d3c02410a8
* Misc fixes and improvements - Get rid of most critical sections on the Serial port drivers for AVR and DUE. Proper usage of FIFOs should allow interrupts to stay enabled without harm to queuing and dequeuing. Also, with 8-bit indices (for AVR) and up to 32-bit indices (for ARM), there is no need to protect reads and writes to those indices. - Simplify the XON/XOFF logic quite a bit. Much cleaner now (both for AVR and ARM) - Prevent a race condition (edge case) that could happen when estimating the proper value for the stepper timer (by reading it) and writing the calculated value for the time to the next ISR by disabling interrupts in those critical and small sections of the code - The problem could lead to lost steps. - Fix dual endstops not properly homing bug (maybe). * Set position immediately when possible
358 lines
13 KiB
C++
358 lines
13 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
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*
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*/
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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 <http://www.gnu.org/licenses/>.
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*/
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#ifndef STEPPER_H
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#define STEPPER_H
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#include "stepper_indirection.h"
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#ifdef __AVR__
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#include "speed_lookuptable.h"
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#endif
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#include "../inc/MarlinConfig.h"
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#include "../module/planner.h"
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#include "../core/language.h"
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class Stepper;
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extern Stepper stepper;
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class Stepper {
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public:
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static block_t* current_block; // A pointer to the block currently being traced
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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static bool performing_homing;
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#endif
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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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static uint32_t motor_current_setting[3];
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#endif
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private:
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static uint8_t last_direction_bits, // The next stepping-bits to be output
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last_movement_extruder, // Last movement extruder, as computed when the last movement was fetched from planner
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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 ENABLED(Z_DUAL_ENDSTOPS)
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static bool locked_Z_motor, locked_Z2_motor;
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#endif
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// Counter variables for the Bresenham line tracer
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static int32_t counter_X, counter_Y, counter_Z, counter_E;
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static uint32_t step_events_completed; // The number of step events executed in the current block
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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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static uint32_t nextMainISR; // time remaining for the next Step ISR
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static bool all_steps_done; // all steps done
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#if ENABLED(LIN_ADVANCE)
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static uint32_t LA_decelerate_after; // Copy from current executed block. Needed because current_block is set to NULL "too early".
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static uint32_t nextAdvanceISR, eISR_Rate;
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static uint16_t current_adv_steps, final_adv_steps, 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 e_steps;
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static bool use_advance_lead;
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#if E_STEPPERS > 1
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static int8_t LA_active_extruder; // Copy from current executed block. Needed because current_block is set to NULL "too early".
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#else
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static constexpr int8_t LA_active_extruder = 0;
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#endif
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#endif // LIN_ADVANCE
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static uint32_t acceleration_time, deceleration_time;
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static uint8_t step_loops, step_loops_nominal;
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static uint32_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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static volatile int32_t endstops_trigsteps[XYZ];
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static volatile int32_t endstops_stepsTotal, endstops_stepsDone;
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//
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// Positions of stepper motors, in step units
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//
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static volatile int32_t count_position[NUM_AXIS];
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//
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// Current direction of stepper motors (+1 or -1)
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//
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static volatile signed char count_direction[NUM_AXIS];
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//
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// Mixing extruder mix counters
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//
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#if ENABLED(MIXING_EXTRUDER)
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static int32_t counter_m[MIXING_STEPPERS];
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#define MIXING_STEPPERS_LOOP(VAR) \
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for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
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if (current_block->mix_event_count[VAR])
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#endif
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public:
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//
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// Constructor / initializer
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//
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Stepper() { };
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// Initialize stepper hardware
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static void init();
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// Interrupt Service Routines
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// The ISR scheduler
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static void isr();
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// The stepper pulse phase ISR
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static void stepper_pulse_phase_isr();
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// The stepper block processing phase ISR
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static uint32_t stepper_block_phase_isr();
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#if ENABLED(LIN_ADVANCE)
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// The Linear advance stepper ISR
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static uint32_t advance_isr();
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#endif
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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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// Report the positions of the steppers, in steps
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static void report_positions();
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// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
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// to notify the subsystem that it is time to go to work.
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static void wake_up();
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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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// The extruder associated to the last movement
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FORCE_INLINE static uint8_t movement_extruder() { return last_movement_extruder; }
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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_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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static void digitalPotWrite(const int16_t address, const int16_t value);
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static void 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);
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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 ENABLED(X_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_homing_flag_x(const bool state) { performing_homing = state; }
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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_homing_flag_y(const bool state) { performing_homing = state; }
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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 ENABLED(Z_DUAL_ENDSTOPS)
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FORCE_INLINE static void set_homing_flag_z(const bool state) { performing_homing = state; }
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FORCE_INLINE static void set_z_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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#endif
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#if ENABLED(BABYSTEPPING)
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static void 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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// Set the current position in steps
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inline static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
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planner.synchronize();
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// Disable stepper interrupts, to ensure atomic setting of all the position variables
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const bool was_enabled = STEPPER_ISR_ENABLED();
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if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
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// Set position
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_set_position(a, b, c, e);
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// Reenable Stepper ISR
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if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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inline static void set_position(const AxisEnum a, const int32_t &v) {
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planner.synchronize();
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#ifdef __AVR__
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// Protect the access to the position. Only required for AVR, as
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// any 32bit CPU offers atomic access to 32bit variables
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const bool was_enabled = STEPPER_ISR_ENABLED();
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if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
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#endif
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count_position[a] = v;
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#ifdef __AVR__
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// Reenable Stepper ISR
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if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
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#endif
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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 int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
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// Set direction bits for all steppers
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static void set_directions();
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// Limit the speed to 10KHz for AVR
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#ifndef STEP_DOUBLER_FREQUENCY
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#define STEP_DOUBLER_FREQUENCY 10000
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#endif
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FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate) {
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uint32_t timer;
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NOMORE(step_rate, uint32_t(MAX_STEP_FREQUENCY));
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#if DISABLED(DISABLE_MULTI_STEPPING)
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if (step_rate > STEP_DOUBLER_FREQUENCY * 2) { // If steprate > (STEP_DOUBLER_FREQUENCY * 2) kHz >> step 4 times
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step_rate >>= 2;
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step_loops = 4;
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}
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else if (step_rate > STEP_DOUBLER_FREQUENCY) { // If steprate > STEP_DOUBLER_FREQUENCY kHz >> step 2 times
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step_rate >>= 1;
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step_loops = 2;
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}
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else
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#endif
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step_loops = 1;
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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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const uint32_t min_time_per_step = (HAL_STEPPER_TIMER_RATE) / ((STEP_DOUBLER_FREQUENCY) * 2);
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timer = uint32_t(HAL_STEPPER_TIMER_RATE) / step_rate;
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NOLESS(timer, min_time_per_step); // (STEP_DOUBLER_FREQUENCY * 2 kHz - this should never happen)
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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_near(table_address + 2);
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timer = MultiU16X8toH16(tmp_step_rate, gain);
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timer = (uint16_t)pgm_read_word_near(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_near(table_address)
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- (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
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}
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if (timer < 100) { // (20kHz - this should never happen)
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timer = 100;
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SERIAL_ECHOLNPAIR(MSG_STEPPER_TOO_HIGH, step_rate);
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}
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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_DIGIPOTSS || 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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#endif // STEPPER_H
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