3d_print_resources/Marlin
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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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44
Marlin/stepper.cpp
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@ -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;
}
/**