andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Fix Baby Stepping on 32-Bit platforms (#8001) 

Also, Max7219 debug code was used for this effort.   It has been
improved and hardened.
pull/1/head
Roxy-3D 7 years ago
committed by GitHub
parent
3b7b0492f8
commit
6cb26c98c8
6 changed files with 196 additions and 61 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 23
      Marlin/src/config/examples/Folger Tech/i3-2020/Configuration.h
  2. 20
      Marlin/src/config/examples/Folger Tech/i3-2020/Configuration_adv.h
  3. 205
      Marlin/src/feature/Max7219_Debug_LEDs.cpp
  4. 6
      Marlin/src/feature/Max7219_Debug_LEDs.h
  5. 1
      Marlin/src/module/stepper.cpp
  6. 2
      Marlin/src/module/temperature.h

23
Marlin/src/config/examples/Folger Tech/i3-2020/Configuration.h
View File

@ -125,7 +125,7 @@
// Optional custom name for your RepStrap or other custom machine
// Displayed in the LCD "Ready" message
#define CUSTOM_MACHINE_NAME "FT-2020 v2"
#define CUSTOM_MACHINE_NAME "FT-2020 v3"
// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
@ -691,6 +691,7 @@
// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 7500
// Speed for the first approach when double-probing (with PROBE_DOUBLE_TOUCH)
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
@ -750,6 +751,7 @@
#define INVERT_X_DIR false
#define INVERT_Y_DIR true
#define INVERT_Z_DIR true
// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA
@ -789,16 +791,7 @@
#define Y_MAX_POS 182
#define Z_MAX_POS 175
/**
* Software Endstops
*
* - Prevent moves outside the set machine bounds.
* - Individual axes can be disabled, if desired.
* - X and Y only apply to Cartesian robots.
* - Use 'M211' to set software endstops on/off or report current state
*/
// Min software endstops curtail movement below minimum coordinate bounds
// If enabled, axes won't move below MIN_POS in response to movement commands.
//#define MIN_SOFTWARE_ENDSTOPS
#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
#define MIN_SOFTWARE_ENDSTOP_X
@ -806,7 +799,7 @@
#define MIN_SOFTWARE_ENDSTOP_Z
#endif
// Max software endstops curtail movement above maximum coordinate bounds
// If enabled, axes won't move above MAX_POS in response to movement commands.
#define MAX_SOFTWARE_ENDSTOPS
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
#define MAX_SOFTWARE_ENDSTOP_X
@ -939,8 +932,6 @@
#define ABL_PROBE_PT_3_X 170
#define ABL_PROBE_PT_3_Y 10
#elif ENABLED(AUTO_BED_LEVELING_UBL)
//===========================================================================
@ -1681,12 +1672,12 @@
// leaving it undefined or defining as 0 will disable the servo subsystem
// If unsure, leave commented / disabled
//
#define NUM_SERVOS 2 // Servo index starts with 0 for M280 command
#define NUM_SERVOS 1 // Servo index starts with 0 for M280 command
// Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
// 300ms is a good value but you can try less delay.
// If the servo can't reach the requested position, increase it.
#define SERVO_DELAY { 500, 500 }
#define SERVO_DELAY { 500 }
// Servo deactivation
//

20
Marlin/src/config/examples/Folger Tech/i3-2020/Configuration_adv.h
View File

@ -534,7 +534,7 @@
#endif
// Show a progress bar on HD44780 LCDs for SD printing
#define LCD_PROGRESS_BAR
//#define LCD_PROGRESS_BAR
#if ENABLED(LCD_PROGRESS_BAR)
// Amount of time (ms) to show the bar
@ -592,6 +592,7 @@
// Enable this option and reduce the value to optimize screen updates.
// The normal delay is 10µs. Use the lowest value that still gives a reliable display.
//#define DOGM_SPI_DELAY_US 5
#endif // DOGLCD
// @section safety
@ -620,7 +621,7 @@
#if ENABLED(BABYSTEPPING)
//#define BABYSTEP_XY // Also enable X/Y Babystepping. Not supported on DELTA!
#define BABYSTEP_INVERT_Z false // Change if Z babysteps should go the other way
#define BABYSTEP_MULTIPLICATOR 100 // Babysteps are very small. Increase for faster motion.
#define BABYSTEP_MULTIPLICATOR 16 // Babysteps are very small. Increase for faster motion.
//#define BABYSTEP_ZPROBE_OFFSET // Enable to combine M851 and Babystepping
#define DOUBLECLICK_FOR_Z_BABYSTEPPING // Double-click on the Status Screen for Z Babystepping.
#define DOUBLECLICK_MAX_INTERVAL 1250 // Maximum interval between clicks, in milliseconds.
@ -1313,8 +1314,8 @@
#define USER_DESC_4 "Heat Bed/Home/Level"
#define USER_GCODE_4 "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nG28\nG29"
//#define USER_DESC_5 "Home & Info"
//#define USER_GCODE_5 "G28\nM503"
#define USER_DESC_5 "Home & Info"
#define USER_GCODE_5 "G28\nM503"
#endif
/**
@ -1423,15 +1424,20 @@
//#define MAX7219_DIN_PIN 57 // on RAMPS
//#define MAX7219_LOAD_PIN 44 // on RAMPS
#define MAX7219_CLK_PIN 77 // on Re-ARM // Configuration of the 3 pins to control the display
#define MAX7219_DIN_PIN 78 // on Re-ARM
#define MAX7219_LOAD_PIN 79 // on Re-ARM
//#define MAX7219_CLK_PIN 77 // on Re-ARM // Configuration of the 3 pins to control the display
//#define MAX7219_DIN_PIN 78 // on Re-ARM
//#define MAX7219_LOAD_PIN 79 // on Re-ARM
#define MAX7219_CLK_PIN 30 // for RAMPS E1 // Configuration of the 3 pins to control the display
#define MAX7219_DIN_PIN 34 // for RAMPS E1
#define MAX7219_LOAD_PIN 36 // for RAMPS E1
/**
* Sample debug features
* If you add more debug displays, be careful to avoid conflicts!
*/
#define MAX7219_DEBUG_PRINTER_ALIVE // Blink corner LED of 8x8 matrix to show that the firmware is functioning
#define MAX7219_DEBUG_STEPPER_HEAD 3 // Show the stepper queue head position on this and the next LED matrix row
#define MAX7219_DEBUG_STEPPER_TAIL 5 // Show the stepper queue tail position on this and the next LED matrix row

205
Marlin/src/feature/Max7219_Debug_LEDs.cpp
View File

@ -39,12 +39,14 @@
* void Max7219_init();
* void Max7219_PutByte(uint8_t data);
* void Max7219(uint8_t reg, uint8_t data);
* void Max7219_LED_On(uint8_t row, uint8_t col);
* void Max7219_LED_Off(uint8_t row, uint8_t col);
* void Max7219_LED_Toggle(uint8_t row, uint8_t col);
* void Max7219_LED_On(uint8_t col, uint8_t row);
* void Max7219_LED_Off(uint8_t col, uint8_t row);
* void Max7219_LED_Toggle(uint8_t col, uint8_t row);
* void Max7219_Clear_Row(uint8_t row);
* void Max7219_Clear_Column(uint8_t col);
* void Max7219_Set_Row(uint8_t row, uint8_t val);
* void Max7219_Set_2_Rows(uint8_t row, uint16_t val);
* void Max7219_Set_4_Rows(uint8_t row, uint32_t val);
* void Max7219_Set_Column(uint8_t col, uint8_t val);
* void Max7219_idle_tasks();
*/
@ -62,9 +64,10 @@
static uint8_t LEDs[8] = { 0 };
void Max7219_PutByte(uint8_t data) {
CRITICAL_SECTION_START
for (uint8_t i = 8; i--;) {
#ifdef CPU_32_BIT // The 32-bit processors are so fast, a small delay in the code is needed
// to let the signal wires stabilize.
delayMicroseconds(5); // to let the signal wires stabilize.
WRITE(MAX7219_CLK_PIN, LOW); // tick
delayMicroseconds(5);
WRITE(MAX7219_DIN_PIN, (data & 0x80) ? HIGH : LOW); // send 1 or 0 based on data bit
@ -79,14 +82,22 @@ void Max7219_PutByte(uint8_t data) {
data <<= 1;
}
CRITICAL_SECTION_END
}
void Max7219(const uint8_t reg, const uint8_t data) {
#ifdef CPU_32_BIT
delayMicroseconds(5);
#endif
CRITICAL_SECTION_START
WRITE(MAX7219_LOAD_PIN, LOW); // begin
#ifdef CPU_32_BIT // The 32-bit processors are so fast, a small delay in the code is needed
delayMicroseconds(5); // to let the signal wires stabilize.
#endif
Max7219_PutByte(reg); // specify register
#ifdef CPU_32_BIT
delayMicroseconds(5);
#endif
Max7219_PutByte(data); // put data
#ifdef CPU_32_BIT
delayMicroseconds(5);
@ -96,45 +107,103 @@ void Max7219(const uint8_t reg, const uint8_t data) {
delayMicroseconds(5);
#endif
WRITE(MAX7219_LOAD_PIN, HIGH);
CRITICAL_SECTION_END
#ifdef CPU_32_BIT
delayMicroseconds(5);
#endif
}
void Max7219_LED_Set(const uint8_t row, const uint8_t col, const bool on) {
if (row > 7 || col > 7) return;
if (row > 7 || col > 7) {
int r,c;
r = row;
c = col;
SERIAL_ECHOPAIR("??? Max7219_LED_Set(",r);
SERIAL_ECHOPAIR(",",c);
SERIAL_ECHO(")\n");
return;
}
if (TEST(LEDs[row], col) == on) return; // if LED is already on/off, leave alone
if (on) SBI(LEDs[row], col); else CBI(LEDs[row], col);
Max7219(8 - row, LEDs[row]);
}
void Max7219_LED_On(const uint8_t row, const uint8_t col) {
Max7219_LED_Set(row, col, true);
void Max7219_LED_On(const uint8_t col, const uint8_t row) {
if (row > 7 || col > 7) {
int r,c;
r = row;
c = col;
SERIAL_ECHOPAIR("??? Max7219_LED_On(",c);
SERIAL_ECHOPAIR(",",r);
SERIAL_ECHO(")\n");
return;
}
Max7219_LED_Set(col, row, true);
}
void Max7219_LED_Off(const uint8_t row, const uint8_t col) {
Max7219_LED_Set(row, col, false);
void Max7219_LED_Off(const uint8_t col, const uint8_t row) {
if (row > 7 || col > 7) {
int r,c;
r = row;
c = col;
SERIAL_ECHOPAIR("??? Max7219_LED_Off(",r);
SERIAL_ECHOPAIR(",",c);
SERIAL_ECHO(")\n");
return;
}
Max7219_LED_Set(col, row, false);
}
void Max7219_LED_Toggle(const uint8_t row, const uint8_t col) {
if (row > 7 || col > 7) return;
void Max7219_LED_Toggle(const uint8_t col, const uint8_t row) {
if (row > 7 || col > 7) {
int r,c;
r = row;
c = col;
SERIAL_ECHOPAIR("??? Max7219_LED_Toggle(",r);
SERIAL_ECHOPAIR(",",c);
SERIAL_ECHO(")\n");
return;
}
if (TEST(LEDs[row], col))
Max7219_LED_Off(row, col);
Max7219_LED_Off(col, row);
else
Max7219_LED_On(row, col);
Max7219_LED_On(col, row);
}
void Max7219_Clear_Column(const uint8_t col) {
if (col > 7) return;
if (col > 7) {
int c;
c = col;
SERIAL_ECHOPAIR("??? Max7219_Clear_Column(",c);
SERIAL_ECHO(")\n");
return;
}
LEDs[col] = 0;
Max7219(8 - col, LEDs[col]);
}
void Max7219_Clear_Row(const uint8_t row) {
if (row > 7) return;
if (row > 7) {
int r;
r = row;
SERIAL_ECHOPAIR("??? Max7219_Clear_Row(",r);
SERIAL_ECHO(")\n");
return;
}
for (uint8_t c = 0; c <= 7; c++)
Max7219_LED_Off(c, row);
}
void Max7219_Set_Row(const uint8_t row, const uint8_t val) {
if (row > 7) return;
if (row > 7 || val>255) {
int r, v;
r = row;
v = val;
SERIAL_ECHOPAIR("??? Max7219_Set_Row(",r);
SERIAL_ECHOPAIR(",",v);
SERIAL_ECHO(")\n");
return;
}
for (uint8_t b = 0; b <= 7; b++)
if (TEST(val, b))
Max7219_LED_On(7 - b, row);
@ -142,8 +211,47 @@ void Max7219_Set_Row(const uint8_t row, const uint8_t val) {
Max7219_LED_Off(7 - b, row);
}
void Max7219_Set_2_Rows(const uint8_t row, const uint16_t val) {
if (row > 6 || val>65535) {
int r, v;
r = row;
v = val;
SERIAL_ECHOPAIR("??? Max7219_Set_2_Rows(",r);
SERIAL_ECHOPAIR(",",v);
SERIAL_ECHO(")\n");
return;
}
Max7219_Set_Row(row+1, (val & 0xff00) >> 8 );
Max7219_Set_Row(row+0, (val & 0xff));
}
void Max7219_Set_4_Rows(const uint8_t row, const uint32_t val) {
if (row > 4 ) {
int r;
long v;
r = row;
v = val;
SERIAL_ECHOPAIR("??? Max7219_Set_4_Rows(",r);
SERIAL_ECHOPAIR(",",v);
SERIAL_ECHO(")\n");
return;
}
Max7219_Set_Row(row+3, (val & 0xff000000) >> 24);
Max7219_Set_Row(row+2, (val & 0xff0000) >> 16);
Max7219_Set_Row(row+1, (val & 0xff00) >> 8);
Max7219_Set_Row(row+0, (val & 0xff));
}
void Max7219_Set_Column(const uint8_t col, const uint8_t val) {
if (col > 7) return;
if (val > 255 || col > 7) {
int v,c;
v = val;
c = col;
SERIAL_ECHOPAIR("??? Max7219_Column(",c);
SERIAL_ECHOPAIR(",",v);
SERIAL_ECHO(")\n");
return;
}
LEDs[col] = val;
Max7219(8 - col, LEDs[col]);
}
@ -206,10 +314,23 @@ void Max7219_init() {
* or clear a row is not very significant.
*/
void Max7219_idle_tasks() {
#if MAX7219_DEBUG_STEPPER_HEAD || MAX7219_DEBUG_STEPPER_TAIL || MAX7219_DEBUG_STEPPER_QUEUE
CRITICAL_SECTION_START
#if MAX7219_DEBUG_STEPPER_HEAD || MAX7219_DEBUG_STEPPER_QUEUE
uint8_t head;
head = planner.block_buffer_head;
#endif
#if MAX7219_DEBUG_STEPPER_TAIL || MAX7219_DEBUG_STEPPER_QUEUE
uint8_t tail;
tail = planner.block_buffer_tail;
#endif
CRITICAL_SECTION_END
#endif
#if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE)
static int debug_cnt = 0;
#ifdef CPU_32_BIT
if (debug_cnt++ > 400) {
#ifdef CPU_32_BIT
if (debug_cnt++ > 1000) {
#else
if (debug_cnt++ > 100) {
#endif
@ -219,26 +340,40 @@ void Max7219_idle_tasks() {
#endif
#ifdef MAX7219_DEBUG_STEPPER_HEAD
Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_HEAD);
Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_HEAD + 1);
if ( planner.block_buffer_head < 8)
Max7219_LED_On( planner.block_buffer_head, MAX7219_DEBUG_STEPPER_HEAD);
else
Max7219_LED_On( planner.block_buffer_head-8, MAX7219_DEBUG_STEPPER_HEAD+1);
static int16_t last_head_cnt=0;
if (last_head_cnt != head) {
if ( last_head_cnt < 8)
Max7219_LED_Off( last_head_cnt, MAX7219_DEBUG_STEPPER_HEAD);
else
Max7219_LED_Off( last_head_cnt-8, MAX7219_DEBUG_STEPPER_HEAD+1);
last_head_cnt = head;
if ( head < 8)
Max7219_LED_On(head, MAX7219_DEBUG_STEPPER_HEAD);
else
Max7219_LED_On(head-8, MAX7219_DEBUG_STEPPER_HEAD+1);
}
#endif
#ifdef MAX7219_DEBUG_STEPPER_TAIL
Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_TAIL);
Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_TAIL + 1);
if ( planner.block_buffer_tail < 8)
Max7219_LED_On( planner.block_buffer_tail, MAX7219_DEBUG_STEPPER_TAIL );
else
Max7219_LED_On( planner.block_buffer_tail-8, MAX7219_DEBUG_STEPPER_TAIL+1 );
static int16_t last_tail_cnt=0;
if (last_tail_cnt != tail) {
if ( last_tail_cnt < 8)
Max7219_LED_Off( last_tail_cnt, MAX7219_DEBUG_STEPPER_TAIL);
else
Max7219_LED_Off( last_tail_cnt-8, MAX7219_DEBUG_STEPPER_TAIL+1);
last_tail_cnt = tail;
if ( tail < 8)
Max7219_LED_On(tail, MAX7219_DEBUG_STEPPER_TAIL);
else
Max7219_LED_On(tail-8, MAX7219_DEBUG_STEPPER_TAIL+1);
}
#endif
#ifdef MAX7219_DEBUG_STEPPER_QUEUE
static int16_t last_depth = 0;
int16_t current_depth = planner.block_buffer_head - planner.block_buffer_tail;
int16_t current_depth = head - tail;
if (current_depth != last_depth) { // usually, no update will be needed.
if (current_depth < 0) current_depth += BLOCK_BUFFER_SIZE;
NOMORE(current_depth, BLOCK_BUFFER_SIZE);
@ -249,10 +384,10 @@ void Max7219_idle_tasks() {
en = max(current_depth, last_depth);
if (current_depth < last_depth)
for (uint8_t i = st; i <= en; i++) // clear the highest order LEDs
Max7219_LED_Off(i >> 1, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
Max7219_LED_Off(i/2, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
else
for (uint8_t i = st; i <= en; i++) // set the highest order LEDs
Max7219_LED_On(i >> 1, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
for (uint8_t i = st; i <= en; i++) // set the LEDs to current depth
Max7219_LED_On(i/2, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
last_depth = current_depth;
}

6
Marlin/src/feature/Max7219_Debug_LEDs.h
View File

@ -40,12 +40,14 @@
* void Max7219_PutByte(uint8_t data);
* void Max7219(uint8_t reg, uint8_t data);
* void Max7219_LED_Set(uint8_t row, uint8_t col, bool on);
* void Max7219_LED_On(uint8_t row, uint8_t col);
* void Max7219_LED_Off(uint8_t row, uint8_t col);
* void Max7219_LED_On(uint8_t col, uint8_t row);
* void Max7219_LED_Off(uint8_t col, uint8_t row);
* void Max7219_LED_Toggle(uint8_t row, uint8_t col);
* void Max7219_Clear_Row(uint8_t row);
* void Max7219_Clear_Column(uint8_t col);
* void Max7219_Set_Row(uint8_t row, uint8_t val);
* void Max7219_Set_2_Rows(uint8_t row, uint16_t val);
* void Max7219_Set_4_Rows(uint8_t row, uint32_t val);
* void Max7219_Set_Column(uint8_t col, uint8_t val);
* void Max7219_idle_tasks();
*/

1
Marlin/src/module/stepper.cpp
View File

@ -1294,6 +1294,7 @@ void Stepper::report_positions() {
_ENABLE(AXIS); \
_SAVE_START; \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
_PULSE_WAIT; \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
_PULSE_WAIT; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \

2
Marlin/src/module/temperature.h
View File

@ -441,7 +441,7 @@ class Temperature {
#if ENABLED(BABYSTEPPING)
static void babystep_axis(const AxisEnum axis, const int distance) {
static void babystep_axis(const AxisEnum axis, const int16_t distance) {
if (axis_known_position[axis]) {
#if IS_CORE
#if ENABLED(BABYSTEP_XY)

Write Preview
Loading…
Cancel
Save