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Fix up stepper ISR with linear advance timing (#10853)

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Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine 2018-05-26 01:00:13 -05:00 committed by GitHub
parent 6f330f397e
commit 01d37e00af
Signed by: GitHub
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 91 additions and 48 deletions
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139
Marlin/src/module/stepper.cpp
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@ -642,7 +642,7 @@ void Stepper::set_directions() {
A("mul %10,%9") /* r1:r0 = 10*HI(v0-v1) */ A("mul %10,%9") /* r1:r0 = 10*HI(v0-v1) */
A("add %7,r0") /* %7:%6:?? += 10*HI(v0-v1) << 16 */ A("add %7,r0") /* %7:%6:?? += 10*HI(v0-v1) << 16 */
A("sts bezier_C+1, %6") A("sts bezier_C+1, %6")
" sts bezier_C+2, %7" /* bezier_C = %7:%6:?? = 10*(v0-v1) [65 cycles worst] */ " sts bezier_C+2, %7" /* bezier_C = %7:%6:?? = 10*(v0-v1) [65 cycles worst] */
: "+r" (r2), : "+r" (r2),
"+d" (r3), "+d" (r3),
"=r" (r4), "=r" (r4),
@ -1025,7 +1025,7 @@ void Stepper::set_directions() {
A("add %3,r0") A("add %3,r0")
A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 16*/ A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 16*/
L("2") L("2")
" clr __zero_reg__" /* C runtime expects r1 = __zero_reg__ = 0 */ " clr __zero_reg__" /* C runtime expects r1 = __zero_reg__ = 0 */
: "+r"(r0), : "+r"(r0),
"+r"(r1), "+r"(r1),
"+r"(r2), "+r"(r2),
@ -1152,16 +1152,8 @@ HAL_STEP_TIMER_ISR {
// Call the ISR scheduler // Call the ISR scheduler
hal_timer_t ticks = Stepper::isr_scheduler(); hal_timer_t ticks = Stepper::isr_scheduler();
// Now 'ticks' contains the period to the next Stepper ISR. // Now 'ticks' contains the period to the next Stepper ISR - And we are
// Potential problem: Since the timer continues to run, the requested // sure that the time has not arrived yet - Warrantied by the scheduler
// compare value may already have passed.
//
// Assuming at least 6µs between calls to this ISR...
// On AVR the ISR epilogue is estimated at 40 instructions - close to 2.5µS.
// On ARM the ISR epilogue is estimated at 10 instructions - close to 200nS.
// In either case leave at least 4µS for other tasks to execute.
const hal_timer_t minticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * 4); // ISR never takes more than 1ms, so this shouldn't cause trouble
NOLESS(ticks, MAX(minticks, hal_timer_t((STEP_TIMER_MIN_INTERVAL) * (HAL_TICKS_PER_US))));
// Set the next ISR to fire at the proper time // Set the next ISR to fire at the proper time
HAL_timer_set_compare(STEP_TIMER_NUM, ticks); HAL_timer_set_compare(STEP_TIMER_NUM, ticks);
@ -1178,54 +1170,105 @@ HAL_STEP_TIMER_ISR {
hal_timer_t Stepper::isr_scheduler() { hal_timer_t Stepper::isr_scheduler() {
uint32_t interval; uint32_t interval;
// Run main stepping pulse phase ISR if we have to // Count of ticks for the next ISR
if (!nextMainISR) Stepper::stepper_pulse_phase_isr(); hal_timer_t next_isr_ticks = 0;
#if ENABLED(LIN_ADVANCE) // Limit the amount of iterations
// Run linear advance stepper ISR if we have to uint8_t max_loops = 10;
if (!nextAdvanceISR) nextAdvanceISR = Stepper::advance_isr();
#endif
// ^== Time critical. NOTHING besides pulse generation should be above here!!! // We need this variable here to be able to use it in the following loop
hal_timer_t min_ticks;
do {
// Run main stepping pulse phase ISR if we have to
if (!nextMainISR) Stepper::stepper_pulse_phase_isr();
// Run main stepping block processing ISR if we have to #if ENABLED(LIN_ADVANCE)
if (!nextMainISR) nextMainISR = Stepper::stepper_block_phase_isr(); // Run linear advance stepper ISR if we have to
if (!nextAdvanceISR) nextAdvanceISR = Stepper::advance_isr();
#endif
#if ENABLED(LIN_ADVANCE) // ^== Time critical. NOTHING besides pulse generation should be above here!!!
// Select the closest interval in time
interval = (nextAdvanceISR <= nextMainISR)
? nextAdvanceISR
: nextMainISR;
#else // !ENABLED(LIN_ADVANCE) // Run main stepping block processing ISR if we have to
if (!nextMainISR) nextMainISR = Stepper::stepper_block_phase_isr();
// The interval is just the remaining time to the stepper ISR #if ENABLED(LIN_ADVANCE)
interval = nextMainISR; // Select the closest interval in time
#endif interval = (nextAdvanceISR <= nextMainISR) ? nextAdvanceISR : nextMainISR;
#else
// The interval is just the remaining time to the stepper ISR
interval = nextMainISR;
#endif
// Limit the value to the maximum possible value of the timer // Limit the value to the maximum possible value of the timer
if (interval > HAL_TIMER_TYPE_MAX) NOMORE(interval, HAL_TIMER_TYPE_MAX);
interval = HAL_TIMER_TYPE_MAX;
// Compute the time remaining for the main isr // Compute the time remaining for the main isr
nextMainISR -= interval; nextMainISR -= interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
// Compute the time remaining for the advance isr // Compute the time remaining for the advance isr
if (nextAdvanceISR != ADV_NEVER) if (nextAdvanceISR != ADV_NEVER) nextAdvanceISR -= interval;
nextAdvanceISR -= interval; #endif
#endif
return (hal_timer_t)interval; /**
* This needs to avoid a race-condition caused by interleaving
* of interrupts required by both the LA and Stepper algorithms.
*
* Assume the following tick times for stepper pulses:
* Stepper ISR (S): 1 1000 2000 3000 4000
* Linear Adv. (E): 10 1010 2010 3010 4010
*
* The current algorithm tries to interleave them, giving:
* 1:S 10:E 1000:S 1010:E 2000:S 2010:E 3000:S 3010:E 4000:S 4010:E
*
* Ideal timing would yield these delta periods:
* 1:S 9:E 990:S 10:E 990:S 10:E 990:S 10:E 990:S 10:E
*
* But, since each event must fire an ISR with a minimum duration, the
* minimum delta might be 900, so deltas under 900 get rounded up:
* 900:S d900:E d990:S d900:E d990:S d900:E d990:S d900:E d990:S d900:E
*
* It works, but divides the speed of all motors by half, leading to a sudden
* reduction to 1/2 speed! Such jumps in speed lead to lost steps (not even
* accounting for double/quad stepping, which makes it even worse).
*/
// Compute the tick count for the next ISR
next_isr_ticks += interval;
/**
* Get the current tick value + margin
* Assuming at least 6µs between calls to this ISR...
* On AVR the ISR epilogue is estimated at 40 instructions - close to 2.5µS.
* On ARM the ISR epilogue is estimated at 10 instructions - close to 200nS.
* In either case leave at least 8µS for other tasks to execute - That allows
* up to 100khz stepping rates
*/
min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * 8); // ISR never takes more than 1ms, so this shouldn't cause trouble
/**
* NB: If for some reason the stepper monopolizes the MPU, eventually the
* timer will wrap around (and so will 'next_isr_ticks'). So, limit the
* loop to 10 iterations. Beyond that, there's no way to ensure correct pulse
* timing, since the MCU isn't fast enough.
*/
if (!--max_loops) next_isr_ticks = min_ticks;
// Advance pulses if not enough time to wait for the next ISR
} while (next_isr_ticks < min_ticks);
// Return the count of ticks for the next ISR
return (hal_timer_t)next_isr_ticks;
} }
// This part of the ISR should ONLY create the pulses for the steppers /**
// -- Nothing more, nothing less -- We want to avoid jitter from where * This phase of the ISR should ONLY create the pulses for the steppers.
// the pulses should be generated (when the interrupt triggers) to the * This prevents jitter caused by the interval between the start of the
// time pulses are actually created. So, PLEASE DO NOT PLACE ANY CODE * interrupt and the start of the pulses. DON'T add any logic ahead of the
// above this line that can conditionally change that time (we are trying * call to this method that might cause variation in the timing. The aim
// to keep the delay between the interrupt triggering and pulse generation * is to keep pulse timing as regular as possible.
// as constant as possible!!!! */
void Stepper::stepper_pulse_phase_isr() { void Stepper::stepper_pulse_phase_isr() {
// If we must abort the current block, do so! // If we must abort the current block, do so!