@ -91,8 +91,9 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) # if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
uint8_t Stepper : : old_OCR0A = 0 ; uint16_t Stepper : : nextMainISR = 0 ,
volatile uint8_t Stepper : : eISR_Rate = 200 ; // Keep the ISR at a low rate until needed
Stepper : : nextAdvanceISR = 65535 ,
Stepper : : eISR_Rate = 65535 ;
# if ENABLED(LIN_ADVANCE) # if ENABLED(LIN_ADVANCE)
volatile int Stepper : : e_steps [ E_STEPPERS ] ; volatile int Stepper : : e_steps [ E_STEPPERS ] ;
@ -328,16 +329,23 @@ void Stepper::set_directions() {
* 2000 1 KHz - sleep rate * 2000 1 KHz - sleep rate
* 4000 500 Hz - init rate * 4000 500 Hz - init rate
*/ */
ISR ( TIMER1_COMPA_vect ) { Stepper : : isr ( ) ; } ISR ( TIMER1_COMPA_vect ) {
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
Stepper : : advance_isr_scheduler ( ) ;
# else
Stepper : : isr ( ) ;
# endif
}
void Stepper : : isr ( ) { void Stepper : : isr ( ) {
//Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
# define _ENABLE_ISRs() cli(); SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT()
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
CBI ( TIMSK0 , OCIE0A ) ; //estepper ISR
# if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
//Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI ( TIMSK0 , OCIE0B ) ; //Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT ( ) ;
sei ( ) ;
# endif # endif
CBI ( TIMSK0 , OCIE0B ) ; //Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT ( ) ;
sei ( ) ;
if ( cleaning_buffer_counter ) { if ( cleaning_buffer_counter ) {
- - cleaning_buffer_counter ; - - cleaning_buffer_counter ;
@ -346,13 +354,8 @@ void Stepper::isr() {
# ifdef SD_FINISHED_RELEASECOMMAND # ifdef SD_FINISHED_RELEASECOMMAND
if ( ! cleaning_buffer_counter & & ( SD_FINISHED_STEPPERRELEASE ) ) enqueue_and_echo_commands_P ( PSTR ( SD_FINISHED_RELEASECOMMAND ) ) ; if ( ! cleaning_buffer_counter & & ( SD_FINISHED_STEPPERRELEASE ) ) enqueue_and_echo_commands_P ( PSTR ( SD_FINISHED_RELEASECOMMAND ) ) ;
# endif # endif
OCR1A = 200 ; // Run at max speed - 10 KHz
_NEXT_ISR ( 200 ) ; // Run at max speed - 10 KHz
//re-enable ISRs
_ENABLE_ISRs ( ) ; // re-enable ISRs
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
SBI ( TIMSK0 , OCIE0A ) ;
# endif
SBI ( TIMSK0 , OCIE0B ) ;
ENABLE_STEPPER_DRIVER_INTERRUPT ( ) ;
return ; return ;
} }
@ -381,12 +384,8 @@ void Stepper::isr() {
# if ENABLED(Z_LATE_ENABLE) # if ENABLED(Z_LATE_ENABLE)
if ( current_block - > steps [ Z_AXIS ] > 0 ) { if ( current_block - > steps [ Z_AXIS ] > 0 ) {
enable_z ( ) ; enable_z ( ) ;
OCR1A = 2000 ; // Run at slow speed - 1 KHz
_NEXT_ISR ( 2000 ) ; // Run at slow speed - 1 KHz
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) _ENABLE_ISRs ( ) ; // re-enable ISRs
SBI ( TIMSK0 , OCIE0A ) ;
# endif
SBI ( TIMSK0 , OCIE0B ) ;
ENABLE_STEPPER_DRIVER_INTERRUPT ( ) ;
return ; return ;
} }
# endif # endif
@ -396,12 +395,8 @@ void Stepper::isr() {
// #endif
// #endif
} }
else { else {
OCR1A = 2000 ; // Run at slow speed - 1 KHz
_NEXT_ISR ( 2000 ) ; // Run at slow speed - 1 KHz
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) _ENABLE_ISRs ( ) ; // re-enable ISRs
SBI ( TIMSK0 , OCIE0A ) ;
# endif
SBI ( TIMSK0 , OCIE0B ) ;
ENABLE_STEPPER_DRIVER_INTERRUPT ( ) ;
return ; return ;
} }
} }
@ -586,7 +581,7 @@ void Stepper::isr() {
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) # if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// If we have esteps to execute, fire the next advance_isr "now"
// If we have esteps to execute, fire the next advance_isr "now"
if ( e_steps [ TOOL_E_INDEX ] ) OCR0A = TCNT0 + 2 ; if ( e_steps [ TOOL_E_INDEX ] ) nextAdvanceISR = 0 ;
# endif # endif
// Calculate new timer value
// Calculate new timer value
@ -600,7 +595,7 @@ void Stepper::isr() {
// step_rate to timer interval
// step_rate to timer interval
uint16_t timer = calc_timer ( acc_step_rate ) ; uint16_t timer = calc_timer ( acc_step_rate ) ;
OCR1A = timer ; _NEXT_ISR ( timer ) ;
acceleration_time + = timer ; acceleration_time + = timer ;
# if ENABLED(LIN_ADVANCE) # if ENABLED(LIN_ADVANCE)
@ -637,7 +632,7 @@ void Stepper::isr() {
# endif // ADVANCE or LIN_ADVANCE
# endif // ADVANCE or LIN_ADVANCE
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) # if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = ( timer > > 3 ) * step_loops / abs ( e_steps [ TOOL_E_INDEX ] ) ; //>> 3 is divide by 8. Reason: Timer 1 runs at 16/8=2MHz, Timer 0 at 16/64=0.25MHz. ==> 2/0.25=8.
eISR_Rate = ! e_steps [ TOOL_E_INDEX ] ? 65535 : timer * step_loops / abs ( e_steps [ TOOL_E_INDEX ] ) ;
# endif # endif
} }
else if ( step_events_completed > ( uint32_t ) current_block - > decelerate_after ) { else if ( step_events_completed > ( uint32_t ) current_block - > decelerate_after ) {
@ -653,7 +648,7 @@ void Stepper::isr() {
// step_rate to timer interval
// step_rate to timer interval
uint16_t timer = calc_timer ( step_rate ) ; uint16_t timer = calc_timer ( step_rate ) ;
OCR1A = timer ; _NEXT_ISR ( timer ) ;
deceleration_time + = timer ; deceleration_time + = timer ;
# if ENABLED(LIN_ADVANCE) # if ENABLED(LIN_ADVANCE)
@ -688,7 +683,7 @@ void Stepper::isr() {
# endif // ADVANCE or LIN_ADVANCE
# endif // ADVANCE or LIN_ADVANCE
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) # if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = ( timer > > 3 ) * step_loops / abs ( e_steps [ TOOL_E_INDEX ] ) ; eISR_Rate = ! e_steps [ TOOL_E_INDEX ] ? 65535 : timer * step_loops / abs ( e_steps [ TOOL_E_INDEX ] ) ;
# endif # endif
} }
else { else {
@ -698,40 +693,37 @@ void Stepper::isr() {
if ( current_block - > use_advance_lead ) if ( current_block - > use_advance_lead )
current_estep_rate [ TOOL_E_INDEX ] = final_estep_rate ; current_estep_rate [ TOOL_E_INDEX ] = final_estep_rate ;
eISR_Rate = ( OCR1A_nominal > > 3 ) * step_loops_nominal / abs ( e_steps [ TOOL_E_INDEX ] ) ; eISR_Rate = ! e_steps [ TOOL_E_INDEX ] ? 65535 : OCR1A_nominal * step_loops_nominal / abs ( e_steps [ TOOL_E_INDEX ] ) ;
# endif # endif
OCR1A = OCR1A_nominal ; _NEXT_ISR ( OCR1A_nominal ) ;
// ensure we're running at the correct step rate, even if we just came off an acceleration
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal ; step_loops = step_loops_nominal ;
} }
NOLESS ( OCR1A , TCNT1 + 16 ) ; # if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
NOLESS ( OCR1A , TCNT1 + 16 ) ;
# endif
// If current block is finished, reset pointer
// If current block is finished, reset pointer
if ( all_steps_done ) { if ( all_steps_done ) {
current_block = NULL ; current_block = NULL ;
planner . discard_current_block ( ) ; planner . discard_current_block ( ) ;
} }
# if ENABLED(ADVANCE) || EN ABLED(LIN_ADVANCE) # if DISABLED(ADVANCE) && DIS ABLED(LIN_ADVANCE)
SBI ( TIMSK0 , OCIE0A ) ; _ENABLE_ISRs ( ) ; // re-enable ISRs
# endif # endif
SBI ( TIMSK0 , OCIE0B ) ;
ENABLE_STEPPER_DRIVER_INTERRUPT ( ) ;
} }
# if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) # if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// Timer interrupt for E. e_steps is set in the main routine;
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
ISR ( TIMER0_COMPA_vect ) { Stepper : : advance_isr ( ) ; }
void Stepper : : advance_isr ( ) { void Stepper : : advance_isr ( ) {
old_OCR0A + = eISR_Rate ; nextAdvanceISR = eISR_Rate ;
OCR0A = old_OCR0A ;
# define SET_E_STEP_DIR(INDEX) \ # define SET_E_STEP_DIR(INDEX) \
if ( e_steps [ INDEX ] ) E # # INDEX # # _DIR_WRITE ( e_steps [ INDEX ] < 0 ? INVERT_E # # INDEX # # _DIR : ! INVERT_E # # INDEX # # _DIR ) if ( e_steps [ INDEX ] ) E # # INDEX # # _DIR_WRITE ( e_steps [ INDEX ] < 0 ? INVERT_E # # INDEX # # _DIR : ! INVERT_E # # INDEX # # _DIR )
@ -795,6 +787,46 @@ void Stepper::isr() {
} }
void Stepper : : advance_isr_scheduler ( ) {
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI ( TIMSK0 , OCIE0B ) ; // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT ( ) ;
sei ( ) ;
// Run main stepping ISR if flagged
if ( ! nextMainISR ) isr ( ) ;
// Run Advance stepping ISR if flagged
if ( ! nextAdvanceISR ) advance_isr ( ) ;
// Is the next advance ISR scheduled before the next main ISR?
if ( nextAdvanceISR < = nextMainISR ) {
// Set up the next interrupt
OCR1A = nextAdvanceISR ;
// New interval for the next main ISR
if ( nextMainISR ) nextMainISR - = nextAdvanceISR ;
// Will call Stepper::advance_isr on the next interrupt
nextAdvanceISR = 0 ;
}
else {
// The next main ISR comes first
OCR1A = nextMainISR ;
// New interval for the next advance ISR, if any
if ( nextAdvanceISR & & nextAdvanceISR ! = 65535 )
nextAdvanceISR - = nextMainISR ;
// Will call Stepper::isr on the next interrupt
nextMainISR = 0 ;
}
// Don't run the ISR faster than possible
NOLESS ( OCR1A , TCNT1 + 16 ) ;
// Restore original ISR settings
cli ( ) ;
SBI ( TIMSK0 , OCIE0B ) ;
ENABLE_STEPPER_DRIVER_INTERRUPT ( ) ;
}
# endif // ADVANCE or LIN_ADVANCE
# endif // ADVANCE or LIN_ADVANCE
void Stepper : : init ( ) { void Stepper : : init ( ) {
@ -981,12 +1013,6 @@ void Stepper::init() {
# endif # endif
} }
# if defined(TCCR0A) && defined(WGM01)
CBI ( TCCR0A , WGM01 ) ;
CBI ( TCCR0A , WGM00 ) ;
# endif
SBI ( TIMSK0 , OCIE0A ) ;
# endif // ADVANCE or LIN_ADVANCE
# endif // ADVANCE or LIN_ADVANCE
endstops . enable ( true ) ; // Start with endstops active. After homing they can be disabled
endstops . enable ( true ) ; // Start with endstops active. After homing they can be disabled
Scott Lahteine
8 years ago
GitHub