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Patch LIN_ADVANCE for style and forward-compatibility

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This commit is contained in:
Scott Lahteine
2016-05-04 12:10:42 -07:00
parent fb8e880734
commit 6d62a4ffc8
7 changed files with 146 additions and 173 deletions
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184
Marlin/stepper.cpp
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@ -89,13 +89,24 @@ long Stepper::counter_X = 0,
volatile unsigned long Stepper::step_events_completed = 0; // The number of step events executed in the current block
#if ENABLED(ADVANCE)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
unsigned char Stepper::old_OCR0A;
long Stepper::final_advance = 0,
Stepper::old_advance = 0,
Stepper::e_steps[EXTRUDERS],
Stepper::advance_rate,
Stepper::advance;
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[EXTRUDERS];
int Stepper::extruder_advance_k = LIN_ADVANCE_K,
Stepper::final_estep_rate,
Stepper::current_estep_rate[EXTRUDERS],
Stepper::current_adv_steps[EXTRUDERS];
#else
long Stepper::e_steps[EXTRUDERS],
Stepper::final_advance = 0,
Stepper::old_advance = 0,
Stepper::advance_rate,
Stepper::advance;
#endif
#endif
long Stepper::acceleration_time, Stepper::deceleration_time;
@ -344,30 +355,32 @@ void Stepper::isr() {
customizedSerial.checkRx(); // Check for serial chars.
#endif
#if ENABLED(ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
}
#endif //ADVANCE
#if ENABLED(LIN_ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
count_position[_AXIS(E)] += count_direction[_AXIS(E)];
count_position[E_AXIS] += count_direction[E_AXIS];
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
}
if (current_block->use_advance_lead){
if (current_block->use_advance_lead) {
int delta_adv_steps; //Maybe a char would be enough?
delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[current_block->active_extruder]) >> 9) - current_adv_steps[current_block->active_extruder];
e_steps[current_block->active_extruder] += delta_adv_steps;
current_adv_steps[current_block->active_extruder] += delta_adv_steps;
}
#endif //LIN_ADVANCE
#elif ENABLED(ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
}
#endif // ADVANCE or LIN_ADVANCE
#define _COUNTER(AXIS) counter_## AXIS
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
@ -379,7 +392,7 @@ void Stepper::isr() {
STEP_ADD(X);
STEP_ADD(Y);
STEP_ADD(Z);
#if (DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE))
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
STEP_ADD(E);
#endif
@ -393,7 +406,7 @@ void Stepper::isr() {
STEP_IF_COUNTER(X);
STEP_IF_COUNTER(Y);
STEP_IF_COUNTER(Z);
#if (DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE))
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
STEP_IF_COUNTER(E);
#endif
@ -416,12 +429,11 @@ void Stepper::isr() {
acceleration_time += timer;
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead){
current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
}
#endif
#if ENABLED(ADVANCE)
if (current_block->use_advance_lead)
current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
#elif ENABLED(ADVANCE)
advance += advance_rate * step_loops;
//NOLESS(advance, current_block->advance);
@ -430,7 +442,8 @@ void Stepper::isr() {
e_steps[current_block->active_extruder] += ((advance >> 8) - old_advance);
old_advance = advance >> 8;
#endif //ADVANCE
#endif // ADVANCE or LIN_ADVANCE
}
else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
@ -448,12 +461,12 @@ void Stepper::isr() {
deceleration_time += timer;
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead){
current_estep_rate[current_block->active_extruder] = ((unsigned long)step_rate * current_block->e_speed_multiplier8) >> 8;
}
#endif
#if ENABLED(ADVANCE)
if (current_block->use_advance_lead)
current_estep_rate[current_block->active_extruder] = ((unsigned long)step_rate * current_block->e_speed_multiplier8) >> 8;
#elif ENABLED(ADVANCE)
advance -= advance_rate * step_loops;
NOLESS(advance, final_advance);
@ -461,15 +474,15 @@ void Stepper::isr() {
uint32_t advance_whole = advance >> 8;
e_steps[current_block->active_extruder] += advance_whole - old_advance;
old_advance = advance_whole;
#endif //ADVANCE
#endif // ADVANCE or LIN_ADVANCE
}
else {
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead){
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead)
current_estep_rate[current_block->active_extruder] = final_estep_rate;
}
#endif
OCR1A = OCR1A_nominal;
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
@ -485,12 +498,14 @@ void Stepper::isr() {
}
}
#if ENABLED(ADVANCE)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect) { Stepper::advance_isr(); }
void Stepper::advance_isr() {
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
OCR0A = old_OCR0A;
@ -521,58 +536,10 @@ void Stepper::isr() {
#endif
#endif
}
}
#endif // ADVANCE
#if ENABLED(LIN_ADVANCE)
unsigned char old_OCR0A;
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect) { stepper.advance_isr(); }
void Stepper::advance_isr() {
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz) war 52
OCR0A = old_OCR0A;
#define STEP_E_ONCE(INDEX) \
if (e_steps[INDEX] != 0) { \
E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
if (e_steps[INDEX] < 0) { \
E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]++; \
} \
else if (e_steps[INDEX] > 0) { \
E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]--; \
} \
E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
}
// Step all E steppers that have steps, up to 4 steps per interrupt
for (unsigned char i = 0; i < 4; i++) {
#if EXTRUDERS > 3
switch(current_block->active_extruder){case 3:STEP_E_ONCE(3);break;case 2:STEP_E_ONCE(2);break;case 1:STEP_E_ONCE(1);break;default:STEP_E_ONCE(0);}
#elif EXTRUDERS > 2
switch(current_block->active_extruder){case 2:STEP_E_ONCE(2);break;case 1:STEP_E_ONCE(1);break;default:STEP_E_ONCE(0);}
#elif EXTRUDERS > 1
#if DISABLED(DUAL_X_CARRIAGE)
if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
#else
extern bool extruder_duplication_enabled;
if(extruder_duplication_enabled){
STEP_E_ONCE(0);
STEP_E_ONCE(1);
}else {
if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
}
#endif
#else
STEP_E_ONCE(0);
#endif
}
}
#endif // LIN_ADVANCE
#endif // ADVANCE or LIN_ADVANCE
void Stepper::init() {
@ -738,27 +705,29 @@ void Stepper::init() {
OCR1A = 0x4000;
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(LIN_ADVANCE)
for (int i = 0; i < EXTRUDERS; i++){
e_steps[i] = 0;
current_adv_steps[i] = 0;
}
#if defined(TCCR0A) && defined(WGM01)
CBI(TCCR0A, WGM01);
CBI(TCCR0A, WGM00);
#endif
SBI(TIMSK0, OCIE0A);
#endif //LIN_ADVANCE
#if ENABLED(ADVANCE)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
#if ENABLED(LIN_ADVANCE)
for (int i = 0; i < EXTRUDERS; i++) {
e_steps[i] = 0;
current_adv_steps[i] = 0;
}
#elif ENABLED(ADVANCE)
for (uint8_t i = 0; i < EXTRUDERS; i++) e_steps[i] = 0;
#endif
#if defined(TCCR0A) && defined(WGM01)
CBI(TCCR0A, WGM01);
CBI(TCCR0A, WGM00);
#endif
for (uint8_t i = 0; i < EXTRUDERS; i++) e_steps[i] = 0;
SBI(TIMSK0, OCIE0A);
#endif //ADVANCE
#endif // ADVANCE or LIN_ADVANCE
endstops.enable(true); // Start with endstops active. After homing they can be disabled
sei();
@ -1137,15 +1106,12 @@ void Stepper::microstep_readings() {
}
#if ENABLED(LIN_ADVANCE)
void Stepper::advance_M905() {
if (code_seen('K')) extruder_advance_k = code_value();
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Advance factor:");
SERIAL_CHAR(' ');
SERIAL_ECHOLN(extruder_advance_k);
SERIAL_ECHOPAIR("Advance factor: ", extruder_advance_k);
SERIAL_EOL;
}
int Stepper::get_advance_k(){
return extruder_advance_k;
}
#endif
#endif // LIN_ADVANCE