Modify E-stepping macros for use in LINEAR_ADVANCE (#10887)
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Scott Lahteine
GitHub
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commit
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2 changed files with 60 additions and 171 deletions
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@ -246,7 +246,7 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
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#endif
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#if DISABLED(MIXING_EXTRUDER)
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#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
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#define E_APPLY_STEP(v,Q) E_STEP_WRITE(current_block->active_extruder, v)
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#endif
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// intRes = longIn1 * longIn2 >> 24
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@ -364,11 +364,11 @@ void Stepper::set_directions() {
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#if DISABLED(LIN_ADVANCE)
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if (motor_direction(E_AXIS)) {
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REV_E_DIR();
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REV_E_DIR(current_block->active_extruder);
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count_direction[E_AXIS] = -1;
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}
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else {
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NORM_E_DIR();
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NORM_E_DIR(current_block->active_extruder);
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count_direction[E_AXIS] = 1;
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}
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#endif // !LIN_ADVANCE
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@ -402,7 +402,7 @@ void Stepper::set_directions() {
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*
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* V_f(t) = A*t^5 + B*t^4 + C*t^3 + D*t^2 + E*t + F
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*
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* Looking at the above B_0(t) through B_5(t) expanded forms, if we take the coefficients of t^5
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* Looking at the above B_0(t) through B_5(t) expanded forms, if we take the coefficients of t^5
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* through t of the Bézier form of V(t), we can determine that:
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*
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* A = -P_0 + 5*P_1 - 10*P_2 + 10*P_3 - 5*P_4 + P_5
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@ -1386,7 +1386,7 @@ void Stepper::stepper_pulse_phase_isr() {
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// Step mixing steppers (proportionally)
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counter_m[j] += current_block->steps[E_AXIS];
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// Step when the counter goes over zero
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if (counter_m[j] >= 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
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if (counter_m[j] >= 0) E_STEP_WRITE(j, !INVERT_E_STEP_PIN);
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}
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#else // !MIXING_EXTRUDER
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PULSE_START(E);
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@ -1428,7 +1428,7 @@ void Stepper::stepper_pulse_phase_isr() {
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MIXING_STEPPERS_LOOP(j) {
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if (counter_m[j] >= 0) {
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counter_m[j] -= current_block->mix_event_count[j];
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En_STEP_WRITE(j, INVERT_E_STEP_PIN);
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E_STEP_WRITE(j, INVERT_E_STEP_PIN);
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}
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}
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#else // !MIXING_EXTRUDER
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@ -1709,10 +1709,10 @@ uint32_t Stepper::stepper_block_phase_isr() {
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#endif
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// Initialize Bresenham counters to 1/2 the ceiling, with proper roundup (as explained in the article linked above)
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counter_X = counter_Y = counter_Z = counter_E = -int32_t((current_block->step_event_count >> 1) + (current_block->step_event_count & 1));
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counter_X = counter_Y = counter_Z = counter_E = -int32_t((current_block->step_event_count + 1) >> 1);
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(i)
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counter_m[i] = -int32_t((current_block->mix_event_count[i] >> 1) + (current_block->mix_event_count[i] & 1));
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counter_m[i] = -int32_t((current_block->mix_event_count[i] + 1) >> 1);
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#endif
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#if ENABLED(Z_LATE_ENABLE)
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@ -1737,61 +1737,6 @@ uint32_t Stepper::stepper_block_phase_isr() {
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uint32_t Stepper::advance_isr() {
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uint32_t interval;
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#if ENABLED(MK2_MULTIPLEXER) // For SNMM even-numbered steppers are reversed
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#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E0_DIR_WRITE(e_steps < 0 ? !INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0) : INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0)); }while(0)
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#elif ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) { if (e_steps < 0) REV_E_DIR(); else NORM_E_DIR(); } }while(0)
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#elif ENABLED(SWITCHING_EXTRUDER)
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#if EXTRUDERS > 4
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#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) { switch (INDEX) { \
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case 0: case 1: E0_DIR_WRITE(!INVERT_E0_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); break; \
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case 2: case 3: E1_DIR_WRITE(!INVERT_E1_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); break; \
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case 4: E2_DIR_WRITE(!INVERT_E2_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); \
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} } }while(0)
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#elif EXTRUDERS > 2
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#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) { switch (INDEX) { \
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case 0: case 1: E0_DIR_WRITE(!INVERT_E0_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); break; \
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case 2: case 3: E1_DIR_WRITE(!INVERT_E1_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); break; \
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} } }while(0)
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#else
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#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E0_DIR_WRITE(!INVERT_E0_DIR ^ TEST(INDEX, 0) ^ (e_steps < 0)); }while(0)
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#endif
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#else
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#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR ^ (e_steps < 0)); }while(0)
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#endif
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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#define START_E_PULSE(INDEX) do{ if (e_steps) E_STEP_WRITE(!INVERT_E_STEP_PIN); }while(0)
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#define STOP_E_PULSE(INDEX) do{ if (e_steps) { e_steps < 0 ? ++e_steps : --e_steps; E_STEP_WRITE(INVERT_E_STEP_PIN); } }while(0)
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#elif ENABLED(SWITCHING_EXTRUDER)
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#if EXTRUDERS > 4
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#define START_E_PULSE(INDEX) do{ if (e_steps) { switch (INDEX) { \
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case 0: case 1: E0_STEP_WRITE(!INVERT_E_STEP_PIN); break; \
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case 2: case 3: E1_STEP_WRITE(!INVERT_E_STEP_PIN); break; \
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case 4: E2_STEP_WRITE(!INVERT_E_STEP_PIN); } \
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} }while(0)
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#define STOP_E_PULSE(INDEX) do{ if (e_steps) { \
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e_steps < 0 ? ++e_steps : --e_steps; \
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switch (INDEX) { \
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case 0: case 1: E0_STEP_WRITE( INVERT_E_STEP_PIN); break; \
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case 2: case 3: E1_STEP_WRITE( INVERT_E_STEP_PIN); break; \
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case 4: E2_STEP_WRITE( INVERT_E_STEP_PIN); } \
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} }while(0)
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#elif EXTRUDERS > 2
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#define START_E_PULSE(INDEX) do{ if (e_steps) { if (INDEX < 2) E0_STEP_WRITE(!INVERT_E_STEP_PIN); else E1_STEP_WRITE(!INVERT_E_STEP_PIN); } }while(0)
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#define STOP_E_PULSE(INDEX) do{ if (e_steps) { \
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e_steps < 0 ? ++e_steps : --e_steps; \
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if (INDEX < 2) E0_STEP_WRITE(INVERT_E_STEP_PIN); else E1_STEP_WRITE(INVERT_E_STEP_PIN); \
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} }while(0)
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#else
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#define START_E_PULSE(INDEX) do{ if (e_steps) E0_STEP_WRITE(!INVERT_E_STEP_PIN); }while(0)
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#define STOP_E_PULSE(INDEX) do{ if (e_steps) { e_steps < 0 ? ++e_steps : --e_steps; E0_STEP_WRITE(INVERT_E_STEP_PIN); }while(0)
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#endif
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#else
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#define START_E_PULSE(INDEX) do{ if (e_steps) E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); }while(0)
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#define STOP_E_PULSE(INDEX) do { if (e_steps) { e_steps < 0 ? ++e_steps : --e_steps; E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); } }while(0)
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#endif
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if (use_advance_lead) {
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if (step_events_completed > LA_decelerate_after && current_adv_steps > final_adv_steps) {
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e_steps--;
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@ -1810,21 +1755,10 @@ uint32_t Stepper::stepper_block_phase_isr() {
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else
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interval = ADV_NEVER;
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switch (LA_active_extruder) {
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case 0: SET_E_STEP_DIR(0); break;
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#if EXTRUDERS > 1
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case 1: SET_E_STEP_DIR(1); break;
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#if EXTRUDERS > 2
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case 2: SET_E_STEP_DIR(2); break;
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#if EXTRUDERS > 3
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case 3: SET_E_STEP_DIR(3); break;
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#if EXTRUDERS > 4
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case 4: SET_E_STEP_DIR(4); break;
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#endif // EXTRUDERS > 4
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#endif // EXTRUDERS > 3
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#endif // EXTRUDERS > 2
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#endif // EXTRUDERS > 1
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}
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if (e_steps >= 0)
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NORM_E_DIR(LA_active_extruder);
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else
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REV_E_DIR(LA_active_extruder);
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// Step E stepper if we have steps
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while (e_steps) {
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@ -1833,21 +1767,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
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hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
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#endif
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switch (LA_active_extruder) {
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case 0: START_E_PULSE(0); break;
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#if EXTRUDERS > 1
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case 1: START_E_PULSE(1); break;
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#if EXTRUDERS > 2
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case 2: START_E_PULSE(2); break;
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#if EXTRUDERS > 3
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case 3: START_E_PULSE(3); break;
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#if EXTRUDERS > 4
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case 4: START_E_PULSE(4); break;
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#endif // EXTRUDERS > 4
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#endif // EXTRUDERS > 3
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#endif // EXTRUDERS > 2
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#endif // EXTRUDERS > 1
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}
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E_STEP_WRITE(LA_active_extruder, !INVERT_E_STEP_PIN);
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// For minimum pulse time wait before stopping pulses
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#if EXTRA_CYCLES_E > 20
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@ -1857,21 +1777,9 @@ uint32_t Stepper::stepper_block_phase_isr() {
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DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE);
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#endif
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switch (LA_active_extruder) {
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case 0: STOP_E_PULSE(0); break;
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#if EXTRUDERS > 1
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case 1: STOP_E_PULSE(1); break;
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#if EXTRUDERS > 2
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case 2: STOP_E_PULSE(2); break;
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#if EXTRUDERS > 3
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case 3: STOP_E_PULSE(3); break;
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#if EXTRUDERS > 4
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case 4: STOP_E_PULSE(4); break;
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#endif // EXTRUDERS > 4
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#endif // EXTRUDERS > 3
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#endif // EXTRUDERS > 2
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#endif // EXTRUDERS > 1
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}
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e_steps < 0 ? ++e_steps : --e_steps;
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E_STEP_WRITE(LA_active_extruder, INVERT_E_STEP_PIN);
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// For minimum pulse time wait before looping
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#if EXTRA_CYCLES_E > 20
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@ -2015,19 +1923,19 @@ void Stepper::init() {
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AXIS_INIT(Z, Z);
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#endif
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#if HAS_E0_STEP
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#if E_STEPPERS > 0 && HAS_E0_STEP
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E_AXIS_INIT(0);
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#endif
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#if HAS_E1_STEP
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#if E_STEPPERS > 1 && HAS_E1_STEP
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E_AXIS_INIT(1);
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#endif
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#if HAS_E2_STEP
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#if E_STEPPERS > 2 && HAS_E2_STEP
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E_AXIS_INIT(2);
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#endif
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#if HAS_E3_STEP
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#if E_STEPPERS > 3 && HAS_E3_STEP
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E_AXIS_INIT(3);
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#endif
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#if HAS_E4_STEP
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#if E_STEPPERS > 4 && HAS_E4_STEP
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E_AXIS_INIT(4);
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#endif
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