@ -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_puls e_count = 0
# define START_TIMED_PULSE(DIR) (start_puls e_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 ( ) ;
}
Scott Lahteine
5 years ago
GitHub