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