diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index dd018a115..0f6feb1a9 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -1444,149 +1444,4 @@ #define USE_EXECUTE_COMMANDS_IMMEDIATE #endif -// Calculate a default maximum stepper rate, if not supplied -#ifndef MAXIMUM_STEPPER_RATE - #if MINIMUM_STEPPER_PULSE - #define MAXIMUM_STEPPER_RATE (1000000UL / (2UL * (MINIMUM_STEPPER_PULSE))) - #else - #define MAXIMUM_STEPPER_RATE 500000UL - #endif -#endif - -// -// Estimate the amount of time the ISR will take to execute -// -#ifdef CPU_32_BIT - - // The base ISR takes 792 cycles - #define ISR_BASE_CYCLES 792UL - - // Linear advance base time is 64 cycles - #if ENABLED(LIN_ADVANCE) - #define ISR_LA_BASE_CYCLES 64UL - #else - #define ISR_LA_BASE_CYCLES 0UL - #endif - - // S curve interpolation adds 40 cycles - #if ENABLED(S_CURVE_ACCELERATION) - #define ISR_S_CURVE_CYCLES 40UL - #else - #define ISR_S_CURVE_CYCLES 0UL - #endif - - // Stepper Loop base cycles - #define ISR_LOOP_BASE_CYCLES 4UL - - // And each stepper takes 16 cycles - #define ISR_STEPPER_CYCLES 16UL - -#else - - // 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 - - // And each stepper takes 88 cycles - #define ISR_STEPPER_CYCLES 88UL - -#endif - -// For each stepper, we add its time -#ifdef HAS_X_STEP - #define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES -#else - #define ISR_X_STEPPER_CYCLES 0UL -#endif - -// For each stepper, we add its time -#ifdef HAS_Y_STEP - #define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES -#else - #define ISR_Y_STEPPER_CYCLES 0UL -#endif - -// For each stepper, we add its time -#ifdef HAS_Z_STEP - #define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES -#else - #define ISR_Z_STEPPER_CYCLES 0UL -#endif - -// E is always interpolated, even for mixing extruders -#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_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * ISR_STEPPER_CYCLES) -#else - #define ISR_MIXING_STEPPER_CYCLES 0UL -#endif - -// And the total minimum loop time is, without 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 not surpassing the maximum stepper rate -#define _MIN_STEPPER_PULSE_CYCLES(N) MAX((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N)) -#if MINIMUM_STEPPER_PULSE - #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE) -#else - #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1) -#endif - -// 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(rate) (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES * rate) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / rate) - -// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz) -#define MAX_128X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(128)) -#define MAX_64X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(64)) -#define MAX_32X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(32)) -#define MAX_16X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(16)) -#define MAX_8X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(8)) -#define MAX_4X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(4)) -#define MAX_2X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(2)) -#define MAX_1X_STEP_ISR_FREQUENCY (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_1X_STEP_ISR_FREQUENCY - -// Disable multiple steps per ISR -//#define DISABLE_MULTI_STEPPING - #endif // CONDITIONALS_POST_H diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index feb75fbd3..68eeadfd0 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -1664,7 +1664,7 @@ uint32_t Stepper::stepper_block_phase_isr() { uint32_t max_rate = current_block->nominal_rate; // Get the maximum rate (maximum event speed) while (max_rate < MIN_STEP_ISR_FREQUENCY) { max_rate <<= 1; - if (max_rate >= MAX_1X_STEP_ISR_FREQUENCY) break; + if (max_rate >= MAX_STEP_ISR_FREQUENCY_1X) break; ++oversampling; } oversampling_factor = oversampling; diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h index 83fe45de4..eff7a5e3e 100644 --- a/Marlin/src/module/stepper.h +++ b/Marlin/src/module/stepper.h @@ -43,19 +43,169 @@ #ifndef STEPPER_H #define STEPPER_H +#include "../inc/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 0 +#endif + +#ifndef MAXIMUM_STEPPER_RATE + #if MINIMUM_STEPPER_PULSE + #define MAXIMUM_STEPPER_RATE (1000000UL / (2UL * (MINIMUM_STEPPER_PULSE))) + #else + #define MAXIMUM_STEPPER_RATE 500000UL + #endif +#endif + +#ifdef CPU_32_BIT + + // The base ISR takes 792 cycles + #define ISR_BASE_CYCLES 792UL + + // Linear advance base time is 64 cycles + #if ENABLED(LIN_ADVANCE) + #define ISR_LA_BASE_CYCLES 64UL + #else + #define ISR_LA_BASE_CYCLES 0UL + #endif + + // S curve interpolation adds 40 cycles + #if ENABLED(S_CURVE_ACCELERATION) + #define ISR_S_CURVE_CYCLES 40UL + #else + #define ISR_S_CURVE_CYCLES 0UL + #endif + + // Stepper Loop base cycles + #define ISR_LOOP_BASE_CYCLES 4UL + + // And each stepper takes 16 cycles + #define ISR_STEPPER_CYCLES 16UL + +#else + + // 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 + + // And each stepper takes 88 cycles + #define ISR_STEPPER_CYCLES 88UL + +#endif + +// Add time for each stepper +#ifdef HAS_X_STEP + #define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES +#else + #define ISR_X_STEPPER_CYCLES 0UL +#endif +#ifdef HAS_Y_STEP + #define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES +#else + #define ISR_Y_STEPPER_CYCLES 0UL +#endif +#ifdef HAS_Z_STEP + #define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES +#else + #define ISR_Z_STEPPER_CYCLES 0UL +#endif + +// E is always interpolated, even for mixing extruders +#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_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES)) +#else + #define ISR_MIXING_STEPPER_CYCLES 0UL +#endif + +// 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((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N)) +#if MINIMUM_STEPPER_PULSE + #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE) +#else + #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1) +#endif + +#define MIN_PULSE_TICKS ((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE)) +#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 "stepper_indirection.h" #ifdef __AVR__ #include "speed_lookuptable.h" #endif -#include "../inc/MarlinConfig.h" #include "../module/planner.h" #include "../core/language.h" -class Stepper; -extern Stepper stepper; - class Stepper { public: @@ -303,14 +453,14 @@ class Stepper { // The stepping frequency limits for each multistepping rate static const uint32_t limit[] PROGMEM = { - ( MAX_1X_STEP_ISR_FREQUENCY ), - ( MAX_2X_STEP_ISR_FREQUENCY >> 1), - ( MAX_4X_STEP_ISR_FREQUENCY >> 2), - ( MAX_8X_STEP_ISR_FREQUENCY >> 3), - ( MAX_16X_STEP_ISR_FREQUENCY >> 4), - ( MAX_32X_STEP_ISR_FREQUENCY >> 5), - ( MAX_64X_STEP_ISR_FREQUENCY >> 6), - (MAX_128X_STEP_ISR_FREQUENCY >> 7) + ( 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 @@ -321,7 +471,7 @@ class Stepper { ++idx; }; #else - NOMORE(step_rate, uint32_t(MAX_1X_STEP_ISR_FREQUENCY)); + NOMORE(step_rate, uint32_t(MAX_STEP_ISR_FREQUENCY_1X)); #endif *loops = multistep; @@ -367,4 +517,6 @@ class Stepper { }; +extern Stepper stepper; + #endif // STEPPER_H