Subversion Repositories Tronxy-X3A-Marlin

/**

 * Marlin 3D Printer Firmware

 * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]

 *

 * Based on Sprinter and grbl.

 * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm

 *

 * This program is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program.  If not, see <http://www.gnu.org/licenses/>.

 *

 */

/**

 * stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors

 * Derived from Grbl

 *

 * Copyright (c) 2009-2011 Simen Svale Skogsrud

 *

 * Grbl is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 *

 * Grbl is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with Grbl.  If not, see <http://www.gnu.org/licenses/>.

 */

#ifndef STEPPER_H

#define STEPPER_H

#include "MarlinConfig.h"

// Disable multiple steps per ISR

//#define DISABLE_MULTI_STEPPING

//

// Estimate the amount of time the Stepper ISR will take to execute

//

#ifndef MINIMUM_STEPPER_PULSE

  #define MINIMUM_STEPPER_PULSE 0UL

#endif

#ifndef MAXIMUM_STEPPER_RATE

  #if MINIMUM_STEPPER_PULSE

    #define MAXIMUM_STEPPER_RATE (1000000UL / (2UL * (unsigned long)(MINIMUM_STEPPER_PULSE)))

  #else

    #define MAXIMUM_STEPPER_RATE 500000UL

  #endif

#endif

// The base ISR takes 752 cycles

#define ISR_BASE_CYCLES  752UL

// Linear advance base time is 32 cycles

#if ENABLED(LIN_ADVANCE)

  #define ISR_LA_BASE_CYCLES 32UL

#else

  #define ISR_LA_BASE_CYCLES 0UL

#endif

// S curve interpolation adds 160 cycles

#if ENABLED(S_CURVE_ACCELERATION)

  #define ISR_S_CURVE_CYCLES 160UL

#else

  #define ISR_S_CURVE_CYCLES 0UL

#endif

// Stepper Loop base cycles

#define ISR_LOOP_BASE_CYCLES 32UL

// To start the step pulse, in the worst case takes

#define ISR_START_STEPPER_CYCLES 57UL

// And each stepper (start + stop pulse) takes in worst case

#define ISR_STEPPER_CYCLES 88UL

// Add time for each stepper

#ifdef HAS_X_STEP

  #define ISR_START_X_STEPPER_CYCLES ISR_START_STEPPER_CYCLES

  #define ISR_X_STEPPER_CYCLES       ISR_STEPPER_CYCLES

#else

  #define ISR_START_X_STEPPER_CYCLES 0UL

  #define ISR_X_STEPPER_CYCLES       0UL

#endif

#ifdef HAS_Y_STEP

  #define ISR_START_Y_STEPPER_CYCLES ISR_START_STEPPER_CYCLES

  #define ISR_Y_STEPPER_CYCLES       ISR_STEPPER_CYCLES

#else

  #define ISR_START_Y_STEPPER_CYCLES 0UL

  #define ISR_Y_STEPPER_CYCLES       0UL

#endif

#ifdef HAS_Z_STEP

  #define ISR_START_Z_STEPPER_CYCLES ISR_START_STEPPER_CYCLES

  #define ISR_Z_STEPPER_CYCLES       ISR_STEPPER_CYCLES

#else

  #define ISR_START_Z_STEPPER_CYCLES 0UL

  #define ISR_Z_STEPPER_CYCLES       0UL

#endif

// E is always interpolated, even for mixing extruders

#define ISR_START_E_STEPPER_CYCLES   ISR_START_STEPPER_CYCLES

#define ISR_E_STEPPER_CYCLES         ISR_STEPPER_CYCLES

// If linear advance is disabled, then the loop also handles them

#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)

  #define ISR_START_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_START_STEPPER_CYCLES))

  #define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))

#else

  #define ISR_START_MIXING_STEPPER_CYCLES 0UL

  #define ISR_MIXING_STEPPER_CYCLES  0UL

#endif

// Calculate the minimum time to start all stepper pulses in the ISR loop

#define MIN_ISR_START_LOOP_CYCLES (ISR_START_X_STEPPER_CYCLES + ISR_START_Y_STEPPER_CYCLES + ISR_START_Z_STEPPER_CYCLES + ISR_START_E_STEPPER_CYCLES + ISR_START_MIXING_STEPPER_CYCLES)

// And the total minimum loop time, not including the base

#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)

// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate

#define _MIN_STEPPER_PULSE_CYCLES(N) MAX((unsigned long)((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N))

#if MINIMUM_STEPPER_PULSE

  #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES((unsigned long)(MINIMUM_STEPPER_PULSE))

#else

  #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL)

#endif

// Calculate the minimum ticks of the PULSE timer that must elapse with the step pulse enabled

// adding the "start stepper pulse" code section execution cycles to account for that not all

// pulses start at the beginning of the loop, so an extra time must be added to compensate so

// the last generated pulse (usually the extruder stepper) has the right length

#define MIN_PULSE_TICKS (((PULSE_TIMER_TICKS_PER_US) * (unsigned long)(MINIMUM_STEPPER_PULSE)) + ((MIN_ISR_START_LOOP_CYCLES) / (unsigned long)(PULSE_TIMER_PRESCALE)))

// Calculate the extra ticks of the PULSE timer between step pulses

#define ADDED_STEP_TICKS (((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE)) - (MIN_PULSE_TICKS))

// But the user could be enforcing a minimum time, so the loop time is

#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))

// If linear advance is enabled, then it is handled separately

#if ENABLED(LIN_ADVANCE)

  // Estimate the minimum LA loop time

  #if ENABLED(MIXING_EXTRUDER)

    #define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))

  #else

    #define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES

  #endif

  // And the real loop time

  #define ISR_LA_LOOP_CYCLES MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)

#else

  #define ISR_LA_LOOP_CYCLES 0UL

#endif

// Now estimate the total ISR execution time in cycles given a step per ISR multiplier

#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))

// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz)

#define MAX_STEP_ISR_FREQUENCY_128X ((F_CPU) / ISR_EXECUTION_CYCLES(128))

#define MAX_STEP_ISR_FREQUENCY_64X  ((F_CPU) / ISR_EXECUTION_CYCLES(64))

#define MAX_STEP_ISR_FREQUENCY_32X  ((F_CPU) / ISR_EXECUTION_CYCLES(32))

#define MAX_STEP_ISR_FREQUENCY_16X  ((F_CPU) / ISR_EXECUTION_CYCLES(16))

#define MAX_STEP_ISR_FREQUENCY_8X   ((F_CPU) / ISR_EXECUTION_CYCLES(8))

#define MAX_STEP_ISR_FREQUENCY_4X   ((F_CPU) / ISR_EXECUTION_CYCLES(4))

#define MAX_STEP_ISR_FREQUENCY_2X   ((F_CPU) / ISR_EXECUTION_CYCLES(2))

#define MAX_STEP_ISR_FREQUENCY_1X   ((F_CPU) / ISR_EXECUTION_CYCLES(1))

// The minimum allowable frequency for step smoothing will be 1/10 of the maximum nominal frequency (in Hz)

#define MIN_STEP_ISR_FREQUENCY MAX_STEP_ISR_FREQUENCY_1X

//

// Stepper class definition

//

#include "planner.h"

#include "speed_lookuptable.h"

#include "stepper_indirection.h"

#include "language.h"

#include "types.h"

// intRes = intIn1 * intIn2 >> 16

// uses:

// r26 to store 0

// r27 to store the byte 1 of the 24 bit result

static FORCE_INLINE uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {

  register uint8_t tmp;

  register uint16_t intRes;

  __asm__ __volatile__ (

    A("clr %[tmp]")

    A("mul %[charIn1], %B[intIn2]")

    A("movw %A[intRes], r0")

    A("mul %[charIn1], %A[intIn2]")

    A("add %A[intRes], r1")

    A("adc %B[intRes], %[tmp]")

    A("lsr r0")

    A("adc %A[intRes], %[tmp]")

    A("adc %B[intRes], %[tmp]")

    A("clr r1")

      : [intRes] "=&r" (intRes),

        [tmp] "=&r" (tmp)

      : [charIn1] "d" (charIn1),

        [intIn2] "d" (intIn2)

      : "cc"

  );

  return intRes;

}

class Stepper {

  public:

    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)

      static bool homing_dual_axis;

    #endif

    #if HAS_MOTOR_CURRENT_PWM

      #ifndef PWM_MOTOR_CURRENT

        #define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT

      #endif

      static uint32_t motor_current_setting[3];

    #endif

  private:

    static block_t* current_block;          // A pointer to the block currently being traced

    static uint8_t last_direction_bits,     // The next stepping-bits to be output

                   axis_did_move;           // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner

    static bool abort_current_block;        // Signals to the stepper that current block should be aborted

    #if DISABLED(MIXING_EXTRUDER)

      static uint8_t last_moved_extruder;   // Last-moved extruder, as set when the last movement was fetched from planner

    #endif

    #if ENABLED(X_DUAL_ENDSTOPS)

      static bool locked_X_motor, locked_X2_motor;

    #endif

    #if ENABLED(Y_DUAL_ENDSTOPS)

      static bool locked_Y_motor, locked_Y2_motor;

    #endif

    #if ENABLED(Z_DUAL_ENDSTOPS)

      static bool locked_Z_motor, locked_Z2_motor;

    #endif

    static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks

    static uint8_t steps_per_isr;         // Count of steps to perform per Stepper ISR call

    #if ENABLED(ADAPTIVE_STEP_SMOOTHING)

      static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis

    #else

      static constexpr uint8_t oversampling_factor = 0;

    #endif

    // Delta error variables for the Bresenham line tracer

    static int32_t delta_error[NUM_AXIS];

    static uint32_t advance_dividend[NUM_AXIS],

                    advance_divisor,

                    step_events_completed,  // The number of step events executed in the current block

                    accelerate_until,       // The point from where we need to stop acceleration

                    decelerate_after,       // The point from where we need to start decelerating

                    step_event_count;       // The total event count for the current block

    // Mixing extruder mix delta_errors for bresenham tracing

    #if ENABLED(MIXING_EXTRUDER)

      static int32_t delta_error_m[MIXING_STEPPERS];

      static uint32_t advance_dividend_m[MIXING_STEPPERS],

                      advance_divisor_m;

      #define MIXING_STEPPERS_LOOP(VAR) \

        for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++)

    #else

      static int8_t active_extruder;      // Active extruder

    #endif

    #if ENABLED(S_CURVE_ACCELERATION)

      static int32_t bezier_A,     // A coefficient in Bézier speed curve

                     bezier_B,     // B coefficient in Bézier speed curve

                     bezier_C;     // C coefficient in Bézier speed curve

      static uint32_t bezier_F,    // F coefficient in Bézier speed curve

                      bezier_AV;   // AV coefficient in Bézier speed curve

      static bool A_negative,      // If A coefficient was negative

                  bezier_2nd_half; // If Bézier curve has been initialized or not

    #endif

    static uint32_t nextMainISR;   // time remaining for the next Step ISR

    #if ENABLED(LIN_ADVANCE)

      static uint32_t nextAdvanceISR, LA_isr_rate;

      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".

      static int8_t LA_steps;

      static bool LA_use_advance_lead;

    #endif // LIN_ADVANCE

    static int32_t ticks_nominal;

    #if DISABLED(S_CURVE_ACCELERATION)

      static uint32_t acc_step_rate; // needed for deceleration start point

    #endif

    static volatile int32_t endstops_trigsteps[XYZ];

    //

    // Positions of stepper motors, in step units

    //

    static volatile int32_t count_position[NUM_AXIS];

    //

    // Current direction of stepper motors (+1 or -1)

    //

    static int8_t count_direction[NUM_AXIS];

  public:

    //

    // Constructor / initializer

    //

    Stepper() { };

    // Initialize stepper hardware

    static void init();

    // Interrupt Service Routines

    // The ISR scheduler

    static void isr();

    // The stepper pulse phase ISR

    static void stepper_pulse_phase_isr();

    // The stepper block processing phase ISR

    static uint32_t stepper_block_phase_isr();

    #if ENABLED(LIN_ADVANCE)

      // The Linear advance stepper ISR

      static uint32_t advance_isr();

    #endif

    // Check if the given block is busy or not - Must not be called from ISR contexts

    static bool is_block_busy(const block_t* const block);

    // Get the position of a stepper, in steps

    static int32_t position(const AxisEnum axis);

    // Report the positions of the steppers, in steps

    static void report_positions();

    // The stepper subsystem goes to sleep when it runs out of things to execute. Call this

    // to notify the subsystem that it is time to go to work.

    static void wake_up();

    // Quickly stop all steppers

    FORCE_INLINE static void quick_stop() { abort_current_block = true; }

    // The direction of a single motor

    FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }

    // The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.

    FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }

    // The extruder associated to the last movement

    FORCE_INLINE static uint8_t movement_extruder() {

      return

        #if ENABLED(MIXING_EXTRUDER)

        #else

          last_moved_extruder

        #endif

      ;

    }

    // Handle a triggered endstop

    static void endstop_triggered(const AxisEnum axis);

    // Triggered position of an axis in steps

    static int32_t triggered_position(const AxisEnum axis);

    #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM

      static void digitalPotWrite(const int16_t address, const int16_t value);

      static void digipot_current(const uint8_t driver, const int16_t current);

    #endif

    #if HAS_MICROSTEPS

      static void microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2);

      static void microstep_mode(const uint8_t driver, const uint8_t stepping);

      static void microstep_readings();

    #endif

    #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)

      FORCE_INLINE static void set_homing_dual_axis(const bool state) { homing_dual_axis = state; }

    #endif

    #if ENABLED(X_DUAL_ENDSTOPS)

      FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }

      FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }

    #endif

    #if ENABLED(Y_DUAL_ENDSTOPS)

      FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }

      FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }

    #endif

    #if ENABLED(Z_DUAL_ENDSTOPS)

      FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }

      FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }

    #endif

    #if ENABLED(BABYSTEPPING)

      static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention

    #endif

    #if HAS_MOTOR_CURRENT_PWM

      static void refresh_motor_power();

    #endif

    // Set the current position in steps

    inline static void set_position(const int32_t &a, const int32_t &b, const int32_t &c

      #if ENABLED(HANGPRINTER)

        , const int32_t &d

      #endif

      , const int32_t &e

    ) {

      planner.synchronize();

      const bool was_enabled = STEPPER_ISR_ENABLED();

      if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();

      _set_position(a, b, c

        #if ENABLED(HANGPRINTER)

          , d

        #endif

        , e

      );

      if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();

    }

    inline static void set_position(const AxisEnum a, const int32_t &v) {

      planner.synchronize();

      const bool was_enabled = STEPPER_ISR_ENABLED();

      if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();

      count_position[a] = v;

      if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();

    }

  private:

    // Set the current position in steps

    static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c

      #if ENABLED(HANGPRINTER)

        , const int32_t &d

      #endif

      , const int32_t &e

    );

    // Set direction bits for all steppers

    static void set_directions();

    // Allow reset_stepper_drivers to access private set_directions

    friend void reset_stepper_drivers();

    FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) {

      uint32_t timer;

      // Scale the frequency, as requested by the caller

      step_rate <<= scale;

      uint8_t multistep = 1;

      #if DISABLED(DISABLE_MULTI_STEPPING)

        // The stepping frequency limits for each multistepping rate

        static const uint32_t limit[] PROGMEM = {

          (  MAX_STEP_ISR_FREQUENCY_1X     ),

          (  MAX_STEP_ISR_FREQUENCY_2X >> 1),

          (  MAX_STEP_ISR_FREQUENCY_4X >> 2),

          (  MAX_STEP_ISR_FREQUENCY_8X >> 3),

          ( MAX_STEP_ISR_FREQUENCY_16X >> 4),

          ( MAX_STEP_ISR_FREQUENCY_32X >> 5),

          ( MAX_STEP_ISR_FREQUENCY_64X >> 6),

          (MAX_STEP_ISR_FREQUENCY_128X >> 7)

        };

        // Select the proper multistepping

        uint8_t idx = 0;

        while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) {

          step_rate >>= 1;

          multistep <<= 1;

          ++idx;

        };

      #else

        NOMORE(step_rate, uint32_t(MAX_STEP_ISR_FREQUENCY_1X));

      #endif

      *loops = multistep;

      constexpr uint32_t min_step_rate = F_CPU / 500000U;

      NOLESS(step_rate, min_step_rate);

      step_rate -= min_step_rate; // Correct for minimal speed

      if (step_rate >= (8 * 256)) { // higher step rate

        const uint8_t tmp_step_rate = (step_rate & 0x00FF);

        const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],

                       gain = (uint16_t)pgm_read_word_near(table_address + 2);

        timer = MultiU16X8toH16(tmp_step_rate, gain);

        timer = (uint16_t)pgm_read_word_near(table_address) - timer;

      }

      else { // lower step rates

        uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];

        table_address += ((step_rate) >> 1) & 0xFFFC;

        timer = (uint16_t)pgm_read_word_near(table_address)

              - (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);

      }

      // (there is no need to limit the timer value here. All limits have been

      // applied above, and AVR is able to keep up at 30khz Stepping ISR rate)

      return timer;

    }

    #if ENABLED(S_CURVE_ACCELERATION)

      static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);

      static int32_t _eval_bezier_curve(const uint32_t curr_step);

    #endif

    #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM

      static void digipot_init();

    #endif

    #if HAS_MICROSTEPS

      static void microstep_init();

    #endif

};

extern Stepper stepper;

#endif // STEPPER_H