diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index ce9f86d9c9d29d94a2c1b1c8c2c909dea591b87d..fd29c458e1e457922fb5eb5bdf1ed221c05c5984 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1548,12 +1548,12 @@
/**
* Maximum stepping rate (in Hz) the stepper driver allows
* If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
- * 500000 : Maximum for A4988 stepper driver
- * 400000 : Maximum for TMC2xxx stepper drivers
- * 250000 : Maximum for DRV8825 stepper driver
- * 200000 : Maximum for LV8729 stepper driver
- * 150000 : Maximum for TB6600 stepper driver
- * 15000 : Maximum for TB6560 stepper driver
+ * 5000000 : Maximum for TMC2xxx stepper drivers
+ * 1000000 : Maximum for LV8729 stepper driver
+ * 500000 : Maximum for A4988 stepper driver
+ * 250000 : Maximum for DRV8825 stepper driver
+ * 150000 : Maximum for TB6600 stepper driver
+ * 15000 : Maximum for TB6560 stepper driver
*
* Override the default value based on the driver type set in Configuration.h.
*/
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 717204768cd48e487b9632ab463fc08f29fa7519..ced854afaed6cc102898b748151b0b37024daa02 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -595,11 +595,7 @@
#elif HAS_DRIVER(A4988) || HAS_DRIVER(A5984)
#define MINIMUM_STEPPER_PULSE 1
#elif TRINAMICS
- #if ENABLED(LIN_ADVANCE) && (HAS_TMC_STANDALONE_E_DRIVER || (HAS_TMC_E_DRIVER && DISABLED(SQUARE_WAVE_STEPPING)))
- #define MINIMUM_STEPPER_PULSE 1
- #else
- #define MINIMUM_STEPPER_PULSE 0
- #endif
+ #define MINIMUM_STEPPER_PULSE 0
#elif HAS_DRIVER(LV8729)
#define MINIMUM_STEPPER_PULSE 0
#else
@@ -612,14 +608,14 @@
#define MAXIMUM_STEPPER_RATE 15000
#elif HAS_DRIVER(TB6600)
#define MAXIMUM_STEPPER_RATE 150000
- #elif HAS_DRIVER(LV8729)
- #define MAXIMUM_STEPPER_RATE 200000
#elif HAS_DRIVER(DRV8825)
#define MAXIMUM_STEPPER_RATE 250000
- #elif TRINAMICS
- #define MAXIMUM_STEPPER_RATE 400000
#elif HAS_DRIVER(A4988)
#define MAXIMUM_STEPPER_RATE 500000
+ #elif HAS_DRIVER(LV8729)
+ #define MAXIMUM_STEPPER_RATE 1000000
+ #elif TRINAMICS
+ #define MAXIMUM_STEPPER_RATE 5000000
#else
#define MAXIMUM_STEPPER_RATE 250000
#endif
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 6954aa03b66a65deee72a549c9ed4726de6fad76..616d259a1dffa4d769cf443c8b201fa38875ed45 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -2551,11 +2551,3 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#error "SHOW_REMAINING_TIME currently requires a Graphical LCD."
#endif
#endif
-
-#if ENABLED(LIN_ADVANCE) && MINIMUM_STEPPER_PULSE < 1
- #if HAS_TMC_STANDALONE_E_DRIVER
- #error "LIN_ADVANCE with TMC standalone driver on extruder requires MIMIMUM_STEPPER_PULSE >= 1"
- #elif HAS_TMC_E_DRIVER && DISABLED(SQUARE_WAVE_STEPPING)
- #error "LIN_ADVANCE with TMC driver on extruder requires SQUARE_WAVE_STEPPING or MINIMUM_STEPPER_PULSE >= 1"
- #endif
-#endif
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index f59b7a42a39bc46de79db0b64b741c4a8e374110..9babb137075eb88186272ebe57d4348c546de8ab 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -338,6 +338,17 @@ xyze_int8_t Stepper::count_direction{0};
#if DISABLED(MIXING_EXTRUDER)
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(stepper_extruder, v)
#endif
+#define TIMER_SETUP_NS (CYCLES_TO_NS(TIMER_READ_ADD_AND_STORE_CYCLES))
+
+#define PULSE_HIGH_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_HIGH_NS - _MIN(_MIN_PULSE_HIGH_NS, TIMER_SETUP_NS)))
+#define PULSE_LOW_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_LOW_NS - _MIN(_MIN_PULSE_LOW_NS, TIMER_SETUP_NS)))
+
+#define START_TIMED_PULSE(DIR) (end_tick_count = HAL_timer_get_count(PULSE_TIMER_NUM) + PULSE_##DIR##_TICK_COUNT)
+#define AWAIT_TIMED_PULSE() while (HAL_timer_get_count(PULSE_TIMER_NUM) < end_tick_count) { }
+#define START_HIGH_PULSE() START_TIMED_PULSE(HIGH)
+#define START_LOW_PULSE() START_TIMED_PULSE(LOW)
+#define AWAIT_HIGH_PULSE() AWAIT_TIMED_PULSE()
+#define AWAIT_LOW_PULSE() AWAIT_TIMED_PULSE()
void Stepper::wake_up() {
// TCNT1 = 0;
@@ -1416,47 +1427,50 @@ void Stepper::stepper_pulse_phase_isr() {
// Just update the value we will get at the end of the loop
step_events_completed += events_to_do;
- // Get the timer count and estimate the end of the pulse
- hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
-
- const hal_timer_t added_step_ticks = hal_timer_t(ADDED_STEP_TICKS);
-
// Take multiple steps per interrupt (For high speed moves)
- do {
+ bool firstStep = true;
+ xyze_bool_t step_needed{0};
+ hal_timer_t end_tick_count;
+ do {
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
+ // Determine if pulses are needed
+ #define PULSE_PREP(AXIS) do{ \
+ delta_error[_AXIS(AXIS)] += advance_dividend[_AXIS(AXIS)]; \
+ step_needed[_AXIS(AXIS)] = (delta_error[_AXIS(AXIS)] >= 0); \
+ if (step_needed[_AXIS(AXIS)]) { \
+ count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
+ delta_error[_AXIS(AXIS)] -= advance_divisor; \
+ } \
+ }while(0)
+
// Start an active pulse, if Bresenham says so, and update position
#define PULSE_START(AXIS) do{ \
- delta_error[_AXIS(AXIS)] += advance_dividend[_AXIS(AXIS)]; \
- if (delta_error[_AXIS(AXIS)] >= 0) { \
+ if (step_needed[_AXIS(AXIS)]) { \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), 0); \
- count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
} \
}while(0)
// Stop an active pulse, if any, and adjust error term
#define PULSE_STOP(AXIS) do { \
- if (delta_error[_AXIS(AXIS)] >= 0) { \
- delta_error[_AXIS(AXIS)] -= advance_divisor; \
+ if (step_needed[_AXIS(AXIS)]) { \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), 0); \
} \
}while(0)
- // Pulse start
+ // Determine if pulses are needed
#if HAS_X_STEP
- PULSE_START(X);
+ PULSE_PREP(X);
#endif
#if HAS_Y_STEP
- PULSE_START(Y);
+ PULSE_PREP(Y);
#endif
#if HAS_Z_STEP
- PULSE_START(Z);
+ PULSE_PREP(Z);
#endif
- // Pulse Extruders
- // Tick the E axis, correct error term and update position
#if EITHER(LIN_ADVANCE, MIXING_EXTRUDER)
delta_error.e += advance_dividend.e;
if (delta_error.e >= 0) {
@@ -1465,14 +1479,36 @@ void Stepper::stepper_pulse_phase_isr() {
delta_error.e -= advance_divisor;
// Don't step E here - But remember the number of steps to perform
motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
- #else // !LIN_ADVANCE && MIXING_EXTRUDER
- // Don't adjust delta_error.e here!
- // Being positive is the criteria for ending the pulse.
- E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
+ #else
+ step_needed[E_AXIS] = delta_error.e >= 0;
#endif
}
- #else // !LIN_ADVANCE && !MIXING_EXTRUDER
- #if HAS_E0_STEP
+ #elif HAS_E0_STEP
+ PULSE_PREP(E);
+ #endif
+
+ #if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE) && DISABLED(I2S_STEPPER_STREAM)
+ if (firstStep)
+ firstStep = false;
+ else
+ AWAIT_LOW_PULSE();
+ #endif
+
+ // Pulse start
+ #if HAS_X_STEP
+ PULSE_START(X);
+ #endif
+ #if HAS_Y_STEP
+ PULSE_START(Y);
+ #endif
+ #if HAS_Z_STEP
+ PULSE_START(Z);
+ #endif
+
+ #if DISABLED(LIN_ADVANCE)
+ #if ENABLED(MIXING_EXTRUDER)
+ if (step_needed[E_AXIS]) E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
+ #elif HAS_E0_STEP
PULSE_START(E);
#endif
#endif
@@ -1482,14 +1518,11 @@ void Stepper::stepper_pulse_phase_isr() {
#endif
// TODO: need to deal with MINIMUM_STEPPER_PULSE over i2s
- #if MINIMUM_STEPPER_PULSE && DISABLED(I2S_STEPPER_STREAM)
- // Just wait for the requested pulse duration
- while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
+ #if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE) && DISABLED(I2S_STEPPER_STREAM)
+ START_HIGH_PULSE();
+ AWAIT_HIGH_PULSE();
#endif
- // Add the delay needed to ensure the maximum driver rate is enforced
- if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
-
// Pulse stop
#if HAS_X_STEP
PULSE_STOP(X);
@@ -1503,31 +1536,26 @@ void Stepper::stepper_pulse_phase_isr() {
#if DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
+
if (delta_error.e >= 0) {
delta_error.e -= advance_divisor;
E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
}
+
#else // !MIXING_EXTRUDER
+
#if HAS_E0_STEP
PULSE_STOP(E);
#endif
- #endif
- #endif // !LIN_ADVANCE
- // Decrement the count of pending pulses to do
- --events_to_do;
+ #endif // !MIXING_EXTRUDER
+ #endif // !LIN_ADVANCE
- // For minimum pulse time wait after stopping pulses also
- if (events_to_do) {
- // Just wait for the requested pulse duration
- while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
- #if MINIMUM_STEPPER_PULSE
- // Add to the value, the time that the pulse must be active (to be used on the next loop)
- pulse_end += hal_timer_t(MIN_PULSE_TICKS);
- #endif
- }
+ #if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE) && DISABLED(I2S_STEPPER_STREAM)
+ if (events_to_do) START_LOW_PULSE();
+ #endif
- } while (events_to_do);
+ } while (--events_to_do);
}
// This is the last half of the stepper interrupt: This one processes and
@@ -1909,13 +1937,19 @@ uint32_t Stepper::stepper_block_phase_isr() {
DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY);
#endif
- // Get the timer count and estimate the end of the pulse
- hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
-
- const hal_timer_t added_step_ticks = hal_timer_t(ADDED_STEP_TICKS);
+ //const hal_timer_t added_step_ticks = hal_timer_t(ADDED_STEP_TICKS);
// Step E stepper if we have steps
+ bool firstStep = true;
+ hal_timer_t end_tick_count;
+
while (LA_steps) {
+ #if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE) && DISABLED(I2S_STEPPER_STREAM)
+ if (firstStep)
+ firstStep = false;
+ else
+ AWAIT_LOW_PULSE();
+ #endif
// Set the STEP pulse ON
#if ENABLED(MIXING_EXTRUDER)
@@ -1925,16 +1959,16 @@ uint32_t Stepper::stepper_block_phase_isr() {
#endif
// Enforce a minimum duration for STEP pulse ON
- #if MINIMUM_STEPPER_PULSE
- // Just wait for the requested pulse duration
- while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
+ #if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE)
+ START_HIGH_PULSE();
#endif
- // Add the delay needed to ensure the maximum driver rate is enforced
- if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
-
LA_steps < 0 ? ++LA_steps : --LA_steps;
+ #if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE)
+ AWAIT_HIGH_PULSE();
+ #endif
+
// Set the STEP pulse OFF
#if ENABLED(MIXING_EXTRUDER)
E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
@@ -1944,13 +1978,9 @@ uint32_t Stepper::stepper_block_phase_isr() {
// For minimum pulse time wait before looping
// Just wait for the requested pulse duration
- if (LA_steps) {
- while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
- #if MINIMUM_STEPPER_PULSE
- // Add to the value, the time that the pulse must be active (to be used on the next loop)
- pulse_end += hal_timer_t(MIN_PULSE_TICKS);
- #endif
- }
+ #if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE)
+ if (LA_steps) START_LOW_PULSE();
+ #endif
} // LA_steps
return interval;
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 1ab455bd06dc84c739fd7731c47431ac12922a36..b3749d94d30378adede3a9602382dfe26c6ca7ef 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -57,6 +57,7 @@
//
#ifdef CPU_32_BIT
+ #define TIMER_READ_ADD_AND_STORE_CYCLES 34UL
// The base ISR takes 792 cycles
#define ISR_BASE_CYCLES 792UL
@@ -85,6 +86,7 @@
#define ISR_STEPPER_CYCLES 16UL
#else
+ #define TIMER_READ_ADD_AND_STORE_CYCLES 13UL
// The base ISR takes 752 cycles
#define ISR_BASE_CYCLES 752UL
@@ -116,43 +118,32 @@
// Add time for each stepper
#if HAS_X_STEP
- #define ISR_START_X_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
#else
- #define ISR_START_X_STEPPER_CYCLES 0UL
#define ISR_X_STEPPER_CYCLES 0UL
#endif
#if HAS_Y_STEP
- #define ISR_START_Y_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
#else
#define ISR_START_Y_STEPPER_CYCLES 0UL
#define ISR_Y_STEPPER_CYCLES 0UL
#endif
#if HAS_Z_STEP
- #define ISR_START_Z_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
#else
- #define ISR_START_Z_STEPPER_CYCLES 0UL
#define ISR_Z_STEPPER_CYCLES 0UL
#endif
// E is always interpolated, even for mixing extruders
-#define ISR_START_E_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
// If linear advance is disabled, the loop also handles them
#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
- #define ISR_START_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_START_STEPPER_CYCLES))
#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
#else
- #define ISR_START_MIXING_STEPPER_CYCLES 0UL
#define ISR_MIXING_STEPPER_CYCLES 0UL
#endif
-// Calculate the minimum time to start all stepper pulses in the ISR loop
-#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)
-
// And the total minimum loop time, not including the base
#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)
@@ -170,14 +161,28 @@
// adding the "start stepper pulse" code section execution cycles to account for that not all
// pulses start at the beginning of the loop, so an extra time must be added to compensate so
// the last generated pulse (usually the extruder stepper) has the right length
-#if HAS_DRIVER(LV8729) && MINIMUM_STEPPER_PULSE == 0
- #define MIN_PULSE_TICKS ((((PULSE_TIMER_TICKS_PER_US) + 1) / 2) + ((MIN_ISR_START_LOOP_CYCLES) / uint32_t(PULSE_TIMER_PRESCALE)))
+#if MINIMUM_STEPPER_PULSE && MAXIMUM_STEPPER_RATE
+ constexpr uint32_t _MIN_STEP_PERIOD_NS = 1000000000UL / MAXIMUM_STEPPER_RATE;
+ constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
+ constexpr uint32_t _MIN_PULSE_LOW_NS = _MAX((_MIN_STEP_PERIOD_NS - _MIN(_MIN_STEP_PERIOD_NS, _MIN_PULSE_HIGH_NS)), _MIN_PULSE_HIGH_NS);
+#elif MINIMUM_STEPPER_PULSE
+ // Assume 50% duty cycle
+ constexpr uint32_t _MIN_STEP_PERIOD_NS = 1000000000UL / MAXIMUM_STEPPER_RATE;
+ constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
+ constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
+#elif MAXIMUM_STEPPER_RATE
+ // Assume 50% duty cycle
+ constexpr uint32_t _MIN_PULSE_HIGH_NS = 500000000UL / MAXIMUM_STEPPER_RATE;
+ constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
#else
- #define MIN_PULSE_TICKS (((PULSE_TIMER_TICKS_PER_US) * uint32_t(MINIMUM_STEPPER_PULSE)) + ((MIN_ISR_START_LOOP_CYCLES) / uint32_t(PULSE_TIMER_PRESCALE)))
+ #error "Expected at least one of MINIMUM_STEPPER_PULSE or MAXIMUM_STEPPER_RATE to be defined"
#endif
-// Calculate the extra ticks of the PULSE timer between step pulses
-#define ADDED_STEP_TICKS (((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE)) - (MIN_PULSE_TICKS))
+// TODO: NS_TO_PULSE_TIMER_TICKS has some rounding issues:
+// 1. PULSE_TIMER_TICKS_PER_US rounds to an integer, which loses 20% of the count for a 2.5 MHz pulse tick (such as for LPC1768)
+// 2. The math currently rounds down to the closes tick. Perhaps should round up.
+constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return PULSE_TIMER_TICKS_PER_US * (NS) / 1000UL; }
+#define CYCLES_TO_NS(CYC) (1000UL * (CYC) / ((F_CPU) / 1000000))
// But the user could be enforcing a minimum time, so the loop time is
#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + _MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))