Skip to content

Clean up stepper and babystep #16857

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
thinkyhead merged 1 commit into from
Feb 14, 2020
Merged

Clean up stepper and babystep #16857

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions Marlin/src/HAL/HAL_ESP32/i2s.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -153,8 +153,8 @@ void stepperTask(void* parameter) {
remaining--;
}
else {
Stepper::stepper_pulse_phase_isr();
remaining = Stepper::stepper_block_phase_isr();
Stepper::pulse_phase_isr();
remaining = Stepper::block_phase_isr();
}
}
}
Expand Down
8 changes: 0 additions & 8 deletions Marlin/src/feature/babystep.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,14 +49,6 @@ void Babystep::step_axis(const AxisEnum axis) {
}
}

void Babystep::task() {
#if EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
LOOP_XYZ(axis) step_axis((AxisEnum)axis);
#else
step_axis(Z_AXIS);
#endif
}

void Babystep::add_mm(const AxisEnum axis, const float &mm) {
add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
}
Expand Down
10 changes: 9 additions & 1 deletion Marlin/src/feature/babystep.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,15 @@ class Babystep {

static void add_steps(const AxisEnum axis, const int16_t distance);
static void add_mm(const AxisEnum axis, const float &mm);
static void task();

//
// Called by the Temperature ISR to
// apply accumulated babysteps to the axes.
//
static inline void task() {
LOOP_L_N(axis, BS_TODO_AXIS(Z_AXIS)) step_axis((AxisEnum)axis);
}

private:
static void step_axis(const AxisEnum axis);
};
Expand Down
110 changes: 101 additions & 9 deletions Marlin/src/module/planner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -709,6 +709,59 @@ void Planner::init() {

#define MINIMAL_STEP_RATE 120

/**
* Get the current block for processing
* and mark the block as busy.
* Return nullptr if the buffer is empty
* or if there is a first-block delay.
*
* WARNING: Called from Stepper ISR context!
*/
block_t* Planner::get_current_block() {
// Get the number of moves in the planner queue so far
const uint8_t nr_moves = movesplanned();

// If there are any moves queued ...
if (nr_moves) {

// If there is still delay of delivery of blocks running, decrement it
if (delay_before_delivering) {
--delay_before_delivering;
// If the number of movements queued is less than 3, and there is still time
// to wait, do not deliver anything
if (nr_moves < 3 && delay_before_delivering) return nullptr;
delay_before_delivering = 0;
}

// If we are here, there is no excuse to deliver the block
block_t * const block = &block_buffer[block_buffer_tail];

// No trapezoid calculated? Don't execute yet.
if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr;

#if HAS_SPI_LCD
block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
#endif

// As this block is busy, advance the nonbusy block pointer
block_buffer_nonbusy = next_block_index(block_buffer_tail);

// Push block_buffer_planned pointer, if encountered.
if (block_buffer_tail == block_buffer_planned)
block_buffer_planned = block_buffer_nonbusy;

// Return the block
return block;
}

// The queue became empty
#if HAS_SPI_LCD
clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
#endif

return nullptr;
}

/**
* Calculate trapezoid parameters, multiplying the entry- and exit-speeds
* by the provided factors.
Expand Down Expand Up @@ -1498,8 +1551,7 @@ void Planner::quick_stop() {
// must be handled: The tail could change between the read and the assignment
// so this must be enclosed in a critical section

const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const bool was_enabled = stepper.suspend();

// Drop all queue entries
block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail;
Expand All @@ -1517,7 +1569,7 @@ void Planner::quick_stop() {
cleaning_buffer_counter = 1000;

// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
if (was_enabled) stepper.wake_up();

// And stop the stepper ISR
stepper.quick_stop();
Expand Down Expand Up @@ -1548,13 +1600,12 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {

// Protect the access to the position.
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const bool was_enabled = stepper.suspend();

const int32_t p1 = stepper.position(CORE_AXIS_1),
p2 = stepper.position(CORE_AXIS_2);

if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
if (was_enabled) stepper.wake_up();

// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
Expand Down Expand Up @@ -2004,13 +2055,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,

#if HAS_SPI_LCD
// Protect the access to the position.
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const bool was_enabled = stepper.suspend();

block_buffer_runtime_us += segment_time_us;
block->segment_time_us = segment_time_us;

if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
if (was_enabled) stepper.wake_up();
#endif

block->nominal_speed_sqr = sq(block->millimeters * inverse_secs); // (mm/sec)^2 Always > 0
Expand Down Expand Up @@ -2822,6 +2872,48 @@ void Planner::set_max_jerk(const AxisEnum axis, float targetValue) {
#endif
}

#if HAS_SPI_LCD

uint16_t Planner::block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = stepper.suspend();
#endif

millis_t bbru = block_buffer_runtime_us;

#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) stepper.wake_up();
#endif

// To translate µs to ms a division by 1000 would be required.
// We introduce 2.4% error here by dividing by 1024.
// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
bbru >>= 10;
// limit to about a minute.
NOMORE(bbru, 0xFFFFul);
return bbru;
}

void Planner::clear_block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = stepper.suspend();
#endif

block_buffer_runtime_us = 0;

#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) stepper.wake_up();
#endif
}

#endif

#if ENABLED(AUTOTEMP)

void Planner::autotemp_M104_M109() {
Expand Down
97 changes: 8 additions & 89 deletions Marlin/src/module/planner.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -763,108 +763,27 @@ class Planner {
FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }

/**
* The current block. nullptr if the buffer is empty.
* This also marks the block as busy.
* Get the current block for processing
* and mark the block as busy.
* Return nullptr if the buffer is empty
* or if there is a first-block delay.
*
* WARNING: Called from Stepper ISR context!
*/
static block_t* get_current_block() {

// Get the number of moves in the planner queue so far
const uint8_t nr_moves = movesplanned();

// If there are any moves queued ...
if (nr_moves) {

// If there is still delay of delivery of blocks running, decrement it
if (delay_before_delivering) {
--delay_before_delivering;
// If the number of movements queued is less than 3, and there is still time
// to wait, do not deliver anything
if (nr_moves < 3 && delay_before_delivering) return nullptr;
delay_before_delivering = 0;
}

// If we are here, there is no excuse to deliver the block
block_t * const block = &block_buffer[block_buffer_tail];

// No trapezoid calculated? Don't execute yet.
if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr;

#if HAS_SPI_LCD
block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
#endif

// As this block is busy, advance the nonbusy block pointer
block_buffer_nonbusy = next_block_index(block_buffer_tail);

// Push block_buffer_planned pointer, if encountered.
if (block_buffer_tail == block_buffer_planned)
block_buffer_planned = block_buffer_nonbusy;

// Return the block
return block;
}

// The queue became empty
#if HAS_SPI_LCD
clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
#endif

return nullptr;
}
static block_t* get_current_block();

/**
* "Discard" the block and "release" the memory.
* Called when the current block is no longer needed.
* NB: There MUST be a current block to call this function!!
*/
FORCE_INLINE static void discard_current_block() {
if (has_blocks_queued())
block_buffer_tail = next_block_index(block_buffer_tail);
}

#if HAS_SPI_LCD

static uint16_t block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif

millis_t bbru = block_buffer_runtime_us;

#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif

// To translate µs to ms a division by 1000 would be required.
// We introduce 2.4% error here by dividing by 1024.
// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
bbru >>= 10;
// limit to about a minute.
NOMORE(bbru, 0xFFFFul);
return bbru;
}

static void clear_block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif

block_buffer_runtime_us = 0;

#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
}

static uint16_t block_buffer_runtime();
static void clear_block_buffer_runtime();
#endif

#if ENABLED(AUTOTEMP)
Expand Down
Loading