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707 lines
26 KiB
707 lines
26 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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* Derived from Grbl
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*
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
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* Grbl is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Grbl is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Grbl. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include "../inc/MarlinConfig.h"
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#include "planner.h"
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#include "stepper/indirection.h"
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#ifdef __AVR__
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#include "stepper/speed_lookuptable.h"
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#endif
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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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/**
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* The method of calculating these cycle-constants is unclear.
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* Most of them are no longer used directly for pulse timing, and exist
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* only to estimate a maximum step rate based on the user's configuration.
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* As 32-bit processors continue to diverge, maintaining cycle counts
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* will become increasingly difficult and error-prone.
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*/
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#ifdef CPU_32_BIT
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/**
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* Duration of START_TIMED_PULSE
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*
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* ...as measured on an LPC1768 with a scope and converted to cycles.
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* Not applicable to other 32-bit processors, but as long as others
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* take longer, pulses will be longer. For example the SKR Pro
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* (stm32f407zgt6) requires ~60 cyles.
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*/
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#define TIMER_READ_ADD_AND_STORE_CYCLES 34UL
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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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// To start the step pulse, in the worst case takes
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#define ISR_START_STEPPER_CYCLES 13UL
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// And each stepper (start + stop pulse) takes in worst case
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#define ISR_STEPPER_CYCLES 16UL
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#else
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// Cycles to perform actions in START_TIMED_PULSE
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#define TIMER_READ_ADD_AND_STORE_CYCLES 13UL
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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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// To start the step pulse, in the worst case takes
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#define ISR_START_STEPPER_CYCLES 57UL
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// And each stepper (start + stop pulse) takes in worst case
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#define ISR_STEPPER_CYCLES 88UL
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#endif
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// If linear advance is disabled, 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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// Add time for each stepper
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#if HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_Y_STEP
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_Z_STEP
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_I_STEP
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#define ISR_I_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_J_STEP
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#define ISR_J_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_K_STEP
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#define ISR_K_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_U_STEP
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#define ISR_U_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_V_STEP
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#define ISR_V_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_W_STEP
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#define ISR_W_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_EXTRUDERS
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES // E is always interpolated, even for mixing extruders
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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_MIXING_STEPPER_CYCLES LOGICAL_AXIS_GANG(+ ISR_E_STEPPER_CYCLES, + ISR_X_STEPPER_CYCLES, + ISR_Y_STEPPER_CYCLES, + ISR_Z_STEPPER_CYCLES, + ISR_I_STEPPER_CYCLES, + ISR_J_STEPPER_CYCLES, + ISR_K_STEPPER_CYCLES, + ISR_U_STEPPER_CYCLES, + ISR_V_STEPPER_CYCLES, + ISR_W_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(uint32_t((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(uint32_t(MINIMUM_STEPPER_PULSE))
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#elif HAS_DRIVER(LV8729)
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#define MIN_STEPPER_PULSE_CYCLES uint32_t((((F_CPU) - 1) / 2000000) + 1) // 0.5µs, aka 500ns
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#else
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL)
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#endif
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// Calculate the minimum pulse times (high and low)
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#if MINIMUM_STEPPER_PULSE && MAXIMUM_STEPPER_RATE
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constexpr uint32_t _MIN_STEP_PERIOD_NS = 1000000000UL / MAXIMUM_STEPPER_RATE;
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constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
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constexpr uint32_t _MIN_PULSE_LOW_NS = _MAX((_MIN_STEP_PERIOD_NS - _MIN(_MIN_STEP_PERIOD_NS, _MIN_PULSE_HIGH_NS)), _MIN_PULSE_HIGH_NS);
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#elif MINIMUM_STEPPER_PULSE
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// Assume 50% duty cycle
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constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
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constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
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#elif MAXIMUM_STEPPER_RATE
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// Assume 50% duty cycle
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constexpr uint32_t _MIN_PULSE_HIGH_NS = 500000000UL / MAXIMUM_STEPPER_RATE;
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constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
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#else
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#error "Expected at least one of MINIMUM_STEPPER_PULSE or MAXIMUM_STEPPER_RATE to be defined"
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#endif
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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) // ToDo: ???
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// HELP ME: What is what?
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// Directions are set up for MIXING_STEPPERS - like before.
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// Finding the right stepper may last up to MIXING_STEPPERS loops in get_next_stepper().
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// These loops are a bit faster than advancing a bresenham counter.
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// Always only one E stepper is stepped.
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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 step ISR rate used by ADAPTIVE_STEP_SMOOTHING to target 50% CPU usage
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// This does not account for the possibility of multi-stepping.
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// Perhaps DISABLE_MULTI_STEPPING should be required with ADAPTIVE_STEP_SMOOTHING.
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#define MIN_STEP_ISR_FREQUENCY (MAX_STEP_ISR_FREQUENCY_1X / 2)
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#define ENABLE_COUNT (NUM_AXES + E_STEPPERS)
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#if ENABLE_COUNT > 16
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typedef uint32_t ena_mask_t;
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#else
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typedef IF<(ENABLE_COUNT > 8), uint16_t, uint8_t>::type ena_mask_t;
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#endif
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// Axis flags type, for enabled state or other simple state
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typedef struct {
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union {
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ena_mask_t bits;
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struct {
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bool NUM_AXIS_LIST(X:1, Y:1, Z:1, I:1, J:1, K:1, U:1, V:1, W:1);
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#if HAS_EXTRUDERS
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bool LIST_N(EXTRUDERS, E0:1, E1:1, E2:1, E3:1, E4:1, E5:1, E6:1, E7:1);
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#endif
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};
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};
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} stepper_flags_t;
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// All the stepper enable pins
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constexpr pin_t ena_pins[] = {
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NUM_AXIS_LIST(X_ENABLE_PIN, Y_ENABLE_PIN, Z_ENABLE_PIN, I_ENABLE_PIN, J_ENABLE_PIN, K_ENABLE_PIN, U_ENABLE_PIN, V_ENABLE_PIN, W_ENABLE_PIN),
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LIST_N(E_STEPPERS, E0_ENABLE_PIN, E1_ENABLE_PIN, E2_ENABLE_PIN, E3_ENABLE_PIN, E4_ENABLE_PIN, E5_ENABLE_PIN, E6_ENABLE_PIN, E7_ENABLE_PIN)
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};
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// Index of the axis or extruder element in a combined array
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constexpr uint8_t index_of_axis(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
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return uint8_t(axis) + (E_TERN0(axis < NUM_AXES ? 0 : eindex));
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}
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//#define __IAX_N(N,V...) _IAX_##N(V)
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//#define _IAX_N(N,V...) __IAX_N(N,V)
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//#define _IAX_1(A) index_of_axis(A)
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//#define _IAX_2(A,B) index_of_axis(A E_OPTARG(B))
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//#define INDEX_OF_AXIS(V...) _IAX_N(TWO_ARGS(V),V)
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#define INDEX_OF_AXIS(A,V...) index_of_axis(A E_OPTARG(V+0))
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// Bit mask for a matching enable pin, or 0
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constexpr ena_mask_t ena_same(const uint8_t a, const uint8_t b) {
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return ena_pins[a] == ena_pins[b] ? _BV(b) : 0;
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}
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// Recursively get the enable overlaps mask for a given linear axis or extruder
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constexpr ena_mask_t ena_overlap(const uint8_t a=0, const uint8_t b=0) {
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return b >= ENABLE_COUNT ? 0 : (a == b ? 0 : ena_same(a, b)) | ena_overlap(a, b + 1);
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}
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// Recursively get whether there's any overlap at all
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constexpr bool any_enable_overlap(const uint8_t a=0) {
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return a >= ENABLE_COUNT ? false : ena_overlap(a) || any_enable_overlap(a + 1);
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}
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// Array of axes that overlap with each
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// TODO: Consider cases where >=2 steppers are used by a linear axis or extruder
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// (e.g., CoreXY, Dual XYZ, or E with multiple steppers, etc.).
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constexpr ena_mask_t enable_overlap[] = {
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#define _OVERLAP(N) ena_overlap(INDEX_OF_AXIS(AxisEnum(N))),
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REPEAT(NUM_AXES, _OVERLAP)
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#if HAS_EXTRUDERS
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#define _E_OVERLAP(N) ena_overlap(INDEX_OF_AXIS(E_AXIS, N)),
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REPEAT(E_STEPPERS, _E_OVERLAP)
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#endif
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};
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//static_assert(!any_enable_overlap(), "There is some overlap.");
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//
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// Stepper class definition
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//
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class Stepper {
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public:
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#if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
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static bool separate_multi_axis;
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#endif
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#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
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#if HAS_MOTOR_CURRENT_PWM
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#ifndef PWM_MOTOR_CURRENT
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#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
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#endif
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#ifndef MOTOR_CURRENT_PWM_FREQUENCY
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#define MOTOR_CURRENT_PWM_FREQUENCY 31400
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#endif
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#define MOTOR_CURRENT_COUNT 3
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#elif HAS_MOTOR_CURRENT_SPI
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static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
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#define MOTOR_CURRENT_COUNT COUNT(Stepper::digipot_count)
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#endif
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static bool initialized;
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static uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load()
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#endif
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// Last-moved extruder, as set when the last movement was fetched from planner
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#if HAS_MULTI_EXTRUDER
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static uint8_t last_moved_extruder;
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#else
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static constexpr uint8_t last_moved_extruder = 0;
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#endif
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#if ENABLED(FREEZE_FEATURE)
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static bool frozen; // Set this flag to instantly freeze motion
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#endif
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private:
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static block_t* current_block; // A pointer to the block currently being traced
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static axis_bits_t last_direction_bits, // The next stepping-bits to be output
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axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
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static bool abort_current_block; // Signals to the stepper that current block should be aborted
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#if ENABLED(X_DUAL_ENDSTOPS)
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static bool locked_X_motor, locked_X2_motor;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static bool locked_Y_motor, locked_Y2_motor;
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#endif
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#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
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static bool locked_Z_motor, locked_Z2_motor
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#if NUM_Z_STEPPERS >= 3
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, locked_Z3_motor
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#if NUM_Z_STEPPERS >= 4
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, locked_Z4_motor
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#endif
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#endif
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;
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#endif
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static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks
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static uint8_t steps_per_isr; // Count of steps to perform per Stepper ISR call
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#if ENABLED(ADAPTIVE_STEP_SMOOTHING)
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static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis
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#else
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static constexpr uint8_t oversampling_factor = 0;
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#endif
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// Delta error variables for the Bresenham line tracer
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static xyze_long_t delta_error;
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static xyze_ulong_t advance_dividend;
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static uint32_t advance_divisor,
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step_events_completed, // The number of step events executed in the current block
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accelerate_until, // The point from where we need to stop acceleration
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decelerate_after, // The point from where we need to start decelerating
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step_event_count; // The total event count for the current block
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#if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
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static uint8_t stepper_extruder;
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#else
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static constexpr uint8_t stepper_extruder = 0;
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#endif
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#if ENABLED(S_CURVE_ACCELERATION)
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static int32_t bezier_A, // A coefficient in Bézier speed curve
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bezier_B, // B coefficient in Bézier speed curve
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bezier_C; // C coefficient in Bézier speed curve
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static uint32_t bezier_F, // F coefficient in Bézier speed curve
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bezier_AV; // AV coefficient in Bézier speed curve
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#ifdef __AVR__
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static bool A_negative; // If A coefficient was negative
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#endif
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static bool bezier_2nd_half; // If Bézier curve has been initialized or not
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#endif
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#if ENABLED(LIN_ADVANCE)
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static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
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static uint32_t nextAdvanceISR, LA_isr_rate;
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static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
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static int8_t LA_steps;
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static bool LA_use_advance_lead;
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#endif
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#if ENABLED(INTEGRATED_BABYSTEPPING)
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static constexpr uint32_t BABYSTEP_NEVER = 0xFFFFFFFF;
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static uint32_t nextBabystepISR;
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#endif
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#if ENABLED(DIRECT_STEPPING)
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static page_step_state_t page_step_state;
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#endif
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static int32_t ticks_nominal;
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#if DISABLED(S_CURVE_ACCELERATION)
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static uint32_t acc_step_rate; // needed for deceleration start point
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#endif
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// Exact steps at which an endstop was triggered
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static xyz_long_t endstops_trigsteps;
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// Positions of stepper motors, in step units
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static xyze_long_t count_position;
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// Current stepper motor directions (+1 or -1)
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static xyze_int8_t count_direction;
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public:
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// Initialize stepper hardware
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static void init();
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// Interrupt Service Routine and phases
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// The stepper subsystem goes to sleep when it runs out of things to execute.
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// Call this to notify the subsystem that it is time to go to work.
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static void wake_up() { ENABLE_STEPPER_DRIVER_INTERRUPT(); }
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static bool is_awake() { return STEPPER_ISR_ENABLED(); }
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static bool suspend() {
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const bool awake = is_awake();
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if (awake) DISABLE_STEPPER_DRIVER_INTERRUPT();
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return awake;
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}
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// The ISR scheduler
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static void isr();
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// The stepper pulse ISR phase
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static void pulse_phase_isr();
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// The stepper block processing ISR phase
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static uint32_t block_phase_isr();
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#if ENABLED(LIN_ADVANCE)
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// The Linear advance ISR phase
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static uint32_t advance_isr();
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FORCE_INLINE static void initiateLA() { nextAdvanceISR = 0; }
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#endif
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#if ENABLED(INTEGRATED_BABYSTEPPING)
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// The Babystepping ISR phase
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static uint32_t babystepping_isr();
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FORCE_INLINE static void initiateBabystepping() {
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if (nextBabystepISR == BABYSTEP_NEVER) {
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nextBabystepISR = 0;
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wake_up();
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}
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}
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#endif
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// Check if the given block is busy or not - Must not be called from ISR contexts
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static bool is_block_busy(const block_t * const block);
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// Get the position of a stepper, in steps
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static int32_t position(const AxisEnum axis);
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// Set the current position in steps
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static void set_position(const xyze_long_t &spos);
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static void set_axis_position(const AxisEnum a, const int32_t &v);
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// Report the positions of the steppers, in steps
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static void report_a_position(const xyz_long_t &pos);
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static void report_positions();
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// Discard current block and free any resources
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FORCE_INLINE static void discard_current_block() {
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#if ENABLED(DIRECT_STEPPING)
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if (current_block->is_page()) page_manager.free_page(current_block->page_idx);
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#endif
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current_block = nullptr;
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axis_did_move = 0;
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planner.release_current_block();
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}
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// Quickly stop all steppers
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FORCE_INLINE static void quick_stop() { abort_current_block = true; }
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// The direction of a single motor
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FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
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// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
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FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
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// Handle a triggered endstop
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static void endstop_triggered(const AxisEnum axis);
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// Triggered position of an axis in steps
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static int32_t triggered_position(const AxisEnum axis);
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#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
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static void set_digipot_value_spi(const int16_t address, const int16_t value);
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static void set_digipot_current(const uint8_t driver, const int16_t current);
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#endif
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#if HAS_MICROSTEPS
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static void microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2, const int8_t ms3);
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static void microstep_mode(const uint8_t driver, const uint8_t stepping);
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static void microstep_readings();
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#endif
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#if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
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FORCE_INLINE static void set_separate_multi_axis(const bool state) { separate_multi_axis = state; }
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
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FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
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FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
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#endif
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#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
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FORCE_INLINE static void set_z1_lock(const bool state) { locked_Z_motor = state; }
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FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
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#if NUM_Z_STEPPERS >= 3
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FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; }
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#if NUM_Z_STEPPERS >= 4
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FORCE_INLINE static void set_z4_lock(const bool state) { locked_Z4_motor = state; }
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#endif
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#endif
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static void set_all_z_lock(const bool lock, const int8_t except=-1) {
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set_z1_lock(lock ^ (except == 0));
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set_z2_lock(lock ^ (except == 1));
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#if NUM_Z_STEPPERS >= 3
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set_z3_lock(lock ^ (except == 2));
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#if NUM_Z_STEPPERS >= 4
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set_z4_lock(lock ^ (except == 3));
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#endif
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#endif
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}
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#endif
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#if ENABLED(BABYSTEPPING)
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static void do_babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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static void refresh_motor_power();
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#endif
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static stepper_flags_t axis_enabled; // Axis stepper(s) ENABLED states
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static bool axis_is_enabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
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return TEST(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
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}
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static void mark_axis_enabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
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SBI(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
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}
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static void mark_axis_disabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
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CBI(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
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}
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static bool can_axis_disable(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
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return !any_enable_overlap() || !(axis_enabled.bits & enable_overlap[INDEX_OF_AXIS(axis, eindex)]);
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}
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static void enable_axis(const AxisEnum axis);
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static bool disable_axis(const AxisEnum axis);
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#if HAS_EXTRUDERS
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static void enable_extruder(E_TERN_(const uint8_t eindex=0));
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static bool disable_extruder(E_TERN_(const uint8_t eindex=0));
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static void enable_e_steppers();
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static void disable_e_steppers();
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#else
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static void enable_extruder() {}
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static bool disable_extruder() { return true; }
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static void enable_e_steppers() {}
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static void disable_e_steppers() {}
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#endif
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#define ENABLE_EXTRUDER(N) enable_extruder(E_TERN_(N))
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#define DISABLE_EXTRUDER(N) disable_extruder(E_TERN_(N))
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#define AXIS_IS_ENABLED(N,V...) axis_is_enabled(N E_OPTARG(#V))
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static void enable_all_steppers();
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static void disable_all_steppers();
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// Update direction states for all steppers
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static void set_directions();
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// Set direction bits and update all stepper DIR states
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static void set_directions(const axis_bits_t bits) {
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last_direction_bits = bits;
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set_directions();
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}
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private:
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// Set the current position in steps
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static void _set_position(const abce_long_t &spos);
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FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t *loops) {
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uint32_t timer;
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// Scale the frequency, as requested by the caller
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step_rate <<= oversampling_factor;
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uint8_t multistep = 1;
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#if DISABLED(DISABLE_MULTI_STEPPING)
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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_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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uint8_t idx = 0;
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while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) {
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step_rate >>= 1;
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multistep <<= 1;
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++idx;
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};
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#else
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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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#ifdef CPU_32_BIT
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// In case of high-performance processor, it is able to calculate in real-time
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timer = uint32_t(STEPPER_TIMER_RATE) / step_rate;
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#else
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constexpr uint32_t min_step_rate = (F_CPU) / 500000U;
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NOLESS(step_rate, min_step_rate);
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step_rate -= min_step_rate; // Correct for minimal speed
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if (step_rate >= (8 * 256)) { // higher step rate
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const uint8_t tmp_step_rate = (step_rate & 0x00FF);
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const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
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gain = (uint16_t)pgm_read_word(table_address + 2);
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timer = MultiU16X8toH16(tmp_step_rate, gain);
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timer = (uint16_t)pgm_read_word(table_address) - timer;
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}
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else { // lower step rates
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uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
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table_address += ((step_rate) >> 1) & 0xFFFC;
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timer = (uint16_t)pgm_read_word(table_address)
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- (((uint16_t)pgm_read_word(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
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}
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// (there is no need to limit the timer value here. All limits have been
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// applied above, and AVR is able to keep up at 30khz Stepping ISR rate)
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#endif
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return timer;
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}
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#if ENABLED(S_CURVE_ACCELERATION)
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static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
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static int32_t _eval_bezier_curve(const uint32_t curr_step);
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#endif
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#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
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static void digipot_init();
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#endif
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#if HAS_MICROSTEPS
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static void microstep_init();
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#endif
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};
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extern Stepper stepper;
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