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Code Issues Releases Wiki Activity

HAL function to ensure min stepper interrupt interval (#9985)

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This commit is contained in:
Chris Pepper 2018-03-07 23:53:25 +00:00 committed by Scott Lahteine
parent be0e100fed
commit a1a88ebabc
10 changed files with 51 additions and 29 deletions
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4
Marlin/src/HAL/HAL_AVR/HAL_AVR.h
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@ -126,6 +126,8 @@ extern "C" {
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE
#define STEPPER_TIMER_PRESCALE 8
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define STEP_TIMER_NUM 1
#define TIMER_OCR_1 OCR1A
#define TIMER_COUNTER_1 TCNT1
@ -148,6 +150,8 @@ extern "C" {
#define _CAT(a, ...) a ## __VA_ARGS__
#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
#define HAL_timer_restrain(timer, interval_µs) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_µs * HAL_TICKS_PER_US)
#define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
#define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)

4
Marlin/src/HAL/HAL_AVR/HAL_spi_AVR.cpp
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@ -221,7 +221,7 @@ void spiBegin (void) {
/** Soft SPI receive byte */
uint8_t spiRec() {
uint8_t data = 0;
// no interrupts during byte receive - about 8 us
// no interrupts during byte receive - about 8µs
cli();
// output pin high - like sending 0xFF
WRITE(MOSI_PIN, HIGH);
@ -252,7 +252,7 @@ void spiBegin (void) {
//------------------------------------------------------------------------------
/** Soft SPI send byte */
void spiSend(uint8_t data) {
// no interrupts during byte send - about 8 us
// no interrupts during byte send - about 8µs
cli();
for (uint8_t i = 0; i < 8; i++) {
WRITE(SCK_PIN, LOW);

8
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
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@ -50,9 +50,10 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
#define STEPPER_TIMER_PRESCALE 1.0 // prescaler for setting stepper frequency
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
@ -108,6 +109,11 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
}
FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_µs) {
const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_µs * HAL_TICKS_PER_US;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

9
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
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@ -49,10 +49,12 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
#define STEPPER_TIMER_PRESCALE 1.0 // prescaler for setting stepper frequency
#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define HAL_TEMP_TIMER_RATE 1000000
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
@ -118,6 +120,11 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
return 0;
}
FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_µs) {
const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_µs * HAL_TICKS_PER_US;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

11
Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
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@ -67,13 +67,15 @@ typedef uint16_t hal_timer_t;
#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
#define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz
#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 100 // temperature interrupt frequency
#define TEMP_TIMER_FREQUENCY 100 // temperature interrupt frequency
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
@ -152,6 +154,11 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
}
}
FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_µs) {
const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_µs * HAL_TICKS_PER_US;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) {
case STEP_TIMER_NUM:

5
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp
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@ -137,6 +137,11 @@ uint32_t HAL_timer_get_count(const uint8_t timer_num) {
return __HAL_TIM_GetCounter(&timerConfig[timer_num].timerdef);
}
void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_µs) {
const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_µs * HAL_TICKS_PER_US;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
void HAL_timer_isr_prologue(const uint8_t timer_num) {
if (__HAL_TIM_GET_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE) == SET) {
__HAL_TIM_CLEAR_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE);

5
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
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@ -44,7 +44,7 @@
#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
@ -52,6 +52,8 @@
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
@ -94,6 +96,7 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
void HAL_timer_set_compare(const uint8_t timer_num, const uint32_t compare);
hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
uint32_t HAL_timer_get_count(const uint8_t timer_num);
void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_µs);
void HAL_timer_isr_prologue(const uint8_t timer_num);

2
Marlin/src/HAL/HAL_STM32F7/TMC2660.h
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@ -315,7 +315,7 @@ class TMC26XStepper {
/*!
* \brief readout the motor maximum current in mA (1000 is an Amp)
* This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()
*\return the maximum motor current in milli amps
* \return the maximum motor current in milli amps
* \sa getCurrentCurrent()
*/
unsigned int getCurrent(void);

7
Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
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@ -66,6 +66,8 @@ typedef uint32_t hal_timer_t;
#define TEMP_TIMER_FREQUENCY 1000
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
@ -103,6 +105,11 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
return 0;
}
FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_µs) {
const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_µs * HAL_TICKS_PER_US;
if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
}
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

25
Marlin/src/module/stepper.cpp
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@ -365,11 +365,7 @@ void Stepper::isr() {
_NEXT_ISR(ocr_val);
#if DISABLED(LIN_ADVANCE)
#ifdef CPU_32_BIT
HAL_timer_set_compare(STEP_TIMER_NUM, ocr_val);
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL);
HAL_ENABLE_ISRs(); // re-enable ISRs
#endif
@ -731,14 +727,7 @@ void Stepper::isr() {
}
#if DISABLED(LIN_ADVANCE)
#ifdef CPU_32_BIT
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
hal_timer_t stepper_timer_count = HAL_timer_get_compare(STEP_TIMER_NUM),
stepper_timer_current_count = HAL_timer_get_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US;
HAL_timer_set_compare(STEP_TIMER_NUM, max(stepper_timer_count, stepper_timer_current_count));
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL);
#endif
// If current block is finished, reset pointer
@ -901,14 +890,8 @@ void Stepper::isr() {
}
// Don't run the ISR faster than possible
#ifdef CPU_32_BIT
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
uint32_t stepper_timer_count = HAL_timer_get_compare(STEP_TIMER_NUM),
stepper_timer_current_count = HAL_timer_get_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US;
HAL_timer_set_compare(STEP_TIMER_NUM, max(stepper_timer_count, stepper_timer_current_count));
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
// Make sure stepper interrupt does not monopolise CPU by adjusting compare to give about 8µs room
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL);
// Restore original ISR settings
HAL_ENABLE_ISRs();