From a448cedbc57c9ea68c3f264115a8e83d694b0c2c Mon Sep 17 00:00:00 2001
From: Sebastianv650 <sebastian_v650@kabelmail.de>
Date: Sat, 8 Oct 2016 18:13:04 +0200
Subject: [PATCH 1/4] LIN_ADVANCE bug fix and optimization
.) long to int: Extruder stalls at 10kHz / 20kHz step limits with long.
.) Take the delta_adv_steps calculation out of the step_loops loop. Wasted calculation performance if done inside.
.) >> 2 replaced by 3: Is divide by 8. Reason: Timer 0 runs at 16/8=2MHz, Timer 1 at 16/64=0.25MHz. ==> 2/0.25=8.
---
Marlin/stepper.cpp | 43 +++++++++++++++++++++----------------------
Marlin/stepper.h | 2 +-
2 files changed, 22 insertions(+), 23 deletions(-)
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index f2800ebe56..7889b8a883 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -95,7 +95,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE)
- volatile long Stepper::e_steps[E_STEPPERS];
+ volatile int Stepper::e_steps[E_STEPPERS];
int Stepper::extruder_advance_k = LIN_ADVANCE_K,
Stepper::final_estep_rate,
Stepper::current_estep_rate[E_STEPPERS],
@@ -391,7 +391,7 @@ void Stepper::isr() {
#if ENABLED(MIXING_EXTRUDER)
// Step mixing steppers proportionally
- bool dir = motor_direction(E_AXIS);
+ const bool dir = motor_direction(E_AXIS);
MIXING_STEPPERS_LOOP(j) {
counter_m[j] += current_block->steps[E_AXIS];
if (counter_m[j] > 0) {
@@ -401,22 +401,6 @@ void Stepper::isr() {
}
#endif
- if (current_block->use_advance_lead) {
- int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
- #if ENABLED(MIXING_EXTRUDER)
- // Mixing extruders apply advance lead proportionally
- MIXING_STEPPERS_LOOP(j) {
- int steps = delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
- e_steps[j] += steps;
- current_adv_steps[j] += steps;
- }
- #else
- // For most extruders, advance the single E stepper
- e_steps[TOOL_E_INDEX] += delta_adv_steps;
- current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
- #endif
- }
-
#elif ENABLED(ADVANCE)
// Always count the unified E axis
@@ -432,7 +416,7 @@ void Stepper::isr() {
#if ENABLED(MIXING_EXTRUDER)
// Step mixing steppers proportionally
- bool dir = motor_direction(E_AXIS);
+ const bool dir = motor_direction(E_AXIS);
MIXING_STEPPERS_LOOP(j) {
counter_m[j] += current_block->steps[E_AXIS];
if (counter_m[j] > 0) {
@@ -536,6 +520,21 @@ void Stepper::isr() {
}
}
+ #if ENABLED(LIN_ADVANCE)
+ if (current_block->use_advance_lead) {
+ int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
+ current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
+ #if ENABLED(MIXING_EXTRUDER)
+ // Mixing extruders apply advance lead proportionally
+ MIXING_STEPPERS_LOOP(j)
+ e_steps[j] += delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
+ #else
+ // For most extruders, advance the single E stepper
+ e_steps[TOOL_E_INDEX] += delta_adv_steps;
+ #endif
+ }
+ #endif
+
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// If we have esteps to execute, fire the next advance_isr "now"
if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2;
@@ -593,7 +592,7 @@ void Stepper::isr() {
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
- eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
+ eISR_Rate = (timer >> 3) * step_loops / abs(e_steps[TOOL_E_INDEX]); //>> 3 is divide by 8. Reason: Timer 0 runs at 16/8=2MHz, Timer 1 at 16/64=0.25MHz. ==> 2/0.25=8.
#endif
}
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
@@ -643,7 +642,7 @@ void Stepper::isr() {
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
- eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
+ eISR_Rate = (timer >> 3) * step_loops / abs(e_steps[TOOL_E_INDEX]);
#endif
}
else {
@@ -653,7 +652,7 @@ void Stepper::isr() {
if (current_block->use_advance_lead)
current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
- eISR_Rate = (OCR1A_nominal >> 2) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
+ eISR_Rate = (OCR1A_nominal >> 3) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
#endif
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 3e31f82d19..5b6b144f09 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -108,7 +108,7 @@ class Stepper {
static unsigned char old_OCR0A;
static volatile unsigned char eISR_Rate;
#if ENABLED(LIN_ADVANCE)
- static volatile long e_steps[E_STEPPERS];
+ static volatile int e_steps[E_STEPPERS];
static int extruder_advance_k;
static int final_estep_rate;
static int current_estep_rate[E_STEPPERS]; // Actual extruder speed [steps/s]
From 3752d9aca8f72ac397623669405ee739bfb7c53c Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 9 Oct 2016 10:06:31 -0500
Subject: [PATCH 2/4] Fix timer comments
---
Marlin/stepper.cpp | 24 +++++++++++++++++++-----
Marlin/temperature.cpp | 25 ++++++++++++++++++++-----
2 files changed, 39 insertions(+), 10 deletions(-)
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 7889b8a883..ebe55b9ada 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -311,8 +311,20 @@ void Stepper::set_directions() {
#endif // !ADVANCE && !LIN_ADVANCE
}
-// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
-// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
+/**
+ * Stepper Driver Interrupt
+ *
+ * Directly pulses the stepper motors at high frequency.
+ * Timer 1 runs at a base frequency of 2MHz, with this ISR using OCR1A compare mode.
+ *
+ * OCR1A Frequency
+ * 1 2 MHz
+ * 50 40 KHz
+ * 100 20 KHz - capped max rate
+ * 200 10 KHz - nominal max rate
+ * 2000 1 KHz - sleep rate
+ * 4000 500 Hz - init rate
+ */
ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
void Stepper::isr() {
@@ -323,7 +335,7 @@ void Stepper::isr() {
if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
cleaning_buffer_counter--;
- OCR1A = 200;
+ OCR1A = 200; // Run at max speed - 10 KHz
return;
}
@@ -348,7 +360,7 @@ void Stepper::isr() {
#if ENABLED(Z_LATE_ENABLE)
if (current_block->steps[Z_AXIS] > 0) {
enable_z();
- OCR1A = 2000; //1ms wait
+ OCR1A = 2000; // Run at slow speed - 1 KHz
return;
}
#endif
@@ -358,7 +370,7 @@ void Stepper::isr() {
// #endif
}
else {
- OCR1A = 2000; // 1kHz.
+ OCR1A = 2000; // Run at slow speed - 1 KHz
return;
}
}
@@ -903,6 +915,7 @@ void Stepper::init() {
// output mode = 00 (disconnected)
TCCR1A &= ~(3 << COM1A0);
TCCR1A &= ~(3 << COM1B0);
+
// Set the timer pre-scaler
// Generally we use a divider of 8, resulting in a 2MHz timer
// frequency on a 16MHz MCU. If you are going to change this, be
@@ -910,6 +923,7 @@ void Stepper::init() {
// create_speed_lookuptable.py
TCCR1B = (TCCR1B & ~(0x07 << CS10)) | (2 << CS10);
+ // Init Stepper ISR to 122 Hz for quick starting
OCR1A = 0x4000;
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 42f68f4381..285871a879 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -1371,7 +1371,7 @@ void Temperature::set_current_temp_raw() {
* Timer 0 is shared with millies so don't change the prescaler.
*
* This ISR uses the compare method so it runs at the base
- * frequency (16 MHz / 256 = 62500 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).
*
* - Manage PWM to all the heaters and fan
@@ -1485,9 +1485,16 @@ void Temperature::isr() {
#endif
#endif
- // 488.28 Hz (or 1:976.56, 2:1953.12, 3:3906.25, 4:7812.5, 5:7812.5 6:15625, 6:15625 7:31250)
+ // SOFT_PWM_SCALE to frequency:
+ //
+ // 0: 16000000/64/256/128 = 7.6294 Hz
+ // 1: / 64 = 15.2588 Hz
+ // 2: / 32 = 30.5176 Hz
+ // 3: / 16 = 61.0352 Hz
+ // 4: / 8 = 122.0703 Hz
+ // 5: / 4 = 244.1406 Hz
pwm_count += _BV(SOFT_PWM_SCALE);
- pwm_count &= 0x7f;
+ pwm_count &= 0x7F;
#else // SLOW_PWM_HEATERS
@@ -1586,10 +1593,18 @@ void Temperature::isr() {
#endif
#endif //FAN_SOFT_PWM
+ // SOFT_PWM_SCALE to frequency:
+ //
+ // 0: 16000000/64/256/128 = 7.6294 Hz
+ // 1: / 64 = 15.2588 Hz
+ // 2: / 32 = 30.5176 Hz
+ // 3: / 16 = 61.0352 Hz
+ // 4: / 8 = 122.0703 Hz
+ // 5: / 4 = 244.1406 Hz
pwm_count += _BV(SOFT_PWM_SCALE);
- pwm_count &= 0x7f;
+ pwm_count &= 0x7F;
- // increment slow_pwm_count only every 64 pwm_count circa 65.5ms
+ // increment slow_pwm_count only every 64 pwm_count (e.g., every 8s)
if ((pwm_count % 64) == 0) {
slow_pwm_count++;
slow_pwm_count &= 0x7f;
From e4d2662d819052ec417d332eba411aa948575414 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 9 Oct 2016 12:21:05 -0500
Subject: [PATCH 3/4] Use some macros in M48
---
Marlin/Marlin_main.cpp | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 5a4338af7f..5d0e0e3c83 100755
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -4899,8 +4899,8 @@ inline void gcode_M42() {
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1);
- if(sample_set[n] < min) min = sample_set[n];
- if(sample_set[n] > max) max = sample_set[n];
+ NOMORE(min, sample_set[n]);
+ NOLESS(max, sample_set[n]);
/**
* Now, use that mean to calculate the standard deviation for the
@@ -4956,7 +4956,6 @@ inline void gcode_M42() {
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL;
-
SERIAL_EOL;
clean_up_after_endstop_or_probe_move();
From ff6b23cb0fc370e89d948e78e50e2f16e54d6b0f Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 9 Oct 2016 13:00:00 -0500
Subject: [PATCH 4/4] Fix an issue with shifted LCD lines
---
Marlin/ultralcd.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 2cf83a6090..bcedace90b 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -223,7 +223,7 @@ uint8_t lcdDrawUpdate = LCDVIEW_CLEAR_CALL_REDRAW; // Set when the LCD needs to
static int8_t _countedItems = 0; \
int8_t encoderLine = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM; \
if (_countedItems > 0 && encoderLine >= _countedItems - LIMIT) { \
- encoderLine = _countedItems - LIMIT; \
+ encoderLine = max(0, _countedItems - LIMIT); \
encoderPosition = encoderLine * (ENCODER_STEPS_PER_MENU_ITEM); \
}