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Improve sync of stepper positions

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This commit is contained in:
Scott Lahteine 2018-05-03 20:23:35 -05:00
parent 1682036533
commit 08e20dbbc6
5 changed files with 109 additions and 63 deletions
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9
Marlin/Marlin_main.cpp
View File

@ -6258,8 +6258,6 @@ void home_all_axes() { gcode_G28(true); }
*/
inline void gcode_G92() {
stepper.synchronize();
#if ENABLED(CNC_COORDINATE_SYSTEMS)
switch (parser.subcode) {
case 1:
@ -6319,10 +6317,9 @@ inline void gcode_G92() {
COPY(coordinate_system[active_coordinate_system], position_shift);
#endif
if (didXYZ)
SYNC_PLAN_POSITION_KINEMATIC();
else if (didE)
sync_plan_position_e();
// Update planner/steppers only if the native coordinates changed
if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
else if (didE) sync_plan_position_e();
report_current_position();
}

58
Marlin/planner.cpp
View File

@ -819,15 +819,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
const float esteps_float = de * e_factor[extruder];
const int32_t esteps = abs(esteps_float) + 0.5;
// Calculate the buffer head after we push this byte
const uint8_t next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
while (block_buffer_tail == next_buffer_head) idle();
// Prepare to set up new block
block_t* block = &block_buffer[block_buffer_head];
// Wait for the next available block
uint8_t next_buffer_head;
block_t * const block = get_next_free_block(next_buffer_head);
// Clear all flags, including the "busy" bit
block->flag = 0x00;
@ -1467,6 +1461,26 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
} // _buffer_steps()
/**
* Planner::buffer_sync_block
* Add a block to the buffer that just updates the position
*/
void Planner::buffer_sync_block() {
// Wait for the next available block
uint8_t next_buffer_head;
block_t * const block = get_next_free_block(next_buffer_head);
block->steps[A_AXIS] = position[A_AXIS];
block->steps[B_AXIS] = position[B_AXIS];
block->steps[C_AXIS] = position[C_AXIS];
block->steps[E_AXIS] = position[E_AXIS];
block->flag = BLOCK_FLAG_SYNC_POSITION;
block_buffer_head = next_buffer_head;
stepper.wake_up();
} // buffer_sync_block()
/**
* Planner::buffer_segment
*
@ -1595,19 +1609,19 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
#else
#define _EINDEX E_AXIS
#endif
const int32_t na = position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]),
nb = position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
nc = position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]),
position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
#if HAS_POSITION_FLOAT
position_float[X_AXIS] = a;
position_float[Y_AXIS] = b;
position_float[Z_AXIS] = c;
position_float[A_AXIS] = a;
position_float[B_AXIS] = b;
position_float[C_AXIS] = c;
position_float[E_AXIS] = e;
#endif
stepper.set_position(na, nb, nc, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
ZERO(previous_speed);
buffer_sync_block();
}
void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
@ -1655,23 +1669,23 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) {
#if HAS_POSITION_FLOAT
position_float[axis] = v;
#endif
stepper.set_position(axis, position[axis]);
previous_speed[axis] = 0.0;
buffer_sync_block();
}
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
void Planner::reset_acceleration_rates() {
#if ENABLED(DISTINCT_E_FACTORS)
#define HIGHEST_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
#define AXIS_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
#else
#define HIGHEST_CONDITION true
#define AXIS_CONDITION true
#endif
uint32_t highest_rate = 1;
LOOP_XYZE_N(i) {
max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
if (HIGHEST_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
}
cutoff_long = 4294967295UL / highest_rate;
cutoff_long = 4294967295UL / highest_rate; // 0xFFFFFFFFUL
}
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!

32
Marlin/planner.h
View File

@ -53,14 +53,18 @@ enum BlockFlagBit : char {
BLOCK_BIT_BUSY,
// The block is segment 2+ of a longer move
BLOCK_BIT_CONTINUED
BLOCK_BIT_CONTINUED,
// Sync the stepper counts from the block
BLOCK_BIT_SYNC_POSITION
};
enum BlockFlag : char {
BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY),
BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED)
BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED),
BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION)
};
/**
@ -409,6 +413,20 @@ class Planner {
#endif
/**
* Planner::get_next_free_block
*
* - Get the next head index (passed by reference)
* - Wait for a space to open up in the planner
* - Return the head block
*/
FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head) {
next_buffer_head = next_block_index(block_buffer_head);
while (block_buffer_tail == next_buffer_head) idle(); // while (is_full)
return &block_buffer[block_buffer_head];
}
/**
* Planner::_buffer_steps
*
@ -426,6 +444,12 @@ class Planner {
, float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
/**
* Planner::buffer_sync_block
* Add a block to the buffer that just updates the position
*/
static void buffer_sync_block();
/**
* Planner::buffer_segment
*
@ -505,7 +529,7 @@ class Planner {
static void set_position_mm_kinematic(const float (&cart)[XYZE]);
static void set_position_mm(const AxisEnum axis, const float &v);
FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }
FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); }
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
@ -515,7 +539,7 @@ class Planner {
/**
* Does the buffer have any blocks queued?
*/
static inline bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
/**
* "Discard" the block and "release" the memory.

44
Marlin/stepper.cpp
View File

@ -449,18 +449,30 @@ void Stepper::isr() {
// If there is no current block, attempt to pop one from the buffer
if (!current_block) {
// Anything in the buffer?
if ((current_block = planner.get_current_block())) {
// Sync block? Sync the stepper counts and return
while (TEST(current_block->flag, BLOCK_BIT_SYNC_POSITION)) {
_set_position(
current_block->steps[A_AXIS], current_block->steps[B_AXIS],
current_block->steps[C_AXIS], current_block->steps[E_AXIS]
);
planner.discard_current_block();
if (!(current_block = planner.get_current_block())) return;
}
trapezoid_generator_reset();
// Initialize Bresenham counters to 1/2 the ceiling
counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(i)
counter_m[i] = -(current_block->mix_event_count[i] >> 1);
#endif
// No step events completed so far
step_events_completed = 0;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
@ -469,6 +481,7 @@ void Stepper::isr() {
#endif
#if ENABLED(Z_LATE_ENABLE)
// If delayed Z enable, postpone move for 1mS
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
@ -595,7 +608,6 @@ void Stepper::isr() {
#endif
#if ENABLED(LIN_ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
#if DISABLED(MIXING_EXTRUDER)
@ -708,7 +720,6 @@ void Stepper::isr() {
acceleration_time += interval;
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) {
if (step_events_completed == step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
nextAdvanceISR = 0; // Wake up eISR on first acceleration loop and fire ISR if final adv_rate is reached
@ -719,7 +730,6 @@ void Stepper::isr() {
eISR_Rate = ADV_NEVER;
if (e_steps) nextAdvanceISR = 0;
}
#endif // LIN_ADVANCE
}
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
@ -742,7 +752,6 @@ void Stepper::isr() {
deceleration_time += interval;
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) {
if (step_events_completed <= (uint32_t)current_block->decelerate_after + step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
nextAdvanceISR = 0; // Wake up eISR on first deceleration loop
@ -753,16 +762,13 @@ void Stepper::isr() {
eISR_Rate = ADV_NEVER;
if (e_steps) nextAdvanceISR = 0;
}
#endif // LIN_ADVANCE
}
else {
#if ENABLED(LIN_ADVANCE)
// If we have esteps to execute, fire the next advance_isr "now"
if (e_steps && eISR_Rate != current_block->advance_speed) nextAdvanceISR = 0;
#endif
SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
@ -902,6 +908,7 @@ void Stepper::isr() {
}
void Stepper::advance_isr_scheduler() {
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
@ -1120,12 +1127,7 @@ void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buf
* This allows get_axis_position_mm to correctly
* derive the current XYZ position later on.
*/
void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
synchronize(); // Bad to set stepper counts in the middle of a move
CRITICAL_SECTION_START;
void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
#if CORE_IS_XY
// corexy positioning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
@ -1148,21 +1150,7 @@ void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c,
count_position[Y_AXIS] = b;
count_position[Z_AXIS] = c;
#endif
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
void Stepper::set_position(const AxisEnum &axis, const int32_t &v) {
CRITICAL_SECTION_START;
count_position[axis] = v;
CRITICAL_SECTION_END;
}
void Stepper::set_e_position(const int32_t &e) {
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
/**

29
Marlin/stepper.h
View File

@ -202,9 +202,32 @@ class Stepper {
//
// 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 void set_position(const AxisEnum &a, const int32_t &v);
static void set_e_position(const int32_t &e);
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 AxisEnum a, const int32_t &v) { count_position[a] = v; }
FORCE_INLINE static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
synchronize();
CRITICAL_SECTION_START;
_set_position(a, b, c, e);
CRITICAL_SECTION_END;
}
static void set_position(const AxisEnum a, const int32_t &v) {
synchronize();
CRITICAL_SECTION_START;
count_position[a] = v;
CRITICAL_SECTION_END;
}
FORCE_INLINE static void _set_e_position(const int32_t &e) { count_position[E_AXIS] = e; }
static void set_e_position(const int32_t &e) {
synchronize();
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
//
// Set direction bits for all steppers