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Guard time_spent_in_isr, time_spent_out_isr with MULTISTEPPING_LIMIT > 1

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Mihail Dumitrescu 2024-05-30 17:11:18 +03:00
parent 06762db050
commit 763c3035c1
2 changed files with 25 additions and 38 deletions
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34
Marlin/src/module/stepper.cpp
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@ -204,10 +204,10 @@ uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
#if MULTISTEPPING_LIMIT > 1 #if MULTISTEPPING_LIMIT > 1
uint8_t Stepper::steps_per_isr = 1; // Count of steps to perform per Stepper ISR call uint8_t Stepper::steps_per_isr = 1; // Count of steps to perform per Stepper ISR call
#endif
#if DISABLED(OLD_ADAPTIVE_MULTISTEPPING) #if DISABLED(OLD_ADAPTIVE_MULTISTEPPING)
hal_timer_t Stepper::time_spent_in_isr = 0, Stepper::time_spent_out_isr = 0; hal_timer_t Stepper::time_spent_in_isr = 0, Stepper::time_spent_out_isr = 0;
#endif
#endif #endif
#if ENABLED(ADAPTIVE_STEP_SMOOTHING) #if ENABLED(ADAPTIVE_STEP_SMOOTHING)
@ -1671,21 +1671,12 @@ void Stepper::isr() {
*/ */
min_ticks = HAL_timer_get_count(MF_TIMER_STEP) + hal_timer_t(TERN(__AVR__, 8, 1) * (STEPPER_TIMER_TICKS_PER_US)); min_ticks = HAL_timer_get_count(MF_TIMER_STEP) + hal_timer_t(TERN(__AVR__, 8, 1) * (STEPPER_TIMER_TICKS_PER_US));
#if ENABLED(OLD_ADAPTIVE_MULTISTEPPING) // Advance pulses if not enough time to wait for the next ISR or we've hit the loop limit.
/** // We limit to max_loop iterations to avoid timer (and 'next_isr_ticks') overflow and to
* NB: If for some reason the stepper monopolizes the MPU, eventually the // avoid this (high priority) ISR completely monopolizing the MPU.
* timer will wrap around (and so will 'next_isr_ticks'). So, limit the } while (--max_loops && next_isr_ticks < min_ticks);
* loop to 10 iterations. Beyond that, there's no way to ensure correct pulse
* timing, since the MCU isn't fast enough.
*/
if (!--max_loops) next_isr_ticks = min_ticks;
#endif
// Advance pulses if not enough time to wait for the next ISR
} while (TERN(OLD_ADAPTIVE_MULTISTEPPING, true, --max_loops) && next_isr_ticks < min_ticks);
#if DISABLED(OLD_ADAPTIVE_MULTISTEPPING)
#if DISABLED(OLD_ADAPTIVE_MULTISTEPPING) && MULTISTEPPING_LIMIT > 1
// Track the time spent in the ISR // Track the time spent in the ISR
const hal_timer_t time_spent = HAL_timer_get_count(MF_TIMER_STEP); const hal_timer_t time_spent = HAL_timer_get_count(MF_TIMER_STEP);
time_spent_in_isr += time_spent; time_spent_in_isr += time_spent;
@ -1694,21 +1685,20 @@ void Stepper::isr() {
next_isr_ticks = min_ticks; next_isr_ticks = min_ticks;
// When forced out of the ISR, increase multi-stepping // When forced out of the ISR, increase multi-stepping
#if MULTISTEPPING_LIMIT > 1
if (steps_per_isr < MULTISTEPPING_LIMIT) { if (steps_per_isr < MULTISTEPPING_LIMIT) {
steps_per_isr <<= 1; steps_per_isr <<= 1;
// ticks_nominal will need to be recalculated if we are in cruise phase // ticks_nominal will need to be recalculated if we are in cruise phase
ticks_nominal = 0; ticks_nominal = 0;
} }
#endif
} }
else { else {
// Track the time spent voluntarily outside the ISR // Track the time spent voluntarily outside the ISR
time_spent_out_isr += next_isr_ticks; time_spent_out_isr += next_isr_ticks;
time_spent_out_isr -= time_spent; time_spent_out_isr -= time_spent;
} }
#else
#endif // !OLD_ADAPTIVE_MULTISTEPPING NOLESS(next_isr_ticks, min_ticks);
#endif // DISABLED(OLD_ADAPTIVE_MULTISTEPPING) && MULTISTEPPING_LIMIT > 1
// Now 'next_isr_ticks' contains the period to the next Stepper ISR - And we are // Now 'next_isr_ticks' contains the period to the next Stepper ISR - And we are
// sure that the time has not arrived yet - Warrantied by the scheduler // sure that the time has not arrived yet - Warrantied by the scheduler
@ -2365,16 +2355,14 @@ void Stepper::set_axis_moved_for_current_block() {
* have been done, so it is less time critical. * have been done, so it is less time critical.
*/ */
hal_timer_t Stepper::block_phase_isr() { hal_timer_t Stepper::block_phase_isr() {
#if DISABLED(OLD_ADAPTIVE_MULTISTEPPING) #if DISABLED(OLD_ADAPTIVE_MULTISTEPPING) && MULTISTEPPING_LIMIT > 1
// If the ISR uses < 50% of MPU time, halve multi-stepping // If the ISR uses < 50% of MPU time, halve multi-stepping
const hal_timer_t time_spent = HAL_timer_get_count(MF_TIMER_STEP); const hal_timer_t time_spent = HAL_timer_get_count(MF_TIMER_STEP);
#if MULTISTEPPING_LIMIT > 1
if (steps_per_isr > 1 && time_spent_out_isr >= time_spent_in_isr + time_spent) { if (steps_per_isr > 1 && time_spent_out_isr >= time_spent_in_isr + time_spent) {
steps_per_isr >>= 1; steps_per_isr >>= 1;
// ticks_nominal will need to be recalculated if we are in cruise phase // ticks_nominal will need to be recalculated if we are in cruise phase
ticks_nominal = 0; ticks_nominal = 0;
} }
#endif
time_spent_in_isr = -time_spent; // unsigned but guaranteed to be +ve when needed time_spent_in_isr = -time_spent; // unsigned but guaranteed to be +ve when needed
time_spent_out_isr = 0; time_spent_out_isr = 0;
#endif #endif

3
Marlin/src/module/stepper.h
View File

@ -374,11 +374,10 @@ class Stepper {
static constexpr uint8_t steps_per_isr = 1; // Count of steps to perform per Stepper ISR call static constexpr uint8_t steps_per_isr = 1; // Count of steps to perform per Stepper ISR call
#else #else
static uint8_t steps_per_isr; static uint8_t steps_per_isr;
#endif
#if DISABLED(OLD_ADAPTIVE_MULTISTEPPING) #if DISABLED(OLD_ADAPTIVE_MULTISTEPPING)
static hal_timer_t time_spent_in_isr, time_spent_out_isr; static hal_timer_t time_spent_in_isr, time_spent_out_isr;
#endif #endif
#endif
#if ENABLED(ADAPTIVE_STEP_SMOOTHING) #if ENABLED(ADAPTIVE_STEP_SMOOTHING)
static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis