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Roll back 1 day to avoid babystepping changes

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This commit is contained in:
InsanityAutomation
2020-02-16 12:15:35 -05:00
parent 696d6cfb90
commit a1327f430b
24 changed files with 340 additions and 982 deletions
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Marlin/src/HAL/HAL_ESP32/i2s.cpp
+2 -2
View File
@@ -153,8 +153,8 @@ void stepperTask(void* parameter) {
remaining--;
}
else {
Stepper::pulse_phase_isr();
remaining = Stepper::block_phase_isr();
Stepper::stepper_pulse_phase_isr();
remaining = Stepper::stepper_block_phase_isr();
}
}
}
Marlin/src/HAL/HAL_SAMD51/timers.h
+1 -1
View File
@@ -29,7 +29,7 @@
typedef uint32_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
#define HAL_TIMER_RATE F_CPU // frequency of timers peripherals
#define HAL_TIMER_RATE SystemCoreClock // frequency of timers peripherals
#define STEP_TIMER_NUM 0 // index of timer to use for stepper (also +1 for 32bits counter)
#define PULSE_TIMER_NUM STEP_TIMER_NUM
Marlin/src/MarlinCore.cpp
+1 -1
View File
@@ -345,7 +345,7 @@ void disable_all_steppers() {
void event_probe_recover() {
#if ENABLED(HOST_PROMPT_SUPPORT)
host_prompt_do(PROMPT_INFO, PSTR("G29 Retrying"), DISMISS_STR);
host_prompt_do(PROMPT_INFO, PSTR("G29 Retrying"), PSTR("Dismiss"));
#endif
#ifdef ACTION_ON_G29_RECOVER
host_action(PSTR(ACTION_ON_G29_RECOVER));
Marlin/src/core/boards.h
+1 -5
View File
@@ -295,6 +295,7 @@
#define BOARD_GTM32_MINI_A30 4022 // STM32F103VET6 controller
#define BOARD_GTM32_REV_B 4023 // STM32F103VET6 controller
//
// ARM Cortex-M4F
//
@@ -339,11 +340,6 @@
#define BOARD_MRR_ESPE 6002
#define BOARD_E4D_BOX 6003 // E4d@BOX
//
// SAMD51 ARM Cortex M4
//
#define BOARD_AGCM4_RAMPS_144 6100 // RAMPS 1.4.4
//
// Simulations
//
Marlin/src/feature/babystep.cpp
+8
View File
@@ -49,6 +49,14 @@ void Babystep::step_axis(const AxisEnum axis) {
}
}
void Babystep::task() {
#if EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
LOOP_XYZ(axis) step_axis((AxisEnum)axis);
#else
step_axis(Z_AXIS);
#endif
}
void Babystep::add_mm(const AxisEnum axis, const float &mm) {
add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
}
Marlin/src/feature/babystep.h
+1 -9
View File
@@ -55,15 +55,7 @@ public:
static void add_steps(const AxisEnum axis, const int16_t distance);
static void add_mm(const AxisEnum axis, const float &mm);
//
// Called by the Temperature ISR to
// apply accumulated babysteps to the axes.
//
static inline void task() {
LOOP_L_N(axis, BS_TODO_AXIS(Z_AXIS)) step_axis((AxisEnum)axis);
}
static void task();
private:
static void step_axis(const AxisEnum axis);
};
Marlin/src/feature/host_actions.cpp
+44 -55
View File
@@ -64,8 +64,7 @@ void host_action(const char * const pstr, const bool eol) {
#if ENABLED(HOST_PROMPT_SUPPORT)
const char CONTINUE_STR[] PROGMEM = "Continue",
DISMISS_STR[] PROGMEM = "Dismiss";
const char CONTINUE_STR[] PROGMEM = "Continue";
#if HAS_RESUME_CONTINUE
extern bool wait_for_user;
@@ -85,78 +84,70 @@ void host_action(const char * const pstr, const bool eol) {
if (eol) SERIAL_EOL();
}
void host_action_prompt_plus(const char * const ptype, const char * const pstr, const char extra_char='\0') {
void host_action_prompt_plus(const char * const ptype, const char * const pstr, const bool eol=true) {
host_action_prompt(ptype, false);
SERIAL_CHAR(' ');
serialprintPGM(pstr);
if (extra_char != '\0') SERIAL_CHAR(extra_char);
SERIAL_EOL();
}
void host_action_prompt_begin(const PromptReason reason, const char * const pstr, const char extra_char/*='\0'*/) {
host_action_prompt_end();
host_prompt_reason = reason;
host_action_prompt_plus(PSTR("begin"), pstr, extra_char);
if (eol) SERIAL_EOL();
}
void host_action_prompt_begin(const char * const pstr, const bool eol/*=true*/) { host_action_prompt_plus(PSTR("begin"), pstr, eol); }
void host_action_prompt_button(const char * const pstr) { host_action_prompt_plus(PSTR("button"), pstr); }
void host_action_prompt_end() { host_action_prompt(PSTR("end")); }
void host_action_prompt_show() { host_action_prompt(PSTR("show")); }
void host_prompt_do(const PromptReason reason, const char * const pstr, const char * const btn1/*=nullptr*/, const char * const btn2/*=nullptr*/) {
host_action_prompt_begin(reason, pstr);
if (btn1) host_action_prompt_button(btn1);
if (btn2) host_action_prompt_button(btn2);
void host_prompt_do(const PromptReason reason, const char * const pstr, const char * const pbtn/*=nullptr*/) {
host_prompt_reason = reason;
host_action_prompt_end();
host_action_prompt_begin(pstr);
if (pbtn) host_action_prompt_button(pbtn);
host_action_prompt_show();
}
void filament_load_host_prompt() {
const bool disable_to_continue = (false
#if HAS_FILAMENT_SENSOR
|| runout.filament_ran_out
#endif
);
host_prompt_do(PROMPT_FILAMENT_RUNOUT, PSTR("Paused"), PSTR("PurgeMore"),
disable_to_continue ? PSTR("DisableRunout") : CONTINUE_STR
);
inline void say_m876_response(const char * const pstr) {
SERIAL_ECHOPGM("M876 Responding PROMPT_");
serialprintPGM(pstr);
SERIAL_EOL();
}
//
// Handle responses from the host, such as:
// - Filament runout responses: Purge More, Continue
// - General "Continue" response
// - Resume Print response
// - Dismissal of info
//
void host_response_handler(const uint8_t response) {
#ifdef DEBUG_HOST_ACTIONS
static const char m876_prefix[] PROGMEM = "M876 Handle Re";
serialprintPGM(m876_prefix); SERIAL_ECHOLNPAIR("ason: ", host_prompt_reason);
serialprintPGM(m876_prefix); SERIAL_ECHOLNPAIR("sponse: ", response);
SERIAL_ECHOLNPAIR("M876 Handle Reason: ", host_prompt_reason);
SERIAL_ECHOLNPAIR("M876 Handle Response: ", response);
#endif
const char *msg = PSTR("UNKNOWN STATE");
const PromptReason hpr = host_prompt_reason;
host_prompt_reason = PROMPT_NOT_DEFINED; // Reset now ahead of logic
host_prompt_reason = PROMPT_NOT_DEFINED;
switch (hpr) {
case PROMPT_FILAMENT_RUNOUT:
msg = PSTR("FILAMENT_RUNOUT");
switch (response) {
case 0: // "Purge More" button
#if HAS_LCD_MENU && ENABLED(ADVANCED_PAUSE_FEATURE)
pause_menu_response = PAUSE_RESPONSE_EXTRUDE_MORE; // Simulate menu selection (menu exits, doesn't extrude more)
#endif
filament_load_host_prompt(); // Initiate another host prompt. (NOTE: The loop in load_filament may also do this!)
break;
case 1: // "Continue" / "Disable Runout" button
#if HAS_LCD_MENU && ENABLED(ADVANCED_PAUSE_FEATURE)
pause_menu_response = PAUSE_RESPONSE_RESUME_PRINT; // Simulate menu selection
#endif
if (response == 0) {
#if ENABLED(ADVANCED_PAUSE_FEATURE)
pause_menu_response = PAUSE_RESPONSE_EXTRUDE_MORE;
#endif
host_action_prompt_end(); // Close current prompt
host_action_prompt_begin(PSTR("Paused"));
host_action_prompt_button(PSTR("Purge More"));
if (false
#if HAS_FILAMENT_SENSOR
if (runout.filament_ran_out) { // Disable a triggered sensor
runout.enabled = false;
runout.reset();
}
|| runout.filament_ran_out
#endif
break;
)
host_action_prompt_button(PSTR("DisableRunout"));
else {
host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
host_action_prompt_button(CONTINUE_STR);
}
host_action_prompt_show();
}
else if (response == 1) {
#if HAS_FILAMENT_SENSOR
if (runout.filament_ran_out) {
runout.enabled = false;
runout.reset();
}
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE)
pause_menu_response = PAUSE_RESPONSE_RESUME_PRINT;
#endif
}
break;
case PROMPT_USER_CONTINUE:
@@ -177,9 +168,7 @@ void host_action(const char * const pstr, const bool eol) {
break;
default: break;
}
SERIAL_ECHOPGM("M876 Responding PROMPT_");
serialprintPGM(msg);
SERIAL_EOL();
say_m876_response(msg);
}
#endif // HOST_PROMPT_SUPPORT
Marlin/src/feature/host_actions.h
+5 -7
View File
@@ -46,7 +46,7 @@ void host_action(const char * const pstr, const bool eol=true);
#if ENABLED(HOST_PROMPT_SUPPORT)
extern const char CONTINUE_STR[], DISMISS_STR[];
extern const char CONTINUE_STR[];
enum PromptReason : uint8_t {
PROMPT_NOT_DEFINED,
@@ -61,15 +61,13 @@ void host_action(const char * const pstr, const bool eol=true);
void host_response_handler(const uint8_t response);
void host_action_notify(const char * const message);
void host_action_prompt_begin(const PromptReason reason, const char * const pstr, const char extra_char='\0');
void host_action_prompt_begin(const char * const pstr, const bool eol=true);
void host_action_prompt_button(const char * const pstr);
void host_action_prompt_end();
void host_action_prompt_show();
void host_prompt_do(const PromptReason reason, const char * const pstr, const char * const btn1=nullptr, const char * const btn2=nullptr);
inline void host_prompt_open(const PromptReason reason, const char * const pstr, const char * const btn1=nullptr, const char * const btn2=nullptr) {
if (host_prompt_reason == PROMPT_NOT_DEFINED) host_prompt_do(reason, pstr, btn1, btn2);
void host_prompt_do(const PromptReason type, const char * const pstr, const char * const pbtn=nullptr);
inline void host_prompt_open(const PromptReason reason, const char * const pstr, const char * const pbtn=nullptr) {
if (host_prompt_reason == PROMPT_NOT_DEFINED) host_prompt_do(reason, pstr, pbtn);
}
void filament_load_host_prompt();
#endif
Marlin/src/feature/pause.cpp
+29 -16
View File
@@ -67,10 +67,9 @@
static xyze_pos_t resume_position;
#if HAS_LCD_MENU
PauseMenuResponse pause_menu_response;
PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT;
#endif
PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT;
PauseMenuResponse pause_menu_response;
fil_change_settings_t fc_settings[EXTRUDERS];
@@ -86,11 +85,7 @@ fil_change_settings_t fc_settings[EXTRUDERS];
#if HAS_BUZZER
static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
#if HAS_LCD_MENU
if (pause_mode == PAUSE_MODE_PAUSE_PRINT) return;
#endif
if (pause_mode == PAUSE_MODE_PAUSE_PRINT) return;
static millis_t next_buzz = 0;
static int8_t runout_beep = 0;
@@ -191,7 +186,11 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
+ active_extruder
#endif
;
host_action_prompt_begin(PROMPT_USER_CONTINUE, PSTR("Load Filament T"), tool);
host_prompt_reason = PROMPT_USER_CONTINUE;
host_action_prompt_end();
host_action_prompt_begin(PSTR("Load Filament T"), false);
SERIAL_CHAR(tool);
SERIAL_EOL();
host_action_prompt_button(CONTINUE_STR);
host_action_prompt_show();
#endif
@@ -248,10 +247,10 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
wait_for_user = true;
#if ENABLED(HOST_PROMPT_SUPPORT)
host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Filament Purging..."), CONTINUE_STR);
host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Filament Purge Running..."), CONTINUE_STR);
#endif
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onUserConfirmRequired_P(PSTR("Filament Purging..."));
ExtUI::onUserConfirmRequired_P(PSTR("Filament Purge Running..."));
#endif
for (float purge_count = purge_length; purge_count > 0 && wait_for_user; --purge_count)
do_pause_e_move(1, ADVANCED_PAUSE_PURGE_FEEDRATE);
@@ -270,13 +269,27 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
do_pause_e_move(purge_length, ADVANCED_PAUSE_PURGE_FEEDRATE);
}
// Show "Purge More" / "Resume" menu and wait for reply
#if ENABLED(HOST_PROMPT_SUPPORT)
filament_load_host_prompt(); // Initiate another host prompt. (NOTE: host_response_handler may also do this!)
host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
host_action_prompt_end(); // Close current prompt
host_action_prompt_begin(PSTR("Paused"));
host_action_prompt_button(PSTR("PurgeMore"));
if (false
#if HAS_FILAMENT_SENSOR
|| runout.filament_ran_out
#endif
)
host_action_prompt_button(PSTR("DisableRunout"));
else {
host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
host_action_prompt_button(CONTINUE_STR);
}
host_action_prompt_show();
#endif
#if HAS_LCD_MENU
if (show_lcd) {
// Show "Purge More" / "Resume" menu and wait for reply
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = false;
lcd_pause_show_message(PAUSE_MESSAGE_OPTION);
@@ -396,7 +409,7 @@ bool pause_print(const float &retract, const xyz_pos_t &park_point, const float
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
host_prompt_open(PROMPT_INFO, PSTR("Pause"), DISMISS_STR);
host_prompt_open(PROMPT_INFO, PSTR("Pause"), PSTR("Dismiss"));
#endif
if (!DEBUGGING(DRYRUN) && unload_length && thermalManager.targetTooColdToExtrude(active_extruder)) {
@@ -667,7 +680,7 @@ void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_le
--did_pause_print;
#if ENABLED(HOST_PROMPT_SUPPORT)
host_prompt_open(PROMPT_INFO, PSTR("Resuming"), DISMISS_STR);
host_prompt_open(PROMPT_INFO, PSTR("Resuming"), PSTR("Dismiss"));
#endif
#if ENABLED(SDSUPPORT)
Marlin/src/feature/pause.h
+8 -9
View File
@@ -59,15 +59,14 @@ enum PauseMessage : char {
PAUSE_MESSAGE_HEATING
};
#if HAS_LCD_MENU
enum PauseMenuResponse : char {
PAUSE_RESPONSE_WAIT_FOR,
PAUSE_RESPONSE_EXTRUDE_MORE,
PAUSE_RESPONSE_RESUME_PRINT
};
extern PauseMenuResponse pause_menu_response;
extern PauseMode pause_mode;
#endif
enum PauseMenuResponse : char {
PAUSE_RESPONSE_WAIT_FOR,
PAUSE_RESPONSE_EXTRUDE_MORE,
PAUSE_RESPONSE_RESUME_PRINT
};
extern PauseMode pause_mode;
extern PauseMenuResponse pause_menu_response;
extern fil_change_settings_t fc_settings[EXTRUDERS];
Marlin/src/feature/runout.cpp
+5 -1
View File
@@ -92,7 +92,11 @@ void event_filament_runout() {
//action:out_of_filament
#if ENABLED(HOST_PROMPT_SUPPORT)
host_action_prompt_begin(PROMPT_FILAMENT_RUNOUT, PSTR("FilamentRunout T"), tool);
host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
host_action_prompt_end();
host_action_prompt_begin(PSTR("FilamentRunout T"), false);
SERIAL_CHAR(tool);
SERIAL_EOL();
host_action_prompt_show();
#endif
Marlin/src/gcode/host/M876.cpp
-2
View File
@@ -31,9 +31,7 @@
* M876: Handle Prompt Response
*/
void GcodeSuite::M876() {
if (parser.seenval('S')) host_response_handler((uint8_t)parser.value_int());
}
#endif // HOST_PROMPT_SUPPORT && !EMERGENCY_PARSER
Marlin/src/gcode/sdcard/M24_M25.cpp
+1 -1
View File
@@ -74,7 +74,7 @@ void GcodeSuite::M24() {
host_action_resume();
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
host_prompt_open(PROMPT_INFO, PSTR("Resuming SD"), DISMISS_STR);
host_prompt_open(PROMPT_INFO, PSTR("Resuming SD"), PSTR("Dismiss"));
#endif
#endif
Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/compat.h
-4
View File
@@ -37,10 +37,6 @@
#ifdef __MARLIN_FIRMWARE__
// __MARLIN_FIRMWARE__ exists when compiled within Marlin.
#include "pin_mappings.h"
#undef max
#define max(a,b) ((a)>(b)?(a):(b))
#undef min
#define min(a,b) ((a)<(b)?(a):(b))
#else
namespace UI {
static inline uint32_t safe_millis() {return millis();};
Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/pin_mappings.h
-9
View File
@@ -27,15 +27,6 @@
* without adding new pin definitions to the board.
*/
#ifdef S6_TFT_PINMAP
#ifndef __MARLIN_FIRMWARE__
#error "This pin mapping requires Marlin."
#endif
#define CLCD_SPI_CS PC7
#define CLCD_MOD_RESET PC6
#endif
#ifdef CR10_TFT_PINMAP
#ifndef __MARLIN_FIRMWARE__
#error "This pin mapping requires Marlin."
Marlin/src/lcd/ultralcd.cpp
+1 -1
View File
@@ -1504,7 +1504,7 @@ void MarlinUI::update() {
host_action_cancel();
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
host_prompt_open(PROMPT_INFO, PSTR("UI Aborted"), DISMISS_STR);
host_prompt_open(PROMPT_INFO, PSTR("UI Aborted"), PSTR("Dismiss"));
#endif
print_job_timer.stop();
set_status_P(GET_TEXT(MSG_PRINT_ABORTED));
Marlin/src/module/planner.cpp
+9 -101
View File
@@ -709,59 +709,6 @@ void Planner::init() {
#define MINIMAL_STEP_RATE 120
/**
* Get the current block for processing
* and mark the block as busy.
* Return nullptr if the buffer is empty
* or if there is a first-block delay.
*
* WARNING: Called from Stepper ISR context!
*/
block_t* Planner::get_current_block() {
// Get the number of moves in the planner queue so far
const uint8_t nr_moves = movesplanned();
// If there are any moves queued ...
if (nr_moves) {
// If there is still delay of delivery of blocks running, decrement it
if (delay_before_delivering) {
--delay_before_delivering;
// If the number of movements queued is less than 3, and there is still time
// to wait, do not deliver anything
if (nr_moves < 3 && delay_before_delivering) return nullptr;
delay_before_delivering = 0;
}
// If we are here, there is no excuse to deliver the block
block_t * const block = &block_buffer[block_buffer_tail];
// No trapezoid calculated? Don't execute yet.
if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr;
#if HAS_SPI_LCD
block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
#endif
// As this block is busy, advance the nonbusy block pointer
block_buffer_nonbusy = next_block_index(block_buffer_tail);
// Push block_buffer_planned pointer, if encountered.
if (block_buffer_tail == block_buffer_planned)
block_buffer_planned = block_buffer_nonbusy;
// Return the block
return block;
}
// The queue became empty
#if HAS_SPI_LCD
clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
#endif
return nullptr;
}
/**
* Calculate trapezoid parameters, multiplying the entry- and exit-speeds
* by the provided factors.
@@ -1551,7 +1498,8 @@ void Planner::quick_stop() {
// must be handled: The tail could change between the read and the assignment
// so this must be enclosed in a critical section
const bool was_enabled = stepper.suspend();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
// Drop all queue entries
block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail;
@@ -1569,7 +1517,7 @@ void Planner::quick_stop() {
cleaning_buffer_counter = 1000;
// Reenable Stepper ISR
if (was_enabled) stepper.wake_up();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
// And stop the stepper ISR
stepper.quick_stop();
@@ -1600,12 +1548,13 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
// Protect the access to the position.
const bool was_enabled = stepper.suspend();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const int32_t p1 = stepper.position(CORE_AXIS_1),
p2 = stepper.position(CORE_AXIS_2);
if (was_enabled) stepper.wake_up();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
@@ -2055,12 +2004,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#if HAS_SPI_LCD
// Protect the access to the position.
const bool was_enabled = stepper.suspend();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
block_buffer_runtime_us += segment_time_us;
block->segment_time_us = segment_time_us;
if (was_enabled) stepper.wake_up();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
block->nominal_speed_sqr = sq(block->millimeters * inverse_secs); // (mm/sec)^2 Always > 0
@@ -2872,48 +2822,6 @@ void Planner::set_max_jerk(const AxisEnum axis, float targetValue) {
#endif
}
#if HAS_SPI_LCD
uint16_t Planner::block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = stepper.suspend();
#endif
millis_t bbru = block_buffer_runtime_us;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) stepper.wake_up();
#endif
// To translate µs to ms a division by 1000 would be required.
// We introduce 2.4% error here by dividing by 1024.
// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
bbru >>= 10;
// limit to about a minute.
NOMORE(bbru, 0xFFFFul);
return bbru;
}
void Planner::clear_block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = stepper.suspend();
#endif
block_buffer_runtime_us = 0;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) stepper.wake_up();
#endif
}
#endif
#if ENABLED(AUTOTEMP)
void Planner::autotemp_M104_M109() {
Marlin/src/module/planner.h
+89 -8
View File
@@ -763,18 +763,60 @@ class Planner {
FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
/**
* Get the current block for processing
* and mark the block as busy.
* Return nullptr if the buffer is empty
* or if there is a first-block delay.
*
* The current block. nullptr if the buffer is empty.
* This also marks the block as busy.
* WARNING: Called from Stepper ISR context!
*/
static block_t* get_current_block();
static block_t* get_current_block() {
// Get the number of moves in the planner queue so far
const uint8_t nr_moves = movesplanned();
// If there are any moves queued ...
if (nr_moves) {
// If there is still delay of delivery of blocks running, decrement it
if (delay_before_delivering) {
--delay_before_delivering;
// If the number of movements queued is less than 3, and there is still time
// to wait, do not deliver anything
if (nr_moves < 3 && delay_before_delivering) return nullptr;
delay_before_delivering = 0;
}
// If we are here, there is no excuse to deliver the block
block_t * const block = &block_buffer[block_buffer_tail];
// No trapezoid calculated? Don't execute yet.
if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr;
#if HAS_SPI_LCD
block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
#endif
// As this block is busy, advance the nonbusy block pointer
block_buffer_nonbusy = next_block_index(block_buffer_tail);
// Push block_buffer_planned pointer, if encountered.
if (block_buffer_tail == block_buffer_planned)
block_buffer_planned = block_buffer_nonbusy;
// Return the block
return block;
}
// The queue became empty
#if HAS_SPI_LCD
clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
#endif
return nullptr;
}
/**
* "Discard" the block and "release" the memory.
* Called when the current block is no longer needed.
* NB: There MUST be a current block to call this function!!
*/
FORCE_INLINE static void discard_current_block() {
if (has_blocks_queued())
@@ -782,8 +824,47 @@ class Planner {
}
#if HAS_SPI_LCD
static uint16_t block_buffer_runtime();
static void clear_block_buffer_runtime();
static uint16_t block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
millis_t bbru = block_buffer_runtime_us;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
// To translate µs to ms a division by 1000 would be required.
// We introduce 2.4% error here by dividing by 1024.
// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
bbru >>= 10;
// limit to about a minute.
NOMORE(bbru, 0xFFFFul);
return bbru;
}
static void clear_block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
block_buffer_runtime_us = 0;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
}
#endif
#if ENABLED(AUTOTEMP)
Marlin/src/module/stepper.cpp
+80 -93
View File
@@ -203,8 +203,11 @@ uint32_t Stepper::advance_divisor = 0,
bool Stepper::bezier_2nd_half; // =false If Bézier curve has been initialized or not
#endif
uint32_t Stepper::nextMainISR = 0;
#if ENABLED(LIN_ADVANCE)
constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
uint32_t Stepper::nextAdvanceISR = LA_ADV_NEVER,
Stepper::LA_isr_rate = LA_ADV_NEVER;
uint16_t Stepper::LA_current_adv_steps = 0,
@@ -399,13 +402,13 @@ constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return (NS + (NS_PER_P
#define PULSE_HIGH_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_HIGH_NS - _MIN(_MIN_PULSE_HIGH_NS, TIMER_SETUP_NS)))
#define PULSE_LOW_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_LOW_NS - _MIN(_MIN_PULSE_LOW_NS, TIMER_SETUP_NS)))
#define USING_TIMED_PULSE() hal_timer_t start_pulse_count = 0
#define START_TIMED_PULSE(DIR) (start_pulse_count = HAL_timer_get_count(PULSE_TIMER_NUM))
#define AWAIT_TIMED_PULSE(DIR) while (PULSE_##DIR##_TICK_COUNT > HAL_timer_get_count(PULSE_TIMER_NUM) - start_pulse_count) { }
#define USING_TIMED_PULSE() hal_timer_t end_tick_count = 0
#define START_TIMED_PULSE(DIR) (end_tick_count = HAL_timer_get_count(PULSE_TIMER_NUM) + PULSE_##DIR##_TICK_COUNT)
#define AWAIT_TIMED_PULSE() while (HAL_timer_get_count(PULSE_TIMER_NUM) < end_tick_count) { }
#define START_HIGH_PULSE() START_TIMED_PULSE(HIGH)
#define AWAIT_HIGH_PULSE() AWAIT_TIMED_PULSE(HIGH)
#define START_LOW_PULSE() START_TIMED_PULSE(LOW)
#define AWAIT_LOW_PULSE() AWAIT_TIMED_PULSE(LOW)
#define AWAIT_HIGH_PULSE() AWAIT_TIMED_PULSE()
#define AWAIT_LOW_PULSE() AWAIT_TIMED_PULSE()
#if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
#define DIR_WAIT_BEFORE() DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY)
@@ -419,6 +422,11 @@ constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return (NS + (NS_PER_P
#define DIR_WAIT_AFTER()
#endif
void Stepper::wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
/**
* Set the stepper direction of each axis
*
@@ -1326,9 +1334,6 @@ HAL_STEP_TIMER_ISR() {
#endif
void Stepper::isr() {
static uint32_t nextMainISR = 0; // Interval until the next main Stepper Pulse phase (0 = Now)
#ifndef __AVR__
// Disable interrupts, to avoid ISR preemption while we reprogram the period
// (AVR enters the ISR with global interrupts disabled, so no need to do it here)
@@ -1352,35 +1357,35 @@ void Stepper::isr() {
// Enable ISRs to reduce USART processing latency
ENABLE_ISRS();
if (!nextMainISR) pulse_phase_isr(); // 0 = Do coordinated axes Stepper pulses
// Run main stepping pulse phase ISR if we have to
if (!nextMainISR) Stepper::stepper_pulse_phase_isr();
#if ENABLED(LIN_ADVANCE)
if (!nextAdvanceISR) nextAdvanceISR = advance_isr(); // 0 = Do Linear Advance E Stepper pulses
// Run linear advance stepper ISR if we have to
if (!nextAdvanceISR) nextAdvanceISR = Stepper::advance_isr();
#endif
// ^== Time critical. NOTHING besides pulse generation should be above here!!!
if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block
// Run main stepping block processing ISR if we have to
if (!nextMainISR) nextMainISR = Stepper::stepper_block_phase_isr();
// Get the interval to the next ISR call
const uint32_t interval = _MIN(
nextMainISR // Time until the next Stepper ISR
uint32_t interval =
#if ENABLED(LIN_ADVANCE)
, nextAdvanceISR // Come back early for Linear Advance?
_MIN(nextAdvanceISR, nextMainISR) // Nearest time interval
#else
nextMainISR // Remaining stepper ISR time
#endif
, uint32_t(HAL_TIMER_TYPE_MAX) // Come back in a very long time
);
;
//
// Compute remaining time for each ISR phase
// NEVER : The phase is idle
// Zero : The phase will occur on the next ISR call
// Non-zero : The phase will occur on a future ISR call
//
// Limit the value to the maximum possible value of the timer
NOMORE(interval, uint32_t(HAL_TIMER_TYPE_MAX));
// Compute the time remaining for the main isr
nextMainISR -= interval;
#if ENABLED(LIN_ADVANCE)
// Compute the time remaining for the advance isr
if (nextAdvanceISR != LA_ADV_NEVER) nextAdvanceISR -= interval;
#endif
@@ -1466,7 +1471,7 @@ void Stepper::isr() {
* call to this method that might cause variation in the timing. The aim
* is to keep pulse timing as regular as possible.
*/
void Stepper::pulse_phase_isr() {
void Stepper::stepper_pulse_phase_isr() {
// If we must abort the current block, do so!
if (abort_current_block) {
@@ -1543,7 +1548,7 @@ void Stepper::pulse_phase_isr() {
// Don't step E here - But remember the number of steps to perform
motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
#else
step_needed.e = true;
step_needed.e = delta_error.e >= 0;
#endif
}
#elif HAS_E0_STEP
@@ -1599,14 +1604,20 @@ void Stepper::pulse_phase_isr() {
#if DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
if (delta_error.e >= 0) {
delta_error.e -= advance_divisor;
E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
}
#elif HAS_E0_STEP
PULSE_STOP(E);
#endif
#endif
#else // !MIXING_EXTRUDER
#if HAS_E0_STEP
PULSE_STOP(E);
#endif
#endif // !MIXING_EXTRUDER
#endif // !LIN_ADVANCE
#if ISR_MULTI_STEPS
if (events_to_do) START_LOW_PULSE();
@@ -1619,10 +1630,10 @@ void Stepper::pulse_phase_isr() {
// properly schedules blocks from the planner. This is executed after creating
// the step pulses, so it is not time critical, as pulses are already done.
uint32_t Stepper::block_phase_isr() {
uint32_t Stepper::stepper_block_phase_isr() {
// If no queued movements, just wait 1ms for the next block
uint32_t interval = (STEPPER_TIMER_RATE) / 1000UL;
// If no queued movements, just wait 1ms for the next move
uint32_t interval = (STEPPER_TIMER_RATE) / 1000;
// If there is a current block
if (current_block) {
@@ -1656,14 +1667,16 @@ uint32_t Stepper::block_phase_isr() {
// acc_step_rate is in steps/second
// step_rate to timer interval and steps per stepper isr
interval = calc_timer_interval(acc_step_rate, &steps_per_isr);
interval = calc_timer_interval(acc_step_rate, oversampling_factor, &steps_per_isr);
acceleration_time += interval;
#if ENABLED(LIN_ADVANCE)
// Fire ISR if final adv_rate is reached
if (LA_steps && (!LA_use_advance_lead || LA_isr_rate != current_block->advance_speed))
initiateLA();
#endif
if (LA_use_advance_lead) {
// Fire ISR if final adv_rate is reached
if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0;
}
else if (LA_steps) nextAdvanceISR = 0;
#endif // LIN_ADVANCE
}
// Are we in Deceleration phase ?
else if (step_events_completed > decelerate_after) {
@@ -1699,32 +1712,32 @@ uint32_t Stepper::block_phase_isr() {
// step_rate is in steps/second
// step_rate to timer interval and steps per stepper isr
interval = calc_timer_interval(step_rate, &steps_per_isr);
interval = calc_timer_interval(step_rate, oversampling_factor, &steps_per_isr);
deceleration_time += interval;
#if ENABLED(LIN_ADVANCE)
if (LA_use_advance_lead) {
// Wake up eISR on first deceleration loop and fire ISR if final adv_rate is reached
if (step_events_completed <= decelerate_after + steps_per_isr || (LA_steps && LA_isr_rate != current_block->advance_speed)) {
initiateLA();
nextAdvanceISR = 0;
LA_isr_rate = current_block->advance_speed;
}
}
else if (LA_steps) initiateLA();
#endif
else if (LA_steps) nextAdvanceISR = 0;
#endif // LIN_ADVANCE
}
// We must be in cruise phase otherwise
else {
#if ENABLED(LIN_ADVANCE)
// If there are any esteps, fire the next advance_isr "now"
if (LA_steps && LA_isr_rate != current_block->advance_speed) initiateLA();
if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0;
#endif
// Calculate the ticks_nominal for this nominal speed, if not done yet
if (ticks_nominal < 0) {
// step_rate to timer interval and loops for the nominal speed
ticks_nominal = calc_timer_interval(current_block->nominal_rate, &steps_per_isr);
ticks_nominal = calc_timer_interval(current_block->nominal_rate, oversampling_factor, &steps_per_isr);
}
// The timer interval is just the nominal value for the nominal speed
@@ -1833,17 +1846,17 @@ uint32_t Stepper::block_phase_isr() {
// No acceleration / deceleration time elapsed so far
acceleration_time = deceleration_time = 0;
uint8_t oversampling = 0; // Assume no axis smoothing (via oversampling)
uint8_t oversampling = 0; // Assume we won't use it
#if ENABLED(ADAPTIVE_STEP_SMOOTHING)
// Decide if axis smoothing is possible
// At this point, we must decide if we can use Stepper movement axis smoothing.
uint32_t max_rate = current_block->nominal_rate; // Get the maximum rate (maximum event speed)
while (max_rate < MIN_STEP_ISR_FREQUENCY) { // As long as more ISRs are possible...
max_rate <<= 1; // Try to double the rate
if (max_rate >= MAX_STEP_ISR_FREQUENCY_1X) break; // Don't exceed the estimated ISR limit
++oversampling; // Increase the oversampling (used for left-shift)
while (max_rate < MIN_STEP_ISR_FREQUENCY) {
max_rate <<= 1;
if (max_rate >= MAX_STEP_ISR_FREQUENCY_1X) break;
++oversampling;
}
oversampling_factor = oversampling; // For all timer interval calculations
oversampling_factor = oversampling;
#endif
// Based on the oversampling factor, do the calculations
@@ -1881,7 +1894,8 @@ uint32_t Stepper::block_phase_isr() {
if ((LA_use_advance_lead = current_block->use_advance_lead)) {
LA_final_adv_steps = current_block->final_adv_steps;
LA_max_adv_steps = current_block->max_adv_steps;
initiateLA(); // Start the ISR
//Start the ISR
nextAdvanceISR = 0;
LA_isr_rate = current_block->advance_speed;
}
else LA_isr_rate = LA_ADV_NEVER;
@@ -1940,7 +1954,7 @@ uint32_t Stepper::block_phase_isr() {
#endif
// Calculate the initial timer interval
interval = calc_timer_interval(current_block->initial_rate, &steps_per_isr);
interval = calc_timer_interval(current_block->initial_rate, oversampling_factor, &steps_per_isr);
}
}
@@ -2040,7 +2054,6 @@ uint32_t Stepper::block_phase_isr() {
return interval;
}
#endif // LIN_ADVANCE
// Check if the given block is busy or not - Must not be called from ISR contexts
@@ -2080,7 +2093,7 @@ void Stepper::init() {
digipot_motor = 255 * (motor_current[i] / 2.5);
dac084s085::setValue(i, digipot_motor);
}
#endif
#endif//MB(ALLIGATOR)
// Init Microstepping Pins
#if HAS_MICROSTEPS
@@ -2274,7 +2287,7 @@ void Stepper::init() {
#if DISABLED(I2S_STEPPER_STREAM)
HAL_timer_start(STEP_TIMER_NUM, 122); // Init Stepper ISR to 122 Hz for quick starting
wake_up();
ENABLE_STEPPER_DRIVER_INTERRUPT();
sei();
#endif
@@ -2328,43 +2341,19 @@ int32_t Stepper::position(const AxisEnum axis) {
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = suspend();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
const int32_t v = count_position[axis];
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) wake_up();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
return v;
}
// Set the current position in steps
void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
const bool was_enabled = suspend();
_set_position(a, b, c, e);
if (was_enabled) wake_up();
}
void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = suspend();
#endif
count_position[a] = v;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) wake_up();
#endif
}
// Signal endstops were triggered - This function can be called from
// an ISR context (Temperature, Stepper or limits ISR), so we must
// be very careful here. If the interrupt being preempted was the
@@ -2373,7 +2362,8 @@ void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
// is properly canceled
void Stepper::endstop_triggered(const AxisEnum axis) {
const bool was_enabled = suspend();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
endstops_trigsteps[axis] = (
#if IS_CORE
(axis == CORE_AXIS_2
@@ -2388,21 +2378,22 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
// Discard the rest of the move if there is a current block
quick_stop();
if (was_enabled) wake_up();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
int32_t Stepper::triggered_position(const AxisEnum axis) {
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = suspend();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
const int32_t v = endstops_trigsteps[axis];
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) wake_up();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
return v;
@@ -2412,13 +2403,14 @@ void Stepper::report_positions() {
#ifdef __AVR__
// Protect the access to the position.
const bool was_enabled = suspend();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
const xyz_long_t pos = count_position;
#ifdef __AVR__
if (was_enabled) wake_up();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
#if CORE_IS_XY || CORE_IS_XZ || ENABLED(DELTA) || IS_SCARA
@@ -2579,21 +2571,16 @@ void Stepper::report_positions() {
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
// Restore direction bits
DIR_WAIT_BEFORE();
X_DIR_WRITE(old_dir.x);
Y_DIR_WRITE(old_dir.y);
Z_DIR_WRITE(old_dir.z);
DIR_WAIT_AFTER();
#endif
} break;
default: break;
}
sei();
}
Marlin/src/module/stepper.h
+47 -28
View File
@@ -321,13 +321,13 @@ class Stepper {
static bool bezier_2nd_half; // If Bézier curve has been initialized or not
#endif
static uint32_t nextMainISR; // time remaining for the next Step ISR
#if ENABLED(LIN_ADVANCE)
static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
static uint32_t nextAdvanceISR, LA_isr_rate;
static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
static int8_t LA_steps;
static bool LA_use_advance_lead;
#endif
#endif // LIN_ADVANCE
static int32_t ticks_nominal;
#if DISABLED(S_CURVE_ACCELERATION)
@@ -351,36 +351,28 @@ class Stepper {
public:
//
// Constructor / initializer
//
Stepper() {};
// Initialize stepper hardware
static void init();
// Interrupt Service Routine and phases
// The stepper subsystem goes to sleep when it runs out of things to execute.
// Call this to notify the subsystem that it is time to go to work.
static inline void wake_up() { ENABLE_STEPPER_DRIVER_INTERRUPT(); }
static inline bool is_awake() { return STEPPER_ISR_ENABLED(); }
static inline bool suspend() {
const bool awake = is_awake();
if (awake) DISABLE_STEPPER_DRIVER_INTERRUPT();
return awake;
}
// Interrupt Service Routines
// The ISR scheduler
static void isr();
// The stepper pulse ISR phase
static void pulse_phase_isr();
// The stepper pulse phase ISR
static void stepper_pulse_phase_isr();
// The stepper block processing ISR phase
static uint32_t block_phase_isr();
// The stepper block processing phase ISR
static uint32_t stepper_block_phase_isr();
#if ENABLED(LIN_ADVANCE)
// The Linear advance ISR phase
// The Linear advance stepper ISR
static uint32_t advance_isr();
FORCE_INLINE static void initiateLA() { nextAdvanceISR = 0; }
#endif
// Check if the given block is busy or not - Must not be called from ISR contexts
@@ -389,14 +381,13 @@ class Stepper {
// 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_axis_position(const AxisEnum a, const int32_t &v);
// Report the positions of the steppers, in steps
static void report_positions();
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work.
static void wake_up();
// Quickly stop all steppers
FORCE_INLINE static void quick_stop() { abort_current_block = true; }
@@ -462,6 +453,34 @@ class Stepper {
static void refresh_motor_power();
#endif
// Set the current position in steps
static inline void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
_set_position(a, b, c, e);
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); }
static inline void set_axis_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
count_position[a] = v;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
}
// Set direction bits for all steppers
static void set_directions();
@@ -471,11 +490,11 @@ class Stepper {
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); }
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 scale, uint8_t* loops) {
uint32_t timer;
// Scale the frequency, as requested by the caller
step_rate <<= oversampling_factor;
step_rate <<= scale;
uint8_t multistep = 1;
#if DISABLED(DISABLE_MULTI_STEPPING)
Marlin/src/module/temperature.cpp
+4 -1
View File
@@ -65,12 +65,15 @@
#include "../libs/private_spi.h"
#endif
#if ENABLED(PID_EXTRUSION_SCALING)
#if EITHER(BABYSTEPPING, PID_EXTRUSION_SCALING)
#include "stepper.h"
#endif
#if ENABLED(BABYSTEPPING)
#include "../feature/babystep.h"
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
#include "../gcode/gcode.h"
#endif
#endif
#include "printcounter.h"
Marlin/src/pins/pins.h
-7
View File
@@ -578,13 +578,6 @@
#elif MB(E4D_BOX)
#include "esp32/pins_E4D.h" // ESP32 env:esp32
//
// Adafruit Grand Central M4 (SAMD51 ARM Cortex-M4)
//
#elif MB(AGCM4_RAMPS_144)
#include "samd/pins_RAMPS_144.h" // SAMD51 env:SAMD51_grandcentral_m4
//
// Linux Native Debug board
//
Marlin/src/pins/samd/pins_RAMPS_144.h
-611
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@@ -1,611 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* 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/>.
*
*/
#pragma once
/**
* AGCM4 with RAMPS v1.4.4 pin assignments
*/
#ifndef ARDUINO_GRAND_CENTRAL_M4
#error "Oops! Select 'Adafruit Grand Central M4' in 'Tools > Board.'"
#endif
#ifndef BOARD_INFO_NAME
#define BOARD_INFO_NAME "AGCM4 RAMPS 1.4.4"
#endif
//
// Servos
//
#define SERVO0_PIN 11
#define SERVO1_PIN 6
#define SERVO2_PIN 5
#define SERVO3_PIN 4
//
// EEPROM
//
#define E2END 0x7FFF // 32Kb (24lc256)
#define I2C_EEPROM // EEPROM on I2C-0
//
// Limit Switches
//
#define X_MIN_PIN 3
#define X_MAX_PIN 2
#define Y_MIN_PIN 14
#define Y_MAX_PIN 15
#define Z_MIN_PIN 18
#define Z_MAX_PIN 19
//
// Z Probe (when not Z_MIN_PIN)
//
#ifndef Z_MIN_PROBE_PIN
#define Z_MIN_PROBE_PIN 18
#endif
//
// Steppers
//
#define X_STEP_PIN 67 // Mega/Due:54 - AGCM4:67
#define X_DIR_PIN 68 // Mega/Due:55 - AGCM4:68
#define X_ENABLE_PIN 38
#ifndef X_CS_PIN
#define X_CS_PIN 47
#endif
#define Y_STEP_PIN 73 // Mega/Due:60 - AGCM4:73
#define Y_DIR_PIN 74 // Mega/Due:61 - AGCM4:74
#define Y_ENABLE_PIN 69 // Mega/Due:56 - AGCM4:69
#ifndef Y_CS_PIN
#define Y_CS_PIN 45
#endif
#define Z_STEP_PIN 46
#define Z_DIR_PIN 48
#define Z_ENABLE_PIN 54 // Mega/Due:62 - AGCM4:54
#ifndef Z_CS_PIN
#define Z_CS_PIN 32
#endif
#define Z2_STEP_PIN 36
#define Z2_DIR_PIN 34
#define Z2_ENABLE_PIN 30
#ifndef Z2_CS_PIN
#define Z2_CS_PIN 22
#endif
#define E0_STEP_PIN 26
#define E0_DIR_PIN 28
#define E0_ENABLE_PIN 24
#ifndef E0_CS_PIN
#define E0_CS_PIN 43
#endif
//
// Temperature Sensors
//
#define TEMP_0_PIN 13
#define TEMP_BED_PIN 14
#define TEMP_CHAMBER_PIN 15
//
// Heaters / Fans
//
#define HEATER_0_PIN 10
#define HEATER_BED_PIN 8
#define FAN_PIN 9
#define FAN1_PIN 7
#define FAN2_PIN 12
//
// Misc. Functions
//
#define SDSS 53
#define LED_PIN 13
#ifndef FILWIDTH_PIN
#define FILWIDTH_PIN 5 // Analog Input on AUX2
#endif
// RAMPS 1.4 DIO 4 on the servos connector
#ifndef FIL_RUNOUT_PIN
#define FIL_RUNOUT_PIN 4
#endif
#ifndef PS_ON_PIN
#define PS_ON_PIN 39
#endif
#if ENABLED(CASE_LIGHT_ENABLE) && !defined(CASE_LIGHT_PIN) && !defined(SPINDLE_LASER_ENA_PIN)
#if NUM_SERVOS <= 1 // Prefer the servo connector
#define CASE_LIGHT_PIN 6 // Hardware PWM
#endif
#endif
//
// M3/M4/M5 - Spindle/Laser Control
//
#if HAS_CUTTER && !defined(SPINDLE_LASER_ENA_PIN)
#if !NUM_SERVOS // Use servo connector if possible
#define SPINDLE_LASER_ENA_PIN 4 // Pullup or pulldown!
#define SPINDLE_LASER_PWM_PIN 6 // Hardware PWM
#define SPINDLE_DIR_PIN 5
#else
#error "No auto-assignable Spindle/Laser pins available."
#endif
#endif
//
// TMC software SPI
//
#if ENABLED(TMC_USE_SW_SPI)
#ifndef TMC_SW_MOSI
#define TMC_SW_MOSI 58 // Mega/Due:66 - AGCM4:58
#endif
#ifndef TMC_SW_MISO
#define TMC_SW_MISO 44
#endif
#ifndef TMC_SW_SCK
#define TMC_SW_SCK 56 // Mega/Due:64 - AGCM4:56
#endif
#endif
#if HAS_TMC220x
/**
* TMC2208/TMC2209 stepper drivers
*
* Hardware serial communication ports.
* If undefined software serial is used according to the pins below
*/
//#define X_HARDWARE_SERIAL Serial1
//#define X2_HARDWARE_SERIAL Serial1
//#define Y_HARDWARE_SERIAL Serial1
//#define Y2_HARDWARE_SERIAL Serial1
//#define Z_HARDWARE_SERIAL Serial1
//#define Z2_HARDWARE_SERIAL Serial1
//#define E0_HARDWARE_SERIAL Serial1
//#define E1_HARDWARE_SERIAL Serial1
//#define E2_HARDWARE_SERIAL Serial1
//#define E3_HARDWARE_SERIAL Serial1
//#define E4_HARDWARE_SERIAL Serial1
//
// Software serial
//
#ifndef X_SERIAL_TX_PIN
#define X_SERIAL_TX_PIN 47
#endif
#ifndef X_SERIAL_RX_PIN
#define X_SERIAL_RX_PIN 47
#endif
#ifndef X2_SERIAL_TX_PIN
#define X2_SERIAL_TX_PIN -1
#endif
#ifndef X2_SERIAL_RX_PIN
#define X2_SERIAL_RX_PIN -1
#endif
#ifndef Y_SERIAL_TX_PIN
#define Y_SERIAL_TX_PIN 45
#endif
#ifndef Y_SERIAL_RX_PIN
#define Y_SERIAL_RX_PIN 45
#endif
#ifndef Y2_SERIAL_TX_PIN
#define Y2_SERIAL_TX_PIN -1
#endif
#ifndef Y2_SERIAL_RX_PIN
#define Y2_SERIAL_RX_PIN -1
#endif
#ifndef Z_SERIAL_TX_PIN
#define Z_SERIAL_TX_PIN 32
#endif
#ifndef Z_SERIAL_RX_PIN
#define Z_SERIAL_RX_PIN 32
#endif
#ifndef Z2_SERIAL_TX_PIN
#define Z2_SERIAL_TX_PIN 22
#endif
#ifndef Z2_SERIAL_RX_PIN
#define Z2_SERIAL_RX_PIN 22
#endif
#ifndef E0_SERIAL_TX_PIN
#define E0_SERIAL_TX_PIN 43
#endif
#ifndef E0_SERIAL_RX_PIN
#define E0_SERIAL_RX_PIN 43
#endif
#ifndef E1_SERIAL_TX_PIN
#define E1_SERIAL_TX_PIN -1
#endif
#ifndef E1_SERIAL_RX_PIN
#define E1_SERIAL_RX_PIN -1
#endif
#ifndef E2_SERIAL_TX_PIN
#define E2_SERIAL_TX_PIN -1
#endif
#ifndef E2_SERIAL_RX_PIN
#define E2_SERIAL_RX_PIN -1
#endif
#ifndef E3_SERIAL_TX_PIN
#define E3_SERIAL_TX_PIN -1
#endif
#ifndef E3_SERIAL_RX_PIN
#define E3_SERIAL_RX_PIN -1
#endif
#ifndef E4_SERIAL_TX_PIN
#define E4_SERIAL_TX_PIN -1
#endif
#ifndef E4_SERIAL_RX_PIN
#define E4_SERIAL_RX_PIN -1
#endif
#ifndef E5_SERIAL_TX_PIN
#define E5_SERIAL_TX_PIN -1
#endif
#ifndef E5_SERIAL_RX_PIN
#define E5_SERIAL_RX_PIN -1
#endif
#ifndef E6_SERIAL_TX_PIN
#define E6_SERIAL_TX_PIN -1
#endif
#ifndef E6_SERIAL_RX_PIN
#define E6_SERIAL_RX_PIN -1
#endif
#ifndef E7_SERIAL_TX_PIN
#define E7_SERIAL_TX_PIN -1
#endif
#ifndef E7_SERIAL_RX_PIN
#define E7_SERIAL_RX_PIN -1
#endif
#endif
//////////////////////////
// LCDs and Controllers //
//////////////////////////
#if HAS_SPI_LCD
//
// LCD Display output pins
//
#if ENABLED(REPRAPWORLD_GRAPHICAL_LCD)
// TO TEST
// #define LCD_PINS_RS 49 // CS chip select /SS chip slave select
// #define LCD_PINS_ENABLE 51 // SID (MOSI)
// #define LCD_PINS_D4 52 // SCK (CLK) clock
#elif BOTH(NEWPANEL, PANEL_ONE)
// TO TEST
// #define LCD_PINS_RS 40
// #define LCD_PINS_ENABLE 42
// #define LCD_PINS_D4 57 // Mega/Due:65 - AGCM4:57
// #define LCD_PINS_D5 58 // Mega/Due:66 - AGCM4:58
// #define LCD_PINS_D6 44
// #define LCD_PINS_D7 56 // Mega/Due:64 - AGCM4:56
#else
#if ENABLED(CR10_STOCKDISPLAY)
// TO TEST
// #define LCD_PINS_RS 27
// #define LCD_PINS_ENABLE 29
// #define LCD_PINS_D4 25
#if DISABLED(NEWPANEL)
// TO TEST
// #define BEEPER_PIN 37
#endif
#elif ENABLED(ZONESTAR_LCD)
// TO TEST
// #define LCD_PINS_RS 56 // Mega/Due:64 - AGCM4:56
// #define LCD_PINS_ENABLE 44
// #define LCD_PINS_D4 55 // Mega/Due:63 - AGCM4:55
// #define LCD_PINS_D5 40
// #define LCD_PINS_D6 42
// #define LCD_PINS_D7 57 // Mega/Due:65 - AGCM4:57
#else
#if EITHER(MKS_12864OLED, MKS_12864OLED_SSD1306)
// TO TEST
// #define LCD_PINS_DC 25 // Set as output on init
// #define LCD_PINS_RS 27 // Pull low for 1s to init
// DOGM SPI LCD Support
// #define DOGLCD_CS 16
// #define DOGLCD_MOSI 17
// #define DOGLCD_SCK 23
// #define DOGLCD_A0 LCD_PINS_DC
#else
#define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 23
#define LCD_PINS_D5 25
#define LCD_PINS_D6 27
#endif
#define LCD_PINS_D7 29
#if DISABLED(NEWPANEL)
#define BEEPER_PIN 33
#endif
#endif
#if DISABLED(NEWPANEL)
// Buttons attached to a shift register
// Not wired yet
//#define SHIFT_CLK 38
//#define SHIFT_LD 42
//#define SHIFT_OUT 40
//#define SHIFT_EN 17
#endif
#endif
//
// LCD Display input pins
//
#if ENABLED(NEWPANEL)
#if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER)
#define BEEPER_PIN 37
#if ENABLED(CR10_STOCKDISPLAY)
// TO TEST
// #define BTN_EN1 17
// #define BTN_EN2 23
#else
#define BTN_EN1 31
#define BTN_EN2 33
#endif
#define BTN_ENC 35
#ifndef SD_DETECT_PIN
#define SD_DETECT_PIN 49
#endif
#define KILL_PIN 41
#if ENABLED(BQ_LCD_SMART_CONTROLLER)
// TO TEST
// #define LCD_BACKLIGHT_PIN 39
#endif
#elif ENABLED(REPRAPWORLD_GRAPHICAL_LCD)
// TO TEST
// #define BTN_EN1 56 // Mega/Due:64 - AGCM4:56
// #define BTN_EN2 72 // Mega/Due:59 - AGCM4:72
// #define BTN_ENC 55
// #define SD_DETECT_PIN 42
#elif ENABLED(LCD_I2C_PANELOLU2)
// TO TEST
// #define BTN_EN1 47
// #define BTN_EN2 43
// #define BTN_ENC 32
// #define LCD_SDSS SDSS
// #define KILL_PIN 41
#elif ENABLED(LCD_I2C_VIKI)
// TO TEST
// #define BTN_EN1 40 // http://files.panucatt.com/datasheets/viki_wiring_diagram.pdf explains 40/42.
// #define BTN_EN2 42
// #define BTN_ENC -1
// #define LCD_SDSS SDSS
// #define SD_DETECT_PIN 49
#elif ANY(VIKI2, miniVIKI)
// TO TEST
// #define DOGLCD_CS 45
// #define DOGLCD_A0 44
// #define LCD_SCREEN_ROT_180
// #define BEEPER_PIN 33
// #define STAT_LED_RED_PIN 32
// #define STAT_LED_BLUE_PIN 35
// #define BTN_EN1 22
// #define BTN_EN2 7
// #define BTN_ENC 39
// #define SD_DETECT_PIN -1 // Pin 49 for display SD interface, 72 for easy adapter board
// #define KILL_PIN 31
#elif ENABLED(ELB_FULL_GRAPHIC_CONTROLLER)
// TO TEST
// #define DOGLCD_CS 29
// #define DOGLCD_A0 27
// #define BEEPER_PIN 23
// #define LCD_BACKLIGHT_PIN 33
// #define BTN_EN1 35
// #define BTN_EN2 37
// #define BTN_ENC 31
// #define LCD_SDSS SDSS
// #define SD_DETECT_PIN 49
// #define KILL_PIN 41
#elif EITHER(MKS_MINI_12864, FYSETC_MINI_12864)
// TO TEST
//#define BEEPER_PIN 37
//#define BTN_ENC 35
//#define SD_DETECT_PIN 49
//#ifndef KILL_PIN
// #define KILL_PIN 41
//#endif
#if ENABLED(MKS_MINI_12864) // Added in Marlin 1.1.6
// TO TEST
// #define DOGLCD_A0 27
// #define DOGLCD_CS 25
// GLCD features
// Uncomment screen orientation
// #define LCD_SCREEN_ROT_90
// #define LCD_SCREEN_ROT_180
// #define LCD_SCREEN_ROT_270
// not connected to a pin
// #define LCD_BACKLIGHT_PIN 57 // backlight LED on A11/D? (Mega/Due:65 - AGCM4:57)
// #define BTN_EN1 31
// #define BTN_EN2 33
#elif ENABLED(FYSETC_MINI_12864)
// From https://wiki.fysetc.com/Mini12864_Panel/?fbclid=IwAR1FyjuNdVOOy9_xzky3qqo_WeM5h-4gpRnnWhQr_O1Ef3h0AFnFXmCehK8
// TO TEST
// #define DOGLCD_A0 16
// #define DOGLCD_CS 17
// #define BTN_EN1 33
// #define BTN_EN2 31
//#define FORCE_SOFT_SPI // Use this if default of hardware SPI causes display problems
// results in LCD soft SPI mode 3, SD soft SPI mode 0
// #define LCD_RESET_PIN 23 // Must be high or open for LCD to operate normally.
#if EITHER(FYSETC_MINI_12864_1_2, FYSETC_MINI_12864_2_0)
#ifndef RGB_LED_R_PIN
// TO TEST
// #define RGB_LED_R_PIN 25
#endif
#ifndef RGB_LED_G_PIN
// TO TEST
// #define RGB_LED_G_PIN 27
#endif
#ifndef RGB_LED_B_PIN
// TO TEST
// #define RGB_LED_B_PIN 29
#endif
#elif ENABLED(FYSETC_MINI_12864_2_1)
// TO TEST
// #define NEOPIXEL_PIN 25
#endif
#endif
#elif ENABLED(MINIPANEL)
// TO TEST
// #define BEEPER_PIN 42
// not connected to a pin
// #define LCD_BACKLIGHT_PIN 57 // backlight LED on A11/D? (Mega/Due:65 - AGCM4:57)
// #define DOGLCD_A0 44
// #define DOGLCD_CS 58 // Mega/Due:66 - AGCM4:58
// GLCD features
// Uncomment screen orientation
// #define LCD_SCREEN_ROT_90
// #define LCD_SCREEN_ROT_180
// #define LCD_SCREEN_ROT_270
// #define BTN_EN1 40
// #define BTN_EN2 55 // Mega/Due:63 - AGCM4:55
// #define BTN_ENC 72 // Mega/Due:59 - AGCM4:72
// #define SD_DETECT_PIN 49
// #define KILL_PIN 56 // Mega/Due:64 - AGCM4:56
#elif ENABLED(ZONESTAR_LCD)
// TO TEST
// #define ADC_KEYPAD_PIN 12
#elif ENABLED(AZSMZ_12864)
// TO TEST
#else
// Beeper on AUX-4
// #define BEEPER_PIN 33
// Buttons are directly attached to AUX-2
#if ENABLED(REPRAPWORLD_KEYPAD)
// TO TEST
// #define SHIFT_OUT 40
// #define SHIFT_CLK 44
// #define SHIFT_LD 42
// #define BTN_EN1 56 // Mega/Due:64 - AGCM4:56
// #define BTN_EN2 72 // Mega/Due:59 - AGCM4:72
// #define BTN_ENC 55 // Mega/Due:63 - AGCM4:55
#elif ENABLED(PANEL_ONE)
// TO TEST
// #define BTN_EN1 72 // AUX2 PIN 3 (Mega/Due:59 - AGCM4:72)
// #define BTN_EN2 55 // AUX2 PIN 4 (Mega/Due:63 - AGCM4:55)
// #define BTN_ENC 49 // AUX3 PIN 7
#else
// TO TEST
// #define BTN_EN1 37
// #define BTN_EN2 35
// #define BTN_ENC 31
#endif
#if ENABLED(G3D_PANEL)
// TO TEST
// #define SD_DETECT_PIN 49
// #define KILL_PIN 41
#endif
#endif
#endif // NEWPANEL
#endif // HAS_SPI_LCD
//
// SD Support
//
#ifndef SDCARD_CONNECTION
#define SDCARD_CONNECTION ONBOARD
#endif
#if SD_CONNECTION_IS(ONBOARD)
#undef SDSS
#define SDSS 83
#undef SD_DETECT_PIN
#define SD_DETECT_PIN 95
#endif
Marlin/src/pins/stm32/pins_FYSETC_S6.h
+4 -10
View File
@@ -48,11 +48,6 @@
#define E2END 0xFFF // 4KB
#endif
//
// Servos
//
#define SERVO0_PIN PA3
//
// Limit Switches
//
@@ -64,11 +59,10 @@
#define Z_MAX_PIN PA3
//
// Filament Sensor
// Servos
// share with Z_MAX_PIN
//
#ifndef FIL_RUNOUT_PIN
#define FIL_RUNOUT_PIN PA1
#endif
#define SERVO0_PIN PA3
//
// Steppers
@@ -166,7 +160,6 @@
//#define KILL_PIN PC5
#define SDSS PA4
#define SD_DETECT_PIN PB10
//
// LCD / Controller
@@ -196,6 +189,7 @@
#define BTN_EN1 PC6
#define BTN_EN2 PC7
#define SD_DETECT_PIN PB10
#define LCD_SDSS PA4