From 1beaef04521e60533cf39df67bf34c333c67839a Mon Sep 17 00:00:00 2001
From: Bob-the-Kuhn <bob.kuhn@att.net>
Date: Fri, 29 Sep 2017 23:52:17 -0500
Subject: [PATCH] fix 3S hang & enable SPLIT
---
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h | 12 +++-
Marlin/src/module/stepper.cpp | 74 ++++++++++++++-----------
2 files changed, 51 insertions(+), 35 deletions(-)
diff --git a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
index dcbaec67a9..03d782ba7e 100644
--- a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
+++ b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
@@ -79,8 +79,16 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
static FORCE_INLINE void HAL_timer_set_count(const uint8_t timer_num, const HAL_TIMER_TYPE count) {
switch (timer_num) {
- case 0: LPC_TIM0->MR0 = count; break;
- case 1: LPC_TIM1->MR0 = count; break;
+ case 0:
+ LPC_TIM0->MR0 = count;
+ if (LPC_TIM0->TC > count)
+ LPC_TIM0->TC = count - 5; // generate an immediate stepper ISR
+ break;
+ case 1:
+ LPC_TIM1->MR0 = count;
+ if (LPC_TIM1->TC > count)
+ LPC_TIM1->TC = count - 5; // make sure we don't have one extra long period
+ break;
}
}
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 7cfc0f630d..06af28f295 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -323,8 +323,13 @@ void Stepper::isr() {
HAL_TIMER_TYPE ocr_val;
- #define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
- #define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
+ #if defined(CPU_32_BIT)
+ #define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
+ #define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
+ #else
+ #define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
+ #define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
+ #endif
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
@@ -335,40 +340,45 @@ void Stepper::isr() {
#endif
#endif
- #define _SPLIT(L) (ocr_val = (HAL_TIMER_TYPE)L)
- #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) || defined(CPU_32_BIT)
- #define SPLIT(L) _SPLIT(L)
- #else // sample endstops in between step pulses
- static uint32_t step_remaining = 0;
- #define SPLIT(L) do { \
- _SPLIT(L); \
- if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \
- const uint16_t remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
- ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
- step_remaining = (uint16_t)L - ocr_val; \
- } \
- }while(0)
+ static uint32_t step_remaining = 0; // SPLIT function always runs. This allows 16 bit timers to be
+ // used to generate the stepper ISR.
+ #define SPLIT(L) do { \
+ if (L > ENDSTOP_NOMINAL_OCR_VAL) { \
+ const uint32_t remainder = (uint32_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
+ ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
+ step_remaining = (uint32_t)L - ocr_val; \
+ } \
+ else \
+ ocr_val = L;\
+ }while(0)
- if (step_remaining && ENDSTOPS_ENABLED) { // Just check endstops - not yet time for a step
+ if (step_remaining) {
+ if (ENDSTOPS_ENABLED)
endstops.update();
- if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
- step_remaining -= ENDSTOP_NOMINAL_OCR_VAL;
- ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
- }
- else {
- ocr_val = step_remaining;
- step_remaining = 0; // last one before the ISR that does the step
- }
-
- _NEXT_ISR(ocr_val);
-
- NOLESS(OCR1A, TCNT1 + 16);
-
- HAL_ENABLE_ISRs(); // re-enable ISRs
- return;
+ if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
+ step_remaining -= ENDSTOP_NOMINAL_OCR_VAL;
+ ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
}
+ else {
+ ocr_val = step_remaining;
+ step_remaining = 0; // last one before the ISR that does the step
+ }
+
+ _NEXT_ISR(ocr_val);
+
+ #if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
+ #ifdef CPU_32_BIT
+ HAL_timer_set_count(STEP_TIMER_NUM, ocr_val);
+ #else
+ NOLESS(OCR1A, TCNT1 + 16);
+ #endif
+ HAL_ENABLE_ISRs(); // re-enable ISRs
#endif
+ return;
+ }
+
+
if (cleaning_buffer_counter) {
--cleaning_buffer_counter;
current_block = NULL;
@@ -748,7 +758,6 @@ void Stepper::isr() {
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
-
deceleration_time += timer;
#if ENABLED(LIN_ADVANCE)
@@ -832,7 +841,6 @@ void Stepper::isr() {
// Timer interrupt for E. e_steps is set in the main routine;
void Stepper::advance_isr() {
-
nextAdvanceISR = eISR_Rate;
#if ENABLED(MK2_MULTIPLEXER)