Fix stepper/planner block handling, race conditions (#11098)
- Allow planner to alter the deceleration phase of the currently executing block. - Remove BUSY flag, as it is NON ATOMIC to set bits in the Stepper ISR and Planner at the same time.
This commit is contained in:
Eduardo José Tagle
Scott Lahteine
parent
4d3a9930c5
commit
edb21f349a
4 changed files with 177 additions and 98 deletions
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@ -105,10 +105,11 @@ Planner planner;
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*/
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block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
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volatile uint8_t Planner::block_buffer_head, // Index of the next block to be pushed
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Planner::block_buffer_nonbusy, // Index of the first non-busy block
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Planner::block_buffer_planned, // Index of the optimally planned block
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Planner::block_buffer_tail; // Index of the busy block, if any
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uint16_t Planner::cleaning_buffer_counter; // A counter to disable queuing of blocks
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uint8_t Planner::delay_before_delivering, // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
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Planner::block_buffer_planned; // Index of the optimally planned block
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uint8_t Planner::delay_before_delivering; // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
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uint32_t Planner::max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE
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Planner::max_acceleration_steps_per_s2[XYZE_N], // (steps/s^2) Derived from mm_per_s2
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@ -240,7 +241,6 @@ void Planner::init() {
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bed_level_matrix.set_to_identity();
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#endif
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clear_block_buffer();
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block_buffer_planned = 0;
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delay_before_delivering = 0;
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}
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@ -703,6 +703,12 @@ void Planner::init() {
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/**
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* Calculate trapezoid parameters, multiplying the entry- and exit-speeds
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* by the provided factors.
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**
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* ############ VERY IMPORTANT ############
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* NOTE that the PRECONDITION to call this function is that the block is
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* NOT BUSY and it is marked as RECALCULATE. That WARRANTIES the Stepper ISR
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* is not and will not use the block while we modify it, so it is safe to
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* alter its values.
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*/
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void Planner::calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor) {
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@ -744,9 +750,6 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
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cruise_rate = block->nominal_rate;
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#endif
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// block->accelerate_until = accelerate_steps;
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// block->decelerate_after = accelerate_steps+plateau_steps;
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#if ENABLED(S_CURVE_ACCELERATION)
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// Jerk controlled speed requires to express speed versus time, NOT steps
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uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE),
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@ -755,19 +758,9 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
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// And to offload calculations from the ISR, we also calculate the inverse of those times here
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uint32_t acceleration_time_inverse = get_period_inverse(acceleration_time);
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uint32_t deceleration_time_inverse = get_period_inverse(deceleration_time);
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#endif
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// Fill variables used by the stepper in a critical section
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const bool was_enabled = STEPPER_ISR_ENABLED();
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if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
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// Don't update variables if block is busy; it is being interpreted by the planner.
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// If this happens, there's a problem... The block speed is inconsistent. Some values
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// have already been updated, but the Stepper ISR is already using the block. Fortunately,
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// the values being used by the Stepper ISR weren't touched, so just stop here...
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// TODO: There may be a way to update a running block, depending on the stepper ISR position.
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if (!TEST(block->flag, BLOCK_BIT_BUSY)) {
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// Store new block parameters
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block->accelerate_until = accelerate_steps;
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block->decelerate_after = accelerate_steps + plateau_steps;
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block->initial_rate = initial_rate;
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@ -779,8 +772,6 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
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block->cruise_rate = cruise_rate;
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#endif
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block->final_rate = final_rate;
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}
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if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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/* PLANNER SPEED DEFINITION
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@ -831,7 +822,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
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streaming operating conditions. Use for planning optimizations by avoiding recomputing parts of the
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planner buffer that don't change with the addition of a new block, as describe above. In addition,
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this block can never be less than block_buffer_tail and will always be pushed forward and maintain
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this requirement when encountered by the plan_discard_current_block() routine during a cycle.
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this requirement when encountered by the Planner::discard_current_block() routine during a cycle.
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NOTE: Since the planner only computes on what's in the planner buffer, some motions with lots of short
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line segments, like G2/3 arcs or complex curves, may seem to move slow. This is because there simply isn't
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@ -875,11 +866,22 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t * const
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// ISR does not consume the block before being recalculated
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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// Set the new entry speed
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// But there is an inherent race condition here, as the block may have
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// become BUSY just before being marked RECALCULATE, so check for that!
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if (stepper.is_block_busy(current)) {
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// Block became busy. Clear the RECALCULATE flag (no point in
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// recalculating BUSY blocks). And don't set its speed, as it can't
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// be updated at this time.
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CBI(current->flag, BLOCK_BIT_RECALCULATE);
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}
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else {
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// Block is not BUSY so this is ahead of the Stepper ISR:
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// Just Set the new entry speed.
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current->entry_speed_sqr = new_entry_speed_sqr;
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}
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}
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}
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}
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}
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/**
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@ -902,12 +904,11 @@ void Planner::reverse_pass() {
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// Reverse Pass: Coarsely maximize all possible deceleration curves back-planning from the last
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// block in buffer. Cease planning when the last optimal planned or tail pointer is reached.
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// NOTE: Forward pass will later refine and correct the reverse pass to create an optimal plan.
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block_t *current;
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const block_t *next = NULL;
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while (block_index != planned_block_index) {
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// Perform the reverse pass
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current = &block_buffer[block_index];
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block_t *current = &block_buffer[block_index];
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// Only consider non sync blocks
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if (!TEST(current->flag, BLOCK_BIT_SYNC_POSITION)) {
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@ -917,6 +918,18 @@ void Planner::reverse_pass() {
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// Advance to the next
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block_index = prev_block_index(block_index);
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// The ISR could advance the block_buffer_planned while we were doing the reverse pass.
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// We must try to avoid using an already consumed block as the last one - So follow
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// changes to the pointer and make sure to limit the loop to the currently busy block
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while (planned_block_index != block_buffer_planned) {
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// If we reached the busy block or an already processed block, break the loop now
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if (block_index == planned_block_index) return;
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// Advance the pointer, following the busy block
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planned_block_index = next_block_index(planned_block_index);
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}
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}
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}
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@ -940,6 +953,18 @@ void Planner::forward_pass_kernel(const block_t* const previous, block_t* const
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// so the stepper ISR does not consume the block before being recalculated
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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// But there is an inherent race condition here, as the block maybe
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// became BUSY, just before it was marked as RECALCULATE, so check
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// if that is the case!
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if (stepper.is_block_busy(current)) {
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// Block became busy. Clear the RECALCULATE flag (no point in
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// recalculating BUSY blocks and don't set its speed, as it can't
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// be updated at this time.
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CBI(current->flag, BLOCK_BIT_RECALCULATE);
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}
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else {
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// Block is not BUSY, we won the race against the Stepper ISR:
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// Always <= max_entry_speed_sqr. Backward pass sets this.
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current->entry_speed_sqr = new_entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this.
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@ -947,6 +972,7 @@ void Planner::forward_pass_kernel(const block_t* const previous, block_t* const
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block_buffer_planned = block_index;
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}
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}
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}
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// Any block set at its maximum entry speed also creates an optimal plan up to this
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// point in the buffer. When the plan is bracketed by either the beginning of the
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@ -981,6 +1007,12 @@ void Planner::forward_pass() {
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// Skip SYNC blocks
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if (!TEST(current->flag, BLOCK_BIT_SYNC_POSITION)) {
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// If there's no previous block or the previous block is not
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// BUSY (thus, modifiable) run the forward_pass_kernel. Otherwise,
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// the previous block became BUSY, so assume the current block's
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// entry speed can't be altered (since that would also require
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// updating the exit speed of the previous block).
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if (!previous || !stepper.is_block_busy(previous))
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forward_pass_kernel(previous, current, block_index);
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previous = current;
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}
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@ -996,16 +1028,15 @@ void Planner::forward_pass() {
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*/
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void Planner::recalculate_trapezoids() {
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// The tail may be changed by the ISR so get a local copy.
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uint8_t block_index = block_buffer_tail;
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// As there could be a sync block in the head of the queue, and the next loop must not
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// recalculate the head block (as it needs to be specially handled), scan backwards until
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// we find the first non SYNC block
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uint8_t head_block_index = block_buffer_head;
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uint8_t block_index = block_buffer_tail,
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head_block_index = block_buffer_head;
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// Since there could be a sync block in the head of the queue, and the
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// next loop must not recalculate the head block (as it needs to be
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// specially handled), scan backwards to the first non-SYNC block.
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while (head_block_index != block_index) {
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// Go back (head always point to the first free block)
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uint8_t prev_index = prev_block_index(head_block_index);
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const uint8_t prev_index = prev_block_index(head_block_index);
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// Get the pointer to the block
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block_t *prev = &block_buffer[prev_index];
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@ -1015,7 +1046,7 @@ void Planner::recalculate_trapezoids() {
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// Examine the previous block. This and all following are SYNC blocks
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head_block_index = prev_index;
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};
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}
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// Go from the tail (currently executed block) to the first block, without including it)
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block_t *current = NULL, *next = NULL;
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@ -1037,6 +1068,12 @@ void Planner::recalculate_trapezoids() {
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// RECALCULATE yet, but the next one is. That's the reason for the following line.
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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// But there is an inherent race condition here, as the block maybe
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// became BUSY, just before it was marked as RECALCULATE, so check
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// if that is the case!
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if (!stepper.is_block_busy(current)) {
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// Block is not BUSY, we won the race against the Stepper ISR:
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// NOTE: Entry and exit factors always > 0 by all previous logic operations.
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const float current_nominal_speed = SQRT(current->nominal_speed_sqr),
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nomr = 1.0 / current_nominal_speed;
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@ -1048,6 +1085,7 @@ void Planner::recalculate_trapezoids() {
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current->final_adv_steps = next_entry_speed * comp;
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}
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#endif
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}
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// Reset current only to ensure next trapezoid is computed - The
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// stepper is free to use the block from now on.
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@ -1070,6 +1108,12 @@ void Planner::recalculate_trapezoids() {
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// marked as RECALCULATE yet. That's the reason for the following line.
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SBI(next->flag, BLOCK_BIT_RECALCULATE);
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// But there is an inherent race condition here, as the block maybe
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// became BUSY, just before it was marked as RECALCULATE, so check
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// if that is the case!
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if (!stepper.is_block_busy(current)) {
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// Block is not BUSY, we won the race against the Stepper ISR:
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const float next_nominal_speed = SQRT(next->nominal_speed_sqr),
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nomr = 1.0 / next_nominal_speed;
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calculate_trapezoid_for_block(next, next_entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr);
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@ -1080,6 +1124,7 @@ void Planner::recalculate_trapezoids() {
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next->final_adv_steps = (MINIMUM_PLANNER_SPEED) * comp;
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}
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#endif
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}
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// Reset next only to ensure its trapezoid is computed - The stepper is free to use
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// the block from now on.
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@ -1423,7 +1468,7 @@ void Planner::quick_stop() {
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if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
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// Drop all queue entries
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block_buffer_planned = block_buffer_head = block_buffer_tail;
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block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail;
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// Restart the block delay for the first movement - As the queue was
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// forced to empty, there's no risk the ISR will touch this.
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@ -1906,7 +1951,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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// Example: At 120mm/s a 60mm move takes 0.5s. So this will give 2.0.
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float inverse_secs = fr_mm_s * inverse_millimeters;
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const uint8_t moves_queued = movesplanned();
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// Get the number of non busy movements in queue (non busy means that they can be altered)
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const uint8_t moves_queued = nonbusy_movesplanned();
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// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
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#if ENABLED(SLOWDOWN) || ENABLED(ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
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@ -54,9 +54,6 @@ enum BlockFlagBit : char {
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// from a safe speed (in consideration of jerking from zero speed).
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BLOCK_BIT_NOMINAL_LENGTH,
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// The block is busy, being interpreted by the stepper ISR
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BLOCK_BIT_BUSY,
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// The block is segment 2+ of a longer move
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BLOCK_BIT_CONTINUED,
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@ -67,7 +64,6 @@ enum BlockFlagBit : char {
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enum BlockFlag : char {
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BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
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BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
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BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY),
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BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED),
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BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION)
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};
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@ -83,7 +79,7 @@ enum BlockFlag : char {
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*/
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typedef struct {
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uint8_t flag; // Block flags (See BlockFlag enum above)
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volatile uint8_t flag; // Block flags (See BlockFlag enum above) - Modified by ISR and main thread!
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// Fields used by the motion planner to manage acceleration
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float nominal_speed_sqr, // The nominal speed for this block in (mm/sec)^2
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@ -175,10 +171,12 @@ class Planner {
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*/
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static block_t block_buffer[BLOCK_BUFFER_SIZE];
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static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
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block_buffer_nonbusy, // Index of the first non busy block
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block_buffer_planned, // Index of the optimally planned block
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block_buffer_tail; // Index of the busy block, if any
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static uint16_t cleaning_buffer_counter; // A counter to disable queuing of blocks
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static uint8_t delay_before_delivering, // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
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block_buffer_planned; // Index of the optimally planned block
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static uint8_t delay_before_delivering; // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
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#if ENABLED(DISTINCT_E_FACTORS)
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static uint8_t last_extruder; // Respond to extruder change
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@ -443,11 +441,14 @@ class Planner {
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#define ARG_Z const float &rz
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#endif
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// Number of moves currently in the planner
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// Number of moves currently in the planner including the busy block, if any
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FORCE_INLINE static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail); }
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// Number of nonbusy moves currently in the planner
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FORCE_INLINE static uint8_t nonbusy_movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_nonbusy); }
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// Remove all blocks from the buffer
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FORCE_INLINE static void clear_block_buffer() { block_buffer_head = block_buffer_tail = 0; }
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FORCE_INLINE static void clear_block_buffer() { block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail = 0; }
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// Check if movement queue is full
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FORCE_INLINE static bool is_full() { return block_buffer_tail == next_block_index(block_buffer_head); }
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@ -649,7 +650,7 @@ class Planner {
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static block_t* get_current_block() {
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// Get the number of moves in the planner queue so far
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uint8_t nr_moves = movesplanned();
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const uint8_t nr_moves = movesplanned();
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// If there are any moves queued ...
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if (nr_moves) {
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@ -673,8 +674,14 @@ class Planner {
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block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
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#endif
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// Mark the block as busy, so the planner does not attempt to replan it
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SBI(block->flag, BLOCK_BIT_BUSY);
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// As this block is busy, advance the nonbusy block pointer
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block_buffer_nonbusy = next_block_index(block_buffer_tail);
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// Push block_buffer_planned pointer, if encountered.
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if (block_buffer_tail == block_buffer_planned)
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block_buffer_planned = block_buffer_nonbusy;
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// Return the block
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return block;
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}
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@ -692,14 +699,8 @@ class Planner {
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* NB: There MUST be a current block to call this function!!
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*/
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FORCE_INLINE static void discard_current_block() {
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if (has_blocks_queued()) { // Discard non-empty buffer.
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uint8_t block_index = next_block_index( block_buffer_tail );
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// Push block_buffer_planned pointer, if encountered.
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if (!has_blocks_queued()) block_buffer_planned = block_index;
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block_buffer_tail = block_index;
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||||
}
|
||||
if (has_blocks_queued())
|
||||
block_buffer_tail = next_block_index(block_buffer_tail);
|
||||
}
|
||||
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
|
|
|
|||
|
|
@ -107,8 +107,6 @@ Stepper stepper; // Singleton
|
|||
|
||||
// public:
|
||||
|
||||
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
|
||||
|
||||
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
|
||||
bool Stepper::homing_dual_axis = false;
|
||||
#endif
|
||||
|
|
@ -119,6 +117,8 @@ block_t* Stepper::current_block = NULL; // A pointer to the block currently bei
|
|||
|
||||
// private:
|
||||
|
||||
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
|
||||
|
||||
uint8_t Stepper::last_direction_bits = 0,
|
||||
Stepper::axis_did_move;
|
||||
|
||||
|
|
@ -1665,6 +1665,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
|
|||
acceleration_time = deceleration_time = 0;
|
||||
|
||||
uint8_t oversampling = 0; // Assume we won't use it
|
||||
|
||||
#if ENABLED(ADAPTIVE_STEP_SMOOTHING)
|
||||
// At this point, we must decide if we can use Stepper movement axis smoothing.
|
||||
uint32_t max_rate = current_block->nominal_rate; // Get the maximum rate (maximum event speed)
|
||||
|
|
@ -1874,6 +1875,34 @@ uint32_t Stepper::stepper_block_phase_isr() {
|
|||
}
|
||||
#endif // LIN_ADVANCE
|
||||
|
||||
// Check if the given block is busy or not - Must not be called from ISR contexts
|
||||
// The current_block could change in the middle of the read by an Stepper ISR, so
|
||||
// we must explicitly prevent that!
|
||||
bool Stepper::is_block_busy(const block_t* const block) {
|
||||
#ifdef __AVR__
|
||||
// A SW memory barrier, to ensure GCC does not overoptimize loops
|
||||
#define sw_barrier() asm volatile("": : :"memory");
|
||||
|
||||
// Keep reading until 2 consecutive reads return the same value,
|
||||
// meaning there was no update in-between caused by an interrupt.
|
||||
// This works because stepper ISRs happen at a slower rate than
|
||||
// successive reads of a variable, so 2 consecutive reads with
|
||||
// the same value means no interrupt updated it.
|
||||
block_t* vold, *vnew = current_block;
|
||||
sw_barrier();
|
||||
do {
|
||||
vold = vnew;
|
||||
vnew = current_block;
|
||||
sw_barrier();
|
||||
} while (vold != vnew);
|
||||
#else
|
||||
block_t *vnew = current_block;
|
||||
#endif
|
||||
|
||||
// Return if the block is busy or not
|
||||
return block == vnew;
|
||||
}
|
||||
|
||||
void Stepper::init() {
|
||||
|
||||
// Init Digipot Motor Current
|
||||
|
|
|
|||
|
|
@ -234,8 +234,6 @@ class Stepper {
|
|||
|
||||
public:
|
||||
|
||||
static block_t* current_block; // A pointer to the block currently being traced
|
||||
|
||||
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
|
||||
static bool homing_dual_axis;
|
||||
#endif
|
||||
|
|
@ -249,6 +247,8 @@ class Stepper {
|
|||
|
||||
private:
|
||||
|
||||
static block_t* current_block; // A pointer to the block currently being traced
|
||||
|
||||
static uint8_t last_direction_bits, // The next stepping-bits to be output
|
||||
axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
|
||||
|
||||
|
|
@ -360,6 +360,9 @@ class Stepper {
|
|||
static uint32_t advance_isr();
|
||||
#endif
|
||||
|
||||
// Check if the given block is busy or not - Must not be called from ISR contexts
|
||||
static bool is_block_busy(const block_t* const block);
|
||||
|
||||
// Get the position of a stepper, in steps
|
||||
static int32_t position(const AxisEnum axis);
|
||||
|
||||
|
|
|
|||
Reference in a new issue