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Rewrite the advance_isr scheduler

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This commit is contained in:
Yuri D'Elia 2019-05-18 21:55:03 +02:00
parent 2d3fe3197c
commit a2fa8e5313
4 changed files with 167 additions and 121 deletions
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2
Firmware/Configuration_adv.h
View File

@ -292,8 +292,6 @@
* Mention @Sebastianv650 on GitHub to alert the author of any issues.
*/
#define LIN_ADVANCE
#define LA_DEBUG
#define DEBUG_STEPPER_TIMER_MISSED
#ifdef LIN_ADVANCE
#define LIN_ADVANCE_K 0 // Unit: mm compression per 1mm/s extruder speed

9
Firmware/planner.cpp
View File

@ -58,6 +58,7 @@
#include "ultralcd.h"
#include "language.h"
#include "ConfigurationStore.h"
#include "speed_lookuptable.h"
#ifdef MESH_BED_LEVELING
#include "mesh_bed_leveling.h"
@ -1081,12 +1082,12 @@ Having the real displacement of the head, we can calculate the total movement le
#ifdef LIN_ADVANCE
if (block->use_advance_lead) {
block->advance_speed = (F_CPU / 8.0) / (extruder_advance_K * block->e_D_ratio * block->acceleration * cs.axis_steps_per_unit[E_AXIS]);
float advance_speed = (extruder_advance_K * block->e_D_ratio * block->acceleration * cs.axis_steps_per_unit[E_AXIS]);
block->advance_rate = calc_timer(advance_speed, block->advance_step_loops);
#ifdef LA_DEBUG
if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < block->nominal_speed * block->e_D_ratio)
if (block->advance_step_loops > 2)
SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");
if (block->advance_speed < 200)
SERIAL_ECHOLNPGM("eISR running at > 10kHz.");
#endif
}
#endif

3
Firmware/planner.h
View File

@ -113,9 +113,10 @@ typedef struct {
#ifdef LIN_ADVANCE
bool use_advance_lead; // Whether the current block uses LA
uint16_t advance_speed, // Step-rate for extruder speed
uint16_t advance_rate, // Step-rate for extruder speed
max_adv_steps, // max. advance steps to get cruising speed pressure (not always nominal_speed!)
final_adv_steps; // advance steps due to exit speed
uint8_t advance_step_loops; // Number of stepper ticks for each advance isr
float e_D_ratio;
#endif

226
Firmware/stepper.cpp
View File

@ -117,22 +117,24 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
void advance_isr();
static const uint16_t ADV_NEVER = 0xFFFF;
static uint16_t nextMainISR = 0;
static uint16_t nextAdvanceISR = ADV_NEVER;
static uint16_t eISR_Rate = ADV_NEVER;
static bool use_advance_lead;
static uint16_t current_adv_steps;
static uint16_t nextMainISR;
static uint16_t nextAdvanceISR;
static uint16_t main_Rate;
static uint16_t eISR_Rate;
static volatile uint16_t current_adv_steps;
static uint16_t final_adv_steps;
static uint16_t max_adv_steps;
static uint32_t LA_decelerate_after;
static volatile int8_t e_steps;
static int8_t e_steps;
static uint8_t e_step_loops;
static int8_t LA_phase;
#define _NEXT_ISR(T) nextMainISR = T
#define _NEXT_ISR(T) main_Rate = nextMainISR = T
#else
#define _NEXT_ISR(T) OCR1A = T
#endif
@ -352,6 +354,13 @@ FORCE_INLINE void stepper_next_block()
LA_decelerate_after = current_block->decelerate_after;
final_adv_steps = current_block->final_adv_steps;
max_adv_steps = current_block->max_adv_steps;
e_step_loops = current_block->advance_step_loops;
LA_phase = -1;
} else {
nextAdvanceISR = ADV_NEVER;
eISR_Rate = ADV_NEVER;
e_step_loops = 1;
LA_phase = -1;
}
#endif
@ -731,15 +740,12 @@ FORCE_INLINE void isr() {
acceleration_time += timer;
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead) {
if (step_events_completed.wide == (unsigned long int)step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
nextAdvanceISR = 0; // Wake up eISR on first acceleration loop and fire ISR if final adv_rate is reached
eISR_Rate = current_block->advance_speed;
if (step_events_completed.wide <= (unsigned long int)step_loops) {
// First acceleration loop
eISR_Rate = current_block->advance_rate;
nextAdvanceISR = 0;
}
}
else {
eISR_Rate = ADV_NEVER;
if (e_steps) nextAdvanceISR = 0;
}
#endif
}
else if (step_events_completed.wide > (unsigned long int)current_block->decelerate_after) {
@ -756,22 +762,15 @@ FORCE_INLINE void isr() {
deceleration_time += timer;
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead) {
if (step_events_completed.wide <= (unsigned long int)current_block->decelerate_after + step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
nextAdvanceISR = 0; // Wake up eISR on first deceleration loop
eISR_Rate = current_block->advance_speed;
if (step_events_completed.wide <= (unsigned long int)current_block->decelerate_after + step_loops) {
// First deceleration loop
eISR_Rate = current_block->advance_rate;
nextAdvanceISR = 0;
}
}
else {
eISR_Rate = ADV_NEVER;
if (e_steps) nextAdvanceISR = 0;
}
#endif
}
else {
#ifdef LIN_ADVANCE
// If we have esteps to execute, fire the next advance_isr "now"
if (e_steps && eISR_Rate != current_block->advance_speed) nextAdvanceISR = 0;
#endif
if (! step_loops_nominal) {
// Calculation of the steady state timer rate has been delayed to the 1st tick of the steady state to lower
// the initial interrupt blocking.
@ -813,76 +812,111 @@ FORCE_INLINE void isr() {
// Timer interrupt for E. e_steps is set in the main routine.
FORCE_INLINE void advance_isr() {
if (use_advance_lead) {
if (step_events_completed.wide > LA_decelerate_after && current_adv_steps > final_adv_steps) {
e_steps--;
current_adv_steps--;
// decompression
e_steps -= e_step_loops;
current_adv_steps -= e_step_loops;
nextAdvanceISR = eISR_Rate;
}
else if (step_events_completed.wide < LA_decelerate_after && current_adv_steps < max_adv_steps) {
e_steps++;
current_adv_steps++;
nextAdvanceISR = eISR_Rate;
}
else {
nextAdvanceISR = ADV_NEVER;
eISR_Rate = ADV_NEVER;
}
if(nextAdvanceISR == ADV_NEVER)
{
LA_phase = 1;
e_step_loops = 1;
}
else
nextAdvanceISR = ADV_NEVER;
if (e_steps) {
MSerial.checkRx(); // Check for serial chars.
bool dir =
#ifdef SNMM
((e_steps < 0) == (snmm_extruder & 1))
#else
(e_steps < 0)
#endif
? INVERT_E0_DIR : !INVERT_E0_DIR; //If we have SNMM, reverse every second extruder.
WRITE(E0_DIR_PIN, dir);
if(e_steps < 0) e_steps = -e_steps;
fsensor_counter += e_steps;
while (e_steps) {
WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN);
--e_steps;
WRITE_NC(E0_STEP_PIN, INVERT_E_STEP_PIN);
{
if (step_loops == e_step_loops)
LA_phase = (eISR_Rate > main_Rate);
else
{
// avoid overflow through division (TODO: this can be
// improved as both step_loops and e_step_loops are
// guaranteed to be powers of two)
LA_phase = (eISR_Rate / step_loops > main_Rate / e_step_loops);
}
}
}
else if (step_events_completed.wide < LA_decelerate_after && current_adv_steps < max_adv_steps) {
// compression
e_steps += e_step_loops;
current_adv_steps += e_step_loops;
nextAdvanceISR = eISR_Rate;
LA_phase = -1;
if(nextAdvanceISR == ADV_NEVER)
e_step_loops = 1;
}
else {
// advance steps completed
nextAdvanceISR = ADV_NEVER;
eISR_Rate = ADV_NEVER;
LA_phase = -1;
e_step_loops = 1;
}
}
FORCE_INLINE void advance_isr_scheduler() {
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
// Run Advance stepping ISR if flagged
if (!nextAdvanceISR) advance_isr();
// Is the next advance ISR scheduled before the next main ISR?
if (nextAdvanceISR <= nextMainISR) {
// Set up the next interrupt
OCR1A = nextAdvanceISR;
// New interval for the next main ISR
if (nextMainISR) nextMainISR -= nextAdvanceISR;
// Will call Stepper::advance_isr on the next interrupt
// Integrate the final timer value, accounting for scheduling adjustments
if(nextAdvanceISR && nextAdvanceISR != ADV_NEVER)
{
if(nextAdvanceISR > OCR1A)
nextAdvanceISR -= OCR1A;
else
nextAdvanceISR = 0;
}
else {
// The next main ISR comes first
OCR1A = nextMainISR;
// New interval for the next advance ISR, if any
if (nextAdvanceISR && nextAdvanceISR != ADV_NEVER)
nextAdvanceISR -= nextMainISR;
// Will call Stepper::isr on the next interrupt
if(nextMainISR > OCR1A)
nextMainISR -= OCR1A;
else
nextMainISR = 0;
// Run main stepping ISR if flagged
if (!nextMainISR)
{
#ifdef LA_DEBUG_LOGIC
WRITE_NC(LOGIC_ANALYZER_CH0, true);
#endif
isr();
#ifdef LA_DEBUG_LOGIC
WRITE_NC(LOGIC_ANALYZER_CH0, false);
#endif
}
// Run the next advance isr if triggered now or soon enough
bool eisr = nextAdvanceISR < (TCNT1 + nextAdvanceISR / 8);
if (eisr)
{
#ifdef LA_DEBUG_LOGIC
WRITE_NC(LOGIC_ANALYZER_CH1, true);
#endif
advance_isr();
#ifdef LA_DEBUG_LOGIC
WRITE_NC(LOGIC_ANALYZER_CH1, false);
#endif
}
// Tick E steps if any
if (e_steps && (LA_phase < 0 || LA_phase == eisr)) {
uint8_t max_ticks = max(e_step_loops, step_loops);
max_ticks = min(abs(e_steps), max_ticks);
#ifdef FILAMENT_SENSOR
fsensor_counter += max_ticks;
#endif
WRITE(E0_DIR_PIN, e_steps < 0? INVERT_E0_DIR: !INVERT_E0_DIR);
while(max_ticks--)
{
WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN);
e_steps += (e_steps < 0)? 1: -1;
WRITE_NC(E0_STEP_PIN, INVERT_E_STEP_PIN);
}
}
// Schedule the next closest tick, ignoring advance if scheduled to
// soon in order to avoid skewing the regular stepper acceleration
if (nextAdvanceISR != ADV_NEVER && (nextAdvanceISR + TCNT1 + nextAdvanceISR / 8) < nextMainISR)
OCR1A = nextAdvanceISR;
else
OCR1A = nextMainISR;
}
void clear_current_adv_vars() {
e_steps = 0;
current_adv_steps = 0;
}
@ -1106,15 +1140,28 @@ 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;
#ifdef LIN_ADVANCE
// Reset the state for the next advance scheduler as well
nextMainISR = 0;
nextAdvanceISR = ADV_NEVER;
eISR_Rate = ADV_NEVER;
clear_current_adv_vars();
#ifdef LA_DEBUG_LOGIC
LOGIC_ANALYZER_CH0_ENABLE;
LOGIC_ANALYZER_CH1_ENABLE;
WRITE_NC(LOGIC_ANALYZER_CH0, false);
WRITE_NC(LOGIC_ANALYZER_CH1, false);
#endif
st_reset_timer();
// Initialize state for the linear advance scheduler
use_advance_lead = false;
nextMainISR = 0;
nextAdvanceISR = ADV_NEVER;
main_Rate = ADV_NEVER;
eISR_Rate = ADV_NEVER;
e_steps = 0;
e_step_loops = 1;
LA_phase = -1;
#endif
enable_endstops(true); // Start with endstops active. After homing they can be disabled
@ -1133,10 +1180,9 @@ void st_reset_timer()
OCR1A = 2000;
#ifdef LIN_ADVANCE
// If an eISR was pending, reschedule too
if (nextAdvanceISR <= nextMainISR)
nextAdvanceISR = 0;
nextMainISR = 0;
if(nextAdvanceISR && nextAdvanceISR != ADV_NEVER)
nextAdvanceISR = 0;
#endif
}