Adaptive multiaxis step smoothing
- Stepper bugs fixed - Support MIXING_EXTRUDER with Linear Advance - Miscellaneous cleanup
This commit is contained in:
etagle
Scott Lahteine
@ -215,22 +215,6 @@
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#define DEFAULT_KEEPALIVE_INTERVAL 2
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#endif
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#ifdef CPU_32_BIT
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/**
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* Hidden options for developer
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*/
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// Double stepping starts at STEP_DOUBLER_FREQUENCY + 1, quad stepping starts at STEP_DOUBLER_FREQUENCY * 2 + 1
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#ifndef STEP_DOUBLER_FREQUENCY
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#if ENABLED(LIN_ADVANCE)
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#define STEP_DOUBLER_FREQUENCY 60000 // Hz
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#else
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#define STEP_DOUBLER_FREQUENCY 80000 // Hz
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#endif
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#endif
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// Disable double / quad stepping
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//#define DISABLE_MULTI_STEPPING
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#endif
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/**
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* Provide a MAX_AUTORETRACT for older configs
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*/
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@ -238,23 +222,6 @@
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#define MAX_AUTORETRACT 99
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#endif
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/**
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* MAX_STEP_FREQUENCY differs for TOSHIBA
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*/
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#if ENABLED(CONFIG_STEPPERS_TOSHIBA)
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#ifdef CPU_32_BIT
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#define MAX_STEP_FREQUENCY STEP_DOUBLER_FREQUENCY // Max step frequency for Toshiba Stepper Controllers, 96kHz is close to maximum for an Arduino Due
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#else
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#define MAX_STEP_FREQUENCY 10000 // Max step frequency for Toshiba Stepper Controllers
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#endif
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#else
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#ifdef CPU_32_BIT
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#define MAX_STEP_FREQUENCY (STEP_DOUBLER_FREQUENCY * 4) // Max step frequency for the Due is approx. 330kHz
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#else
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#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
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#endif
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#endif
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// MS1 MS2 Stepper Driver Microstepping mode table
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#define MICROSTEP1 LOW,LOW
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#if ENABLED(HEROIC_STEPPER_DRIVERS)
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@ -1346,15 +1313,6 @@
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#define MANUAL_PROBE_HEIGHT Z_HOMING_HEIGHT
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#endif
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// Stepper pulse duration, in cycles
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#define STEP_PULSE_CYCLES ((MINIMUM_STEPPER_PULSE) * CYCLES_PER_MICROSECOND)
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#ifdef CPU_32_BIT
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// Add additional delay for between direction signal and pulse signal of stepper
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#ifndef STEPPER_DIRECTION_DELAY
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#define STEPPER_DIRECTION_DELAY 0 // time in microseconds
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#endif
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#endif
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#ifndef __SAM3X8E__ //todo: hal: broken hal encapsulation
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#undef UI_VOLTAGE_LEVEL
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#undef RADDS_DISPLAY
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@ -1486,4 +1444,132 @@
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#define USE_EXECUTE_COMMANDS_IMMEDIATE
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#endif
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//
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// Estimate the amount of time the ISR will take to execute
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//
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#ifdef CPU_32_BIT
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// The base ISR takes 792 cycles
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#define ISR_BASE_CYCLES 792UL
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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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#define ISR_S_CURVE_CYCLES 40UL
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#else
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#define ISR_S_CURVE_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 takes 16 cycles
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#define ISR_STEPPER_CYCLES 16UL
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#else
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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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 32UL
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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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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper takes 88 cycles
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#define ISR_STEPPER_CYCLES 88UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_X_STEPPER_CYCLES 0UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_Y_STEP
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Y_STEPPER_CYCLES 0UL
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#endif
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// For each stepper, we add its time
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#ifdef HAS_Z_STEP
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Z_STEPPER_CYCLES 0UL
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#endif
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// E is always interpolated, even for mixing extruders
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
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// If linear advance is disabled, then 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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// And the total minimum loop time is, without including the base
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#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)
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// But the user could be enforcing a minimum time, so the loop time is
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#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + ((MINIMUM_STEPPER_PULSE*2UL) > MIN_ISR_LOOP_CYCLES ? (MINIMUM_STEPPER_PULSE*2UL) : MIN_ISR_LOOP_CYCLES))
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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)
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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 ((MINIMUM_STEPPER_PULSE*2UL) > MIN_ISR_LA_LOOP_CYCLES ? (MINIMUM_STEPPER_PULSE*2UL) : 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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// Now estimate the total ISR execution time in cycles given a step per ISR multiplier
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#define ISR_EXECUTION_CYCLES(rate) (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES * rate) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / rate)
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// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz)
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#define MAX_128X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(128))
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#define MAX_64X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(64))
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#define MAX_32X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(32))
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#define MAX_16X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(16))
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#define MAX_8X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(8))
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#define MAX_4X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(4))
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#define MAX_2X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(2))
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#define MAX_1X_STEP_ISR_FREQUENCY (F_CPU / ISR_EXECUTION_CYCLES(1))
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// The minimum allowable frequency for step smoothing will be 1/10 of the maximum nominal frequency (in Hz)
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#define MIN_STEP_ISR_FREQUENCY MAX_1X_STEP_ISR_FREQUENCY
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// Disable multiple steps per ISR
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//#define DISABLE_MULTI_STEPPING
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#endif // CONDITIONALS_POST_H
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