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Code Issues Releases Wiki Activity

Better handling of DELAY_NS and DELAY_US (#10716)

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Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine 2018-05-12 08:34:04 -05:00 committed by GitHub
parent f5aaa2d6c0
commit a1062eec5b
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21 changed files with 273 additions and 268 deletions
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133
Marlin/src/HAL/Delay.h Normal file
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@ -0,0 +1,133 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
Busy wait delay Cycles routines:
DELAY_CYCLES(count): Delay execution in cycles
DELAY_NS(count): Delay execution in nanoseconds
DELAY_US(count): Delay execution in microseconds
*/
#ifndef MARLIN_DELAY_H
#define MARLIN_DELAY_H
#if defined(__arm__) || defined(__thumb__)
/* https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles */
#define nop() __asm__ __volatile__("nop;\n\t":::)
FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle
#if ARCH_PIPELINE_RELOAD_CYCLES < 2
#define EXTRA_NOP_CYCLES A("nop")
#else
#define EXTRA_NOP_CYCLES ""
#endif
__asm__ __volatile__(
A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
L("1")
A("subs %[cnt],#1")
EXTRA_NOP_CYCLES
A("bne 1b")
: [cnt]"+r"(cy) // output: +r means input+output
: // input:
: "cc" // clobbers:
);
}
/* ---------------- Delay in cycles */
FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
if (__builtin_constant_p(x)) {
#define MAXNOPS 4
if (x <= (MAXNOPS)) {
switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
}
else { // because of +1 cycle inside delay_4cycles
const uint32_t rem = (x - 1) % (MAXNOPS);
switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
if ((x = (x - 1) / (MAXNOPS)))
__delay_4cycles(x); // if need more then 4 nop loop is more optimal
}
#undef MAXNOPS
}
else
__delay_4cycles(x / 4);
}
#undef nop
#elif defined(__AVR__)
#define nop() __asm__ __volatile__("nop;\n\t":::)
FORCE_INLINE static void __delay_4cycles(uint8_t cy) {
__asm__ __volatile__(
L("1")
A("dec %[cnt]")
A("nop")
A("brne 1b")
: [cnt] "+r"(cy) // output: +r means input+output
: // input:
: "cc" // clobbers:
);
}
/* ---------------- Delay in cycles */
FORCE_INLINE static void DELAY_CYCLES(uint16_t x) {
if (__builtin_constant_p(x)) {
#define MAXNOPS 4
if (x <= (MAXNOPS)) {
switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
}
else {
const uint32_t rem = (x) % (MAXNOPS);
switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
if ((x = (x) / (MAXNOPS)))
__delay_4cycles(x); // if need more then 4 nop loop is more optimal
}
#undef MAXNOPS
}
else
__delay_4cycles(x / 4);
}
#undef nop
#else
#error "Unsupported MCU architecture"
#endif
/* ---------------- Delay in nanoseconds */
#define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) / 1000L )
/* ---------------- Delay in microseconds */
#define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) )
#endif // MARLIN_DELAY_H

123
Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp
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@ -42,6 +42,7 @@
// --------------------------------------------------------------------------
#include "../../inc/MarlinConfig.h"
#include "../Delay.h"
// --------------------------------------------------------------------------
// Public Variables
@ -58,66 +59,16 @@
// software SPI
// --------------------------------------------------------------------------
// set optimization so ARDUINO optimizes this file
// Make sure GCC optimizes this file.
// Note that this line triggers a bug in GCC which is fixed by casting.
// See the note below.
#pragma GCC optimize (3)
/* ---------------- Delay Cycles routine -------------- */
/* https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles */
#define nop() __asm__ __volatile__("nop;\n\t":::)
FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle
#if ARCH_PIPELINE_RELOAD_CYCLES<2
#define EXTRA_NOP_CYCLES "nop"
#else
#define EXTRA_NOP_CYCLES ""
#endif
__asm__ __volatile__(
".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax
L("loop%=")
A("subs %[cnt],#1")
A(EXTRA_NOP_CYCLES)
A("bne loop%=")
: [cnt]"+r"(cy) // output: +r means input+output
: // input:
: "cc" // clobbers:
);
}
FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
if (__builtin_constant_p(x)) {
#define MAXNOPS 4
if (x <= (MAXNOPS)) {
switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); }
}
else { // because of +1 cycle inside delay_4cycles
const uint32_t rem = (x - 1) % (MAXNOPS);
switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); }
if ((x = (x - 1) / (MAXNOPS)))
__delay_4cycles(x); // if need more then 4 nop loop is more optimal
}
}
else
__delay_4cycles(x / 4);
}
/* ---------------- Delay in nanoseconds and in microseconds */
#define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU/1000000) / 1000)
typedef uint8_t (*pfnSpiTransfer) (uint8_t b);
typedef uint8_t (*pfnSpiTransfer)(uint8_t b);
typedef void (*pfnSpiRxBlock)(uint8_t* buf, uint32_t nbyte);
typedef void (*pfnSpiTxBlock)(const uint8_t* buf, uint32_t nbyte);
/* ---------------- Macros to be able to access definitions from asm */
#define _PORT(IO) DIO ## IO ## _WPORT
#define _PIN_MASK(IO) MASK(DIO ## IO ## _PIN)
#define _PIN_SHIFT(IO) DIO ## IO ## _PIN
@ -202,10 +153,10 @@
return 0;
}
// Calculates the bit band alias address and returns a pointer address to word.
// addr: The byte address of bitbanding bit.
// bit: The bit position of bitbanding bit.
#define BITBAND_ADDRESS(addr, bit) \
// Calculates the bit band alias address and returns a pointer address to word.
// addr: The byte address of bitbanding bit.
// bit: The bit position of bitbanding bit.
#define BITBAND_ADDRESS(addr, bit) \
(((uint32_t)(addr) & 0xF0000000) + 0x02000000 + ((uint32_t)(addr)&0xFFFFF)*32 + (bit)*4)
// run at ~8 .. ~10Mhz - Rx version (Tx line not altered)
@ -319,8 +270,14 @@
}
// Pointers to generic functions for byte transfers
static pfnSpiTransfer spiTransferTx = spiTransferX;
static pfnSpiTransfer spiTransferRx = spiTransferX;
/**
* Note: The cast is unnecessary, but without it, this file triggers a GCC 4.8.3-2014 bug.
* Later GCC versions do not have this problem, but at this time (May 2018) Arduino still
* uses that buggy and obsolete GCC version!!
*/
static pfnSpiTransfer spiTransferRx = (pfnSpiTransfer)spiTransferX;
static pfnSpiTransfer spiTransferTx = (pfnSpiTransfer)spiTransferX;
// Block transfers run at ~8 .. ~10Mhz - Tx version (Rx data discarded)
static void spiTxBlock0(const uint8_t* ptr, uint32_t todo) {
@ -384,7 +341,7 @@
A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */
/* Bit 0 */
A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
A("str %[sck_mask],[%[sck_port]]") /* SODR */
A("subs %[todo],#1") /* Decrement count of pending words to send, update status */
A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */
@ -491,8 +448,8 @@
}
// Pointers to generic functions for block tranfers
static pfnSpiTxBlock spiTxBlock = spiTxBlockX;
static pfnSpiRxBlock spiRxBlock = spiRxBlockX;
static pfnSpiTxBlock spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
static pfnSpiRxBlock spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
#if MB(ALLIGATOR) // control SDSS pin
void spiBegin() {
@ -580,23 +537,23 @@
void spiInit(uint8_t spiRate) {
switch (spiRate) {
case 0:
spiTransferTx = spiTransferTx0;
spiTransferRx = spiTransferRx0;
spiTxBlock = spiTxBlock0;
spiRxBlock = spiRxBlock0;
spiTransferTx = (pfnSpiTransfer)spiTransferTx0;
spiTransferRx = (pfnSpiTransfer)spiTransferRx0;
spiTxBlock = (pfnSpiTxBlock)spiTxBlock0;
spiRxBlock = (pfnSpiRxBlock)spiRxBlock0;
break;
case 1:
spiTransferTx = spiTransfer1;
spiTransferRx = spiTransfer1;
spiTxBlock = spiTxBlockX;
spiRxBlock = spiRxBlockX;
spiTransferTx = (pfnSpiTransfer)spiTransfer1;
spiTransferRx = (pfnSpiTransfer)spiTransfer1;
spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
break;
default:
spiDelayCyclesX4 = (F_CPU/1000000) >> (6 - spiRate);
spiTransferTx = spiTransferX;
spiTransferRx = spiTransferX;
spiTxBlock = spiTxBlockX;
spiRxBlock = spiRxBlockX;
spiTransferTx = (pfnSpiTransfer)spiTransferX;
spiTransferRx = (pfnSpiTransfer)spiTransferX;
spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
break;
}
@ -614,7 +571,7 @@
#pragma GCC reset_options
#else
#else // !SOFTWARE_SPI
#if MB(ALLIGATOR)
@ -714,7 +671,7 @@
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0);
// clear status
SPI0->SPI_RDR;
//delayMicroseconds(1U);
//DELAY_US(1U);
}
void spiSend(const uint8_t* buf, size_t n) {
@ -724,7 +681,7 @@
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0);
SPI0->SPI_RDR;
//delayMicroseconds(1U);
//DELAY_US(1U);
}
spiSend(buf[n - 1]);
}
@ -767,7 +724,7 @@
// wait for receive register
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0);
// get byte from receive register
//delayMicroseconds(1U);
//DELAY_US(1U);
return SPI0->SPI_RDR;
}
@ -797,7 +754,7 @@
SPI0->SPI_TDR = 0x000000FF | SPI_PCS(SPI_CHAN);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0);
buf[i] = SPI0->SPI_RDR;
//delayMicroseconds(1U);
//DELAY_US(1U);
}
buf[nbyte] = spiRec();
}
@ -813,7 +770,7 @@
while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0);
while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0);
SPI0->SPI_RDR;
//delayMicroseconds(1U);
//DELAY_US(1U);
}
spiSend(buf[511]);
}
@ -902,7 +859,7 @@
spiTransfer(buf[i]);
}
#endif //MB(ALLIGATOR)
#endif // ENABLED(SOFTWARE_SPI)
#endif // !ALLIGATOR
#endif // !SOFTWARE_SPI
#endif // ARDUINO_ARCH_SAM

3
Marlin/src/HAL/HAL_LPC1768/HAL.cpp
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@ -21,12 +21,13 @@
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfig.h"
#include "../Delay.h"
HalSerial usb_serial;
// U8glib required functions
extern "C" void u8g_xMicroDelay(uint16_t val) {
delayMicroseconds(val);
DELAY_US(val);
}
extern "C" void u8g_MicroDelay(void) {
u8g_xMicroDelay(1);

6
Marlin/src/HAL/HAL_LPC1768/HAL.h
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@ -68,9 +68,9 @@ extern "C" volatile uint32_t _millis;
#include "HAL_timers.h"
#include "HardwareSerial.h"
#define ST7920_DELAY_1 DELAY_20_NOP;DELAY_20_NOP;DELAY_20_NOP
#define ST7920_DELAY_2 DELAY_20_NOP;DELAY_20_NOP;DELAY_20_NOP;DELAY_10_NOP;DELAY_5_NOP
#define ST7920_DELAY_3 DELAY_20_NOP;DELAY_20_NOP;DELAY_20_NOP;DELAY_10_NOP;DELAY_5_NOP
#define ST7920_DELAY_1 DELAY_NS(600)
#define ST7920_DELAY_2 DELAY_NS(750)
#define ST7920_DELAY_3 DELAY_NS(750)
extern HalSerial usb_serial;

22
Marlin/src/HAL/HAL_LPC1768/SoftwareSerial.cpp
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@ -37,6 +37,7 @@
//
//#include <WInterrupts.h>
#include "../../inc/MarlinConfig.h"
#include "../Delay.h"
#include <stdint.h>
#include <stdarg.h>
#include <Arduino.h>
@ -78,28 +79,9 @@ static const DELAY_TABLE table[] = {
// Private methods
//
#if 0
/* static */
inline void SoftwareSerial::tunedDelay(const uint32_t count) {
asm volatile(
"mov r3, %[loopsPerMicrosecond] \n\t" //load the initial loop counter
"1: \n\t"
"sub r3, r3, #1 \n\t"
"bne 1b \n\t"
://empty output list
:[loopsPerMicrosecond] "r" (count)
:"r3", "cc" //clobber list
);
DELAY_US(count);
}
#else
inline void SoftwareSerial::tunedDelay(const uint32_t count) {
delayMicroseconds(count);
}
#endif
// This function sets the current object as the "listening"
// one and returns true if it replaces another

22
Marlin/src/HAL/HAL_LPC1768/arduino.cpp
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@ -26,6 +26,7 @@
#include <lpc17xx_pinsel.h>
#include "../../inc/MarlinConfig.h"
#include "../Delay.h"
// Interrupts
void cli(void) { __disable_irq(); } // Disable
@ -40,26 +41,9 @@ uint32_t millis() {
return _millis;
}
// This is required for some Arduino libraries we are using
void delayMicroseconds(uint32_t us) {
static const int nop_factor = (SystemCoreClock / 11000000);
static volatile int loops = 0;
//previous ops already burned most of 1us, burn the rest
loops = nop_factor / 4; //measured at 1us
while (loops > 0) --loops;
if (us < 2) return;
us--;
//redirect to delay for large values, then set new delay to remainder
if (us > 1000) {
delay(us / 1000);
us = us % 1000;
}
// burn cycles, time in interrupts will not be taken into account
loops = us * nop_factor;
while (loops > 0) --loops;
DELAY_US(us);
}
extern "C" void delay(const int msec) {

9
Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_ssd_sw_i2c.cpp under construction
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@ -63,7 +63,6 @@
#include <U8glib.h>
void delayMicroseconds(uint32_t us);
//void pinMode(int16_t pin, uint8_t mode);
//void digitalWrite(int16_t pin, uint8_t pin_status);
@ -122,13 +121,13 @@ uint8_t u8g_i2c_start_sw(uint8_t sla) { // assert start condition and then send
LPC_GPIO(SDA_port_HAL_LPC1768_sw_I2C)->FIOCLR = LPC_PIN(SDA_pin_HAL_LPC1768_sw_I2C);
LPC_GPIO(SCL_port_HAL_LPC1768_sw_I2C)->FIOCLR = LPC_PIN(SCL_pin_HAL_LPC1768_sw_I2C);
delayMicroseconds(2);
DELAY_US(2);
LPC_GPIO(SCL_port_HAL_LPC1768_sw_I2C)->FIOSET = LPC_PIN(SCL_pin_HAL_LPC1768_sw_I2C);
delayMicroseconds(2);
DELAY_US(2);
LPC_GPIO(SDA_port_HAL_LPC1768_sw_I2C)->FIOSET = LPC_PIN(SDA_pin_HAL_LPC1768_sw_I2C);
delayMicroseconds(2);
DELAY_US(2);
LPC_GPIO(SDA_port_HAL_LPC1768_sw_I2C)->FIOCLR = LPC_PIN(SDA_pin_HAL_LPC1768_sw_I2C);
delayMicroseconds(2);
DELAY_US(2);
LPC_GPIO(SCL_port_HAL_LPC1768_sw_I2C)->FIOCLR = LPC_PIN(SCL_pin_HAL_LPC1768_sw_I2C);
u8g_i2c_send_byte_sw(I2C_SLA); // send slave address with write bit

54
Marlin/src/core/macros.h
View File

@ -50,58 +50,8 @@
#define CYCLES_PER_MICROSECOND (F_CPU / 1000000L) // 16 or 20 on AVR
#endif
// Processor-level delays for hardware interfaces
#ifndef _NOP
#define _NOP() do { __asm__ volatile ("nop"); } while (0)
#endif
#define DELAY_NOPS(X) \
switch (X) { \
case 20: _NOP(); case 19: _NOP(); case 18: _NOP(); case 17: _NOP(); \
case 16: _NOP(); case 15: _NOP(); case 14: _NOP(); case 13: _NOP(); \
case 12: _NOP(); case 11: _NOP(); case 10: _NOP(); case 9: _NOP(); \
case 8: _NOP(); case 7: _NOP(); case 6: _NOP(); case 5: _NOP(); \
case 4: _NOP(); case 3: _NOP(); case 2: _NOP(); case 1: _NOP(); \
}
#define DELAY_0_NOP NOOP
#define DELAY_1_NOP DELAY_NOPS( 1)
#define DELAY_2_NOP DELAY_NOPS( 2)
#define DELAY_3_NOP DELAY_NOPS( 3)
#define DELAY_4_NOP DELAY_NOPS( 4)
#define DELAY_5_NOP DELAY_NOPS( 5)
#define DELAY_10_NOP DELAY_NOPS(10)
#define DELAY_20_NOP DELAY_NOPS(20)
#if CYCLES_PER_MICROSECOND <= 200
#define DELAY_100NS DELAY_NOPS((CYCLES_PER_MICROSECOND + 9) / 10)
#else
#define DELAY_100NS DELAY_20_NOP
#endif
// Microsecond delays for hardware interfaces
#if CYCLES_PER_MICROSECOND <= 20
#define DELAY_1US DELAY_NOPS(CYCLES_PER_MICROSECOND)
#define DELAY_US(X) \
switch (X) { \
case 20: DELAY_1US; case 19: DELAY_1US; case 18: DELAY_1US; case 17: DELAY_1US; \
case 16: DELAY_1US; case 15: DELAY_1US; case 14: DELAY_1US; case 13: DELAY_1US; \
case 12: DELAY_1US; case 11: DELAY_1US; case 10: DELAY_1US; case 9: DELAY_1US; \
case 8: DELAY_1US; case 7: DELAY_1US; case 6: DELAY_1US; case 5: DELAY_1US; \
case 4: DELAY_1US; case 3: DELAY_1US; case 2: DELAY_1US; case 1: DELAY_1US; \
}
#else
#define DELAY_US(X) delayMicroseconds(X) // May not be usable in CRITICAL_SECTION
#define DELAY_1US DELAY_US(1)
#endif
#define DELAY_2US DELAY_US( 2)
#define DELAY_3US DELAY_US( 3)
#define DELAY_4US DELAY_US( 4)
#define DELAY_5US DELAY_US( 5)
#define DELAY_6US DELAY_US( 6)
#define DELAY_7US DELAY_US( 7)
#define DELAY_8US DELAY_US( 8)
#define DELAY_9US DELAY_US( 9)
#define DELAY_10US DELAY_US(10)
#define DELAY_20US DELAY_US(20)
// Nanoseconds per cycle
#define NANOSECONDS_PER_CYCLE (1000000000.0 / F_CPU)
// Remove compiler warning on an unused variable
#define UNUSED(x) (void) (x)

9
Marlin/src/feature/Max7219_Debug_LEDs.cpp
View File

@ -60,19 +60,16 @@
#include "../module/planner.h"
#include "../module/stepper.h"
#include "../Marlin.h"
#include "../HAL/Delay.h"
static uint8_t LEDs[8] = { 0 };
#ifdef CPU_32_BIT
// Approximate a 1µs delay on 32-bit ARM
void SIG_DELAY() {
int16_t delay_cycles = CYCLES_PER_MICROSECOND - 10;
while (delay_cycles >= 10) { DELAY_NOPS(6); delay_cycles -= 10; }
if (delay_cycles > 0) DELAY_NOPS(delay_cycles);
}
#define SIG_DELAY() DELAY_US(1)
#else
// Delay for 0.1875µs (16MHz AVR) or 0.15µs (20MHz AVR)
#define SIG_DELAY() DELAY_3_NOP
#define SIG_DELAY() DELAY_NS(188)
#endif
void Max7219_PutByte(uint8_t data) {

23
Marlin/src/feature/dac/dac_dac084s085.cpp
View File

@ -12,6 +12,7 @@
#include "../../Marlin.h"
#include "../../module/stepper.h"
#include "../../HAL/Delay.h"
dac084s085::dac084s085() { }
@ -27,11 +28,11 @@ void dac084s085::begin() {
spiBegin();
//init onboard DAC
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC0_SYNC, LOW);
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC0_SYNC, HIGH);
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC0_SYNC, LOW);
spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf));
@ -39,11 +40,11 @@ void dac084s085::begin() {
#if EXTRUDERS > 1
//init Piggy DAC
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC1_SYNC, LOW);
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC1_SYNC, HIGH);
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC1_SYNC, LOW);
spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf));
@ -66,20 +67,20 @@ void dac084s085::setValue(const uint8_t channel, const uint8_t value) {
if (channel > 3) { // DAC Piggy E1,E2,E3
WRITE(DAC1_SYNC, LOW);
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC1_SYNC, HIGH);
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC1_SYNC, LOW);
}
else { // DAC onboard X,Y,Z,E0
WRITE(DAC0_SYNC, LOW);
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC0_SYNC, HIGH);
delayMicroseconds(2U);
DELAY_US(2);
WRITE(DAC0_SYNC, LOW);
}
delayMicroseconds(2U);
DELAY_US(2);
spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf));
}

6
Marlin/src/inc/Conditionals_LCD.h
View File

@ -120,13 +120,13 @@
#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
#ifndef ST7920_DELAY_1
#define ST7920_DELAY_1 DELAY_2_NOP
#define ST7920_DELAY_1 DELAY_NS(125)
#endif
#ifndef ST7920_DELAY_2
#define ST7920_DELAY_2 DELAY_2_NOP
#define ST7920_DELAY_2 DELAY_NS(125)
#endif
#ifndef ST7920_DELAY_3
#define ST7920_DELAY_3 DELAY_2_NOP
#define ST7920_DELAY_3 DELAY_NS(125)
#endif
#elif ENABLED(MKS_12864OLED)

41
Marlin/src/lcd/dogm/ultralcd_st7920_u8glib_rrd_AVR.cpp
View File

@ -24,6 +24,7 @@
// file u8g_dev_st7920_128x64_HAL.cpp for the HAL version.
#include "../../inc/MarlinConfig.h"
#include "../../HAL/Delay.h"
#if ENABLED(U8GLIB_ST7920)
@ -46,30 +47,30 @@
#pragma GCC optimize (3)
// If you want you can define your own set of delays in Configuration.h
//#define ST7920_DELAY_1 DELAY_0_NOP
//#define ST7920_DELAY_2 DELAY_0_NOP
//#define ST7920_DELAY_3 DELAY_0_NOP
//#define ST7920_DELAY_1 DELAY_NS(0)
//#define ST7920_DELAY_2 DELAY_NS(0)
//#define ST7920_DELAY_3 DELAY_NS(0)
#if F_CPU >= 20000000
#define CPU_ST7920_DELAY_1 DELAY_0_NOP
#define CPU_ST7920_DELAY_2 DELAY_0_NOP
#define CPU_ST7920_DELAY_3 DELAY_1_NOP
#define CPU_ST7920_DELAY_1 DELAY_NS(0)
#define CPU_ST7920_DELAY_2 DELAY_NS(0)
#define CPU_ST7920_DELAY_3 DELAY_NS(50)
#elif MB(3DRAG) || MB(K8200) || MB(K8400) || MB(SILVER_GATE)
#define CPU_ST7920_DELAY_1 DELAY_0_NOP
#define CPU_ST7920_DELAY_2 DELAY_3_NOP
#define CPU_ST7920_DELAY_3 DELAY_0_NOP
#define CPU_ST7920_DELAY_1 DELAY_NS(0)
#define CPU_ST7920_DELAY_2 DELAY_NS(188)
#define CPU_ST7920_DELAY_3 DELAY_NS(0)
#elif MB(MINIRAMBO)
#define CPU_ST7920_DELAY_1 DELAY_0_NOP
#define CPU_ST7920_DELAY_2 DELAY_4_NOP
#define CPU_ST7920_DELAY_3 DELAY_0_NOP
#define CPU_ST7920_DELAY_1 DELAY_NS(0)
#define CPU_ST7920_DELAY_2 DELAY_NS(250)
#define CPU_ST7920_DELAY_3 DELAY_NS(0)
#elif MB(RAMBO)
#define CPU_ST7920_DELAY_1 DELAY_0_NOP
#define CPU_ST7920_DELAY_2 DELAY_0_NOP
#define CPU_ST7920_DELAY_3 DELAY_0_NOP
#define CPU_ST7920_DELAY_1 DELAY_NS(0)
#define CPU_ST7920_DELAY_2 DELAY_NS(0)
#define CPU_ST7920_DELAY_3 DELAY_NS(0)
#elif F_CPU == 16000000
#define CPU_ST7920_DELAY_1 DELAY_0_NOP
#define CPU_ST7920_DELAY_2 DELAY_0_NOP
#define CPU_ST7920_DELAY_3 DELAY_1_NOP
#define CPU_ST7920_DELAY_1 DELAY_NS(0)
#define CPU_ST7920_DELAY_2 DELAY_NS(0)
#define CPU_ST7920_DELAY_3 DELAY_NS(63)
#else
#error "No valid condition for delays in 'ultralcd_st7920_u8glib_rrd.h'"
#endif
@ -101,8 +102,8 @@ static void ST7920_SWSPI_SND_8BIT(uint8_t val) {
ST7920_SND_BIT; // 8
}
#if defined(DOGM_SPI_DELAY_US) && DOGM_SPI_DELAY_US > 0
#define U8G_DELAY() delayMicroseconds(DOGM_SPI_DELAY_US)
#if DOGM_SPI_DELAY_US > 0
#define U8G_DELAY() DELAY_US(DOGM_SPI_DELAY_US)
#else
#define U8G_DELAY() u8g_10MicroDelay()
#endif

34
Marlin/src/module/stepper.cpp
View File

@ -41,15 +41,18 @@
* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
and Philipp Tiefenbacher. */
/**
* Timer calculations informed by the 'RepRap cartesian firmware' by Zack Smith
* and Philipp Tiefenbacher.
*/
/* Jerk controlled movements planner added by Eduardo José Tagle in April
2018, Equations based on Synthethos TinyG2 sources, but the fixed-point
implementation is a complete new one, as we are running the ISR with a
variable period.
Also implemented the Bézier velocity curve evaluation in ARM assembler,
to avoid impacting ISR speed. */
/**
* Jerk controlled movements planner added Apr 2018 by Eduardo José Tagle.
* Equations based on Synthethos TinyG2 sources, but the fixed-point
* implementation is new, as we are running the ISR with a variable period.
* Also implemented the Bézier velocity curve evaluation in ARM assembler,
* to avoid impacting ISR speed.
*/
#include "stepper.h"
@ -67,6 +70,7 @@
#include "../gcode/queue.h"
#include "../sd/cardreader.h"
#include "../Marlin.h"
#include "../HAL/Delay.h"
#if MB(ALLIGATOR)
#include "../feature/dac/dac_dac084s085.h"
@ -1471,7 +1475,7 @@ void Stepper::isr() {
while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
#elif EXTRA_CYCLES_XYZE > 0
DELAY_NOPS(EXTRA_CYCLES_XYZE);
DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE);
#endif
#if HAS_X_STEP
@ -1506,7 +1510,7 @@ void Stepper::isr() {
#if EXTRA_CYCLES_XYZE > 20
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_XYZE > 0
if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
if (i) DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE);
#endif
} // steps_loop
@ -1739,7 +1743,7 @@ void Stepper::isr() {
while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
#elif EXTRA_CYCLES_E > 0
DELAY_NOPS(EXTRA_CYCLES_E);
DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE);
#endif
switch (LA_active_extruder) {
@ -1762,7 +1766,7 @@ void Stepper::isr() {
#if EXTRA_CYCLES_E > 20
if (e_steps) while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_E > 0
if (e_steps) DELAY_NOPS(EXTRA_CYCLES_E);
if (e_steps) DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE);
#endif
} // e_steps
@ -2146,13 +2150,13 @@ void Stepper::report_positions() {
#else
#define _SAVE_START NOOP
#if EXTRA_CYCLES_BABYSTEP > 0
#define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP)
#define _PULSE_WAIT DELAY_NS(EXTRA_CYCLES_BABYSTEP * NANOSECONDS_PER_CYCLE)
#elif STEP_PULSE_CYCLES > 0
#define _PULSE_WAIT NOOP
#elif ENABLED(DELTA)
#define _PULSE_WAIT delayMicroseconds(2);
#define _PULSE_WAIT DELAY_US(2);
#else
#define _PULSE_WAIT delayMicroseconds(4);
#define _PULSE_WAIT DELAY_US(4);
#endif
#endif

9
Marlin/src/module/temperature.cpp
View File

@ -30,6 +30,7 @@
#include "../lcd/ultralcd.h"
#include "planner.h"
#include "../core/language.h"
#include "../HAL/Delay.h"
#if ENABLED(HEATER_0_USES_MAX6675)
#include "../libs/private_spi.h"
@ -681,14 +682,14 @@ float Temperature::get_pid_output(const int8_t e) {
#if ENABLED(PID_EXTRUSION_SCALING)
cTerm[HOTEND_INDEX] = 0;
if (_HOTEND_TEST) {
long e_position = stepper.position(E_AXIS);
const long e_position = stepper.position(E_AXIS);
if (e_position > last_e_position) {
lpq[lpq_ptr] = e_position - last_e_position;
last_e_position = e_position;
}
else {
else
lpq[lpq_ptr] = 0;
}
if (++lpq_ptr >= lpq_len) lpq_ptr = 0;
cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] * planner.steps_to_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX);
pid_output += cTerm[HOTEND_INDEX];
@ -1629,7 +1630,7 @@ void Temperature::disable_all_heaters() {
WRITE(MAX6675_SS, 0); // enable TT_MAX6675
DELAY_100NS; // Ensure 100ns delay
DELAY_NS(100); // Ensure 100ns delay
// Read a big-endian temperature value
max6675_temp = 0;

6
Marlin/src/pins/pins_ANET_10.h
View File

@ -177,13 +177,13 @@
#define BTN_EN2 10
#define BTN_ENC 16
#ifndef ST7920_DELAY_1
#define ST7920_DELAY_1 DELAY_0_NOP
#define ST7920_DELAY_1 DELAY_NS(0)
#endif
#ifndef ST7920_DELAY_2
#define ST7920_DELAY_2 DELAY_1_NOP
#define ST7920_DELAY_2 DELAY_NS(63)
#endif
#ifndef ST7920_DELAY_3
#define ST7920_DELAY_3 DELAY_2_NOP
#define ST7920_DELAY_3 DELAY_NS(125)
#endif
#define STD_ENCODER_PULSES_PER_STEP 4
#define STD_ENCODER_STEPS_PER_MENU_ITEM 1

6
Marlin/src/pins/pins_MELZI_CREALITY.h
View File

@ -55,13 +55,13 @@
// Alter timing for graphical display
#ifndef ST7920_DELAY_1
#define ST7920_DELAY_1 DELAY_2_NOP
#define ST7920_DELAY_1 DELAY_NS(125)
#endif
#ifndef ST7920_DELAY_2
#define ST7920_DELAY_2 DELAY_2_NOP
#define ST7920_DELAY_2 DELAY_NS(125)
#endif
#ifndef ST7920_DELAY_3
#define ST7920_DELAY_3 DELAY_2_NOP
#define ST7920_DELAY_3 DELAY_NS(125)
#endif
#if ENABLED(MINIPANEL)

6
Marlin/src/pins/pins_MELZI_MALYAN.h
View File

@ -44,11 +44,11 @@
// Alter timing for graphical display
#ifndef ST7920_DELAY_1
#define ST7920_DELAY_1 DELAY_2_NOP
#define ST7920_DELAY_1 DELAY_NS(125)
#endif
#ifndef ST7920_DELAY_2
#define ST7920_DELAY_2 DELAY_2_NOP
#define ST7920_DELAY_2 DELAY_NS(125)
#endif
#ifndef ST7920_DELAY_3
#define ST7920_DELAY_3 DELAY_2_NOP
#define ST7920_DELAY_3 DELAY_NS(125)
#endif

6
Marlin/src/pins/pins_MELZI_TRONXY.h
View File

@ -51,11 +51,11 @@
#define BTN_ENC 26
#ifndef ST7920_DELAY_1
#define ST7920_DELAY_1 DELAY_0_NOP
#define ST7920_DELAY_1 DELAY_NS(0)
#endif
#ifndef ST7920_DELAY_2
#define ST7920_DELAY_2 DELAY_2_NOP
#define ST7920_DELAY_2 DELAY_NS(125)
#endif
#ifndef ST7920_DELAY_3
#define ST7920_DELAY_3 DELAY_0_NOP
#define ST7920_DELAY_3 DELAY_NS(0)
#endif

6
Marlin/src/pins/pins_PRINTRBOARD_REVF.h
View File

@ -244,13 +244,13 @@
// increase delays
#ifndef ST7920_DELAY_1
#define ST7920_DELAY_1 DELAY_5_NOP
#define ST7920_DELAY_1 DELAY_NS(313)
#endif
#ifndef ST7920_DELAY_2
#define ST7920_DELAY_2 DELAY_5_NOP
#define ST7920_DELAY_2 DELAY_NS(313)
#endif
#ifndef ST7920_DELAY_3
#define ST7920_DELAY_3 DELAY_5_NOP
#define ST7920_DELAY_3 DELAY_NS(313)
#endif
#else

6
Marlin/src/pins/pins_SANGUINOLOLU_11.h
View File

@ -239,13 +239,13 @@
#define BTN_EN2 30
#ifndef ST7920_DELAY_1
#define ST7920_DELAY_1 DELAY_0_NOP
#define ST7920_DELAY_1 DELAY_NS(0)
#endif
#ifndef ST7920_DELAY_2
#define ST7920_DELAY_2 DELAY_3_NOP
#define ST7920_DELAY_2 DELAY_NS(188)
#endif
#ifndef ST7920_DELAY_3
#define ST7920_DELAY_3 DELAY_0_NOP
#define ST7920_DELAY_3 DELAY_NS(0)
#endif
#elif ENABLED(ZONESTAR_LCD) // For the Tronxy Melzi boards

11
Marlin/src/pins/pins_STM32F4.h
View File

@ -176,19 +176,14 @@
//
// ST7920 Delays
//
#define STM_NOP __asm__("nop\n\t")
#define STM_DELAY_SHORT { STM_NOP; STM_NOP; STM_NOP; STM_NOP; }
#define STM_DELAY_LONG { STM_DELAY_SHORT; STM_DELAY_SHORT; STM_NOP; STM_NOP; }
#ifndef ST7920_DELAY_1
#define ST7920_DELAY_1 { STM_DELAY_SHORT; STM_DELAY_SHORT; }
#define ST7920_DELAY_1 DELAY_NS(96)
#endif
#ifndef ST7920_DELAY_2
#define ST7920_DELAY_2 { STM_DELAY_SHORT; }
#define ST7920_DELAY_2 DELAY_NS(48)
#endif
#ifndef ST7920_DELAY_3
#define ST7920_DELAY_3 { STM_DELAY_LONG; STM_DELAY_LONG; STM_DELAY_LONG; STM_DELAY_LONG; STM_DELAY_LONG; STM_DELAY_LONG; }
#define ST7920_DELAY_3 DELAY_NS(715)
#endif