Extract update_endstops from stepper ISR (PR#2474)
This commit is contained in:
Scott Lahteine
Richard Wackerbarth
parent
adfcfcba95
commit
000a6fce46
1 changed files with 179 additions and 178 deletions
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@ -286,193 +286,8 @@ void checkHitEndstops() {
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void enable_endstops(bool check) { check_endstops = check; }
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// __________________________
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// /| |\ _________________ ^
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// / | | \ /| |\ |
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// / | | \ / | | \ s
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// / | | | | | \ p
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// / | | | | | \ e
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// +-----+------------------------+---+--+---------------+----+ e
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// | BLOCK 1 | BLOCK 2 | d
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//
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// time ----->
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//
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// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
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// first block->accelerate_until step_events_completed, then keeps going at constant speed until
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// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
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// The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
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void st_wake_up() {
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// TCNT1 = 0;
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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unsigned short timer;
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if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
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if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
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step_rate = (step_rate >> 2) & 0x3fff;
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step_loops = 4;
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}
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else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
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step_rate = (step_rate >> 1) & 0x7fff;
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step_loops = 2;
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}
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else {
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step_loops = 1;
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}
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if (step_rate < (F_CPU / 500000)) step_rate = (F_CPU / 500000);
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step_rate -= (F_CPU / 500000); // Correct for minimal speed
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if (step_rate >= (8 * 256)) { // higher step rate
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unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
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unsigned char tmp_step_rate = (step_rate & 0x00ff);
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unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
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MultiU16X8toH16(timer, tmp_step_rate, gain);
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timer = (unsigned short)pgm_read_word_near(table_address) - timer;
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}
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else { // lower step rates
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unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
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table_address += ((step_rate)>>1) & 0xfffc;
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timer = (unsigned short)pgm_read_word_near(table_address);
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timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
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}
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if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
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return timer;
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}
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/**
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* Set the stepper direction of each axis
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*
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* X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY
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* X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ
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*/
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void set_stepper_direction() {
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if (TEST(out_bits, X_AXIS)) { // A_AXIS
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X_APPLY_DIR(INVERT_X_DIR, 0);
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count_direction[X_AXIS] = -1;
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}
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else {
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X_APPLY_DIR(!INVERT_X_DIR, 0);
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count_direction[X_AXIS] = 1;
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}
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if (TEST(out_bits, Y_AXIS)) { // B_AXIS
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Y_APPLY_DIR(INVERT_Y_DIR, 0);
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count_direction[Y_AXIS] = -1;
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}
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else {
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Y_APPLY_DIR(!INVERT_Y_DIR, 0);
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count_direction[Y_AXIS] = 1;
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}
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if (TEST(out_bits, Z_AXIS)) { // C_AXIS
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Z_APPLY_DIR(INVERT_Z_DIR, 0);
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count_direction[Z_AXIS] = -1;
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}
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else {
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Z_APPLY_DIR(!INVERT_Z_DIR, 0);
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count_direction[Z_AXIS] = 1;
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}
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#ifndef ADVANCE
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if (TEST(out_bits, E_AXIS)) {
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REV_E_DIR();
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count_direction[E_AXIS] = -1;
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}
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else {
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NORM_E_DIR();
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count_direction[E_AXIS] = 1;
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}
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#endif //!ADVANCE
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}
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// Initializes the trapezoid generator from the current block. Called whenever a new
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// block begins.
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FORCE_INLINE void trapezoid_generator_reset() {
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if (current_block->direction_bits != out_bits) {
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out_bits = current_block->direction_bits;
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set_stepper_direction();
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}
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#ifdef ADVANCE
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advance = current_block->initial_advance;
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final_advance = current_block->final_advance;
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// Do E steps + advance steps
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e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
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old_advance = advance >>8;
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#endif
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deceleration_time = 0;
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// step_rate to timer interval
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OCR1A_nominal = calc_timer(current_block->nominal_rate);
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// make a note of the number of step loops required at nominal speed
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step_loops_nominal = step_loops;
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acc_step_rate = current_block->initial_rate;
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acceleration_time = calc_timer(acc_step_rate);
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OCR1A = acceleration_time;
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// SERIAL_ECHO_START;
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// SERIAL_ECHOPGM("advance :");
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// SERIAL_ECHO(current_block->advance/256.0);
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// SERIAL_ECHOPGM("advance rate :");
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// SERIAL_ECHO(current_block->advance_rate/256.0);
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// SERIAL_ECHOPGM("initial advance :");
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// SERIAL_ECHO(current_block->initial_advance/256.0);
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// SERIAL_ECHOPGM("final advance :");
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// SERIAL_ECHOLN(current_block->final_advance/256.0);
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}
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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ISR(TIMER1_COMPA_vect) {
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if (cleaning_buffer_counter)
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{
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current_block = NULL;
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plan_discard_current_block();
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#ifdef SD_FINISHED_RELEASECOMMAND
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if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueuecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
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#endif
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cleaning_buffer_counter--;
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OCR1A = 200;
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return;
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}
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// If there is no current block, attempt to pop one from the buffer
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if (!current_block) {
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// Anything in the buffer?
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current_block = plan_get_current_block();
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if (current_block) {
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current_block->busy = true;
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trapezoid_generator_reset();
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counter_x = -(current_block->step_event_count >> 1);
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counter_y = counter_z = counter_e = counter_x;
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step_events_completed = 0;
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#ifdef Z_LATE_ENABLE
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if (current_block->steps[Z_AXIS] > 0) {
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enable_z();
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OCR1A = 2000; //1ms wait
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return;
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}
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#endif
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// #ifdef ADVANCE
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// e_steps[current_block->active_extruder] = 0;
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// #endif
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}
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else {
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OCR1A = 2000; // 1kHz.
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}
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}
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if (current_block != NULL) {
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// Check endstops
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if (check_endstops) {
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// Check endstops
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inline void update_endstops() {
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#ifdef Z_DUAL_ENDSTOPS
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uint16_t
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@ -645,8 +460,194 @@ ISR(TIMER1_COMPA_vect) {
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#endif
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}
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old_endstop_bits = current_endstop_bits;
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}
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// __________________________
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// /| |\ _________________ ^
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// / | | \ /| |\ |
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// / | | \ / | | \ s
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// / | | | | | \ p
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// / | | | | | \ e
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// +-----+------------------------+---+--+---------------+----+ e
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// | BLOCK 1 | BLOCK 2 | d
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//
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// time ----->
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//
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// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
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// first block->accelerate_until step_events_completed, then keeps going at constant speed until
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// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
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// The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
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void st_wake_up() {
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// TCNT1 = 0;
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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unsigned short timer;
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if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
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if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
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step_rate = (step_rate >> 2) & 0x3fff;
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step_loops = 4;
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}
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else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
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step_rate = (step_rate >> 1) & 0x7fff;
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step_loops = 2;
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}
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else {
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step_loops = 1;
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}
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if (step_rate < (F_CPU / 500000)) step_rate = (F_CPU / 500000);
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step_rate -= (F_CPU / 500000); // Correct for minimal speed
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if (step_rate >= (8 * 256)) { // higher step rate
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unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
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unsigned char tmp_step_rate = (step_rate & 0x00ff);
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unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
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MultiU16X8toH16(timer, tmp_step_rate, gain);
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timer = (unsigned short)pgm_read_word_near(table_address) - timer;
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}
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else { // lower step rates
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unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
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table_address += ((step_rate)>>1) & 0xfffc;
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timer = (unsigned short)pgm_read_word_near(table_address);
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timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
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}
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if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
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return timer;
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}
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/**
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* Set the stepper direction of each axis
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*
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* X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY
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* X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ
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*/
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void set_stepper_direction() {
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if (TEST(out_bits, X_AXIS)) { // A_AXIS
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X_APPLY_DIR(INVERT_X_DIR, 0);
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count_direction[X_AXIS] = -1;
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}
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else {
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X_APPLY_DIR(!INVERT_X_DIR, 0);
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count_direction[X_AXIS] = 1;
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}
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if (TEST(out_bits, Y_AXIS)) { // B_AXIS
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Y_APPLY_DIR(INVERT_Y_DIR, 0);
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count_direction[Y_AXIS] = -1;
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}
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else {
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Y_APPLY_DIR(!INVERT_Y_DIR, 0);
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count_direction[Y_AXIS] = 1;
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}
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if (TEST(out_bits, Z_AXIS)) { // C_AXIS
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Z_APPLY_DIR(INVERT_Z_DIR, 0);
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count_direction[Z_AXIS] = -1;
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}
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else {
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Z_APPLY_DIR(!INVERT_Z_DIR, 0);
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count_direction[Z_AXIS] = 1;
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}
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#ifndef ADVANCE
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if (TEST(out_bits, E_AXIS)) {
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REV_E_DIR();
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count_direction[E_AXIS] = -1;
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}
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else {
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NORM_E_DIR();
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count_direction[E_AXIS] = 1;
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}
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#endif //!ADVANCE
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}
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// Initializes the trapezoid generator from the current block. Called whenever a new
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// block begins.
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FORCE_INLINE void trapezoid_generator_reset() {
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if (current_block->direction_bits != out_bits) {
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out_bits = current_block->direction_bits;
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set_stepper_direction();
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}
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#ifdef ADVANCE
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advance = current_block->initial_advance;
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final_advance = current_block->final_advance;
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// Do E steps + advance steps
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e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
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old_advance = advance >>8;
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#endif
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deceleration_time = 0;
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// step_rate to timer interval
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OCR1A_nominal = calc_timer(current_block->nominal_rate);
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// make a note of the number of step loops required at nominal speed
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step_loops_nominal = step_loops;
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acc_step_rate = current_block->initial_rate;
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acceleration_time = calc_timer(acc_step_rate);
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OCR1A = acceleration_time;
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// SERIAL_ECHO_START;
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// SERIAL_ECHOPGM("advance :");
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// SERIAL_ECHO(current_block->advance/256.0);
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// SERIAL_ECHOPGM("advance rate :");
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// SERIAL_ECHO(current_block->advance_rate/256.0);
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// SERIAL_ECHOPGM("initial advance :");
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// SERIAL_ECHO(current_block->initial_advance/256.0);
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// SERIAL_ECHOPGM("final advance :");
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// SERIAL_ECHOLN(current_block->final_advance/256.0);
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}
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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ISR(TIMER1_COMPA_vect) {
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if (cleaning_buffer_counter) {
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current_block = NULL;
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plan_discard_current_block();
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#ifdef SD_FINISHED_RELEASECOMMAND
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if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueuecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
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#endif
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cleaning_buffer_counter--;
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OCR1A = 200;
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return;
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}
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// If there is no current block, attempt to pop one from the buffer
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if (!current_block) {
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// Anything in the buffer?
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current_block = plan_get_current_block();
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if (current_block) {
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current_block->busy = true;
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trapezoid_generator_reset();
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counter_x = -(current_block->step_event_count >> 1);
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counter_y = counter_z = counter_e = counter_x;
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step_events_completed = 0;
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#ifdef Z_LATE_ENABLE
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if (current_block->steps[Z_AXIS] > 0) {
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enable_z();
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OCR1A = 2000; //1ms wait
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return;
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}
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#endif
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// #ifdef ADVANCE
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// e_steps[current_block->active_extruder] = 0;
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// #endif
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}
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else {
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OCR1A = 2000; // 1kHz.
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}
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}
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if (current_block != NULL) {
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// Update endstops state, if enabled
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if (check_endstops) update_endstops();
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// Take multiple steps per interrupt (For high speed moves)
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for (int8_t i = 0; i < step_loops; i++) {
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