🧑💻 Split up stepper.h header
This commit is contained in:
Scott Lahteine
@@ -83,6 +83,7 @@ Stepper stepper; // Singleton
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#define BABYSTEPPING_EXTRA_DIR_WAIT
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#define BABYSTEPPING_EXTRA_DIR_WAIT
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#include "stepper/cycles.h"
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#ifdef __AVR__
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#ifdef __AVR__
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#include "stepper/speed_lookuptable.h"
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#include "stepper/speed_lookuptable.h"
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#endif
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#endif
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@@ -53,208 +53,6 @@
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#include "ft_types.h"
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#include "ft_types.h"
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#endif
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#endif
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//
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// Estimate the amount of time the Stepper ISR will take to execute
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//
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/**
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* The method of calculating these cycle-constants is unclear.
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* Most of them are no longer used directly for pulse timing, and exist
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* only to estimate a maximum step rate based on the user's configuration.
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* As 32-bit processors continue to diverge, maintaining cycle counts
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* will become increasingly difficult and error-prone.
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*/
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#ifdef CPU_32_BIT
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/**
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* Duration of START_TIMED_PULSE
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*
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* ...as measured on an LPC1768 with a scope and converted to cycles.
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* Not applicable to other 32-bit processors, but as long as others
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* take longer, pulses will be longer. For example the SKR Pro
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* (stm32f407zgt6) requires ~60 cyles.
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*/
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#define TIMER_READ_ADD_AND_STORE_CYCLES 34UL
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// The base ISR
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#define ISR_BASE_CYCLES 770UL
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// Linear advance base time is 64 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 64UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 40 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#ifdef STM32G0B1xx
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#define ISR_S_CURVE_CYCLES 500UL
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#else
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#define ISR_S_CURVE_CYCLES 40UL
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#endif
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Input shaping base time
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#if HAS_ZV_SHAPING
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#define ISR_SHAPING_BASE_CYCLES 180UL
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#else
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#define ISR_SHAPING_BASE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 4UL
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// And each stepper (start + stop pulse) takes in worst case
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#define ISR_STEPPER_CYCLES 100UL
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#else
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// Cycles to perform actions in START_TIMED_PULSE
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#define TIMER_READ_ADD_AND_STORE_CYCLES 13UL
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// The base ISR
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#define ISR_BASE_CYCLES 882UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 30UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Input shaping base time
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#if HAS_ZV_SHAPING
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#define ISR_SHAPING_BASE_CYCLES 290UL
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#else
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#define ISR_SHAPING_BASE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper (start + stop pulse) takes in worst case
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#define ISR_STEPPER_CYCLES 60UL
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#endif
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// If linear advance is disabled, the loop also handles them
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#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
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#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
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#else
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#define ISR_MIXING_STEPPER_CYCLES 0UL
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#endif
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// Add time for each stepper
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#if HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_Y_STEP
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_Z_STEP
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_I_STEP
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#define ISR_I_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_J_STEP
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#define ISR_J_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_K_STEP
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#define ISR_K_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_U_STEP
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#define ISR_U_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_V_STEP
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#define ISR_V_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_W_STEP
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#define ISR_W_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#endif
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#if HAS_EXTRUDERS
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES // E is always interpolated, even for mixing extruders
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#endif
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// And the total minimum loop time, not including the base
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#define _PLUS_AXIS_CYCLES(A) + (ISR_##A##_STEPPER_CYCLES)
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#define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_MAP(_PLUS_AXIS_CYCLES))
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// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
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#define _MIN_STEPPER_PULSE_CYCLES(N) _MAX(uint32_t((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N))
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#if MINIMUM_STEPPER_PULSE
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(uint32_t(MINIMUM_STEPPER_PULSE))
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#elif HAS_DRIVER(LV8729)
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#define MIN_STEPPER_PULSE_CYCLES uint32_t((((F_CPU) - 1) / 2000000) + 1) // 0.5µs, aka 500ns
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#else
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL)
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#endif
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// Calculate the minimum pulse times (high and low)
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#if MINIMUM_STEPPER_PULSE && MAXIMUM_STEPPER_RATE
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constexpr uint32_t _MIN_STEP_PERIOD_NS = 1000000000UL / MAXIMUM_STEPPER_RATE;
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constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
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constexpr uint32_t _MIN_PULSE_LOW_NS = _MAX((_MIN_STEP_PERIOD_NS - _MIN(_MIN_STEP_PERIOD_NS, _MIN_PULSE_HIGH_NS)), _MIN_PULSE_HIGH_NS);
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#elif MINIMUM_STEPPER_PULSE
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// Assume 50% duty cycle
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constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
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constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
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#elif MAXIMUM_STEPPER_RATE
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// Assume 50% duty cycle
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constexpr uint32_t _MIN_PULSE_HIGH_NS = 500000000UL / MAXIMUM_STEPPER_RATE;
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constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
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#else
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#error "Expected at least one of MINIMUM_STEPPER_PULSE or MAXIMUM_STEPPER_RATE to be defined"
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#endif
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// The loop takes the base time plus the time for all the bresenham logic for 1 << R pulses plus the time
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// between pulses for ((1 << R) - 1) pulses. But the user could be enforcing a minimum time so the loop time is:
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#define ISR_LOOP_CYCLES(R) ((ISR_LOOP_BASE_CYCLES + MIN_ISR_LOOP_CYCLES + MIN_STEPPER_PULSE_CYCLES) * ((1UL << R) - 1) + _MAX(MIN_ISR_LOOP_CYCLES, MIN_STEPPER_PULSE_CYCLES))
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// Model input shaping as an extra loop call
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#define ISR_SHAPING_LOOP_CYCLES(R) (TERN0(HAS_ZV_SHAPING, (ISR_LOOP_BASE_CYCLES + TERN0(INPUT_SHAPING_X, ISR_X_STEPPER_CYCLES) + TERN0(INPUT_SHAPING_Y, ISR_Y_STEPPER_CYCLES)) << R))
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// If linear advance is enabled, then it is handled separately
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#if ENABLED(LIN_ADVANCE)
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// Estimate the minimum LA loop time
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#if ENABLED(MIXING_EXTRUDER) // ToDo: ???
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// HELP ME: What is what?
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// Directions are set up for MIXING_STEPPERS - like before.
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// Finding the right stepper may last up to MIXING_STEPPERS loops in get_next_stepper().
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// These loops are a bit faster than advancing a bresenham counter.
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// Always only one E stepper is stepped.
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#define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
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#else
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#define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES
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#endif
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// And the real loop time
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#define ISR_LA_LOOP_CYCLES _MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
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#else
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#define ISR_LA_LOOP_CYCLES 0UL
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#endif
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// Estimate the total ISR execution time in cycles given a step-per-ISR shift multiplier
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#define ISR_EXECUTION_CYCLES(R) ((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + ISR_SHAPING_BASE_CYCLES + ISR_LOOP_CYCLES(R) + ISR_SHAPING_LOOP_CYCLES(R) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES) >> R)
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// The maximum allowable stepping frequency when doing 1x stepping (in Hz)
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#define MAX_STEP_ISR_FREQUENCY_1X ((F_CPU) / ISR_EXECUTION_CYCLES(0))
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// The minimum step ISR rate used by ADAPTIVE_STEP_SMOOTHING to target 50% CPU usage
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// This does not account for the possibility of multi-stepping.
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#define MIN_STEP_ISR_FREQUENCY (MAX_STEP_ISR_FREQUENCY_1X >> 1)
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// TODO: Review and ensure proper handling for special E axes with commands like M17/M18, stepper timeout, etc.
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// TODO: Review and ensure proper handling for special E axes with commands like M17/M18, stepper timeout, etc.
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#if ENABLED(MIXING_EXTRUDER)
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#if ENABLED(MIXING_EXTRUDER)
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#define E_STATES EXTRUDERS // All steppers are set together for each mixer. (Currently limited to 1.)
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#define E_STATES EXTRUDERS // All steppers are set together for each mixer. (Currently limited to 1.)
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223
Marlin/src/module/stepper/cycles.h
Normal file
223
Marlin/src/module/stepper/cycles.h
Normal file
@@ -0,0 +1,223 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* cycles.h - Cycle counting for the Stepper ISR
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*
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* Estimate the amount of time the Stepper ISR will take to execute.
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*
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* These cycle counts are rough estimates used to determine whether the ISR
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* has enough time to do all its work before it should yield back to userland.
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* These constants may be updated as data is gathered from a variety of MCUs.
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*/
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#ifdef CPU_32_BIT
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/**
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* Duration of START_TIMED_PULSE
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*
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* ...as measured on an LPC1768 with a scope and converted to cycles.
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||||||
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* Not applicable to other 32-bit processors, but as long as others
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||||||
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* take longer, pulses will be longer. For example the SKR Pro
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* (stm32f407zgt6) requires ~60 cyles.
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*/
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#define TIMER_READ_ADD_AND_STORE_CYCLES 34UL
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// The base ISR
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#define ISR_BASE_CYCLES 770UL
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// Linear advance base time is 64 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 64UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 40 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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||||||
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#ifdef STM32G0B1xx
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#define ISR_S_CURVE_CYCLES 500UL
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#else
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#define ISR_S_CURVE_CYCLES 40UL
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#endif
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Input shaping base time
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#if HAS_ZV_SHAPING
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#define ISR_SHAPING_BASE_CYCLES 180UL
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#else
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#define ISR_SHAPING_BASE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 4UL
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// And each stepper (start + stop pulse) takes in worst case
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#define ISR_STEPPER_CYCLES 100UL
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#else
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// Cycles to perform actions in START_TIMED_PULSE
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#define TIMER_READ_ADD_AND_STORE_CYCLES 13UL
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// The base ISR
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#define ISR_BASE_CYCLES 882UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 30UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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||||||
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Input shaping base time
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||||||
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#if HAS_ZV_SHAPING
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#define ISR_SHAPING_BASE_CYCLES 290UL
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#else
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#define ISR_SHAPING_BASE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper (start + stop pulse) takes in worst case
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||||||
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#define ISR_STEPPER_CYCLES 60UL
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||||||
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#endif
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||||||
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||||||
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// 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))
|
||||||
|
#else
|
||||||
|
#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_U_STEP
|
||||||
|
#define ISR_U_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
||||||
|
#endif
|
||||||
|
#if HAS_V_STEP
|
||||||
|
#define ISR_V_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
||||||
|
#endif
|
||||||
|
#if HAS_W_STEP
|
||||||
|
#define ISR_W_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 _PLUS_AXIS_CYCLES(A) + (ISR_##A##_STEPPER_CYCLES)
|
||||||
|
#define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_MAP(_PLUS_AXIS_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))
|
||||||
|
#if MINIMUM_STEPPER_PULSE
|
||||||
|
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(uint32_t(MINIMUM_STEPPER_PULSE))
|
||||||
|
#elif HAS_DRIVER(LV8729)
|
||||||
|
#define MIN_STEPPER_PULSE_CYCLES uint32_t((((F_CPU) - 1) / 2000000) + 1) // 0.5µs, aka 500ns
|
||||||
|
#else
|
||||||
|
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Calculate the minimum pulse times (high and low)
|
||||||
|
#if MINIMUM_STEPPER_PULSE && MAXIMUM_STEPPER_RATE
|
||||||
|
constexpr uint32_t _MIN_STEP_PERIOD_NS = 1000000000UL / MAXIMUM_STEPPER_RATE;
|
||||||
|
constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
|
||||||
|
constexpr uint32_t _MIN_PULSE_LOW_NS = _MAX((_MIN_STEP_PERIOD_NS - _MIN(_MIN_STEP_PERIOD_NS, _MIN_PULSE_HIGH_NS)), _MIN_PULSE_HIGH_NS);
|
||||||
|
#elif MINIMUM_STEPPER_PULSE
|
||||||
|
// Assume 50% duty cycle
|
||||||
|
constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
|
||||||
|
constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
|
||||||
|
#elif MAXIMUM_STEPPER_RATE
|
||||||
|
// Assume 50% duty cycle
|
||||||
|
constexpr uint32_t _MIN_PULSE_HIGH_NS = 500000000UL / MAXIMUM_STEPPER_RATE;
|
||||||
|
constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
|
||||||
|
#else
|
||||||
|
#error "Expected at least one of MINIMUM_STEPPER_PULSE or MAXIMUM_STEPPER_RATE to be defined"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// The loop takes the base time plus the time for all the bresenham logic for 1 << R pulses plus the time
|
||||||
|
// between pulses for ((1 << R) - 1) pulses. But the user could be enforcing a minimum time so the loop time is:
|
||||||
|
#define ISR_LOOP_CYCLES(R) ((ISR_LOOP_BASE_CYCLES + MIN_ISR_LOOP_CYCLES + MIN_STEPPER_PULSE_CYCLES) * ((1UL << R) - 1) + _MAX(MIN_ISR_LOOP_CYCLES, MIN_STEPPER_PULSE_CYCLES))
|
||||||
|
|
||||||
|
// Model input shaping as an extra loop call
|
||||||
|
#define ISR_SHAPING_LOOP_CYCLES(R) (TERN0(HAS_ZV_SHAPING, (ISR_LOOP_BASE_CYCLES + TERN0(INPUT_SHAPING_X, ISR_X_STEPPER_CYCLES) + TERN0(INPUT_SHAPING_Y, ISR_Y_STEPPER_CYCLES)) << R))
|
||||||
|
|
||||||
|
// If linear advance is enabled, then it is handled separately
|
||||||
|
#if ENABLED(LIN_ADVANCE)
|
||||||
|
|
||||||
|
// Estimate the minimum LA loop time
|
||||||
|
#if ENABLED(MIXING_EXTRUDER) // ToDo: ???
|
||||||
|
// HELP ME: What is what?
|
||||||
|
// Directions are set up for MIXING_STEPPERS - like before.
|
||||||
|
// Finding the right stepper may last up to MIXING_STEPPERS loops in get_next_stepper().
|
||||||
|
// These loops are a bit faster than advancing a bresenham counter.
|
||||||
|
// Always only one E stepper is stepped.
|
||||||
|
#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
|
||||||
|
|
||||||
|
// Estimate the total ISR execution time in cycles given a step-per-ISR shift multiplier
|
||||||
|
#define ISR_EXECUTION_CYCLES(R) ((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + ISR_SHAPING_BASE_CYCLES + ISR_LOOP_CYCLES(R) + ISR_SHAPING_LOOP_CYCLES(R) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES) >> R)
|
||||||
|
|
||||||
|
// The maximum allowable stepping frequency when doing 1x stepping (in Hz)
|
||||||
|
#define MAX_STEP_ISR_FREQUENCY_1X ((F_CPU) / ISR_EXECUTION_CYCLES(0))
|
||||||
|
|
||||||
|
// 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.
|
||||||
|
#define MIN_STEP_ISR_FREQUENCY (MAX_STEP_ISR_FREQUENCY_1X >> 1)
|
||||||
Reference in New Issue
Block a user