[1.1.x] Assorted fixes and improvements (#10914)
Co-Authored-By: ejtagle
This commit is contained in:
Scott Lahteine
GitHub
parent
67d9d1870c
commit
3b06a8e917
8 changed files with 238 additions and 183 deletions
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@ -91,13 +91,13 @@ uint8_t Stepper::last_direction_bits = 0,
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bool Stepper::abort_current_block;
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#if ENABLED(X_DUAL_ENDSTOPS)
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bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
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bool Stepper::locked_X_motor = false, Stepper::locked_X2_motor = false;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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bool Stepper::locked_y_motor = false, Stepper::locked_y2_motor = false;
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bool Stepper::locked_Y_motor = false, Stepper::locked_Y2_motor = false;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
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bool Stepper::locked_Z_motor = false, Stepper::locked_Z2_motor = false;
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#endif
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/**
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@ -169,26 +169,20 @@ uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
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volatile int32_t Stepper::endstops_trigsteps[XYZ];
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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#define LOCKED_X_MOTOR locked_x_motor
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#define LOCKED_Y_MOTOR locked_y_motor
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#define LOCKED_Z_MOTOR locked_z_motor
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#define LOCKED_X2_MOTOR locked_x2_motor
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#define LOCKED_Y2_MOTOR locked_y2_motor
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#define LOCKED_Z2_MOTOR locked_z2_motor
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#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
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if (performing_homing) { \
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if (A##_HOME_DIR < 0) { \
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if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
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if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
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} \
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else { \
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if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
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if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
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} \
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} \
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else { \
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A##_STEP_WRITE(V); \
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A##2_STEP_WRITE(V); \
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#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
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if (performing_homing) { \
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if (A##_HOME_DIR < 0) { \
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if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
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if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
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} \
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else { \
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if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
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if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
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} \
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} \
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else { \
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A##_STEP_WRITE(V); \
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A##2_STEP_WRITE(V); \
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}
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#endif
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@ -1117,27 +1111,22 @@ void Stepper::set_directions() {
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HAL_STEP_TIMER_ISR {
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HAL_timer_isr_prologue(STEP_TIMER_NUM);
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// Program timer compare for the maximum period, so it does NOT
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// flag an interrupt while this ISR is running - So changes from small
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// periods to big periods are respected and the timer does not reset to 0
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HAL_timer_set_compare(STEP_TIMER_NUM, HAL_TIMER_TYPE_MAX);
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// Call the ISR scheduler
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hal_timer_t ticks = Stepper::isr_scheduler();
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// Now 'ticks' contains the period to the next Stepper ISR - And we are
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// sure that the time has not arrived yet - Warrantied by the scheduler
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// Set the next ISR to fire at the proper time
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HAL_timer_set_compare(STEP_TIMER_NUM, ticks);
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Stepper::isr();
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HAL_timer_isr_epilogue(STEP_TIMER_NUM);
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}
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#define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B)
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hal_timer_t Stepper::isr_scheduler() {
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uint32_t interval;
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void Stepper::isr() {
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// Disable interrupts, to avoid ISR preemption while we reprogram the period
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DISABLE_ISRS();
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// Program timer compare for the maximum period, so it does NOT
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// flag an interrupt while this ISR is running - So changes from small
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// periods to big periods are respected and the timer does not reset to 0
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HAL_timer_set_compare(STEP_TIMER_NUM, HAL_TIMER_TYPE_MAX);
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// Count of ticks for the next ISR
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hal_timer_t next_isr_ticks = 0;
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@ -1148,6 +1137,9 @@ hal_timer_t Stepper::isr_scheduler() {
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// We need this variable here to be able to use it in the following loop
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hal_timer_t min_ticks;
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do {
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// Enable ISRs to reduce USART processing latency
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ENABLE_ISRS();
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// Run main stepping pulse phase ISR if we have to
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if (!nextMainISR) Stepper::stepper_pulse_phase_isr();
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@ -1161,13 +1153,13 @@ hal_timer_t Stepper::isr_scheduler() {
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// Run main stepping block processing ISR if we have to
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if (!nextMainISR) nextMainISR = Stepper::stepper_block_phase_isr();
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#if ENABLED(LIN_ADVANCE)
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// Select the closest interval in time
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interval = (nextAdvanceISR <= nextMainISR) ? nextAdvanceISR : nextMainISR;
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#else
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// The interval is just the remaining time to the stepper ISR
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interval = nextMainISR;
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#endif
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uint32_t interval =
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#if ENABLED(LIN_ADVANCE)
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MIN(nextAdvanceISR, nextMainISR) // Nearest time interval
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#else
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nextMainISR // Remaining stepper ISR time
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#endif
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;
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// Limit the value to the maximum possible value of the timer
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NOMORE(interval, HAL_TIMER_TYPE_MAX);
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@ -1206,6 +1198,16 @@ hal_timer_t Stepper::isr_scheduler() {
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// Compute the tick count for the next ISR
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next_isr_ticks += interval;
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/**
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* The following section must be done with global interrupts disabled.
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* We want nothing to interrupt it, as that could mess the calculations
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* we do for the next value to program in the period register of the
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* stepper timer and lead to skipped ISRs (if the value we happen to program
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* is less than the current count due to something preempting between the
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* read and the write of the new period value).
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*/
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DISABLE_ISRS();
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/**
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* Get the current tick value + margin
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* Assuming at least 6µs between calls to this ISR...
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@ -1227,8 +1229,14 @@ hal_timer_t Stepper::isr_scheduler() {
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// Advance pulses if not enough time to wait for the next ISR
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} while (next_isr_ticks < min_ticks);
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// Return the count of ticks for the next ISR
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return (hal_timer_t)next_isr_ticks;
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// Now 'next_isr_ticks' contains the period to the next Stepper ISR - And we are
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// sure that the time has not arrived yet - Warrantied by the scheduler
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// Set the next ISR to fire at the proper time
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HAL_timer_set_compare(STEP_TIMER_NUM, hal_timer_t(next_isr_ticks));
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// Don't forget to finally reenable interrupts
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ENABLE_ISRS();
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}
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/**
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