[2.0.x] Fix stepper/planner race condition and Stepper pulse timer (#11081)
* Planner: Removal of some race conditions between Stepper ISR and Planner, some of them pointed out by @AnHardt, some of my own findings * Fixing timing on stepper pulses adding a compensation for the non-null time required to set ports.
This commit is contained in:
parent
3fa9aeb5c7
commit
48a15d1c7e
|
@ -758,7 +758,11 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
|
||||||
const bool was_enabled = STEPPER_ISR_ENABLED();
|
const bool was_enabled = STEPPER_ISR_ENABLED();
|
||||||
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
|
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
|
||||||
|
|
||||||
// Don't update variables if block is busy: It is being interpreted by the planner
|
// Don't update variables if block is busy; it is being interpreted by the planner.
|
||||||
|
// If this happens, there's a problem... The block speed is inconsistent. Some values
|
||||||
|
// have already been updated, but the Stepper ISR is already using the block. Fortunately,
|
||||||
|
// the values being used by the Stepper ISR weren't touched, so just stop here...
|
||||||
|
// TODO: There may be a way to update a running block, depending on the stepper ISR position.
|
||||||
if (!TEST(block->flag, BLOCK_BIT_BUSY)) {
|
if (!TEST(block->flag, BLOCK_BIT_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;
|
||||||
|
@ -862,10 +866,13 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t * const
|
||||||
? max_entry_speed_sqr
|
? max_entry_speed_sqr
|
||||||
: MIN(max_entry_speed_sqr, max_allowable_speed_sqr(-current->acceleration, next ? next->entry_speed_sqr : sq(MINIMUM_PLANNER_SPEED), current->millimeters));
|
: MIN(max_entry_speed_sqr, max_allowable_speed_sqr(-current->acceleration, next ? next->entry_speed_sqr : sq(MINIMUM_PLANNER_SPEED), current->millimeters));
|
||||||
if (current->entry_speed_sqr != new_entry_speed_sqr) {
|
if (current->entry_speed_sqr != new_entry_speed_sqr) {
|
||||||
current->entry_speed_sqr = new_entry_speed_sqr;
|
|
||||||
|
|
||||||
// Need to recalculate the block speed
|
// Need to recalculate the block speed - Mark it now, so the stepper
|
||||||
|
// ISR does not consume the block before being recalculated
|
||||||
SBI(current->flag, BLOCK_BIT_RECALCULATE);
|
SBI(current->flag, BLOCK_BIT_RECALCULATE);
|
||||||
|
|
||||||
|
// Set the new entry speed
|
||||||
|
current->entry_speed_sqr = new_entry_speed_sqr;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -925,14 +932,15 @@ void Planner::forward_pass_kernel(const block_t* const previous, block_t* const
|
||||||
// If true, current block is full-acceleration and we can move the planned pointer forward.
|
// If true, current block is full-acceleration and we can move the planned pointer forward.
|
||||||
if (new_entry_speed_sqr < current->entry_speed_sqr) {
|
if (new_entry_speed_sqr < current->entry_speed_sqr) {
|
||||||
|
|
||||||
|
// Mark we need to recompute the trapezoidal shape, and do it now,
|
||||||
|
// so the stepper ISR does not consume the block before being recalculated
|
||||||
|
SBI(current->flag, BLOCK_BIT_RECALCULATE);
|
||||||
|
|
||||||
// Always <= max_entry_speed_sqr. Backward pass sets this.
|
// Always <= max_entry_speed_sqr. Backward pass sets this.
|
||||||
current->entry_speed_sqr = new_entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this.
|
current->entry_speed_sqr = new_entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this.
|
||||||
|
|
||||||
// Set optimal plan pointer.
|
// Set optimal plan pointer.
|
||||||
block_buffer_planned = block_index;
|
block_buffer_planned = block_index;
|
||||||
|
|
||||||
// And mark we need to recompute the trapezoidal shape
|
|
||||||
SBI(current->flag, BLOCK_BIT_RECALCULATE);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -1019,6 +1027,12 @@ void Planner::recalculate_trapezoids() {
|
||||||
if (current) {
|
if (current) {
|
||||||
// Recalculate if current block entry or exit junction speed has changed.
|
// Recalculate if current block entry or exit junction speed has changed.
|
||||||
if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
|
if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
|
||||||
|
|
||||||
|
// Mark the current block as RECALCULATE, to protect it from the Stepper ISR running it.
|
||||||
|
// Note that due to the above condition, there's a chance the current block isn't marked as
|
||||||
|
// RECALCULATE yet, but the next one is. That's the reason for the following line.
|
||||||
|
SBI(current->flag, BLOCK_BIT_RECALCULATE);
|
||||||
|
|
||||||
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
|
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
|
||||||
const float current_nominal_speed = SQRT(current->nominal_speed_sqr),
|
const float current_nominal_speed = SQRT(current->nominal_speed_sqr),
|
||||||
nomr = 1.0 / current_nominal_speed;
|
nomr = 1.0 / current_nominal_speed;
|
||||||
|
@ -1030,7 +1044,10 @@ void Planner::recalculate_trapezoids() {
|
||||||
current->final_adv_steps = next_entry_speed * comp;
|
current->final_adv_steps = next_entry_speed * comp;
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
CBI(current->flag, BLOCK_BIT_RECALCULATE); // Reset current only to ensure next trapezoid is computed
|
|
||||||
|
// Reset current only to ensure next trapezoid is computed - The
|
||||||
|
// stepper is free to use the block from now on.
|
||||||
|
CBI(current->flag, BLOCK_BIT_RECALCULATE);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -1043,6 +1060,12 @@ void Planner::recalculate_trapezoids() {
|
||||||
|
|
||||||
// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
|
// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
|
||||||
if (next) {
|
if (next) {
|
||||||
|
|
||||||
|
// Mark the next(last) block as RECALCULATE, to prevent the Stepper ISR running it.
|
||||||
|
// As the last block is always recalculated here, there is a chance the block isn't
|
||||||
|
// marked as RECALCULATE yet. That's the reason for the following line.
|
||||||
|
SBI(next->flag, BLOCK_BIT_RECALCULATE);
|
||||||
|
|
||||||
const float next_nominal_speed = SQRT(next->nominal_speed_sqr),
|
const float next_nominal_speed = SQRT(next->nominal_speed_sqr),
|
||||||
nomr = 1.0 / next_nominal_speed;
|
nomr = 1.0 / next_nominal_speed;
|
||||||
calculate_trapezoid_for_block(next, next_entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr);
|
calculate_trapezoid_for_block(next, next_entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr);
|
||||||
|
@ -1053,6 +1076,9 @@ void Planner::recalculate_trapezoids() {
|
||||||
next->final_adv_steps = (MINIMUM_PLANNER_SPEED) * comp;
|
next->final_adv_steps = (MINIMUM_PLANNER_SPEED) * comp;
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
// Reset next only to ensure its trapezoid is computed - The stepper is free to use
|
||||||
|
// the block from now on.
|
||||||
CBI(next->flag, BLOCK_BIT_RECALCULATE);
|
CBI(next->flag, BLOCK_BIT_RECALCULATE);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
@ -53,7 +53,7 @@
|
||||||
//
|
//
|
||||||
|
|
||||||
#ifndef MINIMUM_STEPPER_PULSE
|
#ifndef MINIMUM_STEPPER_PULSE
|
||||||
#define MINIMUM_STEPPER_PULSE 0
|
#define MINIMUM_STEPPER_PULSE 0UL
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#ifndef MAXIMUM_STEPPER_RATE
|
#ifndef MAXIMUM_STEPPER_RATE
|
||||||
|
@ -86,7 +86,10 @@
|
||||||
// Stepper Loop base cycles
|
// Stepper Loop base cycles
|
||||||
#define ISR_LOOP_BASE_CYCLES 4UL
|
#define ISR_LOOP_BASE_CYCLES 4UL
|
||||||
|
|
||||||
// And each stepper takes 16 cycles
|
// To start the step pulse, in the worst case takes
|
||||||
|
#define ISR_START_STEPPER_CYCLES 13UL
|
||||||
|
|
||||||
|
// And each stepper (start + stop pulse) takes in worst case
|
||||||
#define ISR_STEPPER_CYCLES 16UL
|
#define ISR_STEPPER_CYCLES 16UL
|
||||||
|
|
||||||
#else
|
#else
|
||||||
|
@ -111,51 +114,72 @@
|
||||||
// Stepper Loop base cycles
|
// Stepper Loop base cycles
|
||||||
#define ISR_LOOP_BASE_CYCLES 32UL
|
#define ISR_LOOP_BASE_CYCLES 32UL
|
||||||
|
|
||||||
// And each stepper takes 88 cycles
|
// To start the step pulse, in the worst case takes
|
||||||
|
#define ISR_START_STEPPER_CYCLES 57UL
|
||||||
|
|
||||||
|
// And each stepper (start + stop pulse) takes in worst case
|
||||||
#define ISR_STEPPER_CYCLES 88UL
|
#define ISR_STEPPER_CYCLES 88UL
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// Add time for each stepper
|
// Add time for each stepper
|
||||||
#ifdef HAS_X_STEP
|
#ifdef HAS_X_STEP
|
||||||
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
#define ISR_START_X_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
|
||||||
|
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
||||||
#else
|
#else
|
||||||
#define ISR_X_STEPPER_CYCLES 0UL
|
#define ISR_START_X_STEPPER_CYCLES 0UL
|
||||||
|
#define ISR_X_STEPPER_CYCLES 0UL
|
||||||
#endif
|
#endif
|
||||||
#ifdef HAS_Y_STEP
|
#ifdef HAS_Y_STEP
|
||||||
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
#define ISR_START_Y_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
|
||||||
|
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
||||||
#else
|
#else
|
||||||
#define ISR_Y_STEPPER_CYCLES 0UL
|
#define ISR_START_Y_STEPPER_CYCLES 0UL
|
||||||
|
#define ISR_Y_STEPPER_CYCLES 0UL
|
||||||
#endif
|
#endif
|
||||||
#ifdef HAS_Z_STEP
|
#ifdef HAS_Z_STEP
|
||||||
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
#define ISR_START_Z_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
|
||||||
|
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
||||||
#else
|
#else
|
||||||
#define ISR_Z_STEPPER_CYCLES 0UL
|
#define ISR_START_Z_STEPPER_CYCLES 0UL
|
||||||
|
#define ISR_Z_STEPPER_CYCLES 0UL
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// E is always interpolated, even for mixing extruders
|
// E is always interpolated, even for mixing extruders
|
||||||
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
#define ISR_START_E_STEPPER_CYCLES ISR_START_STEPPER_CYCLES
|
||||||
|
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES
|
||||||
|
|
||||||
// If linear advance is disabled, then the loop also handles them
|
// If linear advance is disabled, then the loop also handles them
|
||||||
#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
|
#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
|
||||||
|
#define ISR_START_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_START_STEPPER_CYCLES))
|
||||||
#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
|
#define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
|
||||||
#else
|
#else
|
||||||
|
#define ISR_START_MIXING_STEPPER_CYCLES 0UL
|
||||||
#define ISR_MIXING_STEPPER_CYCLES 0UL
|
#define ISR_MIXING_STEPPER_CYCLES 0UL
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
// Calculate the minimum time to start all stepper pulses in the ISR loop
|
||||||
|
#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)
|
||||||
|
|
||||||
// And the total minimum loop time, not including the base
|
// And the total minimum loop time, not including the base
|
||||||
#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)
|
#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)
|
||||||
|
|
||||||
// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
|
// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
|
||||||
#define _MIN_STEPPER_PULSE_CYCLES(N) MAX((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
|
#define _MIN_STEPPER_PULSE_CYCLES(N) MAX((F_CPU) / (MAXIMUM_STEPPER_RATE), ((F_CPU) / 500000UL) * (N))
|
||||||
#if MINIMUM_STEPPER_PULSE
|
#if MINIMUM_STEPPER_PULSE
|
||||||
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(MINIMUM_STEPPER_PULSE)
|
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES((MINIMUM_STEPPER_PULSE))
|
||||||
#else
|
#else
|
||||||
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1)
|
#define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL)
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#define MIN_PULSE_TICKS ((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE))
|
// Calculate the minimum ticks of the PULSE timer that must elapse with the step pulse enabled
|
||||||
#define ADDED_STEP_TICKS ((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE) - MIN_PULSE_TICKS)
|
// adding the "start stepper pulse" code section execution cycles to account for that not all
|
||||||
|
// pulses start at the beginning of the loop, so an extra time must be added to compensate so
|
||||||
|
// the last generated pulse (usually the extruder stepper) has the right length
|
||||||
|
#define MIN_PULSE_TICKS (((PULSE_TIMER_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE)) + ((MIN_ISR_START_LOOP_CYCLES) / (PULSE_TIMER_PRESCALE)))
|
||||||
|
|
||||||
|
// Calculate the extra ticks of the PULSE timer between step pulses
|
||||||
|
#define ADDED_STEP_TICKS (((MIN_STEPPER_PULSE_CYCLES) / (PULSE_TIMER_PRESCALE)) - (MIN_PULSE_TICKS))
|
||||||
|
|
||||||
// But the user could be enforcing a minimum time, so the loop time is
|
// But the user could be enforcing a minimum time, so the loop time is
|
||||||
#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
|
#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES))
|
||||||
|
|
Loading…
Reference in a new issue