131 lines
4.7 KiB
C
131 lines
4.7 KiB
C
/*
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stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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Part of Grbl
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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2018 - Bart Dring This file was modifed for use on the ESP32
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CPU. Do not use this with Grbl for atMega328P
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Grbl 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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Grbl 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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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef stepper_h
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#define stepper_h
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#ifndef SEGMENT_BUFFER_SIZE
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#define SEGMENT_BUFFER_SIZE 6
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#endif
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#include "grbl.h"
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#include "config.h"
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// Some useful constants.
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#define DT_SEGMENT (1.0/(ACCELERATION_TICKS_PER_SECOND*60.0)) // min/segment
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#define REQ_MM_INCREMENT_SCALAR 1.25
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#define RAMP_ACCEL 0
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#define RAMP_CRUISE 1
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#define RAMP_DECEL 2
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#define RAMP_DECEL_OVERRIDE 3
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#define PREP_FLAG_RECALCULATE bit(0)
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#define PREP_FLAG_HOLD_PARTIAL_BLOCK bit(1)
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#define PREP_FLAG_PARKING bit(2)
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#define PREP_FLAG_DECEL_OVERRIDE bit(3)
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// Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
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// frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
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// starts at the next higher cutoff frequency, and so on. The cutoff frequencies for each level must
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// be considered carefully against how much it over-drives the stepper ISR, the accuracy of the 16-bit
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// timer, and the CPU overhead. Level 0 (no AMASS, normal operation) frequency bin starts at the
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// Level 1 cutoff frequency and up to as fast as the CPU allows (over 30kHz in limited testing).
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// NOTE: AMASS cutoff frequency multiplied by ISR overdrive factor must not exceed maximum step frequency.
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// NOTE: Current settings are set to overdrive the ISR to no more than 16kHz, balancing CPU overhead
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// and timer accuracy. Do not alter these settings unless you know what you are doing.
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///#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
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#define MAX_AMASS_LEVEL 3
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// AMASS_LEVEL0: Normal operation. No AMASS. No upper cutoff frequency. Starts at LEVEL1 cutoff frequency.
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// Note ESP32 use F_STEPPER_TIMER rather than the AVR F_CPU
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#define AMASS_LEVEL1 (F_STEPPER_TIMER/8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
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#define AMASS_LEVEL2 (F_STEPPER_TIMER/4000) // Over-drives ISR (x4)
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#define AMASS_LEVEL3 (F_STEPPER_TIMER/2000) // Over-drives ISR (x8)
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#if MAX_AMASS_LEVEL <= 0
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error "AMASS must have 1 or more levels to operate correctly."
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#endif
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//#endif
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#define STEP_TIMER_GROUP TIMER_GROUP_0
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#define STEP_TIMER_INDEX TIMER_0
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// esp32 work around for diable in main loop
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extern uint64_t stepper_idle_counter;
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extern bool stepper_idle;
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extern uint8_t ganged_mode;
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// -- Task handles for use in the notifications
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void IRAM_ATTR onSteppertimer();
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void IRAM_ATTR onStepperOffTimer();
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#ifdef USE_RMT_STEPS
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void initRMT();
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#endif
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void stepper_init();
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// Enable steppers, but cycle does not start unless called by motion control or realtime command.
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void st_wake_up();
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// Immediately disables steppers
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void st_go_idle();
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// Generate the step and direction port invert masks.
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void st_generate_step_dir_invert_masks();
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// Reset the stepper subsystem variables
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void st_reset();
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// Changes the run state of the step segment buffer to execute the special parking motion.
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void st_parking_setup_buffer();
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// Restores the step segment buffer to the normal run state after a parking motion.
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void st_parking_restore_buffer();
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// Reloads step segment buffer. Called continuously by realtime execution system.
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void st_prep_buffer();
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// Called by planner_recalculate() when the executing block is updated by the new plan.
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void st_update_plan_block_parameters();
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// Called by realtime status reporting if realtime rate reporting is enabled in config.h.
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float st_get_realtime_rate();
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// disable (or enable) steppers via STEPPERS_DISABLE_PIN
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void set_stepper_disable(uint8_t disable);
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bool get_stepper_disable(); // returns the state of the pin
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void set_step_pin_on(uint8_t axis, uint8_t isOn);
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void set_direction_pin_on(uint8_t axis, uint8_t isOn);
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void set_stepper_pins_on(uint8_t onMask);
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void set_direction_pins_on(uint8_t onMask);
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void Stepper_Timer_WritePeriod(uint64_t alarm_val);
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void Stepper_Timer_Start();
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void Stepper_Timer_Stop();
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#endif |