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Merge pull request #9152 from thinkyhead/bf2_anti_stutter

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[2.0.x] Ensure smooth printer movements
2.0.x
Scott Lahteine 7 years ago committed by GitHub
parent 02ff12d491 094e9b1dab
commit 3ae41e5f7f
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GPG Key ID: 4AEE18F83AFDEB23
12 changed files with 70 additions and 43 deletions
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1
Marlin/src/HAL/HAL_AVR/HAL_AVR.h
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@ -139,6 +139,7 @@ extern "C" {
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
#define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A)
#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)

13
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
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@ -112,23 +112,28 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
}
void HAL_timer_enable_interrupt(const uint8_t timer_num) {
const tTimerConfig *pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_IER = TC_IER_CPCS;
}
void HAL_timer_disable_interrupt(const uint8_t timer_num) {
const tTimerConfig *pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_IDR = TC_IDR_CPCS;
}
void HAL_timer_interrupt_enabled(const uint8_t timer_num) {
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_IER == TC_IER_CPCS;
}
#if 0
void HAL_timer_set_count(const uint8_t timer_num, const uint32_t count) {
const tTimerConfig *pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
TC_SetRC(pConfig->pTimerRegs, pConfig->channel, count);
}
void HAL_timer_isr_prologue(const uint8_t timer_num) {
const tTimerConfig *pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
TC_GetStatus(pConfig->pTimerRegs, pConfig->channel);
}
#endif

12
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
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@ -55,6 +55,7 @@ typedef uint32_t hal_timer_t;
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
@ -91,32 +92,33 @@ extern const tTimerConfig TimerConfig[];
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_count(const uint8_t timer_num, const hal_timer_t count) {
const tTimerConfig *pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = count;
}
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
const tTimerConfig *pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
}
FORCE_INLINE static void HAL_timer_set_current_count(const uint8_t timer_num, const hal_timer_t count) {
const tTimerConfig *pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV = count;
}
FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(const uint8_t timer_num) {
const tTimerConfig *pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
}
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
//void HAL_timer_isr_prologue(const uint8_t timer_num);
FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
const tTimerConfig *pConfig = &TimerConfig[timer_num];
const tTimerConfig * const pConfig = &TimerConfig[timer_num];
// Reading the status register clears the interrupt flag
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
}

8
Marlin/src/HAL/HAL_LPC1768/HAL_timers.cpp
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@ -75,6 +75,14 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
}
}
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
switch (timer_num) {
case 0: return NVIC_GetActive(TIMER0_IRQn);
case 1: return NVIC_GetActive(TIMER1_IRQn);
}
return false;
}
void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch (timer_num) {
case 0: SBI(LPC_TIM0->IR, 0); break; // Clear the Interrupt

3
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
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@ -58,6 +58,8 @@ typedef uint32_t hal_timer_t;
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
@ -125,6 +127,7 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(const uint8_t timer_
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#endif // _HAL_TIMERS_DUE_H

14
Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.cpp
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@ -93,7 +93,7 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
* TODO: Calculate Timer prescale value, so we get the 32bit to adjust
*/
void HAL_timer_start(uint8_t timer_num, uint32_t frequency) {
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
nvic_irq_num irq_num;
switch (timer_num) {
case 1: irq_num = NVIC_TIMER1_CC; break;
@ -135,7 +135,7 @@ void HAL_timer_start(uint8_t timer_num, uint32_t frequency) {
}
}
void HAL_timer_enable_interrupt(uint8_t timer_num) {
void HAL_timer_enable_interrupt(const uint8_t timer_num) {
switch (timer_num) {
case STEP_TIMER_NUM:
timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN);
@ -148,7 +148,7 @@ void HAL_timer_enable_interrupt(uint8_t timer_num) {
}
}
void HAL_timer_disable_interrupt(uint8_t timer_num) {
void HAL_timer_disable_interrupt(const uint8_t timer_num) {
switch (timer_num) {
case STEP_TIMER_NUM:
timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN);
@ -161,4 +161,12 @@ void HAL_timer_disable_interrupt(uint8_t timer_num) {
}
}
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
switch (timer_num) {
case STEP_TIMER_NUM: return bool(TIM_DIER(STEP_TIMER_DEV) & STEP_TIMER_CHAN);
case TEMP_TIMER_NUM: return bool(TIM_DIER(TEMP_TIMER_DEV) & TEMP_TIMER_CHAN);
}
return false;
}
#endif // __STM32F1__

10
Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
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@ -62,8 +62,6 @@ typedef uint16_t hal_timer_t;
#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM)
#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM)
//STM32_HAVE_TIMER(n);
#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
@ -79,6 +77,7 @@ typedef uint16_t hal_timer_t;
#define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() timer_enable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
#define DISABLE_TEMPERATURE_INTERRUPT() timer_disable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
@ -113,9 +112,10 @@ static HardwareTimer TempTimer(TEMP_TIMER_NUM);
// Public functions
// --------------------------------------------------------------------------
void HAL_timer_start(uint8_t timer_num, uint32_t frequency);
void HAL_timer_enable_interrupt(uint8_t timer_num);
void HAL_timer_disable_interrupt(uint8_t timer_num);
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
/**
* NOTE: By default libmaple sets ARPE = 1, which means the Auto reload register is preloaded (will only update with an update event)

8
Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.cpp
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@ -67,6 +67,14 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
}
}
bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
switch (timer_num) {
case 0: return NVIC_IS_ENABLED(IRQ_FTM0);
case 1: return NVIC_IS_ENABLED(IRQ_FTM1);
}
return false;
}
void HAL_timer_isr_prologue(const uint8_t timer_num) {
switch(timer_num) {
case 0:

4
Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
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@ -68,6 +68,8 @@ typedef uint32_t hal_timer_t;
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
@ -110,8 +112,8 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(const uint8_t timer_
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#endif // _HAL_TIMERS_TEENSY_H

19
Marlin/src/core/serial.h
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@ -61,25 +61,6 @@ enum DebugFlags {
};
#endif
//todo: HAL: breaks encapsulation
// For AVR only, define a serial interface based on configuration
#ifdef __AVR__
#ifdef USBCON
#include <HardwareSerial.h>
#if ENABLED(BLUETOOTH)
#define MYSERIAL0 bluetoothSerial
#else
#define MYSERIAL0 Serial
#endif // BLUETOOTH
#else
#include "../HAL/HAL_AVR/MarlinSerial.h"
#define MYSERIAL0 customizedSerial
#endif
#elif defined(ARDUINO_ARCH_SAM)
// To pull the Serial port definitions and overrides
#include "../HAL/HAL_DUE/MarlinSerial_Due.h"
#endif
extern uint8_t marlin_debug_flags;
#define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))

9
Marlin/src/module/planner.cpp
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@ -1352,7 +1352,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// If stepper ISR is disabled, this indicates buffer_segment wants to add a split block.
// In this case start with the max. allowed speed to avoid an interrupted first move.
block->entry_speed = STEPPER_ISR_ENABLED() ? MINIMUM_PLANNER_SPEED : min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
@ -1362,7 +1364,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
// the reverse and forward planners, the corresponding block junction speed will always be at the
// the maximum junction speed and may always be ignored for any speed reduction checks.
block->flag |= BLOCK_FLAG_RECALCULATE | (block->nominal_speed <= v_allowable ? BLOCK_FLAG_NOMINAL_LENGTH : 0);
block->flag |= block->nominal_speed <= v_allowable ? BLOCK_FLAG_RECALCULATE | BLOCK_FLAG_NOMINAL_LENGTH : BLOCK_FLAG_RECALCULATE;
// Update previous path unit_vector and nominal speed
COPY(previous_speed, current_speed);
@ -1398,9 +1400,6 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
#endif // LIN_ADVANCE
const float bnsr = 1.0 / block->nominal_speed;
calculate_trapezoid_for_block(block, block->entry_speed * bnsr, safe_speed * bnsr);
// Move buffer head
block_buffer_head = next_buffer_head;

10
Marlin/src/module/planner.h
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@ -534,6 +534,16 @@ class Planner {
static block_t* get_current_block() {
if (blocks_queued()) {
block_t * const block = &block_buffer[block_buffer_tail];
// If the block has no trapezoid calculated, it's unsafe to execute.
if (movesplanned() > 1) {
const block_t * const next = &block_buffer[next_block_index(block_buffer_tail)];
if (TEST(block->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE))
return NULL;
}
else if (TEST(block->flag, BLOCK_BIT_RECALCULATE))
return NULL;
#if ENABLED(ULTRA_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

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