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Refactor and optimize Stepper/Planner

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Better encapsulation and considerably reduce stepper jitter
This commit is contained in:
etagle
2018-05-09 02:17:53 -03:00
committed by Scott Lahteine
parent 0566badcef
commit a11eb50a3e
16 changed files with 975 additions and 738 deletions
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140
Marlin/src/module/stepper.h
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@ -62,10 +62,6 @@ class Stepper {
static block_t* current_block; // A pointer to the block currently being traced
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
static bool abort_on_endstop_hit;
#endif
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
static bool performing_homing;
#endif
@ -77,8 +73,6 @@ class Stepper {
static uint32_t motor_current_setting[3];
#endif
static int16_t cleaning_buffer_counter;
private:
static uint8_t last_direction_bits; // The next stepping-bits to be output
@ -95,7 +89,7 @@ class Stepper {
// Counter variables for the Bresenham line tracer
static int32_t counter_X, counter_Y, counter_Z, counter_E;
static volatile uint32_t step_events_completed; // The number of step events executed in the current block
static uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(BEZIER_JERK_CONTROL)
static int32_t bezier_A, // A coefficient in Bézier speed curve
@ -109,12 +103,14 @@ class Stepper {
static bool bezier_2nd_half; // If Bézier curve has been initialized or not
#endif
static uint32_t nextMainISR; // time remaining for the next Step ISR
static bool all_steps_done; // all steps done
#if ENABLED(LIN_ADVANCE)
static uint32_t LA_decelerate_after; // Copy from current executed block. Needed because current_block is set to NULL "too early".
static hal_timer_t nextMainISR, nextAdvanceISR, eISR_Rate;
static uint32_t nextAdvanceISR, eISR_Rate;
static uint16_t current_adv_steps, final_adv_steps, max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
#define _NEXT_ISR(T) nextMainISR = T
static int8_t e_steps;
static bool use_advance_lead;
#if E_STEPPERS > 1
@ -123,18 +119,14 @@ class Stepper {
static constexpr int8_t LA_active_extruder = 0;
#endif
#else // !LIN_ADVANCE
#endif // LIN_ADVANCE
#define _NEXT_ISR(T) HAL_timer_set_compare(STEP_TIMER_NUM, T);
#endif // !LIN_ADVANCE
static int32_t acceleration_time, deceleration_time;
static uint32_t acceleration_time, deceleration_time;
static uint8_t step_loops, step_loops_nominal;
static hal_timer_t OCR1A_nominal;
static uint32_t ticks_nominal;
#if DISABLED(BEZIER_JERK_CONTROL)
static hal_timer_t acc_step_rate; // needed for deceleration start point
static uint32_t acc_step_rate; // needed for deceleration start point
#endif
static volatile int32_t endstops_trigsteps[XYZ];
@ -167,88 +159,50 @@ class Stepper {
//
Stepper() { };
//
// Initialize stepper hardware
//
static void init();
//
// Interrupt Service Routines
//
static void isr();
// The ISR scheduler
static hal_timer_t isr_scheduler();
// The stepper pulse phase ISR
static void stepper_pulse_phase_isr();
// The stepper block processing phase ISR
static uint32_t stepper_block_phase_isr();
#if ENABLED(LIN_ADVANCE)
static void advance_isr();
static void advance_isr_scheduler();
// The Linear advance stepper ISR
static uint32_t advance_isr();
#endif
//
// Set the current position in steps
//
static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
FORCE_INLINE static void _set_position(const AxisEnum a, const int32_t &v) { count_position[a] = v; }
FORCE_INLINE static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
CRITICAL_SECTION_START;
_set_position(a, b, c, e);
CRITICAL_SECTION_END;
}
static void set_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
CRITICAL_SECTION_START;
count_position[a] = v;
CRITICAL_SECTION_END;
}
FORCE_INLINE static void _set_e_position(const int32_t &e) { count_position[E_AXIS] = e; }
static void set_e_position(const int32_t &e) {
planner.synchronize();
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
//
// Set direction bits for all steppers
//
static void set_directions();
//
// Get the position of a stepper, in steps
//
static int32_t position(const AxisEnum axis);
//
// Report the positions of the steppers, in steps
//
static void report_positions();
//
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work.
//
static void wake_up();
//
// Wait for moves to finish and disable all steppers
//
static void finish_and_disable();
//
// Quickly stop all steppers and clear the blocks queue
//
// Quickly stop all steppers
static void quick_stop();
//
// The direction of a single motor
//
FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
// Kill current block
static void kill_current_block();
// Handle a triggered endstop
static void endstop_triggered(const AxisEnum axis);
// Triggered position of an axis in steps
static int32_t triggered_position(const AxisEnum axis);
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
static void digitalPotWrite(const int16_t address, const int16_t value);
static void digipot_current(const uint8_t driver, const int16_t current);
@ -280,34 +234,24 @@ class Stepper {
static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
#endif
static inline void kill_current_block() {
step_events_completed = current_block->step_event_count;
}
//
// Handle a triggered endstop
//
static void endstop_triggered(const AxisEnum axis);
//
// Triggered position of an axis in mm (not core-savvy)
//
FORCE_INLINE static float triggered_position_mm(const AxisEnum axis) {
return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
}
#if HAS_MOTOR_CURRENT_PWM
static void refresh_motor_power();
#endif
private:
FORCE_INLINE static hal_timer_t calc_timer_interval(hal_timer_t step_rate) {
hal_timer_t timer;
// Set the current position in steps
static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
// Set direction bits for all steppers
static void set_directions();
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate) {
uint32_t timer;
NOMORE(step_rate, MAX_STEP_FREQUENCY);
// TODO: HAL: tidy this up, use condtionals_post.h
// TODO: HAL: tidy this up, use Conditionals_post.h
#ifdef CPU_32_BIT
#if ENABLED(DISABLE_MULTI_STEPPING)
step_loops = 1;
@ -348,16 +292,16 @@ class Stepper {
step_rate -= F_CPU / 500000; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
uint8_t tmp_step_rate = (step_rate & 0x00FF);
uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0];
uint16_t gain = (uint16_t)pgm_read_word_near(table_address + 2);
uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
gain = (uint16_t)pgm_read_word_near(table_address + 2);
timer = MultiU16X8toH16(tmp_step_rate, gain);
timer = (uint16_t)pgm_read_word_near(table_address) - timer;
}
else { // lower step rates
uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
table_address += ((step_rate) >> 1) & 0xFFFC;
timer = (uint16_t)pgm_read_word_near(table_address);
timer -= (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
timer = (uint16_t)pgm_read_word_near(table_address)
- (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
}
if (timer < 100) { // (20kHz - this should never happen)
timer = 100;