Fix stepper pulse duration
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Scott Lahteine
parent
d3567592d7
commit
9d91ea4e3e
24
Marlin/HAL.h
24
Marlin/HAL.h
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@ -95,21 +95,15 @@ inline uint8_t HAL_get_reset_source(void) { return MCUSR; }
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#define TEMP_TIMER_NUM 0
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define STEPPER_TIMER_PRESCALE 8
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#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define TEMP_TIMER_PRESCALE 64
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#define TEMP_TIMER_FREQUENCY ((F_CPU) / float(TEMP_TIMER_PRESCALE) / 256.0)
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#define TIMER_OCR_1 OCR1A
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#define TIMER_COUNTER_1 TCNT1
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#define TIMER_OCR_0 OCR0A
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#define TIMER_COUNTER_0 TCNT0
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
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@ -150,6 +144,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t freque
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}
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}
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#define TIMER_OCR_1 OCR1A
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#define TIMER_COUNTER_1 TCNT1
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#define TIMER_OCR_0 OCR0A
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#define TIMER_COUNTER_0 TCNT0
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#define _CAT(a, ...) a ## __VA_ARGS__
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#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
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#define HAL_timer_restrain(timer, interval_ticks) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_ticks)
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@ -1214,7 +1214,7 @@ void Stepper::isr() {
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* On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin
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* On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin
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*/
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min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * 8);
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min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((STEPPER_TIMER_TICKS_PER_US) * 8);
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/**
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* NB: If for some reason the stepper monopolizes the MPU, eventually the
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@ -1266,10 +1266,10 @@ void Stepper::stepper_pulse_phase_isr() {
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// Just update the value we will get at the end of the loop
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step_events_completed += events_to_do;
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#if MINIMUM_STEPPER_PULSE
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
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const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
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// Take multiple steps per interrupt (For high speed moves)
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do {
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@ -1342,10 +1342,11 @@ void Stepper::stepper_pulse_phase_isr() {
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#if MINIMUM_STEPPER_PULSE
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
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pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Add the delay needed to ensure the maximum driver rate is enforced
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if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
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// Pulse stop
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#if HAS_X_STEP
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PULSE_STOP(X);
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@ -1373,15 +1374,15 @@ void Stepper::stepper_pulse_phase_isr() {
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// Decrement the count of pending pulses to do
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--events_to_do;
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#if MINIMUM_STEPPER_PULSE
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// For minimum pulse time wait after stopping pulses also
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if (events_to_do) {
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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// For minimum pulse time wait after stopping pulses also
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if (events_to_do) {
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#if MINIMUM_STEPPER_PULSE
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// Add to the value, the time that the pulse must be active (to be used on the next loop)
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pulse_end += hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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}
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#endif
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pulse_end += hal_timer_t(MIN_PULSE_TICKS);
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#endif
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}
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} while (events_to_do);
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}
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@ -1760,13 +1761,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
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REV_E_DIR(active_extruder);
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#endif
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
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const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
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// Step E stepper if we have steps
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while (LA_steps) {
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#if MINIMUM_STEPPER_PULSE
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Set the STEP pulse ON
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j) {
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// Step mixing steppers (proportionally)
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@ -1778,15 +1781,18 @@ uint32_t Stepper::stepper_block_phase_isr() {
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E_STEP_WRITE(active_extruder, !INVERT_E_STEP_PIN);
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#endif
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// Enforce a minimum duration for STEP pulse ON
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#if MINIMUM_STEPPER_PULSE
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
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pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
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#endif
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// Add the delay needed to ensure the maximum driver rate is enforced
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if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
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LA_steps < 0 ? ++LA_steps : --LA_steps;
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// Set the STEP pulse OFF
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j) {
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if (delta_error_m[j] >= 0) {
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@ -1798,12 +1804,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
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E_STEP_WRITE(active_extruder, INVERT_E_STEP_PIN);
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#endif
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#if MINIMUM_STEPPER_PULSE
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// For minimum pulse time wait before looping
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// Just wait for the requested pulse duration
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if (LA_steps) while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#endif
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// For minimum pulse time wait before looping
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// Just wait for the requested pulse duration
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if (LA_steps) {
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#if MINIMUM_STEPPER_PULSE
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// Add to the value, the time that the pulse must be active (to be used on the next loop)
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pulse_end += hal_timer_t(MIN_PULSE_TICKS);
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#endif
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}
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} // LA_steps
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return interval;
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