Improve pulse timing and step reliability (#16128)
This commit is contained in:
Jason Smith
Scott Lahteine
parent
5f06f42ccd
commit
1bad8f1b17
5 changed files with 128 additions and 105 deletions
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@ -1548,12 +1548,12 @@
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/**
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* Maximum stepping rate (in Hz) the stepper driver allows
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* If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE)
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* 500000 : Maximum for A4988 stepper driver
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* 400000 : Maximum for TMC2xxx stepper drivers
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* 250000 : Maximum for DRV8825 stepper driver
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* 200000 : Maximum for LV8729 stepper driver
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* 150000 : Maximum for TB6600 stepper driver
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* 15000 : Maximum for TB6560 stepper driver
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* 5000000 : Maximum for TMC2xxx stepper drivers
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* 1000000 : Maximum for LV8729 stepper driver
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* 500000 : Maximum for A4988 stepper driver
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* 250000 : Maximum for DRV8825 stepper driver
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* 150000 : Maximum for TB6600 stepper driver
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* 15000 : Maximum for TB6560 stepper driver
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*
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* Override the default value based on the driver type set in Configuration.h.
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*/
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@ -595,11 +595,7 @@
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#elif HAS_DRIVER(A4988) || HAS_DRIVER(A5984)
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#define MINIMUM_STEPPER_PULSE 1
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#elif TRINAMICS
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#if ENABLED(LIN_ADVANCE) && (HAS_TMC_STANDALONE_E_DRIVER || (HAS_TMC_E_DRIVER && DISABLED(SQUARE_WAVE_STEPPING)))
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#define MINIMUM_STEPPER_PULSE 1
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#else
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#define MINIMUM_STEPPER_PULSE 0
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#endif
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#define MINIMUM_STEPPER_PULSE 0
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#elif HAS_DRIVER(LV8729)
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#define MINIMUM_STEPPER_PULSE 0
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#else
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@ -612,14 +608,14 @@
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#define MAXIMUM_STEPPER_RATE 15000
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#elif HAS_DRIVER(TB6600)
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#define MAXIMUM_STEPPER_RATE 150000
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#elif HAS_DRIVER(LV8729)
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#define MAXIMUM_STEPPER_RATE 200000
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#elif HAS_DRIVER(DRV8825)
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#define MAXIMUM_STEPPER_RATE 250000
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#elif TRINAMICS
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#define MAXIMUM_STEPPER_RATE 400000
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#elif HAS_DRIVER(A4988)
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#define MAXIMUM_STEPPER_RATE 500000
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#elif HAS_DRIVER(LV8729)
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#define MAXIMUM_STEPPER_RATE 1000000
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#elif TRINAMICS
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#define MAXIMUM_STEPPER_RATE 5000000
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#else
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#define MAXIMUM_STEPPER_RATE 250000
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#endif
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@ -2551,11 +2551,3 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
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#error "SHOW_REMAINING_TIME currently requires a Graphical LCD."
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#endif
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#endif
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#if ENABLED(LIN_ADVANCE) && MINIMUM_STEPPER_PULSE < 1
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#if HAS_TMC_STANDALONE_E_DRIVER
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#error "LIN_ADVANCE with TMC standalone driver on extruder requires MIMIMUM_STEPPER_PULSE >= 1"
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#elif HAS_TMC_E_DRIVER && DISABLED(SQUARE_WAVE_STEPPING)
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#error "LIN_ADVANCE with TMC driver on extruder requires SQUARE_WAVE_STEPPING or MINIMUM_STEPPER_PULSE >= 1"
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#endif
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#endif
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@ -338,6 +338,17 @@ xyze_int8_t Stepper::count_direction{0};
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#if DISABLED(MIXING_EXTRUDER)
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#define E_APPLY_STEP(v,Q) E_STEP_WRITE(stepper_extruder, v)
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#endif
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#define TIMER_SETUP_NS (CYCLES_TO_NS(TIMER_READ_ADD_AND_STORE_CYCLES))
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#define PULSE_HIGH_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_HIGH_NS - _MIN(_MIN_PULSE_HIGH_NS, TIMER_SETUP_NS)))
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#define PULSE_LOW_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_LOW_NS - _MIN(_MIN_PULSE_LOW_NS, TIMER_SETUP_NS)))
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#define START_TIMED_PULSE(DIR) (end_tick_count = HAL_timer_get_count(PULSE_TIMER_NUM) + PULSE_##DIR##_TICK_COUNT)
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#define AWAIT_TIMED_PULSE() while (HAL_timer_get_count(PULSE_TIMER_NUM) < end_tick_count) { }
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#define START_HIGH_PULSE() START_TIMED_PULSE(HIGH)
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#define START_LOW_PULSE() START_TIMED_PULSE(LOW)
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#define AWAIT_HIGH_PULSE() AWAIT_TIMED_PULSE()
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#define AWAIT_LOW_PULSE() AWAIT_TIMED_PULSE()
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void Stepper::wake_up() {
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// TCNT1 = 0;
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@ -1416,34 +1427,73 @@ void Stepper::stepper_pulse_phase_isr() {
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// Just update the value we will get at the end of the loop
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step_events_completed += events_to_do;
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
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const hal_timer_t added_step_ticks = hal_timer_t(ADDED_STEP_TICKS);
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// Take multiple steps per interrupt (For high speed moves)
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do {
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bool firstStep = true;
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xyze_bool_t step_needed{0};
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hal_timer_t end_tick_count;
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do {
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
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// Determine if pulses are needed
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#define PULSE_PREP(AXIS) do{ \
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delta_error[_AXIS(AXIS)] += advance_dividend[_AXIS(AXIS)]; \
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step_needed[_AXIS(AXIS)] = (delta_error[_AXIS(AXIS)] >= 0); \
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if (step_needed[_AXIS(AXIS)]) { \
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count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
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delta_error[_AXIS(AXIS)] -= advance_divisor; \
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} \
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}while(0)
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// Start an active pulse, if Bresenham says so, and update position
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#define PULSE_START(AXIS) do{ \
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delta_error[_AXIS(AXIS)] += advance_dividend[_AXIS(AXIS)]; \
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if (delta_error[_AXIS(AXIS)] >= 0) { \
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if (step_needed[_AXIS(AXIS)]) { \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), 0); \
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count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
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} \
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}while(0)
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// Stop an active pulse, if any, and adjust error term
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#define PULSE_STOP(AXIS) do { \
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if (delta_error[_AXIS(AXIS)] >= 0) { \
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delta_error[_AXIS(AXIS)] -= advance_divisor; \
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if (step_needed[_AXIS(AXIS)]) { \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), 0); \
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} \
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}while(0)
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// Determine if pulses are needed
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#if HAS_X_STEP
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PULSE_PREP(X);
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#endif
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#if HAS_Y_STEP
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PULSE_PREP(Y);
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#endif
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#if HAS_Z_STEP
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PULSE_PREP(Z);
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#endif
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#if EITHER(LIN_ADVANCE, MIXING_EXTRUDER)
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delta_error.e += advance_dividend.e;
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if (delta_error.e >= 0) {
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count_position.e += count_direction.e;
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#if ENABLED(LIN_ADVANCE)
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delta_error.e -= advance_divisor;
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// Don't step E here - But remember the number of steps to perform
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motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
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#else
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step_needed[E_AXIS] = delta_error.e >= 0;
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#endif
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}
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#elif HAS_E0_STEP
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PULSE_PREP(E);
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#endif
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#if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE) && DISABLED(I2S_STEPPER_STREAM)
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if (firstStep)
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firstStep = false;
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else
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AWAIT_LOW_PULSE();
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#endif
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// Pulse start
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#if HAS_X_STEP
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PULSE_START(X);
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@ -1455,24 +1505,10 @@ void Stepper::stepper_pulse_phase_isr() {
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PULSE_START(Z);
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#endif
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// Pulse Extruders
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// Tick the E axis, correct error term and update position
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#if EITHER(LIN_ADVANCE, MIXING_EXTRUDER)
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delta_error.e += advance_dividend.e;
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if (delta_error.e >= 0) {
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count_position.e += count_direction.e;
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#if ENABLED(LIN_ADVANCE)
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delta_error.e -= advance_divisor;
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// Don't step E here - But remember the number of steps to perform
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motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
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#else // !LIN_ADVANCE && MIXING_EXTRUDER
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// Don't adjust delta_error.e here!
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// Being positive is the criteria for ending the pulse.
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E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
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#endif
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}
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#else // !LIN_ADVANCE && !MIXING_EXTRUDER
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#if HAS_E0_STEP
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#if DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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if (step_needed[E_AXIS]) E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
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#elif HAS_E0_STEP
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PULSE_START(E);
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#endif
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#endif
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@ -1482,14 +1518,11 @@ void Stepper::stepper_pulse_phase_isr() {
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#endif
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// TODO: need to deal with MINIMUM_STEPPER_PULSE over i2s
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#if MINIMUM_STEPPER_PULSE && DISABLED(I2S_STEPPER_STREAM)
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE) && DISABLED(I2S_STEPPER_STREAM)
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START_HIGH_PULSE();
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AWAIT_HIGH_PULSE();
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#endif
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// Add the delay needed to ensure the maximum driver rate is enforced
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if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
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// Pulse stop
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#if HAS_X_STEP
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PULSE_STOP(X);
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@ -1503,31 +1536,26 @@ void Stepper::stepper_pulse_phase_isr() {
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#if DISABLED(LIN_ADVANCE)
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#if ENABLED(MIXING_EXTRUDER)
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if (delta_error.e >= 0) {
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delta_error.e -= advance_divisor;
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E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
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}
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#else // !MIXING_EXTRUDER
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#if HAS_E0_STEP
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PULSE_STOP(E);
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#endif
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#endif
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#endif // !MIXING_EXTRUDER
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#endif // !LIN_ADVANCE
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// Decrement the count of pending pulses to do
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--events_to_do;
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#if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE) && DISABLED(I2S_STEPPER_STREAM)
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if (events_to_do) START_LOW_PULSE();
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#endif
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// For minimum pulse time wait after stopping pulses also
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if (events_to_do) {
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#if MINIMUM_STEPPER_PULSE
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// Add to the value, the time that the pulse must be active (to be used on the next loop)
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pulse_end += hal_timer_t(MIN_PULSE_TICKS);
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#endif
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}
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} while (events_to_do);
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} while (--events_to_do);
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}
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// This is the last half of the stepper interrupt: This one processes and
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@ -1909,13 +1937,19 @@ uint32_t Stepper::stepper_block_phase_isr() {
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DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY);
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#endif
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// Get the timer count and estimate the end of the pulse
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hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
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const hal_timer_t added_step_ticks = hal_timer_t(ADDED_STEP_TICKS);
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//const hal_timer_t added_step_ticks = hal_timer_t(ADDED_STEP_TICKS);
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// Step E stepper if we have steps
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bool firstStep = true;
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hal_timer_t end_tick_count;
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while (LA_steps) {
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#if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE) && DISABLED(I2S_STEPPER_STREAM)
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if (firstStep)
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firstStep = false;
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else
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AWAIT_LOW_PULSE();
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#endif
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// Set the STEP pulse ON
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#if ENABLED(MIXING_EXTRUDER)
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@ -1925,16 +1959,16 @@ uint32_t Stepper::stepper_block_phase_isr() {
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#endif
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// Enforce a minimum duration for STEP pulse ON
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#if MINIMUM_STEPPER_PULSE
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// Just wait for the requested pulse duration
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE)
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START_HIGH_PULSE();
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#endif
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// Add the delay needed to ensure the maximum driver rate is enforced
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if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
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LA_steps < 0 ? ++LA_steps : --LA_steps;
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#if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE)
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AWAIT_HIGH_PULSE();
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#endif
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// Set the STEP pulse OFF
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#if ENABLED(MIXING_EXTRUDER)
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E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
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@ -1944,13 +1978,9 @@ uint32_t Stepper::stepper_block_phase_isr() {
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// For minimum pulse time wait before looping
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// Just wait for the requested pulse duration
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if (LA_steps) {
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while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
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#if MINIMUM_STEPPER_PULSE
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// Add to the value, the time that the pulse must be active (to be used on the next loop)
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pulse_end += hal_timer_t(MIN_PULSE_TICKS);
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#endif
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}
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#if (MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE)
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if (LA_steps) START_LOW_PULSE();
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#endif
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} // LA_steps
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return interval;
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@ -57,6 +57,7 @@
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//
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#ifdef CPU_32_BIT
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#define TIMER_READ_ADD_AND_STORE_CYCLES 34UL
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// The base ISR takes 792 cycles
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#define ISR_BASE_CYCLES 792UL
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@ -85,6 +86,7 @@
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#define ISR_STEPPER_CYCLES 16UL
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#else
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#define TIMER_READ_ADD_AND_STORE_CYCLES 13UL
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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@ -116,43 +118,32 @@
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// Add time for each stepper
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#if HAS_X_STEP
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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_START_X_STEPPER_CYCLES 0UL
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#define ISR_X_STEPPER_CYCLES 0UL
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#endif
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#if HAS_Y_STEP
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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_START_Y_STEPPER_CYCLES 0UL
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#define ISR_Y_STEPPER_CYCLES 0UL
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#endif
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#if HAS_Z_STEP
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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_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_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, 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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@ -170,14 +161,28 @@
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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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#if HAS_DRIVER(LV8729) && MINIMUM_STEPPER_PULSE == 0
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#define MIN_PULSE_TICKS ((((PULSE_TIMER_TICKS_PER_US) + 1) / 2) + ((MIN_ISR_START_LOOP_CYCLES) / uint32_t(PULSE_TIMER_PRESCALE)))
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#if MINIMUM_STEPPER_PULSE && MAXIMUM_STEPPER_RATE
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constexpr uint32_t _MIN_STEP_PERIOD_NS = 1000000000UL / MAXIMUM_STEPPER_RATE;
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constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
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constexpr uint32_t _MIN_PULSE_LOW_NS = _MAX((_MIN_STEP_PERIOD_NS - _MIN(_MIN_STEP_PERIOD_NS, _MIN_PULSE_HIGH_NS)), _MIN_PULSE_HIGH_NS);
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#elif MINIMUM_STEPPER_PULSE
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// Assume 50% duty cycle
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constexpr uint32_t _MIN_STEP_PERIOD_NS = 1000000000UL / MAXIMUM_STEPPER_RATE;
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constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE;
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constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
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#elif MAXIMUM_STEPPER_RATE
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// Assume 50% duty cycle
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constexpr uint32_t _MIN_PULSE_HIGH_NS = 500000000UL / MAXIMUM_STEPPER_RATE;
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constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS;
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#else
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||||
#define MIN_PULSE_TICKS (((PULSE_TIMER_TICKS_PER_US) * uint32_t(MINIMUM_STEPPER_PULSE)) + ((MIN_ISR_START_LOOP_CYCLES) / uint32_t(PULSE_TIMER_PRESCALE)))
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#error "Expected at least one of MINIMUM_STEPPER_PULSE or MAXIMUM_STEPPER_RATE to be defined"
|
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#endif
|
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||||
// Calculate the extra ticks of the PULSE timer between step pulses
|
||||
#define ADDED_STEP_TICKS (((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE)) - (MIN_PULSE_TICKS))
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||||
// TODO: NS_TO_PULSE_TIMER_TICKS has some rounding issues:
|
||||
// 1. PULSE_TIMER_TICKS_PER_US rounds to an integer, which loses 20% of the count for a 2.5 MHz pulse tick (such as for LPC1768)
|
||||
// 2. The math currently rounds down to the closes tick. Perhaps should round up.
|
||||
constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return PULSE_TIMER_TICKS_PER_US * (NS) / 1000UL; }
|
||||
#define CYCLES_TO_NS(CYC) (1000UL * (CYC) / ((F_CPU) / 1000000))
|
||||
|
||||
// But the user could be enforcing a minimum time, so the loop time is
|
||||
#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + _MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
|
||||
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|
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Reference in a new issue