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@ -133,6 +133,10 @@ Stepper stepper; // Singleton |
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#include "../feature/powerloss.h" |
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#endif |
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#if HAS_CUTTER |
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#include "../feature/spindle_laser.h" |
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#endif |
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// public:
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#if HAS_EXTRA_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN) |
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@ -236,6 +240,20 @@ xyz_long_t Stepper::endstops_trigsteps; |
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xyze_long_t Stepper::count_position{0}; |
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xyze_int8_t Stepper::count_direction{0}; |
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#if ENABLED(LASER_POWER_INLINE_TRAPEZOID) |
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Stepper::stepper_laser_t Stepper::laser = { |
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.trap_en = false, |
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.cur_power = 0, |
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.cruise_set = false, |
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#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) |
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.last_step_count = 0, |
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.acc_step_count = 0 |
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#else |
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.till_update = 0 |
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#endif |
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}; |
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#endif |
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#define DUAL_ENDSTOP_APPLY_STEP(A,V) \ |
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if (separate_multi_axis) { \ |
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if (A##_HOME_DIR < 0) { \ |
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@ -1674,10 +1692,9 @@ uint32_t Stepper::block_phase_isr() { |
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#if ENABLED(S_CURVE_ACCELERATION) |
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// Get the next speed to use (Jerk limited!)
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uint32_t acc_step_rate = |
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acceleration_time < current_block->acceleration_time |
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? _eval_bezier_curve(acceleration_time) |
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: current_block->cruise_rate; |
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uint32_t acc_step_rate = acceleration_time < current_block->acceleration_time |
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? _eval_bezier_curve(acceleration_time) |
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: current_block->cruise_rate; |
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#else |
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acc_step_rate = STEP_MULTIPLY(acceleration_time, current_block->acceleration_rate) + current_block->initial_rate; |
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NOMORE(acc_step_rate, current_block->nominal_rate); |
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@ -1690,9 +1707,40 @@ uint32_t Stepper::block_phase_isr() { |
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acceleration_time += interval; |
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#if ENABLED(LIN_ADVANCE) |
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// Fire ISR if final adv_rate is reached
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if (LA_steps && (!LA_use_advance_lead || LA_isr_rate != current_block->advance_speed)) |
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initiateLA(); |
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if (LA_use_advance_lead) { |
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// Fire ISR if final adv_rate is reached
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if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0; |
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} |
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else if (LA_steps) nextAdvanceISR = 0; |
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#endif |
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// Update laser - Accelerating
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#if ENABLED(LASER_POWER_INLINE_TRAPEZOID) |
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if (laser.trap_en) { |
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#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) |
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if (current_block->laser.entry_per) { |
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laser.acc_step_count -= step_events_completed - laser.last_step_count; |
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laser.last_step_count = step_events_completed; |
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// Should be faster than a divide, since this should trip just once
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if (laser.acc_step_count < 0) { |
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while (laser.acc_step_count < 0) { |
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laser.acc_step_count += current_block->laser.entry_per; |
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if (laser.cur_power < current_block->laser.power) laser.cur_power++; |
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} |
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cutter.set_ocr_power(laser.cur_power); |
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} |
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} |
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#else |
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if (laser.till_update) |
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laser.till_update--; |
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else { |
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laser.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER; |
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laser.cur_power = (current_block->laser.power * acc_step_rate) / current_block->nominal_rate; |
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cutter.set_ocr_power(laser.cur_power); // Cycle efficiency is irrelevant it the last line was many cycles
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} |
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#endif |
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} |
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#endif |
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} |
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// Are we in Deceleration phase ?
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@ -1740,10 +1788,39 @@ uint32_t Stepper::block_phase_isr() { |
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LA_isr_rate = current_block->advance_speed; |
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} |
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} |
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else if (LA_steps) initiateLA(); |
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else if (LA_steps) nextAdvanceISR = 0; |
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#endif // LIN_ADVANCE
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// Update laser - Decelerating
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#if ENABLED(LASER_POWER_INLINE_TRAPEZOID) |
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if (laser.trap_en) { |
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#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) |
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if (current_block->laser.exit_per) { |
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laser.acc_step_count -= step_events_completed - laser.last_step_count; |
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laser.last_step_count = step_events_completed; |
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// Should be faster than a divide, since this should trip just once
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if (laser.acc_step_count < 0) { |
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while (laser.acc_step_count < 0) { |
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laser.acc_step_count += current_block->laser.exit_per; |
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if (laser.cur_power > current_block->laser.power_exit) laser.cur_power--; |
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} |
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cutter.set_ocr_power(laser.cur_power); |
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} |
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} |
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#else |
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if (laser.till_update) |
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laser.till_update--; |
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else { |
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laser.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER; |
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laser.cur_power = (current_block->laser.power * step_rate) / current_block->nominal_rate; |
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cutter.set_ocr_power(laser.cur_power); // Cycle efficiency isn't relevant when the last line was many cycles
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} |
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#endif |
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} |
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#endif |
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} |
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// We must be in cruise phase otherwise
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// Must be in cruise phase otherwise
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else { |
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#if ENABLED(LIN_ADVANCE) |
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@ -1759,6 +1836,22 @@ uint32_t Stepper::block_phase_isr() { |
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// The timer interval is just the nominal value for the nominal speed
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interval = ticks_nominal; |
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// Update laser - Cruising
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#if ENABLED(LASER_POWER_INLINE_TRAPEZOID) |
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if (laser.trap_en) { |
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if (!laser.cruise_set) { |
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laser.cur_power = current_block->laser.power; |
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cutter.set_ocr_power(laser.cur_power); |
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laser.cruise_set = true; |
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} |
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#if ENABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) |
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laser.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER; |
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#else |
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laser.last_step_count = step_events_completed; |
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#endif |
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} |
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#endif |
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} |
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} |
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} |
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@ -1805,11 +1898,11 @@ uint32_t Stepper::block_phase_isr() { |
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X) |
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*/ |
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#if EITHER(COREXY, COREXZ) |
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#define X_CMP == |
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#define X_CMP(A,B) ((A)==(B)) |
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#else |
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#define X_CMP != |
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#define X_CMP(A,B) ((A)!=(B)) |
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#endif |
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#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) ) |
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#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && X_CMP(D_(1),D_(2))) ) |
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#else |
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#define X_MOVE_TEST !!current_block->steps.a |
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#endif |
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@ -1823,11 +1916,11 @@ uint32_t Stepper::block_phase_isr() { |
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z) |
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*/ |
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#if EITHER(COREYX, COREYZ) |
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#define Y_CMP == |
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#define Y_CMP(A,B) ((A)==(B)) |
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#else |
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#define Y_CMP != |
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#define Y_CMP(A,B) ((A)!=(B)) |
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#endif |
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#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) ) |
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#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Y_CMP(D_(1),D_(2))) ) |
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#else |
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#define Y_MOVE_TEST !!current_block->steps.b |
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#endif |
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@ -1841,11 +1934,11 @@ uint32_t Stepper::block_phase_isr() { |
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z) |
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*/ |
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#if EITHER(COREZX, COREZY) |
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#define Z_CMP == |
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#define Z_CMP(A,B) ((A)==(B)) |
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#else |
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#define Z_CMP != |
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#define Z_CMP(A,B) ((A)!=(B)) |
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#endif |
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#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) ) |
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#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Z_CMP(D_(1),D_(2))) ) |
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#else |
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#define Z_MOVE_TEST !!current_block->steps.c |
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#endif |
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@ -1938,6 +2031,39 @@ uint32_t Stepper::block_phase_isr() { |
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set_directions(); |
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} |
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#if ENABLED(LASER_POWER_INLINE) |
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const uint8_t stat = current_block->laser.status; |
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#if ENABLED(LASER_POWER_INLINE_TRAPEZOID) |
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laser.trap_en = (stat & 0x03) == 0x03; |
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laser.cur_power = current_block->laser.power_entry; // RESET STATE
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laser.cruise_set = false; |
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#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) |
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laser.last_step_count = 0; |
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laser.acc_step_count = current_block->laser.entry_per / 2; |
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#else |
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laser.till_update = 0; |
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#endif |
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// Always have PWM in this case
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if (TEST(stat, 0)) { // Planner controls the laser
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if (TEST(stat, 1)) // Laser is on
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cutter.set_ocr_power(laser.cur_power); |
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else |
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cutter.set_power(0); |
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} |
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#else |
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if (TEST(stat, 0)) { // Planner controls the laser
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#if ENABLED(SPINDLE_LASER_PWM) |
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if (TEST(stat, 1)) // Laser is on
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cutter.set_ocr_power(current_block->laser.power); |
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else |
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cutter.set_power(0); |
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#else |
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cutter.set_enabled(TEST(stat, 1)); |
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#endif |
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} |
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#endif |
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#endif // LASER_POWER_INLINE
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// At this point, we must ensure the movement about to execute isn't
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// trying to force the head against a limit switch. If using interrupt-
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// driven change detection, and already against a limit then no call to
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@ -1957,21 +2083,35 @@ uint32_t Stepper::block_phase_isr() { |
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// Mark the time_nominal as not calculated yet
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ticks_nominal = -1; |
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#if DISABLED(S_CURVE_ACCELERATION) |
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// Set as deceleration point the initial rate of the block
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acc_step_rate = current_block->initial_rate; |
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#endif |
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#if ENABLED(S_CURVE_ACCELERATION) |
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// Initialize the Bézier speed curve
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_calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse); |
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// We haven't started the 2nd half of the trapezoid
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bezier_2nd_half = false; |
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#else |
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// Set as deceleration point the initial rate of the block
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acc_step_rate = current_block->initial_rate; |
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#endif |
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// Calculate the initial timer interval
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interval = calc_timer_interval(current_block->initial_rate, &steps_per_isr); |
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} |
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#if ENABLED(LASER_POWER_INLINE_CONTINUOUS) |
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else { // No new block found; so apply inline laser parameters
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// This should mean ending file with 'M5 I' will stop the laser; thus the inline flag isn't needed
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const uint8_t stat = planner.settings.laser.status; |
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if (TEST(stat, 0)) { // Planner controls the laser
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#if ENABLED(SPINDLE_LASER_PWM) |
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if (TEST(stat, 1)) // Laser is on
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cutter.set_ocr_power(planner.settings.laser.power); |
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else |
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cutter.set_power(0); |
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#else |
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cutter.set_enabled(TEST(stat, 1)); |
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#endif |
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} |
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} |
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#endif |
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} |
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// Return the interval to wait
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Ben
5 years ago
GitHub