From 3e6d853364981c82c3e79b9fabc38f354985869c Mon Sep 17 00:00:00 2001 From: bubnikv Date: Fri, 12 Jan 2018 20:51:14 +0100 Subject: [PATCH] Debugging of the stepper timer routine. When enabled through DEBUG_STEPPER_TIMER_MISSED, the printer is halted on stepper timer overflow and an error message is displayed. --- Firmware/Configuration_prusa.h | 1 + Firmware/language_all.cpp | 5 +++++ Firmware/language_all.h | 2 ++ Firmware/language_en.h | 1 + Firmware/stepper.cpp | 14 ++++++++++++++ Firmware/ultralcd.cpp | 16 ++++++++++++++++ 6 files changed, 39 insertions(+) diff --git a/Firmware/Configuration_prusa.h b/Firmware/Configuration_prusa.h index 488ce8c9..4d7faaa7 100644 --- a/Firmware/Configuration_prusa.h +++ b/Firmware/Configuration_prusa.h @@ -127,6 +127,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o //#define DEBUG_DISABLE_FANCHECK //disable fan check (no ISR INT7, check disabled) //#define DEBUG_DISABLE_FSENSORCHECK //disable fsensor check (no ISR INT7, check disabled) #define DEBUG_DUMP_TO_2ND_SERIAL //dump received characters to 2nd serial line +//#define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message. #endif diff --git a/Firmware/language_all.cpp b/Firmware/language_all.cpp index f6241bea..59d69d88 100644 --- a/Firmware/language_all.cpp +++ b/Firmware/language_all.cpp @@ -2039,6 +2039,11 @@ const char * const MSG_STEEL_SHEET_CHECK_LANG_TABLE[LANG_NUM] PROGMEM = { MSG_STEEL_SHEET_CHECK_CZ }; +const char MSG_STEPPER_TIMER_OVERFLOW_ERROR_EN[] PROGMEM = "Error - stepper timer overflow"; +const char * const MSG_STEPPER_TIMER_OVERFLOW_ERROR_LANG_TABLE[1] PROGMEM = { + MSG_STEPPER_TIMER_OVERFLOW_ERROR_EN +}; + const char MSG_STEPPER_TOO_HIGH_EN[] PROGMEM = "Steprate too high: "; const char * const MSG_STEPPER_TOO_HIGH_LANG_TABLE[1] PROGMEM = { MSG_STEPPER_TOO_HIGH_EN diff --git a/Firmware/language_all.h b/Firmware/language_all.h index e4d23036..0d40242e 100644 --- a/Firmware/language_all.h +++ b/Firmware/language_all.h @@ -672,6 +672,8 @@ extern const char* const MSG_STATS_TOTALPRINTTIME_LANG_TABLE[LANG_NUM]; #define MSG_STATS_TOTALPRINTTIME LANG_TABLE_SELECT(MSG_STATS_TOTALPRINTTIME_LANG_TABLE) extern const char* const MSG_STEEL_SHEET_CHECK_LANG_TABLE[LANG_NUM]; #define MSG_STEEL_SHEET_CHECK LANG_TABLE_SELECT(MSG_STEEL_SHEET_CHECK_LANG_TABLE) +extern const char* const MSG_STEPPER_TIMER_OVERFLOW_ERROR_LANG_TABLE[1]; +#define MSG_STEPPER_TIMER_OVERFLOW_ERROR LANG_TABLE_SELECT_EXPLICIT(MSG_STEPPER_TIMER_OVERFLOW_ERROR_LANG_TABLE, 0) extern const char* const MSG_STEPPER_TOO_HIGH_LANG_TABLE[1]; #define MSG_STEPPER_TOO_HIGH LANG_TABLE_SELECT_EXPLICIT(MSG_STEPPER_TOO_HIGH_LANG_TABLE, 0) extern const char* const MSG_STOPPED_LANG_TABLE[1]; diff --git a/Firmware/language_en.h b/Firmware/language_en.h index 9cc91a00..22225d29 100644 --- a/Firmware/language_en.h +++ b/Firmware/language_en.h @@ -261,6 +261,7 @@ #define(length=20, lines=4) MSG_FIL_ADJUSTING "Adjusting filaments. Please wait." #define(length=20,lines=8) MSG_CONFIRM_NOZZLE_CLEAN_FIL_ADJ "Filaments are now adjusted. Please clean the nozzle for calibration. Click when done." #define(length=20, lines=4) MSG_STACK_ERROR "Error - static memory has been overwritten" +#define(length=20, lines=4) MSG_STEPPER_TIMER_OVERFLOW_ERROR "Error - stepper timer overflow" #define(length=20, lines=1) MSG_CALIBRATE_E "Calibrate E" //#define(length=20, lines=1) MSG_RESET_CALIBRATE_E "Reset E Cal." #define(length=20, lines=8) MSG_E_CAL_KNOB "Rotate knob until mark reaches extruder body. Click when done." diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index ae8081bd..352f243c 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -126,6 +126,10 @@ uint8_t LastStepMask = 0; #define _NEXT_ISR(T) OCR1A = T #endif +#ifdef DEBUG_STEPPER_TIMER_MISSED +extern bool stepper_timer_overflow_state; +#endif /* DEBUG_STEPPER_TIMER_MISSED */ + //=========================================================================== //=============================functions ============================ //=========================================================================== @@ -842,6 +846,16 @@ void isr() { #ifdef TMC2130 tmc2130_st_isr(LastStepMask); #endif //TMC2130 +#ifdef DEBUG_STEPPER_TIMER_MISSED + // Verify whether the next planned timer interrupt has not been missed already. + // This debugging test takes < 1.125us + // This skews the profiling slightly as the fastest stepper timer + // interrupt repeats at a 100us rate (10kHz). + if (OCR1A < TCNT1) { + stepper_timer_overflow_state = true; + WRITE(BEEPER, HIGH); + } +#endif } #ifdef LIN_ADVANCE diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp index 6e984bfd..00ad001b 100644 --- a/Firmware/ultralcd.cpp +++ b/Firmware/ultralcd.cpp @@ -5109,6 +5109,19 @@ void stack_error() { while (1) delay_keep_alive(1000); } +#ifdef DEBUG_STEPPER_TIMER_MISSED +bool stepper_timer_overflow_state = false; +void stepper_timer_overflow() { + SET_OUTPUT(BEEPER); + WRITE(BEEPER, HIGH); + delay(1000); + WRITE(BEEPER, LOW); + lcd_display_message_fullscreen_P(MSG_STEPPER_TIMER_OVERFLOW_ERROR); + //err_triggered = 1; + while (1) delay_keep_alive(1000); +} +#endif /* DEBUG_STEPPER_TIMER_MISSED */ + #ifdef SDSUPPORT static void lcd_autostart_sd() { @@ -6779,6 +6792,9 @@ void lcd_update(uint8_t lcdDrawUpdateOverride) lcd_next_update_millis = millis() + LCD_UPDATE_INTERVAL; } if (!SdFatUtil::test_stack_integrity()) stack_error(); +#ifdef DEBUG_STEPPER_TIMER_MISSED + if (stepper_timer_overflow_state) stepper_timer_overflow(); +#endif /* DEBUG_STEPPER_TIMER_MISSED */ lcd_ping(); //check that we have received ping command if we are in farm mode if (lcd_commands_type == LCD_COMMAND_V2_CAL) lcd_commands(); }