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Fix stepper pulse timing

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Always honor minimum period on stepper pulse generation, and fix timing calculations

Signed-off-by: etagle <ejtagle@hotmail.com>
This commit is contained in:
etagle
2018-06-12 01:04:26 -03:00
committed by Scott Lahteine
parent 0d79128c8d
commit a215725df6
8 changed files with 116 additions and 107 deletions
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63
Marlin/src/module/stepper.cpp
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@@ -1263,7 +1263,7 @@ void Stepper::isr() {
#else
1
#endif
* (HAL_TICKS_PER_US)
* (STEPPER_TIMER_TICKS_PER_US)
);
/**
@@ -1316,10 +1316,10 @@ 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;
#if MINIMUM_STEPPER_PULSE
// 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((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#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 = ADDED_STEP_TICKS;
// Take multiple steps per interrupt (For high speed moves)
do {
@@ -1392,10 +1392,11 @@ void Stepper::stepper_pulse_phase_isr() {
#if MINIMUM_STEPPER_PULSE
// Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_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);
@@ -1423,15 +1424,15 @@ void Stepper::stepper_pulse_phase_isr() {
// Decrement the count of pending pulses to do
--events_to_do;
#if MINIMUM_STEPPER_PULSE
// 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 */ }
// 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((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
}
#endif
pulse_end += hal_timer_t(MIN_PULSE_TICKS);
#endif
}
} while (events_to_do);
}
@@ -1810,13 +1811,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
REV_E_DIR(active_extruder);
#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 = ADDED_STEP_TICKS;
// Step E stepper if we have steps
while (LA_steps) {
#if MINIMUM_STEPPER_PULSE
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
// Set the STEP pulse ON
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) {
// Step mixing steppers (proportionally)
@@ -1828,15 +1831,18 @@ uint32_t Stepper::stepper_block_phase_isr() {
E_STEP_WRITE(active_extruder, !INVERT_E_STEP_PIN);
#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 */ }
// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_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;
// Set the STEP pulse OFF
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) {
if (delta_error_m[j] >= 0) {
@@ -1848,12 +1854,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
E_STEP_WRITE(active_extruder, INVERT_E_STEP_PIN);
#endif
#if MINIMUM_STEPPER_PULSE
// 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 */ }
#endif
// 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
}
} // LA_steps
return interval;