Fix MINIMUM_STEPPER_PULSE maths
This commit is contained in:
Scott Lahteine
parent
68773f4486
commit
6a9b008044
2 changed files with 117 additions and 64 deletions
|
|
@ -36,8 +36,9 @@
|
|||
#define CRITICAL_SECTION_END SREG = _sreg;
|
||||
#endif
|
||||
|
||||
// Clock speed factor
|
||||
#define CYCLES_PER_MICROSECOND (F_CPU / 1000000UL) // 16 or 20
|
||||
// Clock speed factors
|
||||
#define CYCLES_PER_MICROSECOND (F_CPU / 1000000L) // 16 or 20
|
||||
#define INT0_PRESCALER 8
|
||||
|
||||
// Highly granular delays for step pulses, etc.
|
||||
#define DELAY_0_NOP NOOP
|
||||
|
|
|
|||
|
|
@ -460,7 +460,7 @@ void Stepper::isr() {
|
|||
|
||||
// Take multiple steps per interrupt (For high speed moves)
|
||||
bool all_steps_done = false;
|
||||
for (int8_t i = 0; i < step_loops; i++) {
|
||||
for (uint8_t i = step_loops; i--;) {
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
counter_E += current_block->steps[E_AXIS];
|
||||
|
|
@ -530,10 +530,34 @@ void Stepper::isr() {
|
|||
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
|
||||
}
|
||||
|
||||
#define CYCLES_EATEN_BY_CODE 240
|
||||
#if HAS_X_STEP
|
||||
#define _COUNT_STEPPERS_1 1
|
||||
#else
|
||||
#define _COUNT_STEPPERS_1 0
|
||||
#endif
|
||||
#if HAS_Y_STEP
|
||||
#define _COUNT_STEPPERS_2 _COUNT_STEPPERS_1 + 1
|
||||
#else
|
||||
#define _COUNT_STEPPERS_2 _COUNT_STEPPERS_1
|
||||
#endif
|
||||
#if HAS_Z_STEP
|
||||
#define _COUNT_STEPPERS_3 _COUNT_STEPPERS_2 + 1
|
||||
#else
|
||||
#define _COUNT_STEPPERS_3 _COUNT_STEPPERS_2
|
||||
#endif
|
||||
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
||||
#define _COUNT_STEPPERS_4 _COUNT_STEPPERS_3 + 1
|
||||
#else
|
||||
#define _COUNT_STEPPERS_4 _COUNT_STEPPERS_3
|
||||
#endif
|
||||
|
||||
// If a minimum pulse time was specified get the CPU clock
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
|
||||
#define CYCLES_EATEN_XYZE ((_COUNT_STEPPERS_4) * 5)
|
||||
#define EXTRA_CYCLES_XYZE (STEP_PULSE_CYCLES - (CYCLES_EATEN_XYZE))
|
||||
|
||||
// If a minimum pulse time was specified get the timer 0 value
|
||||
// which increments every 4µs on 16MHz and every 3.2µs on 20MHz.
|
||||
// Two or 3 counts of TCNT0 should be a sufficient delay.
|
||||
#if EXTRA_CYCLES_XYZE > 20
|
||||
uint32_t pulse_start = TCNT0;
|
||||
#endif
|
||||
|
||||
|
|
@ -564,9 +588,12 @@ void Stepper::isr() {
|
|||
#endif
|
||||
#endif // !ADVANCE && !LIN_ADVANCE
|
||||
|
||||
// For a minimum pulse time wait before stopping pulses
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
|
||||
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_CODE) { /* nada */ }
|
||||
// For minimum pulse time wait before stopping pulses
|
||||
#if EXTRA_CYCLES_XYZE > 20
|
||||
while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
pulse_start = TCNT0;
|
||||
#elif EXTRA_CYCLES_XYZE > 0
|
||||
DELAY_NOPS(EXTRA_CYCLES_XYZE);
|
||||
#endif
|
||||
|
||||
#if HAS_X_STEP
|
||||
|
|
@ -601,7 +628,15 @@ void Stepper::isr() {
|
|||
all_steps_done = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// For minimum pulse time wait before stopping pulses
|
||||
#if EXTRA_CYCLES_XYZE > 20
|
||||
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
#elif EXTRA_CYCLES_XYZE > 0
|
||||
if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
|
||||
#endif
|
||||
|
||||
} // steps_loop
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
if (current_block->use_advance_lead) {
|
||||
|
|
@ -765,6 +800,9 @@ void Stepper::isr() {
|
|||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
|
||||
#define CYCLES_EATEN_E (E_STEPPERS * 5)
|
||||
#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
|
||||
|
||||
// Timer interrupt for E. e_steps is set in the main routine;
|
||||
|
||||
void Stepper::advance_isr() {
|
||||
|
|
@ -794,12 +832,10 @@ void Stepper::isr() {
|
|||
#endif
|
||||
#endif
|
||||
|
||||
#define CYCLES_EATEN_BY_E 60
|
||||
|
||||
// Step all E steppers that have steps
|
||||
for (uint8_t i = 0; i < step_loops; i++) {
|
||||
for (uint8_t i = step_loops; i--;) {
|
||||
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
|
||||
#if EXTRA_CYCLES_E > 20
|
||||
uint32_t pulse_start = TCNT0;
|
||||
#endif
|
||||
|
||||
|
|
@ -814,9 +850,12 @@ void Stepper::isr() {
|
|||
#endif
|
||||
#endif
|
||||
|
||||
// For a minimum pulse time wait before stopping pulses
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
|
||||
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_E) { /* nada */ }
|
||||
// For minimum pulse time wait before stopping pulses
|
||||
#if EXTRA_CYCLES_E > 20
|
||||
while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
pulse_start = TCNT0;
|
||||
#elif EXTRA_CYCLES_E > 0
|
||||
DELAY_NOPS(EXTRA_CYCLES_E);
|
||||
#endif
|
||||
|
||||
STOP_E_PULSE(0);
|
||||
|
|
@ -829,8 +868,15 @@ void Stepper::isr() {
|
|||
#endif
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
// For minimum pulse time wait before looping
|
||||
#if EXTRA_CYCLES_E > 20
|
||||
if (i) while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
#elif EXTRA_CYCLES_E > 0
|
||||
if (i) DELAY_NOPS(EXTRA_CYCLES_E);
|
||||
#endif
|
||||
|
||||
} // steps_loop
|
||||
}
|
||||
|
||||
void Stepper::advance_isr_scheduler() {
|
||||
|
|
@ -1056,15 +1102,11 @@ void Stepper::init() {
|
|||
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
|
||||
for (int i = 0; i < E_STEPPERS; i++) {
|
||||
e_steps[i] = 0;
|
||||
ZERO(e_steps);
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
current_adv_steps[i] = 0;
|
||||
ZERO(current_adv_steps);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
#endif // ADVANCE || LIN_ADVANCE
|
||||
|
||||
endstops.enable(true); // Start with endstops active. After homing they can be disabled
|
||||
sei();
|
||||
|
|
@ -1235,29 +1277,40 @@ void Stepper::report_positions() {
|
|||
|
||||
#if ENABLED(BABYSTEPPING)
|
||||
|
||||
#define CYCLES_EATEN_BY_BABYSTEP 60
|
||||
#if ENABLED(DELTA)
|
||||
#define CYCLES_EATEN_BABYSTEP (2 * 15)
|
||||
#else
|
||||
#define CYCLES_EATEN_BABYSTEP 0
|
||||
#endif
|
||||
#define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
|
||||
|
||||
#define _ENABLE(AXIS) enable_## AXIS()
|
||||
#define _READ_DIR(AXIS) AXIS ##_DIR_READ
|
||||
#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
|
||||
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
|
||||
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
|
||||
#if EXTRA_CYCLES_BABYSTEP > 20
|
||||
#define _SAVE_START (pulse_start = TCNT0)
|
||||
#define _PULSE_WAIT while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
|
||||
#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
#else
|
||||
#define _SAVE_START NOOP
|
||||
#if EXTRA_CYCLES_BABYSTEP > 0
|
||||
#define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP)
|
||||
#elif STEP_PULSE_CYCLES > 0
|
||||
#define _PULSE_WAIT NOOP
|
||||
#elif ENABLED(DELTA)
|
||||
#define _PULSE_WAIT delayMicroseconds(2);
|
||||
#else
|
||||
#define _PULSE_WAIT delayMicroseconds(4);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#define START_BABYSTEP_AXIS(AXIS, INVERT) { \
|
||||
old_dir = _READ_DIR(AXIS); \
|
||||
#define BABYSTEP_AXIS(AXIS, INVERT) { \
|
||||
const uint8_t old_dir = _READ_DIR(AXIS); \
|
||||
_ENABLE(AXIS); \
|
||||
_SAVE_START; \
|
||||
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
|
||||
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
|
||||
}
|
||||
|
||||
#define STOP_BABYSTEP_AXIS(AXIS) { \
|
||||
_PULSE_WAIT; \
|
||||
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
|
||||
_APPLY_DIR(AXIS, old_dir); \
|
||||
|
|
@ -1268,31 +1321,30 @@ void Stepper::report_positions() {
|
|||
void Stepper::babystep(const AxisEnum axis, const bool direction) {
|
||||
cli();
|
||||
uint8_t old_dir;
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
|
||||
|
||||
#if EXTRA_CYCLES_BABYSTEP > 20
|
||||
uint32_t pulse_start;
|
||||
#endif
|
||||
|
||||
switch (axis) {
|
||||
|
||||
#if ENABLED(BABYSTEP_XY)
|
||||
|
||||
case X_AXIS:
|
||||
_ENABLE(x);
|
||||
START_BABYSTEP_AXIS(X, false);
|
||||
STOP_BABYSTEP_AXIS(X);
|
||||
BABYSTEP_AXIS(X, false);
|
||||
break;
|
||||
|
||||
case Y_AXIS:
|
||||
_ENABLE(y);
|
||||
START_BABYSTEP_AXIS(Y, false);
|
||||
STOP_BABYSTEP_AXIS(Y);
|
||||
BABYSTEP_AXIS(Y, false);
|
||||
break;
|
||||
|
||||
#endif
|
||||
|
||||
case Z_AXIS: {
|
||||
|
||||
#if DISABLED(DELTA)
|
||||
|
||||
_ENABLE(z);
|
||||
START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
|
||||
STOP_BABYSTEP_AXIS(Z);
|
||||
BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
|
||||
|
||||
#else // DELTA
|
||||
|
||||
|
|
@ -1305,24 +1357,24 @@ void Stepper::report_positions() {
|
|||
uint8_t old_x_dir_pin = X_DIR_READ,
|
||||
old_y_dir_pin = Y_DIR_READ,
|
||||
old_z_dir_pin = Z_DIR_READ;
|
||||
//setup new step
|
||||
|
||||
X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
|
||||
Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
|
||||
Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
|
||||
//perform step
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
|
||||
pulse_start = TCNT0;
|
||||
#endif
|
||||
|
||||
_SAVE_START;
|
||||
|
||||
X_STEP_WRITE(!INVERT_X_STEP_PIN);
|
||||
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
|
||||
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
|
||||
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
|
||||
#endif
|
||||
|
||||
_PULSE_WAIT;
|
||||
|
||||
X_STEP_WRITE(INVERT_X_STEP_PIN);
|
||||
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
|
||||
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
|
||||
//get old pin state back.
|
||||
|
||||
// Restore direction bits
|
||||
X_DIR_WRITE(old_x_dir_pin);
|
||||
Y_DIR_WRITE(old_y_dir_pin);
|
||||
Z_DIR_WRITE(old_z_dir_pin);
|
||||
|
|
|
|||
Reference in a new issue