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Merge remote-tracking branch 'remotes/origin/MK3_stepper_blocking' into MK3_fast_dbg

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This commit is contained in:
bubnikv 2018-01-20 17:31:26 +01:00
commit 160cdccae1
8 changed files with 95 additions and 38 deletions
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12
Firmware/MarlinSerial.cpp
View file

@ -49,11 +49,13 @@ FORCE_INLINE void store_char(unsigned char c)
}
//#elif defined(SIG_USART_RECV)
#if defined(M_USARTx_RX_vect)
// fixed by Mark Sproul this is on the 644/644p
//SIGNAL(SIG_USART_RECV)
SIGNAL(M_USARTx_RX_vect)
// The serial line receive interrupt routine for a baud rate 115200
// ticks at maximum 11.76 kHz and blocks for 2.688 us at each tick.
// If the serial line is fully utilized, this corresponds to 3.16%
// loading of the CPU (the interrupt invocation overhead not taken into account).
// As the serial line is not fully utilized, the CPU load is likely around 1%.
ISR(M_USARTx_RX_vect)
{
// Test for a framing error.
if (M_UCSRxA & (1<<M_FEx))
@ -74,7 +76,7 @@ SIGNAL(M_USARTx_RX_vect)
}
}
#ifndef SNMM
SIGNAL(USART1_RX_vect)
ISR(USART1_RX_vect)
{
// Test for a framing error.
if (UCSR1A & (1<<FE1))

41
Firmware/Marlin_main.cpp
View file

@ -628,6 +628,8 @@ void crashdet_stop_and_save_print2()
cmdqueue_reset(); //empty cmdqueue
card.sdprinting = false;
card.closefile();
// Reset and re-enable the stepper timer just before the global interrupts are enabled.
st_reset_timer();
sei();
}
@ -1422,7 +1424,11 @@ void loop()
if (! cmdbuffer_front_already_processed && buflen)
{
cli();
// ptr points to the start of the block currently being processed.
// The first character in the block is the block type.
char *ptr = cmdbuffer + bufindr;
if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
// To support power panic, move the lenght of the command on the SD card to a planner buffer.
union {
struct {
char lo;
@ -1431,13 +1437,27 @@ void loop()
uint16_t value;
} sdlen;
sdlen.value = 0;
if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) {
sdlen.lohi.lo = cmdbuffer[bufindr + 1];
sdlen.lohi.hi = cmdbuffer[bufindr + 2];
}
cmdqueue_pop_front();
{
// This block locks the interrupts globally for 3.25 us,
// which corresponds to a maximum repeat frequency of 307.69 kHz.
// This blocking is safe in the context of a 10kHz stepper driver interrupt
// or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
cli();
// Reset the command to something, which will be ignored by the power panic routine,
// so this buffer length will not be counted twice.
*ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
// Extract the current buffer length.
sdlen.lohi.lo = *ptr ++;
sdlen.lohi.hi = *ptr;
// and pass it to the planner queue.
planner_add_sd_length(sdlen.value);
sei();
}
}
// Now it is safe to release the already processed command block. If interrupted by the power panic now,
// this block's SD card length will not be counted twice as its command type has been replaced
// by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
cmdqueue_pop_front();
}
host_keepalive();
}
@ -1987,11 +2007,14 @@ void force_high_power_mode(bool start_high_power_section) {
if (silent == 1) {
//we are in silent mode, set to normal mode to enable crash detection
// Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
st_synchronize();
cli();
tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
tmc2130_init();
// We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
// Be safe than sorry, reset the stepper timer before re-enabling interrupts.
st_reset_timer();
sei();
digipot_init();
}
@ -7555,6 +7578,8 @@ void setup_fan_interrupt() {
EIMSK |= (1 << 7);
}
// The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
// and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
ISR(INT7_vect) {
//measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
@ -7912,6 +7937,8 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
card.sdprinting = false;
// card.closefile();
saved_printing = true;
// We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
st_reset_timer();
sei();
if ((z_move != 0) || (e_move != 0)) { // extruder or z move
#if 1

4
Firmware/cmdqueue.cpp
View file

@ -627,6 +627,10 @@ void get_command()
sd_count.value = 0;
cli();
// This block locks the interrupts globally for 3.56 us,
// which corresponds to a maximum repeat frequency of 280.70 kHz.
// This blocking is safe in the context of a 10kHz stepper driver interrupt
// or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
++ buflen;
bufindw += len;
sdpos_atomic = card.get_sdpos()+1;

4
Firmware/cmdqueue.h
View file

@ -18,6 +18,10 @@
#define CMDBUFFER_CURRENT_TYPE_UI 3
// Command in cmdbuffer was generated by another G-code.
#define CMDBUFFER_CURRENT_TYPE_CHAINED 4
// Command has been processed and its SD card length has been possibly pushed
// to the planner queue, but not yet removed from the cmdqueue.
// This is a temporary state to reduce stepper interrupt locking time.
#define CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED 5
// How much space to reserve for the chained commands
// of type CMDBUFFER_CURRENT_TYPE_CHAINED,

16
Firmware/planner.cpp
View file

@ -264,6 +264,10 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
}
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
// This block locks the interrupts globally for 4.38 us,
// which corresponds to a maximum repeat frequency of 228.57 kHz.
// This blocking is safe in the context of a 10kHz stepper driver interrupt
// or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
if (! block->busy) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps+plateau_steps;
@ -561,8 +565,7 @@ extern volatile uint32_t step_events_completed; // The number of step events exe
void planner_abort_hard()
{
// Abort the stepper routine and flush the planner queue.
// DISABLE_STEPPER_DRIVER_INTERRUPT
TIMSK1 &= ~(1<<OCIE1A);
DISABLE_STEPPER_DRIVER_INTERRUPT();
// Now the front-end (the Marlin_main.cpp with its current_position) is out of sync.
// First update the planner's current position in the physical motor steps.
@ -608,7 +611,7 @@ void planner_abort_hard()
#endif
}
#endif
// Clear the planner queue.
// Clear the planner queue, reset and re-enable the stepper timer.
quickStop();
// Apply inverse world correction matrix.
@ -1292,7 +1295,12 @@ Having the real displacement of the head, we can calculate the total movement le
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTIC */
st_wake_up();
// The stepper timer interrupt will run continuously from now on.
// If there are no planner blocks to be executed by the stepper routine,
// the stepper interrupt ticks at 1kHz to wake up and pick a block
// from the planner queue if available.
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
#ifdef ENABLE_AUTO_BED_LEVELING

27
Firmware/stepper.cpp
View file

@ -221,10 +221,6 @@ void MultiU24X24toH16(uint16_t& intRes, int32_t& longIn1, long& longIn2)
// Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
@ -307,17 +303,6 @@ bool enable_z_endstop(bool check)
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated with the leib ramp alghorithm.
void st_wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
void step_wait(){
for(int8_t i=0; i < 6; i++){
}
}
FORCE_INLINE unsigned short calc_timer(uint16_t step_rate) {
unsigned short timer;
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
@ -858,6 +843,11 @@ void isr() {
if (OCR1A < TCNT1) {
stepper_timer_overflow_state = true;
WRITE_NC(BEEPER, HIGH);
SERIAL_PROTOCOLPGM("Stepper timer overflow ");
SERIAL_PROTOCOL(OCR1A);
SERIAL_PROTOCOLPGM("<");
SERIAL_PROTOCOL(TCNT1);
SERIAL_PROTOCOLLN("!");
}
#endif
}
@ -1141,6 +1131,7 @@ void st_init()
// create_speed_lookuptable.py
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
// Plan the first interrupt after 8ms from now.
OCR1A = 0x4000;
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
@ -1180,6 +1171,11 @@ void st_synchronize()
void st_set_position(const long &x, const long &y, const long &z, const long &e)
{
CRITICAL_SECTION_START;
// Copy 4x4B.
// This block locks the interrupts globally for 4.56 us,
// which corresponds to a maximum repeat frequency of 219.18 kHz.
// This blocking is safe in the context of a 10kHz stepper driver interrupt
// or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z;
@ -1234,6 +1230,7 @@ void quickStop()
DISABLE_STEPPER_DRIVER_INTERRUPT();
while (blocks_queued()) plan_discard_current_block();
current_block = NULL;
st_reset_timer();
ENABLE_STEPPER_DRIVER_INTERRUPT();
}

18
Firmware/stepper.h
View file

@ -23,6 +23,9 @@
#include "planner.h"
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
extern bool abort_on_endstop_hit;
#endif
@ -57,10 +60,17 @@ void st_get_position_xy(long &x, long &y);
float st_get_position_mm(uint8_t axis);
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work.
void st_wake_up();
// Call this function just before re-enabling the stepper driver interrupt and the global interrupts
// to avoid a stepper timer overflow.
FORCE_INLINE void st_reset_timer()
{
// Clear a possible pending interrupt on OCR1A overflow.
TIFR1 |= 1 << OCF1A;
// Reset the counter.
TCNT1 = 0;
// Wake up after 1ms from now.
OCR1A = 2000;
}
void checkHitEndstops(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
bool endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();

5
Firmware/ultralcd.cpp
View file

@ -3367,6 +3367,8 @@ static void lcd_silent_mode_set() {
SilentModeMenu = !SilentModeMenu;
eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
#ifdef TMC2130
// Wait until the planner queue is drained and the stepper routine achieves
// an idle state.
st_synchronize();
if (tmc2130_wait_standstill_xy(1000)) {}
// MYSERIAL.print("standstill OK");
@ -3375,6 +3377,9 @@ static void lcd_silent_mode_set() {
cli();
tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
tmc2130_init();
// We may have missed a stepper timer interrupt due to the time spent in tmc2130_init.
// Be safe than sorry, reset the stepper timer before re-enabling interrupts.
st_reset_timer();
sei();
#endif //TMC2130
digipot_init();