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Fix stepper pulse duration

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This commit is contained in:
Scott Lahteine 2018-06-12 17:11:45 -05:00
parent d3567592d7
commit 9d91ea4e3e
2 changed files with 48 additions and 39 deletions
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24
Marlin/HAL.h
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@ -95,21 +95,15 @@ inline uint8_t HAL_get_reset_source(void) { return MCUSR; }
#define TEMP_TIMER_NUM 0 #define TEMP_TIMER_NUM 0
#define PULSE_TIMER_NUM STEP_TIMER_NUM #define PULSE_TIMER_NUM STEP_TIMER_NUM
#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
#define STEPPER_TIMER_RATE HAL_TIMER_RATE #define STEPPER_TIMER_RATE HAL_TIMER_RATE
#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
#define STEPPER_TIMER_PRESCALE 8 #define STEPPER_TIMER_PRESCALE 8
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
#define TEMP_TIMER_PRESCALE 64 #define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define TEMP_TIMER_FREQUENCY ((F_CPU) / float(TEMP_TIMER_PRESCALE) / 256.0) #define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define TIMER_OCR_1 OCR1A
#define TIMER_COUNTER_1 TCNT1
#define TIMER_OCR_0 OCR0A
#define TIMER_COUNTER_0 TCNT0
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A) #define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A) #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
@ -150,6 +144,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t freque
} }
} }
#define TIMER_OCR_1 OCR1A
#define TIMER_COUNTER_1 TCNT1
#define TIMER_OCR_0 OCR0A
#define TIMER_COUNTER_0 TCNT0
#define _CAT(a, ...) a ## __VA_ARGS__ #define _CAT(a, ...) a ## __VA_ARGS__
#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare) #define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
#define HAL_timer_restrain(timer, interval_ticks) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_ticks) #define HAL_timer_restrain(timer, interval_ticks) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_ticks)

63
Marlin/stepper.cpp
View File

@ -1214,7 +1214,7 @@ void Stepper::isr() {
* On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin * On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin
* On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin * On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin
*/ */
min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * 8); min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((STEPPER_TIMER_TICKS_PER_US) * 8);
/** /**
* NB: If for some reason the stepper monopolizes the MPU, eventually the * NB: If for some reason the stepper monopolizes the MPU, eventually the
@ -1266,10 +1266,10 @@ void Stepper::stepper_pulse_phase_isr() {
// Just update the value we will get at the end of the loop // Just update the value we will get at the end of the loop
step_events_completed += events_to_do; step_events_completed += events_to_do;
#if MINIMUM_STEPPER_PULSE // Get the timer count and estimate the end of the pulse
// Get the timer count and estimate the end of the pulse hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
// Take multiple steps per interrupt (For high speed moves) // Take multiple steps per interrupt (For high speed moves)
do { do {
@ -1342,10 +1342,11 @@ void Stepper::stepper_pulse_phase_isr() {
#if MINIMUM_STEPPER_PULSE #if MINIMUM_STEPPER_PULSE
// Just wait for the requested pulse duration // Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ } while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif #endif
// Add the delay needed to ensure the maximum driver rate is enforced
if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
// Pulse stop // Pulse stop
#if HAS_X_STEP #if HAS_X_STEP
PULSE_STOP(X); PULSE_STOP(X);
@ -1373,15 +1374,15 @@ void Stepper::stepper_pulse_phase_isr() {
// Decrement the count of pending pulses to do // Decrement the count of pending pulses to do
--events_to_do; --events_to_do;
#if MINIMUM_STEPPER_PULSE // For minimum pulse time wait after stopping pulses also
// For minimum pulse time wait after stopping pulses also if (events_to_do) {
if (events_to_do) { // Just wait for the requested pulse duration
// Just wait for the requested pulse duration while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ } #if MINIMUM_STEPPER_PULSE
// Add to the value, the time that the pulse must be active (to be used on the next loop) // Add to the value, the time that the pulse must be active (to be used on the next loop)
pulse_end += hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE)); pulse_end += hal_timer_t(MIN_PULSE_TICKS);
} #endif
#endif }
} while (events_to_do); } while (events_to_do);
} }
@ -1760,13 +1761,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
REV_E_DIR(active_extruder); REV_E_DIR(active_extruder);
#endif #endif
// Get the timer count and estimate the end of the pulse
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
// Step E stepper if we have steps // Step E stepper if we have steps
while (LA_steps) { while (LA_steps) {
#if MINIMUM_STEPPER_PULSE // Set the STEP pulse ON
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) { MIXING_STEPPERS_LOOP(j) {
// Step mixing steppers (proportionally) // Step mixing steppers (proportionally)
@ -1778,15 +1781,18 @@ uint32_t Stepper::stepper_block_phase_isr() {
E_STEP_WRITE(active_extruder, !INVERT_E_STEP_PIN); E_STEP_WRITE(active_extruder, !INVERT_E_STEP_PIN);
#endif #endif
// Enforce a minimum duration for STEP pulse ON
#if MINIMUM_STEPPER_PULSE #if MINIMUM_STEPPER_PULSE
// Just wait for the requested pulse duration // Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ } while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif #endif
// Add the delay needed to ensure the maximum driver rate is enforced
if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
LA_steps < 0 ? ++LA_steps : --LA_steps; LA_steps < 0 ? ++LA_steps : --LA_steps;
// Set the STEP pulse OFF
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) { MIXING_STEPPERS_LOOP(j) {
if (delta_error_m[j] >= 0) { if (delta_error_m[j] >= 0) {
@ -1798,12 +1804,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
E_STEP_WRITE(active_extruder, INVERT_E_STEP_PIN); E_STEP_WRITE(active_extruder, INVERT_E_STEP_PIN);
#endif #endif
#if MINIMUM_STEPPER_PULSE // For minimum pulse time wait before looping
// For minimum pulse time wait before looping // Just wait for the requested pulse duration
// Just wait for the requested pulse duration if (LA_steps) {
if (LA_steps) while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ } while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
#endif #if MINIMUM_STEPPER_PULSE
// Add to the value, the time that the pulse must be active (to be used on the next loop)
pulse_end += hal_timer_t(MIN_PULSE_TICKS);
#endif
}
} // LA_steps } // LA_steps
return interval; return interval;