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Cleanup stepper ISR. Allow cleaning for endstops.

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This commit is contained in:
Scott Lahteine 2017-12-06 12:43:41 -06:00
parent a4e1d83599
commit 6040d4080e
2 changed files with 32 additions and 30 deletions
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60
Marlin/src/module/stepper.cpp
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@ -94,7 +94,7 @@ block_t* Stepper::current_block = NULL; // A pointer to the block currently bei
// private:
uint8_t Stepper::last_direction_bits = 0; // The next stepping-bits to be output
uint16_t Stepper::cleaning_buffer_counter = 0;
int16_t Stepper::cleaning_buffer_counter = 0;
#if ENABLED(X_DUAL_ENDSTOPS)
bool Stepper::locked_x_motor = false;
@ -341,10 +341,8 @@ HAL_STEP_TIMER_ISR {
void Stepper::isr() {
hal_timer_t ocr_val;
#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
#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
#if DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
@ -355,6 +353,7 @@ void Stepper::isr() {
#endif
#endif
hal_timer_t ocr_val;
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 { \
@ -367,42 +366,45 @@ void Stepper::isr() {
ocr_val = L;\
}while(0)
// Time remaining before the next 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
}
// Make sure endstops are updated
if (ENDSTOPS_ENABLED) endstops.update();
// Next ISR either for endstops or stepping
ocr_val = step_remaining <= ENDSTOP_NOMINAL_OCR_VAL ? step_remaining : ENDSTOP_NOMINAL_OCR_VAL;
step_remaining -= ocr_val;
_NEXT_ISR(ocr_val);
#if DISABLED(LIN_ADVANCE)
#ifdef CPU_32_BIT
HAL_timer_set_count(STEP_TIMER_NUM, ocr_val);
#else
NOLESS(OCR1A, TCNT1 + 16);
#if 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
HAL_ENABLE_ISRs(); // re-enable ISRs
#endif
return;
}
//
// When cleaning, discard the current block and run fast
//
if (cleaning_buffer_counter) {
--cleaning_buffer_counter;
if (cleaning_buffer_counter < 0)
++cleaning_buffer_counter; // Count up for endstop hit
else {
--cleaning_buffer_counter; // Count down for abort print
#ifdef SD_FINISHED_RELEASECOMMAND
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
}
current_block = NULL;
planner.discard_current_block();
#ifdef SD_FINISHED_RELEASECOMMAND
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
HAL_ENABLE_ISRs(); // Re-enable ISRs
return;
}

2
Marlin/src/module/stepper.h
View File

@ -80,7 +80,7 @@ class Stepper {
private:
static uint8_t last_direction_bits; // The next stepping-bits to be output
static uint16_t cleaning_buffer_counter;
static int16_t cleaning_buffer_counter;
#if ENABLED(X_DUAL_ENDSTOPS)
static bool locked_x_motor, locked_x2_motor;