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update code base to Marlin 2.0.9.2

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This commit is contained in:
Stefan Kalscheuer
2021-10-03 18:57:12 +02:00
parent b9d7ba838e
commit 7077da3591
2617 changed files with 332093 additions and 103438 deletions
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293
Marlin/src/module/stepper.h Executable file → Normal file
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@@ -16,7 +16,7 @@
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
@@ -38,7 +38,7 @@
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
* along with Grbl. If not, see <https://www.gnu.org/licenses/>.
*/
#include "../inc/MarlinConfig.h"
@@ -133,27 +133,6 @@
#endif
// Add time for each stepper
#if HAS_X_STEP
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
#else
#define ISR_X_STEPPER_CYCLES 0UL
#endif
#if HAS_Y_STEP
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
#else
#define ISR_START_Y_STEPPER_CYCLES 0UL
#define ISR_Y_STEPPER_CYCLES 0UL
#endif
#if 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, the loop also handles them
#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
@@ -161,8 +140,31 @@
#define ISR_MIXING_STEPPER_CYCLES 0UL
#endif
// Add time for each stepper
#if HAS_X_STEP
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_Y_STEP
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_Z_STEP
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_I_STEP
#define ISR_I_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_J_STEP
#define ISR_J_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_K_STEP
#define ISR_K_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_EXTRUDERS
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES // E is always interpolated, even for mixing extruders
#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)
#define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_GANG(+ ISR_E_STEPPER_CYCLES, + ISR_X_STEPPER_CYCLES, + ISR_Y_STEPPER_CYCLES, + ISR_Z_STEPPER_CYCLES, + ISR_I_STEPPER_CYCLES, + ISR_J_STEPPER_CYCLES, + ISR_K_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(uint32_t((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N))
@@ -191,7 +193,6 @@
#error "Expected at least one of MINIMUM_STEPPER_PULSE or MAXIMUM_STEPPER_RATE to be defined"
#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))
@@ -230,8 +231,75 @@
#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
// The minimum step ISR rate used by ADAPTIVE_STEP_SMOOTHING to target 50% CPU usage
// This does not account for the possibility of multi-stepping.
// Perhaps DISABLE_MULTI_STEPPING should be required with ADAPTIVE_STEP_SMOOTHING.
#define MIN_STEP_ISR_FREQUENCY (MAX_STEP_ISR_FREQUENCY_1X / 2)
#define ENABLE_COUNT (LINEAR_AXES + E_STEPPERS)
typedef IF<(ENABLE_COUNT > 8), uint16_t, uint8_t>::type ena_mask_t;
// Axis flags type, for enabled state or other simple state
typedef struct {
union {
ena_mask_t bits;
struct {
bool LINEAR_AXIS_LIST(X:1, Y:1, Z:1, I:1, J:1, K:1);
#if HAS_EXTRUDERS
bool LIST_N(EXTRUDERS, E0:1, E1:1, E2:1, E3:1, E4:1, E5:1, E6:1, E7:1);
#endif
};
};
constexpr ena_mask_t linear_bits() { return _BV(LINEAR_AXES) - 1; }
constexpr ena_mask_t e_bits() { return (_BV(EXTRUDERS) - 1) << LINEAR_AXES; }
} axis_flags_t;
// All the stepper enable pins
constexpr pin_t ena_pins[] = {
LINEAR_AXIS_LIST(X_ENABLE_PIN, Y_ENABLE_PIN, Z_ENABLE_PIN, I_ENABLE_PIN, J_ENABLE_PIN, K_ENABLE_PIN),
LIST_N(E_STEPPERS, E0_ENABLE_PIN, E1_ENABLE_PIN, E2_ENABLE_PIN, E3_ENABLE_PIN, E4_ENABLE_PIN, E5_ENABLE_PIN, E6_ENABLE_PIN, E7_ENABLE_PIN)
};
// Index of the axis or extruder element in a combined array
constexpr uint8_t index_of_axis(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
return uint8_t(axis) + (E_TERN0(axis < LINEAR_AXES ? 0 : eindex));
}
//#define __IAX_N(N,V...) _IAX_##N(V)
//#define _IAX_N(N,V...) __IAX_N(N,V)
//#define _IAX_1(A) index_of_axis(A)
//#define _IAX_2(A,B) index_of_axis(A E_OPTARG(B))
//#define INDEX_OF_AXIS(V...) _IAX_N(TWO_ARGS(V),V)
#define INDEX_OF_AXIS(A,V...) index_of_axis(A E_OPTARG(V+0))
// Bit mask for a matching enable pin, or 0
constexpr ena_mask_t ena_same(const uint8_t a, const uint8_t b) {
return ena_pins[a] == ena_pins[b] ? _BV(b) : 0;
}
// Recursively get the enable overlaps mask for a given linear axis or extruder
constexpr ena_mask_t ena_overlap(const uint8_t a=0, const uint8_t b=0) {
return b >= ENABLE_COUNT ? 0 : (a == b ? 0 : ena_same(a, b)) | ena_overlap(a, b + 1);
}
// Recursively get whether there's any overlap at all
constexpr bool any_enable_overlap(const uint8_t a=0) {
return a >= ENABLE_COUNT ? false : ena_overlap(a) || any_enable_overlap(a + 1);
}
// Array of axes that overlap with each
// TODO: Consider cases where >=2 steppers are used by a linear axis or extruder
// (e.g., CoreXY, Dual XYZ, or E with multiple steppers, etc.).
constexpr ena_mask_t enable_overlap[] = {
#define _OVERLAP(N) ena_overlap(INDEX_OF_AXIS(AxisEnum(N))),
REPEAT(LINEAR_AXES, _OVERLAP)
#if HAS_EXTRUDERS
#define _E_OVERLAP(N) ena_overlap(INDEX_OF_AXIS(E_AXIS, N)),
REPEAT(E_STEPPERS, _E_OVERLAP)
#endif
};
//static_assert(!any_enable_overlap(), "There is some overlap.");
//
// Stepper class definition
@@ -240,34 +308,44 @@ class Stepper {
public:
#if HAS_EXTRA_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
#if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
static bool separate_multi_axis;
#endif
#if HAS_MOTOR_CURRENT_PWM
#ifndef PWM_MOTOR_CURRENT
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
#if HAS_MOTOR_CURRENT_PWM
#ifndef PWM_MOTOR_CURRENT
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
#endif
#define MOTOR_CURRENT_COUNT LINEAR_AXES
#elif HAS_MOTOR_CURRENT_SPI
static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
#define MOTOR_CURRENT_COUNT COUNT(Stepper::digipot_count)
#endif
static uint32_t motor_current_setting[3];
static bool initialized;
static uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load()
#endif
// Last-moved extruder, as set when the last movement was fetched from planner
#if HAS_MULTI_EXTRUDER
static uint8_t last_moved_extruder;
#else
static constexpr uint8_t last_moved_extruder = 0;
#endif
#if HAS_FREEZE_PIN
static bool frozen; // Set this flag to instantly freeze motion
#endif
private:
static block_t* current_block; // A pointer to the block currently being traced
static uint8_t last_direction_bits, // The next stepping-bits to be output
axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
static axis_bits_t last_direction_bits, // The next stepping-bits to be output
axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
static bool abort_current_block; // Signals to the stepper that current block should be aborted
// Last-moved extruder, as set when the last movement was fetched from planner
#if EXTRUDERS < 2
static constexpr uint8_t last_moved_extruder = 0;
#elif DISABLED(MIXING_EXTRUDER)
static uint8_t last_moved_extruder;
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
static bool locked_X_motor, locked_X2_motor;
#endif
@@ -303,7 +381,7 @@ class Stepper {
decelerate_after, // The point from where we need to start decelerating
step_event_count; // The total event count for the current block
#if EXTRUDERS > 1 || ENABLED(MIXING_EXTRUDER)
#if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
static uint8_t stepper_extruder;
#else
static constexpr uint8_t stepper_extruder = 0;
@@ -334,28 +412,44 @@ class Stepper {
static uint32_t nextBabystepISR;
#endif
#if ENABLED(DIRECT_STEPPING)
static page_step_state_t page_step_state;
#endif
static int32_t ticks_nominal;
#if DISABLED(S_CURVE_ACCELERATION)
static uint32_t acc_step_rate; // needed for deceleration start point
#endif
//
// Exact steps at which an endstop was triggered
//
static xyz_long_t endstops_trigsteps;
//
// Positions of stepper motors, in step units
//
static xyze_long_t count_position;
//
// Current direction of stepper motors (+1 or -1)
//
// Current stepper motor directions (+1 or -1)
static xyze_int8_t count_direction;
public:
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
typedef struct {
bool enabled; // Trapezoid needed flag (i.e., laser on, planner in control)
uint8_t cur_power; // Current laser power
bool cruise_set; // Power set up for cruising?
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
uint16_t till_update; // Countdown to the next update
#else
uint32_t last_step_count, // Step count from the last update
acc_step_count; // Bresenham counter for laser accel/decel
#endif
} stepper_laser_t;
static stepper_laser_t laser_trap;
#endif
public:
// Initialize stepper hardware
static void init();
@@ -400,20 +494,30 @@ class Stepper {
#endif
// Check if the given block is busy or not - Must not be called from ISR contexts
static bool is_block_busy(const block_t* const block);
static bool is_block_busy(const block_t * const block);
// Get the position of a stepper, in steps
static int32_t position(const AxisEnum axis);
// Set the current position in steps
static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); }
static void set_position(const xyze_long_t &spos);
static void set_axis_position(const AxisEnum a, const int32_t &v);
// Report the positions of the steppers, in steps
static void report_a_position(const xyz_long_t &pos);
static void report_positions();
// Discard current block and free any resources
FORCE_INLINE static void discard_current_block() {
#if ENABLED(DIRECT_STEPPING)
if (IS_PAGE(current_block))
page_manager.free_page(current_block->page_idx);
#endif
current_block = nullptr;
axis_did_move = 0;
planner.release_current_block();
}
// Quickly stop all steppers
FORCE_INLINE static void quick_stop() { abort_current_block = true; }
@@ -423,24 +527,15 @@ class Stepper {
// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
// The extruder associated to the last movement
FORCE_INLINE static uint8_t movement_extruder() {
return (0
#if EXTRUDERS > 1 && DISABLED(MIXING_EXTRUDER)
+ last_moved_extruder
#endif
);
}
// Handle a triggered endstop
static void endstop_triggered(const AxisEnum axis);
// Triggered position of an axis in steps
static int32_t triggered_position(const AxisEnum axis);
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
static void digitalPotWrite(const int16_t address, const int16_t value);
static void digipot_current(const uint8_t driver, const int16_t current);
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
static void set_digipot_value_spi(const int16_t address, const int16_t value);
static void set_digipot_current(const uint8_t driver, const int16_t current);
#endif
#if HAS_MICROSTEPS
@@ -449,7 +544,7 @@ class Stepper {
static void microstep_readings();
#endif
#if HAS_EXTRA_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
#if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
FORCE_INLINE static void set_separate_multi_axis(const bool state) { separate_multi_axis = state; }
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
@@ -461,7 +556,7 @@ class Stepper {
FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
#endif
#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z1_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
#if NUM_Z_STEPPER_DRIVERS >= 3
FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; }
@@ -469,6 +564,16 @@ class Stepper {
FORCE_INLINE static void set_z4_lock(const bool state) { locked_Z4_motor = state; }
#endif
#endif
static inline void set_all_z_lock(const bool lock, const int8_t except=-1) {
set_z1_lock(lock ^ (except == 0));
set_z2_lock(lock ^ (except == 1));
#if NUM_Z_STEPPER_DRIVERS >= 3
set_z3_lock(lock ^ (except == 2));
#if NUM_Z_STEPPER_DRIVERS >= 4
set_z4_lock(lock ^ (except == 3));
#endif
#endif
}
#endif
#if ENABLED(BABYSTEPPING)
@@ -479,16 +584,58 @@ class Stepper {
static void refresh_motor_power();
#endif
// Set direction bits for all steppers
static axis_flags_t axis_enabled; // Axis stepper(s) ENABLED states
static inline bool axis_is_enabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
return TEST(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
}
static inline void mark_axis_enabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
SBI(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
}
static inline void mark_axis_disabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
CBI(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
}
static inline bool can_axis_disable(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
return !any_enable_overlap() || !(axis_enabled.bits & enable_overlap[INDEX_OF_AXIS(axis, eindex)]);
}
static void enable_axis(const AxisEnum axis);
static bool disable_axis(const AxisEnum axis);
#if HAS_EXTRUDERS
static void enable_extruder(E_TERN_(const uint8_t eindex=0));
static bool disable_extruder(E_TERN_(const uint8_t eindex=0));
static void enable_e_steppers();
static void disable_e_steppers();
#else
static inline void enable_extruder() {}
static inline bool disable_extruder() {}
static inline void enable_e_steppers() {}
static inline void disable_e_steppers() {}
#endif
#define ENABLE_EXTRUDER(N) enable_extruder(E_TERN_(N))
#define DISABLE_EXTRUDER(N) disable_extruder(E_TERN_(N))
#define AXIS_IS_ENABLED(N,V...) axis_is_enabled(N E_OPTARG(#V))
static void enable_all_steppers();
static void disable_all_steppers();
// Update direction states for all steppers
static void set_directions();
// Set direction bits and update all stepper DIR states
static void set_directions(const axis_bits_t bits) {
last_direction_bits = bits;
set_directions();
}
private:
// Set the current position in steps
static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
FORCE_INLINE static void _set_position(const abce_long_t &spos) { _set_position(spos.a, spos.b, spos.c, spos.e); }
static void _set_position(const abce_long_t &spos);
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t* loops) {
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t *loops) {
uint32_t timer;
// Scale the frequency, as requested by the caller
@@ -525,7 +672,7 @@ class Stepper {
// In case of high-performance processor, it is able to calculate in real-time
timer = uint32_t(STEPPER_TIMER_RATE) / step_rate;
#else
constexpr uint32_t min_step_rate = F_CPU / 500000U;
constexpr uint32_t min_step_rate = (F_CPU) / 500000U;
NOLESS(step_rate, min_step_rate);
step_rate -= min_step_rate; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
@@ -553,7 +700,7 @@ class Stepper {
static int32_t _eval_bezier_curve(const uint32_t curr_step);
#endif
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
static void digipot_init();
#endif