[1.1.x] Fix stepper/planner race condition, Stepper pulse timer (#11084)
* Fix planner/stepper race condition Co-Authored-By: ejtagle <ejtagle@hotmail.com> Co-Authored-By: AnHardt <github@kitelab.de> * Fix stepper pulse timing Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine
GitHub
118
Marlin/stepper.h
118
Marlin/stepper.h
@@ -53,7 +53,7 @@
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//
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#ifndef MINIMUM_STEPPER_PULSE
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#define MINIMUM_STEPPER_PULSE 0
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#define MINIMUM_STEPPER_PULSE 0UL
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#endif
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#ifndef MAXIMUM_STEPPER_RATE
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@@ -64,101 +64,93 @@
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#endif
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#endif
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#ifdef CPU_32_BIT
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// The base ISR takes 792 cycles
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#define ISR_BASE_CYCLES 792UL
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// Linear advance base time is 64 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 64UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 40 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 40UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 4UL
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// And each stepper takes 16 cycles
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#define ISR_STEPPER_CYCLES 16UL
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 32UL
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#else
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// The base ISR takes 752 cycles
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#define ISR_BASE_CYCLES 752UL
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// Linear advance base time is 32 cycles
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#if ENABLED(LIN_ADVANCE)
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#define ISR_LA_BASE_CYCLES 32UL
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#else
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// And each stepper takes 88 cycles
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#define ISR_STEPPER_CYCLES 88UL
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#define ISR_LA_BASE_CYCLES 0UL
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#endif
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// S curve interpolation adds 160 cycles
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#if ENABLED(S_CURVE_ACCELERATION)
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#define ISR_S_CURVE_CYCLES 160UL
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#else
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#define ISR_S_CURVE_CYCLES 0UL
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#endif
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// Stepper Loop base cycles
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#define ISR_LOOP_BASE_CYCLES 32UL
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// To start the step pulse, in the worst case takes
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#define ISR_START_STEPPER_CYCLES 57UL
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// And each stepper (start + stop pulse) takes in worst case
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#define ISR_STEPPER_CYCLES 88UL
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// Add time for each stepper
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#ifdef HAS_X_STEP
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#define ISR_START_X_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
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#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_X_STEPPER_CYCLES 0UL
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#define ISR_START_X_STEPPER_CYCLES 0UL
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#define ISR_X_STEPPER_CYCLES 0UL
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#endif
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#ifdef HAS_Y_STEP
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#define ISR_START_Y_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
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#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Y_STEPPER_CYCLES 0UL
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#define ISR_START_Y_STEPPER_CYCLES 0UL
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#define ISR_Y_STEPPER_CYCLES 0UL
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#endif
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#ifdef HAS_Z_STEP
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#define ISR_START_Z_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
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#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#else
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#define ISR_Z_STEPPER_CYCLES 0UL
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#define ISR_START_Z_STEPPER_CYCLES 0UL
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#define ISR_Z_STEPPER_CYCLES 0UL
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#endif
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// E is always interpolated, even for mixing extruders
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
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#define ISR_START_E_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
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#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
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// If linear advance is disabled, then the loop also handles them
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#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
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#define ISR_START_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_START_STEPPER_CYCLES))
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#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
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#else
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#define ISR_START_MIXING_STEPPER_CYCLES 0UL
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#define ISR_MIXING_STEPPER_CYCLES 0UL
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#endif
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// Calculate the minimum time to start all stepper pulses in the ISR loop
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#define MIN_ISR_START_LOOP_CYCLES (ISR_START_X_STEPPER_CYCLES + ISR_START_Y_STEPPER_CYCLES + ISR_START_Z_STEPPER_CYCLES + ISR_START_E_STEPPER_CYCLES + ISR_START_MIXING_STEPPER_CYCLES)
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// And the total minimum loop time, not including the base
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#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES)
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// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
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#define _MIN_STEPPER_PULSE_CYCLES(N) max((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
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#define _MIN_STEPPER_PULSE_CYCLES(N) MAX((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
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#if MINIMUM_STEPPER_PULSE
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE)
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES((MINIMUM_STEPPER_PULSE))
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#else
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1)
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#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL)
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#endif
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#define MIN_PULSE_TICKS ((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE))
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#define ADDED_STEP_TICKS ((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE) - MIN_PULSE_TICKS)
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// Calculate the minimum ticks of the PULSE timer that must elapse with the step pulse enabled
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// adding the "start stepper pulse" code section execution cycles to account for that not all
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// pulses start at the beginning of the loop, so an extra time must be added to compensate so
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// the last generated pulse (usually the extruder stepper) has the right length
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#define MIN_PULSE_TICKS (((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE)) + ((MIN_ISR_START_LOOP_CYCLES) / (PULSE_TIMER_PRESCALE)))
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// Calculate the extra ticks of the PULSE timer between step pulses
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#define ADDED_STEP_TICKS (((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE)) - (MIN_PULSE_TICKS))
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// But the user could be enforcing a minimum time, so the loop time is
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#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
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#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
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// If linear advance is enabled, then it is handled separately
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#if ENABLED(LIN_ADVANCE)
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@@ -171,7 +163,7 @@
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#endif
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// And the real loop time
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#define ISR_LA_LOOP_CYCLES max(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
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#define ISR_LA_LOOP_CYCLES MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES)
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#else
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#define ISR_LA_LOOP_CYCLES 0UL
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