From 0b984519c30f453fdb5b4efb8008a07c69688824 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 14 Feb 2020 05:14:37 -0600 Subject: [PATCH] Clean up stepper and babystep (#16857) --- Marlin/src/HAL/HAL_ESP32/i2s.cpp | 4 +- Marlin/src/feature/babystep.cpp | 8 -- Marlin/src/feature/babystep.h | 10 +- Marlin/src/module/planner.cpp | 110 +++++++++++++++++-- Marlin/src/module/planner.h | 97 ++--------------- Marlin/src/module/stepper.cpp | 173 ++++++++++++++++-------------- Marlin/src/module/stepper.h | 75 +++++-------- Marlin/src/module/temperature.cpp | 5 +- 8 files changed, 242 insertions(+), 240 deletions(-) diff --git a/Marlin/src/HAL/HAL_ESP32/i2s.cpp b/Marlin/src/HAL/HAL_ESP32/i2s.cpp index de5ef397dd..9f72fcbb0f 100644 --- a/Marlin/src/HAL/HAL_ESP32/i2s.cpp +++ b/Marlin/src/HAL/HAL_ESP32/i2s.cpp @@ -153,8 +153,8 @@ void stepperTask(void* parameter) { remaining--; } else { - Stepper::stepper_pulse_phase_isr(); - remaining = Stepper::stepper_block_phase_isr(); + Stepper::pulse_phase_isr(); + remaining = Stepper::block_phase_isr(); } } } diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp index c6e7628a15..eedd8f6196 100644 --- a/Marlin/src/feature/babystep.cpp +++ b/Marlin/src/feature/babystep.cpp @@ -49,14 +49,6 @@ void Babystep::step_axis(const AxisEnum axis) { } } -void Babystep::task() { - #if EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS) - LOOP_XYZ(axis) step_axis((AxisEnum)axis); - #else - step_axis(Z_AXIS); - #endif -} - void Babystep::add_mm(const AxisEnum axis, const float &mm) { add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]); } diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h index 3322b4a246..63ea0e3e24 100644 --- a/Marlin/src/feature/babystep.h +++ b/Marlin/src/feature/babystep.h @@ -55,7 +55,15 @@ public: static void add_steps(const AxisEnum axis, const int16_t distance); static void add_mm(const AxisEnum axis, const float &mm); - static void task(); + + // + // Called by the Temperature ISR to + // apply accumulated babysteps to the axes. + // + static inline void task() { + LOOP_L_N(axis, BS_TODO_AXIS(Z_AXIS)) step_axis((AxisEnum)axis); + } + private: static void step_axis(const AxisEnum axis); }; diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 72dfeed46f..b39ac993b4 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -709,6 +709,59 @@ void Planner::init() { #define MINIMAL_STEP_RATE 120 +/** + * Get the current block for processing + * and mark the block as busy. + * Return nullptr if the buffer is empty + * or if there is a first-block delay. + * + * WARNING: Called from Stepper ISR context! + */ +block_t* Planner::get_current_block() { + // Get the number of moves in the planner queue so far + const uint8_t nr_moves = movesplanned(); + + // If there are any moves queued ... + if (nr_moves) { + + // If there is still delay of delivery of blocks running, decrement it + if (delay_before_delivering) { + --delay_before_delivering; + // If the number of movements queued is less than 3, and there is still time + // to wait, do not deliver anything + if (nr_moves < 3 && delay_before_delivering) return nullptr; + delay_before_delivering = 0; + } + + // If we are here, there is no excuse to deliver the block + block_t * const block = &block_buffer[block_buffer_tail]; + + // No trapezoid calculated? Don't execute yet. + if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr; + + #if HAS_SPI_LCD + block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it. + #endif + + // As this block is busy, advance the nonbusy block pointer + block_buffer_nonbusy = next_block_index(block_buffer_tail); + + // Push block_buffer_planned pointer, if encountered. + if (block_buffer_tail == block_buffer_planned) + block_buffer_planned = block_buffer_nonbusy; + + // Return the block + return block; + } + + // The queue became empty + #if HAS_SPI_LCD + clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero. + #endif + + return nullptr; +} + /** * Calculate trapezoid parameters, multiplying the entry- and exit-speeds * by the provided factors. @@ -1498,8 +1551,7 @@ void Planner::quick_stop() { // must be handled: The tail could change between the read and the assignment // so this must be enclosed in a critical section - const bool was_enabled = STEPPER_ISR_ENABLED(); - if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); + const bool was_enabled = stepper.suspend(); // Drop all queue entries block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail; @@ -1517,7 +1569,7 @@ void Planner::quick_stop() { cleaning_buffer_counter = 1000; // Reenable Stepper ISR - if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT(); + if (was_enabled) stepper.wake_up(); // And stop the stepper ISR stepper.quick_stop(); @@ -1548,13 +1600,12 @@ float Planner::get_axis_position_mm(const AxisEnum axis) { if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) { // Protect the access to the position. - const bool was_enabled = STEPPER_ISR_ENABLED(); - if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); + const bool was_enabled = stepper.suspend(); const int32_t p1 = stepper.position(CORE_AXIS_1), p2 = stepper.position(CORE_AXIS_2); - if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT(); + if (was_enabled) stepper.wake_up(); // ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1 // ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2 @@ -2004,13 +2055,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move, #if HAS_SPI_LCD // Protect the access to the position. - const bool was_enabled = STEPPER_ISR_ENABLED(); - if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); + const bool was_enabled = stepper.suspend(); block_buffer_runtime_us += segment_time_us; block->segment_time_us = segment_time_us; - if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT(); + if (was_enabled) stepper.wake_up(); #endif block->nominal_speed_sqr = sq(block->millimeters * inverse_secs); // (mm/sec)^2 Always > 0 @@ -2822,6 +2872,48 @@ void Planner::set_max_jerk(const AxisEnum axis, float targetValue) { #endif } +#if HAS_SPI_LCD + + uint16_t Planner::block_buffer_runtime() { + #ifdef __AVR__ + // Protect the access to the variable. Only required for AVR, as + // any 32bit CPU offers atomic access to 32bit variables + const bool was_enabled = stepper.suspend(); + #endif + + millis_t bbru = block_buffer_runtime_us; + + #ifdef __AVR__ + // Reenable Stepper ISR + if (was_enabled) stepper.wake_up(); + #endif + + // To translate µs to ms a division by 1000 would be required. + // We introduce 2.4% error here by dividing by 1024. + // Doesn't matter because block_buffer_runtime_us is already too small an estimation. + bbru >>= 10; + // limit to about a minute. + NOMORE(bbru, 0xFFFFul); + return bbru; + } + + void Planner::clear_block_buffer_runtime() { + #ifdef __AVR__ + // Protect the access to the variable. Only required for AVR, as + // any 32bit CPU offers atomic access to 32bit variables + const bool was_enabled = stepper.suspend(); + #endif + + block_buffer_runtime_us = 0; + + #ifdef __AVR__ + // Reenable Stepper ISR + if (was_enabled) stepper.wake_up(); + #endif + } + +#endif + #if ENABLED(AUTOTEMP) void Planner::autotemp_M104_M109() { diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index 37f0112cc8..6942ec6028 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -763,60 +763,18 @@ class Planner { FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); } /** - * The current block. nullptr if the buffer is empty. - * This also marks the block as busy. + * Get the current block for processing + * and mark the block as busy. + * Return nullptr if the buffer is empty + * or if there is a first-block delay. + * * WARNING: Called from Stepper ISR context! */ - static block_t* get_current_block() { - - // Get the number of moves in the planner queue so far - const uint8_t nr_moves = movesplanned(); - - // If there are any moves queued ... - if (nr_moves) { - - // If there is still delay of delivery of blocks running, decrement it - if (delay_before_delivering) { - --delay_before_delivering; - // If the number of movements queued is less than 3, and there is still time - // to wait, do not deliver anything - if (nr_moves < 3 && delay_before_delivering) return nullptr; - delay_before_delivering = 0; - } - - // If we are here, there is no excuse to deliver the block - block_t * const block = &block_buffer[block_buffer_tail]; - - // No trapezoid calculated? Don't execute yet. - if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr; - - #if HAS_SPI_LCD - block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it. - #endif - - // As this block is busy, advance the nonbusy block pointer - block_buffer_nonbusy = next_block_index(block_buffer_tail); - - // Push block_buffer_planned pointer, if encountered. - if (block_buffer_tail == block_buffer_planned) - block_buffer_planned = block_buffer_nonbusy; - - // Return the block - return block; - } - - // The queue became empty - #if HAS_SPI_LCD - clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero. - #endif - - return nullptr; - } + static block_t* get_current_block(); /** * "Discard" the block and "release" the memory. * Called when the current block is no longer needed. - * NB: There MUST be a current block to call this function!! */ FORCE_INLINE static void discard_current_block() { if (has_blocks_queued()) @@ -824,47 +782,8 @@ class Planner { } #if HAS_SPI_LCD - - static uint16_t block_buffer_runtime() { - #ifdef __AVR__ - // Protect the access to the variable. Only required for AVR, as - // any 32bit CPU offers atomic access to 32bit variables - bool was_enabled = STEPPER_ISR_ENABLED(); - if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); - #endif - - millis_t bbru = block_buffer_runtime_us; - - #ifdef __AVR__ - // Reenable Stepper ISR - if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT(); - #endif - - // To translate µs to ms a division by 1000 would be required. - // We introduce 2.4% error here by dividing by 1024. - // Doesn't matter because block_buffer_runtime_us is already too small an estimation. - bbru >>= 10; - // limit to about a minute. - NOMORE(bbru, 0xFFFFul); - return bbru; - } - - static void clear_block_buffer_runtime() { - #ifdef __AVR__ - // Protect the access to the variable. Only required for AVR, as - // any 32bit CPU offers atomic access to 32bit variables - bool was_enabled = STEPPER_ISR_ENABLED(); - if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); - #endif - - block_buffer_runtime_us = 0; - - #ifdef __AVR__ - // Reenable Stepper ISR - if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT(); - #endif - } - + static uint16_t block_buffer_runtime(); + static void clear_block_buffer_runtime(); #endif #if ENABLED(AUTOTEMP) diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index bc08e35377..6e0a318fcb 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -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_pulse_count = 0 +#define START_TIMED_PULSE(DIR) (start_pulse_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(); } diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h index 6b8d0f3628..ed07bfd5df 100644 --- a/Marlin/src/module/stepper.h +++ b/Marlin/src/module/stepper.h @@ -321,13 +321,13 @@ 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 #if ENABLED(LIN_ADVANCE) + static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF; static uint32_t nextAdvanceISR, LA_isr_rate; static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early". static int8_t LA_steps; static bool LA_use_advance_lead; - #endif // LIN_ADVANCE + #endif static int32_t ticks_nominal; #if DISABLED(S_CURVE_ACCELERATION) @@ -351,28 +351,36 @@ class Stepper { public: - // - // Constructor / initializer - // - Stepper() {}; - // Initialize stepper hardware static void init(); - // Interrupt Service Routines + // Interrupt Service Routine and phases + + // 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 inline void wake_up() { ENABLE_STEPPER_DRIVER_INTERRUPT(); } + + static inline bool is_awake() { return STEPPER_ISR_ENABLED(); } + + static inline bool suspend() { + const bool awake = is_awake(); + if (awake) DISABLE_STEPPER_DRIVER_INTERRUPT(); + return awake; + } // The ISR scheduler static void isr(); - // The stepper pulse phase ISR - static void stepper_pulse_phase_isr(); + // The stepper pulse ISR phase + static void pulse_phase_isr(); - // The stepper block processing phase ISR - static uint32_t stepper_block_phase_isr(); + // The stepper block processing ISR phase + static uint32_t block_phase_isr(); #if ENABLED(LIN_ADVANCE) - // The Linear advance stepper ISR + // The Linear advance ISR phase static uint32_t advance_isr(); + FORCE_INLINE static void initiateLA() { nextAdvanceISR = 0; } #endif // Check if the given block is busy or not - Must not be called from ISR contexts @@ -381,13 +389,14 @@ class Stepper { // Get the position of a stepper, in steps static int32_t position(const AxisEnum axis); + // 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); + static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); } + static void set_axis_position(const AxisEnum a, const int32_t &v); + // 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(); - // Quickly stop all steppers FORCE_INLINE static void quick_stop() { abort_current_block = true; } @@ -453,34 +462,6 @@ class Stepper { static void refresh_motor_power(); #endif - // Set the current position in steps - static inline void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) { - planner.synchronize(); - const bool was_enabled = STEPPER_ISR_ENABLED(); - if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); - _set_position(a, b, c, e); - if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT(); - } - static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); } - - static inline void 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 = STEPPER_ISR_ENABLED(); - if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); - #endif - - count_position[a] = v; - - #ifdef __AVR__ - // Reenable Stepper ISR - if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT(); - #endif - } - // Set direction bits for all steppers static void set_directions(); @@ -490,11 +471,11 @@ class Stepper { 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 abce_long_t &spos) { _set_position(spos.a, spos.b, spos.c, spos.e); } - FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) { + FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t* loops) { uint32_t timer; // Scale the frequency, as requested by the caller - step_rate <<= scale; + step_rate <<= oversampling_factor; uint8_t multistep = 1; #if DISABLED(DISABLE_MULTI_STEPPING) diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp index f07f943213..cfb7990010 100644 --- a/Marlin/src/module/temperature.cpp +++ b/Marlin/src/module/temperature.cpp @@ -65,15 +65,12 @@ #include "../libs/private_spi.h" #endif -#if EITHER(BABYSTEPPING, PID_EXTRUSION_SCALING) +#if ENABLED(PID_EXTRUSION_SCALING) #include "stepper.h" #endif #if ENABLED(BABYSTEPPING) #include "../feature/babystep.h" - #if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) - #include "../gcode/gcode.h" - #endif #endif #include "printcounter.h"