Localize stepper-specific defines

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

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;

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