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Clean up stepper and babystep (#16857)

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This commit is contained in:
Scott Lahteine
2020-02-14 05:14:37 -06:00
committed by GitHub
parent 073e4443e8
commit 0b984519c3
8 changed files with 242 additions and 240 deletions
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173
Marlin/src/module/stepper.cpp
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@ -203,11 +203,8 @@ uint32_t Stepper::advance_divisor = 0,
bool Stepper::bezier_2nd_half; // =false If Bézier curve has been initialized or not
#endif
uint32_t Stepper::nextMainISR = 0;
#if ENABLED(LIN_ADVANCE)
constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
uint32_t Stepper::nextAdvanceISR = LA_ADV_NEVER,
Stepper::LA_isr_rate = LA_ADV_NEVER;
uint16_t Stepper::LA_current_adv_steps = 0,
@ -402,13 +399,13 @@ constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return (NS + (NS_PER_P
#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 USING_TIMED_PULSE() hal_timer_t end_tick_count = 0
#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 USING_TIMED_PULSE() hal_timer_t start_pulse_count = 0
#define START_TIMED_PULSE(DIR) (start_pulse_count = HAL_timer_get_count(PULSE_TIMER_NUM))
#define AWAIT_TIMED_PULSE(DIR) while (PULSE_##DIR##_TICK_COUNT > HAL_timer_get_count(PULSE_TIMER_NUM) - start_pulse_count) { }
#define START_HIGH_PULSE() START_TIMED_PULSE(HIGH)
#define AWAIT_HIGH_PULSE() AWAIT_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()
#define AWAIT_LOW_PULSE() AWAIT_TIMED_PULSE(LOW)
#if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
#define DIR_WAIT_BEFORE() DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY)
@ -422,11 +419,6 @@ constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return (NS + (NS_PER_P
#define DIR_WAIT_AFTER()
#endif
void Stepper::wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
/**
* Set the stepper direction of each axis
*
@ -1334,6 +1326,9 @@ HAL_STEP_TIMER_ISR() {
#endif
void Stepper::isr() {
static uint32_t nextMainISR = 0; // Interval until the next main Stepper Pulse phase (0 = Now)
#ifndef __AVR__
// Disable interrupts, to avoid ISR preemption while we reprogram the period
// (AVR enters the ISR with global interrupts disabled, so no need to do it here)
@ -1357,35 +1352,35 @@ void Stepper::isr() {
// Enable ISRs to reduce USART processing latency
ENABLE_ISRS();
// Run main stepping pulse phase ISR if we have to
if (!nextMainISR) Stepper::stepper_pulse_phase_isr();
if (!nextMainISR) pulse_phase_isr(); // 0 = Do coordinated axes Stepper pulses
#if ENABLED(LIN_ADVANCE)
// Run linear advance stepper ISR if we have to
if (!nextAdvanceISR) nextAdvanceISR = Stepper::advance_isr();
if (!nextAdvanceISR) nextAdvanceISR = advance_isr(); // 0 = Do Linear Advance E Stepper pulses
#endif
// ^== Time critical. NOTHING besides pulse generation should be above here!!!
// Run main stepping block processing ISR if we have to
if (!nextMainISR) nextMainISR = Stepper::stepper_block_phase_isr();
if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block
uint32_t interval =
// Get the interval to the next ISR call
const uint32_t interval = _MIN(
nextMainISR // Time until the next Stepper ISR
#if ENABLED(LIN_ADVANCE)
_MIN(nextAdvanceISR, nextMainISR) // Nearest time interval
#else
nextMainISR // Remaining stepper ISR time
, nextAdvanceISR // Come back early for Linear Advance?
#endif
;
, uint32_t(HAL_TIMER_TYPE_MAX) // Come back in a very long time
);
// Limit the value to the maximum possible value of the timer
NOMORE(interval, uint32_t(HAL_TIMER_TYPE_MAX));
//
// Compute remaining time for each ISR phase
// NEVER : The phase is idle
// Zero : The phase will occur on the next ISR call
// Non-zero : The phase will occur on a future ISR call
//
// Compute the time remaining for the main isr
nextMainISR -= interval;
#if ENABLED(LIN_ADVANCE)
// Compute the time remaining for the advance isr
if (nextAdvanceISR != LA_ADV_NEVER) nextAdvanceISR -= interval;
#endif
@ -1471,7 +1466,7 @@ void Stepper::isr() {
* call to this method that might cause variation in the timing. The aim
* is to keep pulse timing as regular as possible.
*/
void Stepper::stepper_pulse_phase_isr() {
void Stepper::pulse_phase_isr() {
// If we must abort the current block, do so!
if (abort_current_block) {
@ -1548,7 +1543,7 @@ void Stepper::stepper_pulse_phase_isr() {
// Don't step E here - But remember the number of steps to perform
motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
#else
step_needed.e = delta_error.e >= 0;
step_needed.e = true;
#endif
}
#elif HAS_E0_STEP
@ -1604,20 +1599,14 @@ 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 // !MIXING_EXTRUDER
#endif // !LIN_ADVANCE
#elif HAS_E0_STEP
PULSE_STOP(E);
#endif
#endif
#if ISR_MULTI_STEPS
if (events_to_do) START_LOW_PULSE();
@ -1630,10 +1619,10 @@ void Stepper::stepper_pulse_phase_isr() {
// properly schedules blocks from the planner. This is executed after creating
// the step pulses, so it is not time critical, as pulses are already done.
uint32_t Stepper::stepper_block_phase_isr() {
uint32_t Stepper::block_phase_isr() {
// If no queued movements, just wait 1ms for the next move
uint32_t interval = (STEPPER_TIMER_RATE) / 1000;
// If no queued movements, just wait 1ms for the next block
uint32_t interval = (STEPPER_TIMER_RATE) / 1000UL;
// If there is a current block
if (current_block) {
@ -1667,16 +1656,14 @@ uint32_t Stepper::stepper_block_phase_isr() {
// acc_step_rate is in steps/second
// step_rate to timer interval and steps per stepper isr
interval = calc_timer_interval(acc_step_rate, oversampling_factor, &steps_per_isr);
interval = calc_timer_interval(acc_step_rate, &steps_per_isr);
acceleration_time += interval;
#if ENABLED(LIN_ADVANCE)
if (LA_use_advance_lead) {
// Fire ISR if final adv_rate is reached
if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0;
}
else if (LA_steps) nextAdvanceISR = 0;
#endif // LIN_ADVANCE
// Fire ISR if final adv_rate is reached
if (LA_steps && (!LA_use_advance_lead || LA_isr_rate != current_block->advance_speed))
initiateLA();
#endif
}
// Are we in Deceleration phase ?
else if (step_events_completed > decelerate_after) {
@ -1712,32 +1699,32 @@ uint32_t Stepper::stepper_block_phase_isr() {
// step_rate is in steps/second
// step_rate to timer interval and steps per stepper isr
interval = calc_timer_interval(step_rate, oversampling_factor, &steps_per_isr);
interval = calc_timer_interval(step_rate, &steps_per_isr);
deceleration_time += interval;
#if ENABLED(LIN_ADVANCE)
if (LA_use_advance_lead) {
// Wake up eISR on first deceleration loop and fire ISR if final adv_rate is reached
if (step_events_completed <= decelerate_after + steps_per_isr || (LA_steps && LA_isr_rate != current_block->advance_speed)) {
nextAdvanceISR = 0;
initiateLA();
LA_isr_rate = current_block->advance_speed;
}
}
else if (LA_steps) nextAdvanceISR = 0;
#endif // LIN_ADVANCE
else if (LA_steps) initiateLA();
#endif
}
// We must be in cruise phase otherwise
else {
#if ENABLED(LIN_ADVANCE)
// If there are any esteps, fire the next advance_isr "now"
if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0;
if (LA_steps && LA_isr_rate != current_block->advance_speed) initiateLA();
#endif
// Calculate the ticks_nominal for this nominal speed, if not done yet
if (ticks_nominal < 0) {
// step_rate to timer interval and loops for the nominal speed
ticks_nominal = calc_timer_interval(current_block->nominal_rate, oversampling_factor, &steps_per_isr);
ticks_nominal = calc_timer_interval(current_block->nominal_rate, &steps_per_isr);
}
// The timer interval is just the nominal value for the nominal speed
@ -1846,17 +1833,17 @@ uint32_t Stepper::stepper_block_phase_isr() {
// No acceleration / deceleration time elapsed so far
acceleration_time = deceleration_time = 0;
uint8_t oversampling = 0; // Assume we won't use it
uint8_t oversampling = 0; // Assume no axis smoothing (via oversampling)
#if ENABLED(ADAPTIVE_STEP_SMOOTHING)
// At this point, we must decide if we can use Stepper movement axis smoothing.
// Decide if axis smoothing is possible
uint32_t max_rate = current_block->nominal_rate; // Get the maximum rate (maximum event speed)
while (max_rate < MIN_STEP_ISR_FREQUENCY) {
max_rate <<= 1;
if (max_rate >= MAX_STEP_ISR_FREQUENCY_1X) break;
++oversampling;
while (max_rate < MIN_STEP_ISR_FREQUENCY) { // As long as more ISRs are possible...
max_rate <<= 1; // Try to double the rate
if (max_rate >= MAX_STEP_ISR_FREQUENCY_1X) break; // Don't exceed the estimated ISR limit
++oversampling; // Increase the oversampling (used for left-shift)
}
oversampling_factor = oversampling;
oversampling_factor = oversampling; // For all timer interval calculations
#endif
// Based on the oversampling factor, do the calculations
@ -1894,8 +1881,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
if ((LA_use_advance_lead = current_block->use_advance_lead)) {
LA_final_adv_steps = current_block->final_adv_steps;
LA_max_adv_steps = current_block->max_adv_steps;
//Start the ISR
nextAdvanceISR = 0;
initiateLA(); // Start the ISR
LA_isr_rate = current_block->advance_speed;
}
else LA_isr_rate = LA_ADV_NEVER;
@ -1954,7 +1940,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
#endif
// Calculate the initial timer interval
interval = calc_timer_interval(current_block->initial_rate, oversampling_factor, &steps_per_isr);
interval = calc_timer_interval(current_block->initial_rate, &steps_per_isr);
}
}
@ -2054,6 +2040,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
return interval;
}
#endif // LIN_ADVANCE
// Check if the given block is busy or not - Must not be called from ISR contexts
@ -2093,7 +2080,7 @@ void Stepper::init() {
digipot_motor = 255 * (motor_current[i] / 2.5);
dac084s085::setValue(i, digipot_motor);
}
#endif//MB(ALLIGATOR)
#endif
// Init Microstepping Pins
#if HAS_MICROSTEPS
@ -2287,7 +2274,7 @@ void Stepper::init() {
#if DISABLED(I2S_STEPPER_STREAM)
HAL_timer_start(STEP_TIMER_NUM, 122); // Init Stepper ISR to 122 Hz for quick starting
ENABLE_STEPPER_DRIVER_INTERRUPT();
wake_up();
sei();
#endif
@ -2341,19 +2328,43 @@ int32_t Stepper::position(const AxisEnum axis) {
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const bool was_enabled = suspend();
#endif
const int32_t v = count_position[axis];
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
if (was_enabled) wake_up();
#endif
return v;
}
// Set the current position in steps
void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
const bool was_enabled = suspend();
_set_position(a, b, c, e);
if (was_enabled) wake_up();
}
void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = suspend();
#endif
count_position[a] = v;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) wake_up();
#endif
}
// Signal endstops were triggered - This function can be called from
// an ISR context (Temperature, Stepper or limits ISR), so we must
// be very careful here. If the interrupt being preempted was the
@ -2362,8 +2373,7 @@ int32_t Stepper::position(const AxisEnum axis) {
// is properly canceled
void Stepper::endstop_triggered(const AxisEnum axis) {
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const bool was_enabled = suspend();
endstops_trigsteps[axis] = (
#if IS_CORE
(axis == CORE_AXIS_2
@ -2378,22 +2388,21 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
// Discard the rest of the move if there is a current block
quick_stop();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
if (was_enabled) wake_up();
}
int32_t Stepper::triggered_position(const AxisEnum axis) {
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const bool was_enabled = suspend();
#endif
const int32_t v = endstops_trigsteps[axis];
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
if (was_enabled) wake_up();
#endif
return v;
@ -2403,14 +2412,13 @@ void Stepper::report_positions() {
#ifdef __AVR__
// Protect the access to the position.
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const bool was_enabled = suspend();
#endif
const xyz_long_t pos = count_position;
#ifdef __AVR__
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
if (was_enabled) wake_up();
#endif
#if CORE_IS_XY || CORE_IS_XZ || ENABLED(DELTA) || IS_SCARA
@ -2571,16 +2579,21 @@ void Stepper::report_positions() {
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
// Restore direction bits
DIR_WAIT_BEFORE();
X_DIR_WRITE(old_dir.x);
Y_DIR_WRITE(old_dir.y);
Z_DIR_WRITE(old_dir.z);
DIR_WAIT_AFTER();
#endif
} break;
default: break;
}
sei();
}