggered = 1;
while (1) delay_keep_alive(1000);
} }
#endif /* DEBUG_STEPPER_TIMER_MISSED */ #endif /* DEBUG_STEPPER_TIMER_MISSED */