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Prusa MINI Firmware overview
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Go to the source code of this file.
Classes | |
| class | Stepper |
Variables | |
| Stepper | stepper |
| #define ISR_BASE_CYCLES 752UL |
Marlin 3D Printer Firmware Copyright (c) 2019 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/. stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors Derived from Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl 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.
Grbl 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 Grbl. If not, see http://www.gnu.org/licenses/.
| #define ISR_LA_BASE_CYCLES 0UL |
| #define ISR_S_CURVE_CYCLES 0UL |
| #define ISR_LOOP_BASE_CYCLES 32UL |
| #define ISR_START_STEPPER_CYCLES 57UL |
| #define ISR_STEPPER_CYCLES 88UL |
| #define ISR_START_X_STEPPER_CYCLES 0UL |
| #define ISR_X_STEPPER_CYCLES 0UL |
| #define ISR_START_Y_STEPPER_CYCLES 0UL |
| #define ISR_Y_STEPPER_CYCLES 0UL |
| #define ISR_START_Z_STEPPER_CYCLES 0UL |
| #define ISR_Z_STEPPER_CYCLES 0UL |
| #define ISR_START_E_STEPPER_CYCLES ISR_START_STEPPER_CYCLES |
| #define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES |
| #define ISR_START_MIXING_STEPPER_CYCLES 0UL |
| #define ISR_MIXING_STEPPER_CYCLES 0UL |
| #define MIN_ISR_START_LOOP_CYCLES (ISR_START_X_STEPPER_CYCLES + ISR_START_Y_STEPPER_CYCLES + ISR_START_Z_STEPPER_CYCLES + ISR_START_E_STEPPER_CYCLES + ISR_START_MIXING_STEPPER_CYCLES) |
| #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) |
| #define _MIN_STEPPER_PULSE_CYCLES | ( | N | ) | _MAX(uint32_t((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N)) |
| #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(uint32_t(MINIMUM_STEPPER_PULSE)) |
| #define MIN_PULSE_TICKS (((PULSE_TIMER_TICKS_PER_US) * uint32_t(MINIMUM_STEPPER_PULSE)) + ((MIN_ISR_START_LOOP_CYCLES) / uint32_t(PULSE_TIMER_PRESCALE))) |
| #define ADDED_STEP_TICKS (((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE)) - (MIN_PULSE_TICKS)) |
| #define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + _MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES)) |
| #define ISR_LA_LOOP_CYCLES 0UL |
| #define ISR_EXECUTION_CYCLES | ( | R | ) | (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES) * (R) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / (R)) |
| #define MAX_STEP_ISR_FREQUENCY_128X ((F_CPU) / ISR_EXECUTION_CYCLES(128)) |
| #define MAX_STEP_ISR_FREQUENCY_64X ((F_CPU) / ISR_EXECUTION_CYCLES(64)) |
| #define MAX_STEP_ISR_FREQUENCY_32X ((F_CPU) / ISR_EXECUTION_CYCLES(32)) |
| #define MAX_STEP_ISR_FREQUENCY_16X ((F_CPU) / ISR_EXECUTION_CYCLES(16)) |
| #define MAX_STEP_ISR_FREQUENCY_8X ((F_CPU) / ISR_EXECUTION_CYCLES(8)) |
| #define MAX_STEP_ISR_FREQUENCY_4X ((F_CPU) / ISR_EXECUTION_CYCLES(4)) |
| #define MAX_STEP_ISR_FREQUENCY_2X ((F_CPU) / ISR_EXECUTION_CYCLES(2)) |
| #define MAX_STEP_ISR_FREQUENCY_1X ((F_CPU) / ISR_EXECUTION_CYCLES(1)) |
| #define MIN_STEP_ISR_FREQUENCY MAX_STEP_ISR_FREQUENCY_1X |
| Stepper stepper |
Marlin 3D Printer Firmware Copyright (c) 2019 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/. stepper.cpp - A singleton object to execute motion plans using stepper motors Marlin Firmware
Derived from Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl 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.
Grbl 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 Grbl. If not, see http://www.gnu.org/licenses/. Timer calculations informed by the 'RepRap cartesian firmware' by Zack Smith and Philipp Tiefenbacher.
__________________________ /| |\ _________________ ^ / | | \ /| |\ | / | | \ / | | \ s
/ | | | | | \ p / | | | | | \ e +--—+---------------------—+—+–+------------—+-—+ e | BLOCK 1 | BLOCK 2 | d
time ----->
The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates first block->accelerate_until step_events_completed, then keeps going at constant speed until step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset. The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far. Marlin uses the Bresenham algorithm. For a detailed explanation of theory and method see https://www.cs.helsinki.fi/group/goa/mallinnus/lines/bresenh.html Jerk controlled movements planner added Apr 2018 by Eduardo José Tagle. Equations based on Synthethos TinyG2 sources, but the fixed-point implementation is new, as we are running the ISR with a variable period. Also implemented the Bézier velocity curve evaluation in ARM assembler, to avoid impacting ISR speed.
1.8.16 
