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[2.0.x] Fix stepper/planner race condition and Stepper pulse timer (#11081)

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* Planner: Removal of some race conditions between Stepper ISR and Planner, some of them pointed out by @AnHardt, some of my own findings
* Fixing timing on stepper pulses adding a compensation for the non-null time required to set ports.
This commit is contained in:
Eduardo José Tagle
2018-06-22 11:15:37 -03:00
committed by Scott Lahteine
parent 3fa9aeb5c7
commit 48a15d1c7e
2 changed files with 71 additions and 21 deletions
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52
Marlin/src/module/stepper.h
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@ -53,7 +53,7 @@
//
#ifndef MINIMUM_STEPPER_PULSE
#define MINIMUM_STEPPER_PULSE 0
#define MINIMUM_STEPPER_PULSE 0UL
#endif
#ifndef MAXIMUM_STEPPER_RATE
@ -86,7 +86,10 @@
// Stepper Loop base cycles
#define ISR_LOOP_BASE_CYCLES 4UL
// And each stepper takes 16 cycles
// To start the step pulse, in the worst case takes
#define ISR_START_STEPPER_CYCLES 13UL
// And each stepper (start + stop pulse) takes in worst case
#define ISR_STEPPER_CYCLES 16UL
#else
@ -111,51 +114,72 @@
// Stepper Loop base cycles
#define ISR_LOOP_BASE_CYCLES 32UL
// And each stepper takes 88 cycles
// To start the step pulse, in the worst case takes
#define ISR_START_STEPPER_CYCLES 57UL
// And each stepper (start + stop pulse) takes in worst case
#define ISR_STEPPER_CYCLES 88UL
#endif
// Add time for each stepper
#ifdef HAS_X_STEP
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_START_X_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
#else
#define ISR_X_STEPPER_CYCLES 0UL
#define ISR_START_X_STEPPER_CYCLES 0UL
#define ISR_X_STEPPER_CYCLES 0UL
#endif
#ifdef HAS_Y_STEP
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_START_Y_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
#else
#define ISR_Y_STEPPER_CYCLES 0UL
#define ISR_START_Y_STEPPER_CYCLES 0UL
#define ISR_Y_STEPPER_CYCLES 0UL
#endif
#ifdef HAS_Z_STEP
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_START_Z_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
#else
#define ISR_Z_STEPPER_CYCLES 0UL
#define ISR_START_Z_STEPPER_CYCLES 0UL
#define ISR_Z_STEPPER_CYCLES 0UL
#endif
// E is always interpolated, even for mixing extruders
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_START_E_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
// If linear advance is disabled, then 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)
// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
#define _MIN_STEPPER_PULSE_CYCLES(N) MAX((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
#if MINIMUM_STEPPER_PULSE
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE)
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES((MINIMUM_STEPPER_PULSE))
#else
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1)
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL)
#endif
#define MIN_PULSE_TICKS ((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE))
#define ADDED_STEP_TICKS ((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE) - MIN_PULSE_TICKS)
// Calculate the minimum ticks of the PULSE timer that must elapse with the step pulse enabled
// 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
#define MIN_PULSE_TICKS (((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE)) + ((MIN_ISR_START_LOOP_CYCLES) / (PULSE_TIMER_PRESCALE)))
// 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))
// 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))