SunRed/Marlin-Artillery-M600
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LIN_ADVANCE bug fix and optimization

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.) long to int: Extruder stalls at 10kHz / 20kHz step limits with long.
.) Take the delta_adv_steps calculation out of the step_loops loop. Wasted calculation performance if done inside.
.) >> 2 replaced by 3: Is divide by 8. Reason: Timer 0 runs at 16/8=2MHz, Timer 1 at 16/64=0.25MHz. ==> 2/0.25=8.
This commit is contained in:
Sebastianv650 2016-10-08 18:13:04 +02:00 committed by Scott Lahteine
parent fc93796e42
commit a448cedbc5
2 changed files with 22 additions and 23 deletions
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43
Marlin/stepper.cpp
View file

@ -95,7 +95,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
volatile long Stepper::e_steps[E_STEPPERS]; volatile int Stepper::e_steps[E_STEPPERS];
int Stepper::extruder_advance_k = LIN_ADVANCE_K, int Stepper::extruder_advance_k = LIN_ADVANCE_K,
Stepper::final_estep_rate, Stepper::final_estep_rate,
Stepper::current_estep_rate[E_STEPPERS], Stepper::current_estep_rate[E_STEPPERS],
@ -391,7 +391,7 @@ void Stepper::isr() {
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
// Step mixing steppers proportionally // Step mixing steppers proportionally
bool dir = motor_direction(E_AXIS); const bool dir = motor_direction(E_AXIS);
MIXING_STEPPERS_LOOP(j) { MIXING_STEPPERS_LOOP(j) {
counter_m[j] += current_block->steps[E_AXIS]; counter_m[j] += current_block->steps[E_AXIS];
if (counter_m[j] > 0) { if (counter_m[j] > 0) {
@ -401,22 +401,6 @@ void Stepper::isr() {
} }
#endif #endif
if (current_block->use_advance_lead) {
int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
#if ENABLED(MIXING_EXTRUDER)
// Mixing extruders apply advance lead proportionally
MIXING_STEPPERS_LOOP(j) {
int steps = delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
e_steps[j] += steps;
current_adv_steps[j] += steps;
}
#else
// For most extruders, advance the single E stepper
e_steps[TOOL_E_INDEX] += delta_adv_steps;
current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
#endif
}
#elif ENABLED(ADVANCE) #elif ENABLED(ADVANCE)
// Always count the unified E axis // Always count the unified E axis
@ -432,7 +416,7 @@ void Stepper::isr() {
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
// Step mixing steppers proportionally // Step mixing steppers proportionally
bool dir = motor_direction(E_AXIS); const bool dir = motor_direction(E_AXIS);
MIXING_STEPPERS_LOOP(j) { MIXING_STEPPERS_LOOP(j) {
counter_m[j] += current_block->steps[E_AXIS]; counter_m[j] += current_block->steps[E_AXIS];
if (counter_m[j] > 0) { if (counter_m[j] > 0) {
@ -536,6 +520,21 @@ void Stepper::isr() {
} }
} }
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) {
int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
#if ENABLED(MIXING_EXTRUDER)
// Mixing extruders apply advance lead proportionally
MIXING_STEPPERS_LOOP(j)
e_steps[j] += delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
#else
// For most extruders, advance the single E stepper
e_steps[TOOL_E_INDEX] += delta_adv_steps;
#endif
}
#endif
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// If we have esteps to execute, fire the next advance_isr "now" // If we have esteps to execute, fire the next advance_isr "now"
if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2; if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2;
@ -593,7 +592,7 @@ void Stepper::isr() {
#endif // ADVANCE or LIN_ADVANCE #endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]); eISR_Rate = (timer >> 3) * step_loops / abs(e_steps[TOOL_E_INDEX]); //>> 3 is divide by 8. Reason: Timer 0 runs at 16/8=2MHz, Timer 1 at 16/64=0.25MHz. ==> 2/0.25=8.
#endif #endif
} }
else if (step_events_completed > (uint32_t)current_block->decelerate_after) { else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
@ -643,7 +642,7 @@ void Stepper::isr() {
#endif // ADVANCE or LIN_ADVANCE #endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE) #if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]); eISR_Rate = (timer >> 3) * step_loops / abs(e_steps[TOOL_E_INDEX]);
#endif #endif
} }
else { else {
@ -653,7 +652,7 @@ void Stepper::isr() {
if (current_block->use_advance_lead) if (current_block->use_advance_lead)
current_estep_rate[TOOL_E_INDEX] = final_estep_rate; current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
eISR_Rate = (OCR1A_nominal >> 2) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]); eISR_Rate = (OCR1A_nominal >> 3) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
#endif #endif

2
Marlin/stepper.h
View file

@ -108,7 +108,7 @@ class Stepper {
static unsigned char old_OCR0A; static unsigned char old_OCR0A;
static volatile unsigned char eISR_Rate; static volatile unsigned char eISR_Rate;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
static volatile long e_steps[E_STEPPERS]; static volatile int e_steps[E_STEPPERS];
static int extruder_advance_k; static int extruder_advance_k;
static int final_estep_rate; static int final_estep_rate;
static int current_estep_rate[E_STEPPERS]; // Actual extruder speed [steps/s] static int current_estep_rate[E_STEPPERS]; // Actual extruder speed [steps/s]