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Merge pull request #8725 from thinkyhead/bf2_hal_timer_for_advance

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[2.0.x] TCNT0 => HAL_timer_get_current_count
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Scott Lahteine 2017-12-08 23:05:06 -06:00 committed by GitHub
parent b3daf6b5db 4fa65a5c25
commit a2ac452ef9
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 26 additions and 25 deletions
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43
Marlin/src/module/stepper.cpp
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@ -118,8 +118,8 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
constexpr hal_timer_t ADV_NEVER = HAL_TIMER_TYPE_MAX; constexpr hal_timer_t ADV_NEVER = HAL_TIMER_TYPE_MAX;
hal_timer_t Stepper::nextMainISR = 0, hal_timer_t Stepper::nextMainISR = 0,
Stepper::nextAdvanceISR = ADV_NEVER, Stepper::nextAdvanceISR = ADV_NEVER,
Stepper::eISR_Rate = ADV_NEVER; Stepper::eISR_Rate = ADV_NEVER;
volatile int Stepper::e_steps[E_STEPPERS]; volatile int Stepper::e_steps[E_STEPPERS];
int Stepper::final_estep_rate, int Stepper::final_estep_rate,
@ -152,9 +152,10 @@ volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
long Stepper::counter_m[MIXING_STEPPERS]; long Stepper::counter_m[MIXING_STEPPERS];
#endif #endif
hal_timer_t Stepper::acc_step_rate; // needed for deceleration start point
uint8_t Stepper::step_loops, Stepper::step_loops_nominal; uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
hal_timer_t Stepper::OCR1A_nominal;
hal_timer_t Stepper::OCR1A_nominal,
Stepper::acc_step_rate; // needed for deceleration start point
volatile long Stepper::endstops_trigsteps[XYZ]; volatile long Stepper::endstops_trigsteps[XYZ];
@ -557,13 +558,13 @@ void Stepper::isr() {
/** /**
* If a minimum pulse time was specified get the timer 0 value. * If a minimum pulse time was specified get the timer 0 value.
* *
* TCNT0 has an 8x prescaler, so it increments every 8 cycles. * On AVR the TCNT0 timer has an 8x prescaler, so it increments every 8 cycles.
* That's every 0.5µs on 16MHz and every 0.4µs on 20MHz. * That's every 0.5µs on 16MHz and every 0.4µs on 20MHz.
* 20 counts of TCNT0 -by itself- is a good pulse delay. * 20 counts of TCNT0 -by itself- is a good pulse delay.
* 10µs = 160 or 200 cycles. * 10µs = 160 or 200 cycles.
*/ */
#if EXTRA_CYCLES_XYZE > 20 #if EXTRA_CYCLES_XYZE > 20
uint32_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM); hal_timer_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
#endif #endif
#if HAS_X_STEP #if HAS_X_STEP
@ -676,12 +677,12 @@ void Stepper::isr() {
NOMORE(acc_step_rate, current_block->nominal_rate); NOMORE(acc_step_rate, current_block->nominal_rate);
// step_rate to timer interval // step_rate to timer interval
const hal_timer_t timer = calc_timer(acc_step_rate); const hal_timer_t interval = calc_timer_interval(acc_step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL SPLIT(interval); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val); _NEXT_ISR(ocr_val);
acceleration_time += timer; acceleration_time += interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -693,7 +694,7 @@ void Stepper::isr() {
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17; current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
#endif #endif
} }
eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops); eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], interval, step_loops);
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
} }
@ -713,11 +714,11 @@ void Stepper::isr() {
step_rate = current_block->final_rate; step_rate = current_block->final_rate;
// step_rate to timer interval // step_rate to timer interval
const hal_timer_t timer = calc_timer(step_rate); const hal_timer_t interval = calc_timer_interval(step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL SPLIT(interval); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val); _NEXT_ISR(ocr_val);
deceleration_time += timer; deceleration_time += interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -729,7 +730,7 @@ void Stepper::isr() {
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17; current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
#endif #endif
} }
eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops); eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], interval, step_loops);
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
} }
@ -754,7 +755,7 @@ void Stepper::isr() {
#ifdef CPU_32_BIT #ifdef CPU_32_BIT
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room // Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
hal_timer_t stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM), hal_timer_t stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM),
stepper_timer_current_count = HAL_timer_get_current_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US; stepper_timer_current_count = HAL_timer_get_current_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US;
HAL_timer_set_count(STEP_TIMER_NUM, max(stepper_timer_count, stepper_timer_current_count)); HAL_timer_set_count(STEP_TIMER_NUM, max(stepper_timer_count, stepper_timer_current_count));
#else #else
NOLESS(OCR1A, TCNT1 + 16); NOLESS(OCR1A, TCNT1 + 16);
@ -817,7 +818,7 @@ void Stepper::isr() {
for (uint8_t i = step_loops; i--;) { for (uint8_t i = step_loops; i--;) {
#if EXTRA_CYCLES_E > 20 #if EXTRA_CYCLES_E > 20
uint32_t pulse_start = TCNT0; hal_timer_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
#endif #endif
START_E_PULSE(0); START_E_PULSE(0);
@ -836,8 +837,8 @@ void Stepper::isr() {
// For minimum pulse time wait before stopping pulses // For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_E > 20 #if EXTRA_CYCLES_E > 20
while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ } while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
pulse_start = TCNT0; pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
#elif EXTRA_CYCLES_E > 0 #elif EXTRA_CYCLES_E > 0
DELAY_NOPS(EXTRA_CYCLES_E); DELAY_NOPS(EXTRA_CYCLES_E);
#endif #endif
@ -858,7 +859,7 @@ void Stepper::isr() {
// For minimum pulse time wait before looping // For minimum pulse time wait before looping
#if EXTRA_CYCLES_E > 20 #if EXTRA_CYCLES_E > 20
if (i) while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ } if (i) while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_E > 0 #elif EXTRA_CYCLES_E > 0
if (i) DELAY_NOPS(EXTRA_CYCLES_E); if (i) DELAY_NOPS(EXTRA_CYCLES_E);
#endif #endif
@ -1297,8 +1298,8 @@ void Stepper::report_positions() {
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true) #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
#if EXTRA_CYCLES_BABYSTEP > 20 #if EXTRA_CYCLES_BABYSTEP > 20
#define _SAVE_START const uint32_t pulse_start = TCNT0 #define _SAVE_START const hal_timer_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM)
#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ } #define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
#else #else
#define _SAVE_START NOOP #define _SAVE_START NOOP
#if EXTRA_CYCLES_BABYSTEP > 0 #if EXTRA_CYCLES_BABYSTEP > 0

6
Marlin/src/module/stepper.h
View file

@ -278,7 +278,7 @@ class Stepper {
private: private:
FORCE_INLINE static hal_timer_t calc_timer(hal_timer_t step_rate) { FORCE_INLINE static hal_timer_t calc_timer_interval(hal_timer_t step_rate) {
hal_timer_t timer; hal_timer_t timer;
NOMORE(step_rate, MAX_STEP_FREQUENCY); NOMORE(step_rate, MAX_STEP_FREQUENCY);
@ -359,11 +359,11 @@ class Stepper {
deceleration_time = 0; deceleration_time = 0;
// step_rate to timer interval // step_rate to timer interval
OCR1A_nominal = calc_timer(current_block->nominal_rate); OCR1A_nominal = calc_timer_interval(current_block->nominal_rate);
// make a note of the number of step loops required at nominal speed // make a note of the number of step loops required at nominal speed
step_loops_nominal = step_loops; step_loops_nominal = step_loops;
acc_step_rate = current_block->initial_rate; acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer(acc_step_rate); acceleration_time = calc_timer_interval(acc_step_rate);
_NEXT_ISR(acceleration_time); _NEXT_ISR(acceleration_time);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)

2
Marlin/src/module/temperature.cpp
View file

@ -1588,7 +1588,7 @@ void Temperature::set_current_temp_raw() {
/** /**
* Timer 0 is shared with millies so don't change the prescaler. * Timer 0 is shared with millies so don't change the prescaler.
* *
* This ISR uses the compare method so it runs at the base * On AVR this ISR uses the compare method so it runs at the base
* frequency (16 MHz / 64 / 256 = 976.5625 Hz), but at the TCNT0 set * frequency (16 MHz / 64 / 256 = 976.5625 Hz), but at the TCNT0 set
* in OCR0B above (128 or halfway between OVFs). * in OCR0B above (128 or halfway between OVFs).
* *