[1.1.x] Fix stepper/planner race condition, Stepper pulse timer (#11084)
* Fix planner/stepper race condition Co-Authored-By: ejtagle <ejtagle@hotmail.com> Co-Authored-By: AnHardt <github@kitelab.de> * Fix stepper pulse timing Co-Authored-By: ejtagle <ejtagle@hotmail.com>
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Scott Lahteine
GitHub
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dd9c65d0be
@ -740,7 +740,11 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
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const bool was_enabled = STEPPER_ISR_ENABLED();
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if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
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// Don't update variables if block is busy: It is being interpreted by the planner
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// Don't update variables if block is busy; it is being interpreted by the planner.
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// If this happens, there's a problem... The block speed is inconsistent. Some values
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// have already been updated, but the Stepper ISR is already using the block. Fortunately,
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// the values being used by the Stepper ISR weren't touched, so just stop here...
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// TODO: There may be a way to update a running block, depending on the stepper ISR position.
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if (!TEST(block->flag, BLOCK_BIT_BUSY)) {
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block->accelerate_until = accelerate_steps;
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block->decelerate_after = accelerate_steps + plateau_steps;
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@ -844,10 +848,13 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t * const
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? max_entry_speed_sqr
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: MIN(max_entry_speed_sqr, max_allowable_speed_sqr(-current->acceleration, next ? next->entry_speed_sqr : sq(MINIMUM_PLANNER_SPEED), current->millimeters));
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if (current->entry_speed_sqr != new_entry_speed_sqr) {
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current->entry_speed_sqr = new_entry_speed_sqr;
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// Need to recalculate the block speed
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// Need to recalculate the block speed - Mark it now, so the stepper
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// ISR does not consume the block before being recalculated
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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// Set the new entry speed
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current->entry_speed_sqr = new_entry_speed_sqr;
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}
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}
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}
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@ -907,14 +914,15 @@ void Planner::forward_pass_kernel(const block_t* const previous, block_t* const
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// If true, current block is full-acceleration and we can move the planned pointer forward.
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if (new_entry_speed_sqr < current->entry_speed_sqr) {
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// Mark we need to recompute the trapezoidal shape, and do it now,
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// so the stepper ISR does not consume the block before being recalculated
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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// Always <= max_entry_speed_sqr. Backward pass sets this.
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current->entry_speed_sqr = new_entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this.
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// Set optimal plan pointer.
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block_buffer_planned = block_index;
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// And mark we need to recompute the trapezoidal shape
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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}
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}
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@ -1001,6 +1009,12 @@ void Planner::recalculate_trapezoids() {
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if (current) {
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// Recalculate if current block entry or exit junction speed has changed.
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if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
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// Mark the current block as RECALCULATE, to protect it from the Stepper ISR running it.
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// Note that due to the above condition, there's a chance the current block isn't marked as
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// RECALCULATE yet, but the next one is. That's the reason for the following line.
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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// NOTE: Entry and exit factors always > 0 by all previous logic operations.
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const float current_nominal_speed = SQRT(current->nominal_speed_sqr),
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nomr = 1.0 / current_nominal_speed;
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@ -1012,7 +1026,10 @@ void Planner::recalculate_trapezoids() {
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current->final_adv_steps = next_entry_speed * comp;
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}
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#endif
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CBI(current->flag, BLOCK_BIT_RECALCULATE); // Reset current only to ensure next trapezoid is computed
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// Reset current only to ensure next trapezoid is computed - The
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// stepper is free to use the block from now on.
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CBI(current->flag, BLOCK_BIT_RECALCULATE);
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}
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}
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@ -1025,6 +1042,12 @@ void Planner::recalculate_trapezoids() {
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// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
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if (next) {
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// Mark the next(last) block as RECALCULATE, to prevent the Stepper ISR running it.
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// As the last block is always recalculated here, there is a chance the block isn't
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// marked as RECALCULATE yet. That's the reason for the following line.
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SBI(next->flag, BLOCK_BIT_RECALCULATE);
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const float next_nominal_speed = SQRT(next->nominal_speed_sqr),
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nomr = 1.0 / next_nominal_speed;
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calculate_trapezoid_for_block(next, next_entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr);
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@ -1035,6 +1058,9 @@ void Planner::recalculate_trapezoids() {
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next->final_adv_steps = (MINIMUM_PLANNER_SPEED) * comp;
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}
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#endif
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// Reset next only to ensure its trapezoid is computed - The stepper is free to use
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// the block from now on.
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CBI(next->flag, BLOCK_BIT_RECALCULATE);
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}
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}
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118
Marlin/stepper.h
118
Marlin/stepper.h
@ -53,7 +53,7 @@
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//
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#ifndef MINIMUM_STEPPER_PULSE
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#define MINIMUM_STEPPER_PULSE 0
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#define MINIMUM_STEPPER_PULSE 0UL
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#endif
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#ifndef MAXIMUM_STEPPER_RATE
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@ -64,101 +64,93 @@
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#endif
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#endif
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#ifdef CPU_32_BIT
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// The base ISR takes 792 cycles
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#define ISR_BASE_CYCLES 792UL
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// Linear advance base time is 64 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 64UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 40 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 40UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 4UL
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// And each stepper takes 16 cycles
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#define ISR_STEPPER_CYCLES 16UL
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 32UL
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#else
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 32UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper takes 88 cycles
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#define ISR_STEPPER_CYCLES 88UL
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// To start the step pulse, in the worst case takes
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#define ISR_START_STEPPER_CYCLES 57UL
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// And each stepper (start + stop pulse) takes in worst case
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#define ISR_STEPPER_CYCLES 88UL
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// Add time for each stepper
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#ifdef HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#define ISR_START_X_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_X_STEPPER_CYCLES 0UL
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#define ISR_START_X_STEPPER_CYCLES 0UL
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#define ISR_X_STEPPER_CYCLES 0UL
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#endif
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#ifdef HAS_Y_STEP
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#define ISR_START_Y_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Y_STEPPER_CYCLES 0UL
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#define ISR_START_Y_STEPPER_CYCLES 0UL
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#define ISR_Y_STEPPER_CYCLES 0UL
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#endif
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#ifdef HAS_Z_STEP
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#define ISR_START_Z_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Z_STEPPER_CYCLES 0UL
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#define ISR_START_Z_STEPPER_CYCLES 0UL
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#define ISR_Z_STEPPER_CYCLES 0UL
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#endif
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// E is always interpolated, even for mixing extruders
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#define ISR_START_E_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
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// If linear advance is disabled, then the loop also handles them
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#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
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#define ISR_START_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_START_STEPPER_CYCLES))
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#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
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#else
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#define ISR_START_MIXING_STEPPER_CYCLES 0UL
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#define ISR_MIXING_STEPPER_CYCLES 0UL
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#endif
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// Calculate the minimum time to start all stepper pulses in the ISR loop
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#define MIN_ISR_START_LOOP_CYCLES (ISR_START_X_STEPPER_CYCLES + ISR_START_Y_STEPPER_CYCLES + ISR_START_Z_STEPPER_CYCLES + ISR_START_E_STEPPER_CYCLES + ISR_START_MIXING_STEPPER_CYCLES)
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// And the total minimum loop time, not including the base
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#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
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// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
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#define _MIN_STEPPER_PULSE_CYCLES(N) max((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
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#define _MIN_STEPPER_PULSE_CYCLES(N) MAX((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
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#if MINIMUM_STEPPER_PULSE
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE)
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES((MINIMUM_STEPPER_PULSE))
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#else
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1)
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL)
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#endif
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#define MIN_PULSE_TICKS ((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE))
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#define ADDED_STEP_TICKS ((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE) - MIN_PULSE_TICKS)
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// Calculate the minimum ticks of the PULSE timer that must elapse with the step pulse enabled
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// adding the "start stepper pulse" code section execution cycles to account for that not all
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// pulses start at the beginning of the loop, so an extra time must be added to compensate so
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// the last generated pulse (usually the extruder stepper) has the right length
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#define MIN_PULSE_TICKS (((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE)) + ((MIN_ISR_START_LOOP_CYCLES) / (PULSE_TIMER_PRESCALE)))
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// Calculate the extra ticks of the PULSE timer between step pulses
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#define ADDED_STEP_TICKS (((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE)) - (MIN_PULSE_TICKS))
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// But the user could be enforcing a minimum time, so the loop time is
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#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
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#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
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// If linear advance is enabled, then it is handled separately
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#if ENABLED(LIN_ADVANCE)
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@ -171,7 +163,7 @@
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#endif
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// And the real loop time
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#define ISR_LA_LOOP_CYCLES max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
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#define ISR_LA_LOOP_CYCLES MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
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#else
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#define ISR_LA_LOOP_CYCLES 0UL
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