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https://github.com/MarlinFirmware/Marlin.git
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Unify step pulse timing of ISR / babystep (#16813)
This commit is contained in:
Scott Lahteine
GitHub
parent
d8b2726fd3
commit
2836834d7e
@ -402,6 +402,7 @@ constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return (NS + (NS_PER_P
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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 USING_TIMED_PULSE() hal_timer_t end_tick_count = 0
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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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@ -409,6 +410,18 @@ constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return (NS + (NS_PER_P
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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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#if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
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#define DIR_WAIT_BEFORE() DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY)
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#else
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#define DIR_WAIT_BEFORE()
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#endif
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#if MINIMUM_STEPPER_POST_DIR_DELAY > 0
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#define DIR_WAIT_AFTER() DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY)
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#else
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#define DIR_WAIT_AFTER()
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#endif
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void Stepper::wake_up() {
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// TCNT1 = 0;
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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@ -423,9 +436,7 @@ void Stepper::wake_up() {
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*/
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void Stepper::set_directions() {
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#if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
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DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY);
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#endif
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DIR_WAIT_BEFORE();
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#define SET_STEP_DIR(A) \
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if (motor_direction(_AXIS(A))) { \
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@ -494,10 +505,7 @@ void Stepper::set_directions() {
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}
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#endif
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// A small delay may be needed after changing direction
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#if MINIMUM_STEPPER_POST_DIR_DELAY > 0
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DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY);
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#endif
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DIR_WAIT_AFTER();
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}
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#if ENABLED(S_CURVE_ACCELERATION)
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@ -1488,12 +1496,12 @@ void Stepper::stepper_pulse_phase_isr() {
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// Take multiple steps per interrupt (For high speed moves)
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#if ISR_MULTI_STEPS
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bool firstStep = true;
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hal_timer_t end_tick_count = 0;
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USING_TIMED_PULSE();
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#endif
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xyze_bool_t step_needed{0};
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do {
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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#define _APPLY_STEP(AXIS, INV, ALWAYS) AXIS ##_APPLY_STEP(INV, ALWAYS)
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#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
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// Determine if a pulse is needed using Bresenham
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@ -1509,14 +1517,14 @@ void Stepper::stepper_pulse_phase_isr() {
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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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if (step_needed[_AXIS(AXIS)]) { \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), 0); \
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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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// Stop an active pulse, if any, and adjust error term
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#define PULSE_STOP(AXIS) do { \
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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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_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), 0); \
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} \
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}while(0)
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@ -1978,9 +1986,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
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else
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interval = LA_ADV_NEVER;
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#if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
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DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY);
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#endif
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DIR_WAIT_BEFORE();
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#if ENABLED(MIXING_EXTRUDER)
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// We don't know which steppers will be stepped because LA loop follows,
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@ -1996,17 +2002,14 @@ uint32_t Stepper::stepper_block_phase_isr() {
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REV_E_DIR(stepper_extruder);
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#endif
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// A small delay may be needed after changing direction
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#if MINIMUM_STEPPER_POST_DIR_DELAY > 0
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DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY);
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#endif
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DIR_WAIT_AFTER();
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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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#if ISR_MULTI_STEPS
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bool firstStep = true;
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hal_timer_t end_tick_count = 0;
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USING_TIMED_PULSE();
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#endif
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while (LA_steps) {
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@ -2424,57 +2427,52 @@ void Stepper::report_positions() {
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#if ENABLED(BABYSTEPPING)
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#if MINIMUM_STEPPER_PULSE
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#define STEP_PULSE_CYCLES ((MINIMUM_STEPPER_PULSE) * CYCLES_PER_MICROSECOND)
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#else
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#define STEP_PULSE_CYCLES 0
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#endif
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#if ENABLED(DELTA)
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#define CYCLES_EATEN_BABYSTEP (2 * 15)
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#else
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#define CYCLES_EATEN_BABYSTEP 0
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#endif
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#define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
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#define _ENABLE_AXIS(AXIS) ENABLE_AXIS_## AXIS()
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#define _READ_DIR(AXIS) AXIS ##_DIR_READ()
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#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
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#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
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#if EXTRA_CYCLES_BABYSTEP > 20
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#define _SAVE_START const hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM)
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#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
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#else
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#define _SAVE_START NOOP
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#if EXTRA_CYCLES_BABYSTEP > 0
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#define _PULSE_WAIT DELAY_NS(EXTRA_CYCLES_BABYSTEP * NANOSECONDS_PER_CYCLE)
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#elif ENABLED(DELTA)
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#define _PULSE_WAIT DELAY_US(2);
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#elif STEP_PULSE_CYCLES > 0
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#define _PULSE_WAIT NOOP
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#else
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#define _PULSE_WAIT DELAY_US(4);
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#endif
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#endif
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#define BABYSTEP_AXIS(AXIS, INVERT, DIR) { \
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#if DISABLED(DELTA)
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#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
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const uint8_t old_dir = _READ_DIR(AXIS); \
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_ENABLE_AXIS(AXIS); \
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DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY); \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INVERT); \
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DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY); \
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_SAVE_START; \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
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_PULSE_WAIT; \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
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DIR_WAIT_BEFORE(); \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INV); \
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DIR_WAIT_AFTER(); \
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USING_TIMED_PULSE(); \
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START_HIGH_PULSE(); \
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_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
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AWAIT_HIGH_PULSE(); \
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_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
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_APPLY_DIR(AXIS, old_dir); \
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}
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}while(0)
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#endif
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#if IS_CORE
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#define BABYSTEP_CORE(A, B, INV, DIR) do{ \
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const xy_byte_t old_dir = { _READ_DIR(A), _READ_DIR(B) }; \
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_ENABLE_AXIS(A); _ENABLE_AXIS(B); \
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DIR_WAIT_BEFORE(); \
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_APPLY_DIR(A, _INVERT_DIR(A)^DIR^INV); \
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_APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^(CORESIGN(1)<0)); \
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DIR_WAIT_AFTER(); \
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USING_TIMED_PULSE(); \
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START_HIGH_PULSE(); \
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_APPLY_STEP(A, !_INVERT_STEP_PIN(A), true); \
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_APPLY_STEP(B, !_INVERT_STEP_PIN(B), true); \
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AWAIT_HIGH_PULSE(); \
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_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
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_APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
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_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
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}while(0)
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#endif
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// MUST ONLY BE CALLED BY AN ISR,
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// No other ISR should ever interrupt this!
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void Stepper::babystep(const AxisEnum axis, const bool direction) {
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cli();
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DISABLE_ISRS();
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USING_TIMED_PULSE();
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switch (axis) {
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@ -2482,11 +2480,9 @@ void Stepper::report_positions() {
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case X_AXIS:
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#if CORE_IS_XY
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BABYSTEP_AXIS(X, false, direction);
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BABYSTEP_AXIS(Y, false, direction);
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BABYSTEP_CORE(X, Y, false, direction);
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#elif CORE_IS_XZ
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BABYSTEP_AXIS(X, false, direction);
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BABYSTEP_AXIS(Z, false, direction);
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BABYSTEP_CORE(X, Z, false, direction);
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#else
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BABYSTEP_AXIS(X, false, direction);
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#endif
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@ -2494,11 +2490,9 @@ void Stepper::report_positions() {
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case Y_AXIS:
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#if CORE_IS_XY
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BABYSTEP_AXIS(X, false, direction);
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BABYSTEP_AXIS(Y, false, direction^(CORESIGN(1)<0));
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BABYSTEP_CORE(X, Y, false, direction);
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#elif CORE_IS_YZ
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BABYSTEP_AXIS(Y, false, direction);
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BABYSTEP_AXIS(Z, false, direction^(CORESIGN(1)<0));
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BABYSTEP_CORE(Y, Z, false, direction);
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#else
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BABYSTEP_AXIS(Y, false, direction);
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#endif
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@ -2509,13 +2503,9 @@ void Stepper::report_positions() {
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case Z_AXIS: {
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#if CORE_IS_XZ
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BABYSTEP_AXIS(X, BABYSTEP_INVERT_Z, direction);
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BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
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BABYSTEP_CORE(X, Z, BABYSTEP_INVERT_Z, direction);
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#elif CORE_IS_YZ
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BABYSTEP_AXIS(Y, BABYSTEP_INVERT_Z, direction);
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BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
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BABYSTEP_CORE(Y, Z, BABYSTEP_INVERT_Z, direction);
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#elif DISABLED(DELTA)
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BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction);
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@ -2527,38 +2517,32 @@ void Stepper::report_positions() {
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ENABLE_AXIS_Y();
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ENABLE_AXIS_Z();
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#if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
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DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY);
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#endif
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DIR_WAIT_BEFORE();
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const uint8_t old_x_dir_pin = X_DIR_READ(),
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old_y_dir_pin = Y_DIR_READ(),
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old_z_dir_pin = Z_DIR_READ();
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const xyz_byte_t old_dir = { X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ() };
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X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
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Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
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Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
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#if MINIMUM_STEPPER_POST_DIR_DELAY > 0
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DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY);
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#endif
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DIR_WAIT_AFTER();
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_SAVE_START;
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START_HIGH_PULSE();
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X_STEP_WRITE(!INVERT_X_STEP_PIN);
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Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
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Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
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_PULSE_WAIT;
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AWAIT_HIGH_PULSE();
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X_STEP_WRITE(INVERT_X_STEP_PIN);
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Y_STEP_WRITE(INVERT_Y_STEP_PIN);
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Z_STEP_WRITE(INVERT_Z_STEP_PIN);
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// Restore direction bits
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X_DIR_WRITE(old_x_dir_pin);
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Y_DIR_WRITE(old_y_dir_pin);
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Z_DIR_WRITE(old_z_dir_pin);
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X_DIR_WRITE(old_dir.x);
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Y_DIR_WRITE(old_dir.y);
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Z_DIR_WRITE(old_dir.z);
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#endif
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@ -2566,7 +2550,9 @@ void Stepper::report_positions() {
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default: break;
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}
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sei();
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START_LOW_PULSE(); AWAIT_LOW_PULSE(); // Prevent Stepper::ISR pulsing too soon
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ENABLE_ISRS(); // Now it's ok for the ISR to run
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}
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#endif // BABYSTEPPING
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