3DPrinting/Prusa-Firmware
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Documented the interrupt blocking by a main thread by its maximum time.

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Added a debug output to serial line on stepper timer overflow.
This commit is contained in:
bubnikv 2018-01-20 14:58:30 +01:00
parent 9e534c1990
commit 17a8e2db01
3 changed files with 19 additions and 0 deletions
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4
Firmware/cmdqueue.cpp
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@ -627,6 +627,10 @@ void get_command()
sd_count.value = 0; sd_count.value = 0;
cli(); 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; ++ buflen;
bufindw += len; bufindw += len;
sdpos_atomic = card.get_sdpos()+1; sdpos_atomic = card.get_sdpos()+1;

4
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 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. if (! block->busy) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps; block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps+plateau_steps; block->decelerate_after = accelerate_steps+plateau_steps;

11
Firmware/stepper.cpp
View file

@ -854,6 +854,11 @@ void isr() {
if (OCR1A < TCNT1) { if (OCR1A < TCNT1) {
stepper_timer_overflow_state = true; stepper_timer_overflow_state = true;
WRITE_NC(BEEPER, HIGH); WRITE_NC(BEEPER, HIGH);
SERIAL_PROTOCOLPGM("Stepper timer overflow ");
SERIAL_PROTOCOL(OCR1A);
SERIAL_PROTOCOLPGM("<");
SERIAL_PROTOCOL(TCNT1);
SERIAL_PROTOCOLLN("!");
} }
#endif #endif
} }
@ -1137,6 +1142,7 @@ void st_init()
// create_speed_lookuptable.py // create_speed_lookuptable.py
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
// Plan the first interrupt after 8ms from now.
OCR1A = 0x4000; OCR1A = 0x4000;
TCNT1 = 0; TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT();
@ -1176,6 +1182,11 @@ void st_synchronize()
void st_set_position(const long &x, const long &y, const long &z, const long &e) void st_set_position(const long &x, const long &y, const long &z, const long &e)
{ {
CRITICAL_SECTION_START; 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[X_AXIS] = x;
count_position[Y_AXIS] = y; count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z; count_position[Z_AXIS] = z;