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Improve pulse timing and step reliability (#16128)

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This commit is contained in:
Jason Smith
2019-12-19 00:38:48 -08:00
committed by Scott Lahteine
parent 5f06f42ccd
commit 1bad8f1b17
5 changed files with 128 additions and 105 deletions
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37
Marlin/src/module/stepper.h
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@ -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))