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-
-
-
-
- #include "stepper.h"
- #include "Configuration.h"
- #include "Marlin.h"
- #include "planner.h"
- #include "pins.h"
- #include "fastio.h"
- #include "temperature.h"
- #include "ultralcd.h"
-
- #include "speed_lookuptable.h"
-
-
-
-
-
-
- block_t *current_block;
-
-
-
-
-
-
-
-
-
- static unsigned char out_bits;
- static long counter_x,
- counter_y,
- counter_z,
- counter_e;
- static unsigned long step_events_completed;
- #ifdef ADVANCE
- static long advance_rate, advance, final_advance = 0;
- static short old_advance = 0;
- static short e_steps;
- #endif
- static unsigned char busy = false;
- static long acceleration_time, deceleration_time;
-
- static unsigned short acc_step_rate;
- static char step_loops;
-
- volatile long endstops_trigsteps[3]={0,0,0};
- volatile long endstops_stepsTotal,endstops_stepsDone;
- static volatile bool endstops_hit=false;
-
-
-
- #ifdef DEBUG_STEPS
- volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
- volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1};
- #endif
-
-
-
-
-
-
-
-
-
-
- #define MultiU16X8toH16(intRes, charIn1, intIn2) \
- asm volatile ( \
- "clr r26 \n\t" \
- "mul %A1, %B2 \n\t" \
- "movw %A0, r0 \n\t" \
- "mul %A1, %A2 \n\t" \
- "add %A0, r1 \n\t" \
- "adc %B0, r26 \n\t" \
- "lsr r0 \n\t" \
- "adc %A0, r26 \n\t" \
- "adc %B0, r26 \n\t" \
- "clr r1 \n\t" \
- : \
- "=&r" (intRes) \
- : \
- "d" (charIn1), \
- "d" (intIn2) \
- : \
- "r26" \
- )
-
-
-
-
-
- #define MultiU24X24toH16(intRes, longIn1, longIn2) \
- asm volatile ( \
- "clr r26 \n\t" \
- "mul %A1, %B2 \n\t" \
- "mov r27, r1 \n\t" \
- "mul %B1, %C2 \n\t" \
- "movw %A0, r0 \n\t" \
- "mul %C1, %C2 \n\t" \
- "add %B0, r0 \n\t" \
- "mul %C1, %B2 \n\t" \
- "add %A0, r0 \n\t" \
- "adc %B0, r1 \n\t" \
- "mul %A1, %C2 \n\t" \
- "add r27, r0 \n\t" \
- "adc %A0, r1 \n\t" \
- "adc %B0, r26 \n\t" \
- "mul %B1, %B2 \n\t" \
- "add r27, r0 \n\t" \
- "adc %A0, r1 \n\t" \
- "adc %B0, r26 \n\t" \
- "mul %C1, %A2 \n\t" \
- "add r27, r0 \n\t" \
- "adc %A0, r1 \n\t" \
- "adc %B0, r26 \n\t" \
- "mul %B1, %A2 \n\t" \
- "add r27, r1 \n\t" \
- "adc %A0, r26 \n\t" \
- "adc %B0, r26 \n\t" \
- "lsr r27 \n\t" \
- "adc %A0, r26 \n\t" \
- "adc %B0, r26 \n\t" \
- "clr r1 \n\t" \
- : \
- "=&r" (intRes) \
- : \
- "d" (longIn1), \
- "d" (longIn2) \
- : \
- "r26" , "r27" \
- )
-
-
-
- #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
- #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
-
-
- void endstops_triggered(const unsigned long &stepstaken)
- {
-
-
-
-
-
- if(endstops_hit)
- return;
- if(current_block == NULL)
- return;
- endstops_stepsTotal=current_block->step_event_count;
- endstops_stepsDone=stepstaken;
- endstops_trigsteps[0]=current_block->steps_x;
- endstops_trigsteps[1]=current_block->steps_y;
- endstops_trigsteps[2]=current_block->steps_z;
-
- endstops_hit=true;
- }
-
- void checkHitEndstops()
- {
- if( !endstops_hit)
- return;
- float endstops_triggerpos[3]={0,0,0};
- float ratiodone=endstops_stepsDone/float(endstops_stepsTotal);
-
- endstops_triggerpos[0]=current_position[0]-(endstops_trigsteps[0]*ratiodone)/float(axis_steps_per_unit[0]);
- endstops_triggerpos[1]=current_position[1]-(endstops_trigsteps[1]*ratiodone)/float(axis_steps_per_unit[1]);
- endstops_triggerpos[2]=current_position[2]-(endstops_trigsteps[2]*ratiodone)/float(axis_steps_per_unit[2]);
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("endstops hit: ");
- SERIAL_ECHOPAIR(" X:",endstops_triggerpos[0]);
- SERIAL_ECHOPAIR(" Y:",endstops_triggerpos[1]);
- SERIAL_ECHOPAIR(" Z:",endstops_triggerpos[2]);
- SERIAL_ECHOLN("");
- endstops_hit=false;
- }
-
- void endstops_hit_on_purpose()
- {
- endstops_hit=false;
- }
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- void st_wake_up() {
-
- if(busy == false)
- ENABLE_STEPPER_DRIVER_INTERRUPT();
- }
-
- inline unsigned short calc_timer(unsigned short step_rate) {
- unsigned short timer;
- if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
-
- if(step_rate > 20000) {
- step_rate = step_rate >> 2;
- step_loops = 4;
- }
- else if(step_rate > 10000) {
- step_rate = step_rate >> 1;
- step_loops = 2;
- }
- else {
- step_loops = 1;
- }
-
- if(step_rate < 32) step_rate = 32;
- step_rate -= 32;
- if(step_rate >= (8*256)){
- unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
- unsigned char tmp_step_rate = (step_rate & 0x00ff);
- unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
- MultiU16X8toH16(timer, tmp_step_rate, gain);
- timer = (unsigned short)pgm_read_word_near(table_address) - timer;
- }
- else {
- unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
- table_address += ((step_rate)>>1) & 0xfffc;
- timer = (unsigned short)pgm_read_word_near(table_address);
- timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
- }
-
- return timer;
- }
-
-
-
- inline void trapezoid_generator_reset() {
- #ifdef ADVANCE
- advance = current_block->initial_advance;
- final_advance = current_block->final_advance;
- #endif
- deceleration_time = 0;
-
- acc_step_rate = current_block->initial_rate;
- acceleration_time = calc_timer(acc_step_rate);
- OCR1A = acceleration_time;
- }
-
-
-
- ISR(TIMER1_COMPA_vect)
- {
- if(busy){
- SERIAL_ERROR_START
- SERIAL_ERROR(*(unsigned short *)OCR1A);
- SERIAL_ERRORLNPGM(" ISR overtaking itself.");
- return;
- }
-
- busy = true;
- sei();
-
-
- if (current_block == NULL) {
-
- current_block = plan_get_current_block();
- if (current_block != NULL) {
- trapezoid_generator_reset();
- counter_x = -(current_block->step_event_count >> 1);
- counter_y = counter_x;
- counter_z = counter_x;
- counter_e = counter_x;
- step_events_completed = 0;
- #ifdef ADVANCE
- e_steps = 0;
- #endif
- }
- else {
-
- }
- }
-
- if (current_block != NULL) {
-
- out_bits = current_block->direction_bits;
-
- #ifdef ADVANCE
-
- counter_e += current_block->steps_e;
- if (counter_e > 0) {
- counter_e -= current_block->step_event_count;
- if ((out_bits & (1<<E_AXIS)) != 0) {
- CRITICAL_SECTION_START;
- e_steps--;
- CRITICAL_SECTION_END;
- }
- else {
- CRITICAL_SECTION_START;
- e_steps++;
- CRITICAL_SECTION_END;
- }
- }
-
- CRITICAL_SECTION_START;
- e_steps += ((advance >> 16) - old_advance);
- CRITICAL_SECTION_END;
- old_advance = advance >> 16;
- #endif
-
-
- if ((out_bits & (1<<X_AXIS)) != 0) {
- WRITE(X_DIR_PIN, INVERT_X_DIR);
- #ifdef DEBUG_STEPS
- count_direction[X_AXIS]=-1;
- #endif
- #if X_MIN_PIN > -1
- if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
- endstops_triggered(step_events_completed);
- step_events_completed = current_block->step_event_count;
- }
- #endif
- }
- else {
- WRITE(X_DIR_PIN,!INVERT_X_DIR);
- #ifdef DEBUG_STEPS
- count_direction[X_AXIS]=1;
- #endif
- #if X_MAX_PIN > -1
- if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){
- endstops_triggered(step_events_completed);
- step_events_completed = current_block->step_event_count;
- }
- #endif
- }
-
- if ((out_bits & (1<<Y_AXIS)) != 0) {
- WRITE(Y_DIR_PIN,INVERT_Y_DIR);
- #ifdef DEBUG_STEPS
- count_direction[Y_AXIS]=-1;
- #endif
- #if Y_MIN_PIN > -1
- if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
- endstops_triggered(step_events_completed);
- step_events_completed = current_block->step_event_count;
- }
- #endif
- }
- else {
- WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
- #ifdef DEBUG_STEPS
- count_direction[Y_AXIS]=1;
- #endif
- #if Y_MAX_PIN > -1
- if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
- endstops_triggered(step_events_completed);
- step_events_completed = current_block->step_event_count;
- }
- #endif
- }
-
- if ((out_bits & (1<<Z_AXIS)) != 0) {
- WRITE(Z_DIR_PIN,INVERT_Z_DIR);
- #ifdef DEBUG_STEPS
- count_direction[Z_AXIS]=-1;
- #endif
- #if Z_MIN_PIN > -1
- if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
- endstops_triggered(step_events_completed);
- step_events_completed = current_block->step_event_count;
- }
- #endif
- }
- else {
- WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
- #ifdef DEBUG_STEPS
- count_direction[Z_AXIS]=1;
- #endif
- #if Z_MAX_PIN > -1
- if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){
- endstops_triggered(step_events_completed);
- step_events_completed = current_block->step_event_count;
- }
- #endif
- }
-
- #ifndef ADVANCE
- if ((out_bits & (1<<E_AXIS)) != 0)
- WRITE(E_DIR_PIN,INVERT_E_DIR);
- else
- WRITE(E_DIR_PIN,!INVERT_E_DIR);
- #endif
-
- for(int8_t i=0; i < step_loops; i++) {
- counter_x += current_block->steps_x;
- if (counter_x > 0) {
- WRITE(X_STEP_PIN, HIGH);
- counter_x -= current_block->step_event_count;
- WRITE(X_STEP_PIN, LOW);
- #ifdef DEBUG_STEPS
- count_position[X_AXIS]+=count_direction[X_AXIS];
- #endif
- }
-
- counter_y += current_block->steps_y;
- if (counter_y > 0) {
- WRITE(Y_STEP_PIN, HIGH);
- counter_y -= current_block->step_event_count;
- WRITE(Y_STEP_PIN, LOW);
- #ifdef DEBUG_STEPS
- count_position[Y_AXIS]+=count_direction[Y_AXIS];
- #endif
- }
-
- counter_z += current_block->steps_z;
- if (counter_z > 0) {
- WRITE(Z_STEP_PIN, HIGH);
- counter_z -= current_block->step_event_count;
- WRITE(Z_STEP_PIN, LOW);
- #ifdef DEBUG_STEPS
- count_position[Z_AXIS]+=count_direction[Z_AXIS];
- #endif
- }
-
- #ifndef ADVANCE
- counter_e += current_block->steps_e;
- if (counter_e > 0) {
- WRITE(E_STEP_PIN, HIGH);
- counter_e -= current_block->step_event_count;
- WRITE(E_STEP_PIN, LOW);
- }
- #endif
- step_events_completed += 1;
- if(step_events_completed >= current_block->step_event_count) break;
- }
-
- unsigned short timer;
- unsigned short step_rate;
- if (step_events_completed <= current_block->accelerate_until) {
- MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
- acc_step_rate += current_block->initial_rate;
-
-
- if(acc_step_rate > current_block->nominal_rate)
- acc_step_rate = current_block->nominal_rate;
-
-
- timer = calc_timer(acc_step_rate);
- #ifdef ADVANCE
- advance += advance_rate;
- #endif
- acceleration_time += timer;
- OCR1A = timer;
- }
- else if (step_events_completed > current_block->decelerate_after) {
- MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
-
- if(step_rate > acc_step_rate) {
- step_rate = current_block->final_rate;
- }
- else {
- step_rate = acc_step_rate - step_rate;
- }
-
-
- if(step_rate < current_block->final_rate)
- step_rate = current_block->final_rate;
-
-
- timer = calc_timer(step_rate);
- #ifdef ADVANCE
- advance -= advance_rate;
- if(advance < final_advance)
- advance = final_advance;
- #endif
- deceleration_time += timer;
- OCR1A = timer;
- }
- else {
- timer = calc_timer(current_block->nominal_rate);
- OCR1A = timer;
- }
-
-
- if (step_events_completed >= current_block->step_event_count) {
- current_block = NULL;
- plan_discard_current_block();
- }
- }
- cli();
- busy=false;
- }
-
- #ifdef ADVANCE
- unsigned char old_OCR0A;
-
-
- ISR(TIMER0_COMPA_vect)
- {
-
-
- WRITE(E_STEP_PIN, LOW);
-
- if (e_steps < 0) {
- WRITE(E_DIR_PIN,INVERT_E_DIR);
- e_steps++;
- WRITE(E_STEP_PIN, HIGH);
- }
- if (e_steps > 0) {
- WRITE(E_DIR_PIN,!INVERT_E_DIR);
- e_steps--;
- WRITE(E_STEP_PIN, HIGH);
- }
- old_OCR0A += 25;
- OCR0A = old_OCR0A;
- }
- #endif
-
- void st_init()
- {
-
- #if X_DIR_PIN > -1
- SET_OUTPUT(X_DIR_PIN);
- #endif
- #if Y_DIR_PIN > -1
- SET_OUTPUT(Y_DIR_PIN);
- #endif
- #if Z_DIR_PIN > -1
- SET_OUTPUT(Z_DIR_PIN);
- #endif
- #if E_DIR_PIN > -1
- SET_OUTPUT(E_DIR_PIN);
- #endif
-
-
-
- #if (X_ENABLE_PIN > -1)
- SET_OUTPUT(X_ENABLE_PIN);
- if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
- #endif
- #if (Y_ENABLE_PIN > -1)
- SET_OUTPUT(Y_ENABLE_PIN);
- if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
- #endif
- #if (Z_ENABLE_PIN > -1)
- SET_OUTPUT(Z_ENABLE_PIN);
- if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
- #endif
- #if (E_ENABLE_PIN > -1)
- SET_OUTPUT(E_ENABLE_PIN);
- if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
- #endif
-
-
- #ifdef ENDSTOPPULLUPS
- #if X_MIN_PIN > -1
- SET_INPUT(X_MIN_PIN);
- WRITE(X_MIN_PIN,HIGH);
- #endif
- #if X_MAX_PIN > -1
- SET_INPUT(X_MAX_PIN);
- WRITE(X_MAX_PIN,HIGH);
- #endif
- #if Y_MIN_PIN > -1
- SET_INPUT(Y_MIN_PIN);
- WRITE(Y_MIN_PIN,HIGH);
- #endif
- #if Y_MAX_PIN > -1
- SET_INPUT(Y_MAX_PIN);
- WRITE(Y_MAX_PIN,HIGH);
- #endif
- #if Z_MIN_PIN > -1
- SET_INPUT(Z_MIN_PIN);
- WRITE(Z_MIN_PIN,HIGH);
- #endif
- #if Z_MAX_PIN > -1
- SET_INPUT(Z_MAX_PIN);
- WRITE(Z_MAX_PIN,HIGH);
- #endif
- #else
- #if X_MIN_PIN > -1
- SET_INPUT(X_MIN_PIN);
- #endif
- #if X_MAX_PIN > -1
- SET_INPUT(X_MAX_PIN);
- #endif
- #if Y_MIN_PIN > -1
- SET_INPUT(Y_MIN_PIN);
- #endif
- #if Y_MAX_PIN > -1
- SET_INPUT(Y_MAX_PIN);
- #endif
- #if Z_MIN_PIN > -1
- SET_INPUT(Z_MIN_PIN);
- #endif
- #if Z_MAX_PIN > -1
- SET_INPUT(Z_MAX_PIN);
- #endif
- #endif
-
-
-
- #if (X_STEP_PIN > -1)
- SET_OUTPUT(X_STEP_PIN);
- #endif
- #if (Y_STEP_PIN > -1)
- SET_OUTPUT(Y_STEP_PIN);
- #endif
- #if (Z_STEP_PIN > -1)
- SET_OUTPUT(Z_STEP_PIN);
- #endif
- #if (E_STEP_PIN > -1)
- SET_OUTPUT(E_STEP_PIN);
- #endif
-
-
- TCCR1B &= ~(1<<WGM13);
- TCCR1B |= (1<<WGM12);
- TCCR1A &= ~(1<<WGM11);
- TCCR1A &= ~(1<<WGM10);
-
-
- TCCR1A &= ~(3<<COM1A0);
- TCCR1A &= ~(3<<COM1B0);
- TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
-
- OCR1A = 0x4000;
- DISABLE_STEPPER_DRIVER_INTERRUPT();
-
- #ifdef ADVANCE
- e_steps = 0;
- TIMSK0 |= (1<<OCIE0A);
- #endif
- sei();
- }
-
-
- void st_synchronize()
- {
- while(plan_get_current_block()) {
- manage_heater();
- manage_inactivity(1);
- LCD_STATUS;
- }
- }
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