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Fix stepper pulse timing

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Always honor minimum period on stepper pulse generation, and fix timing calculations

Signed-off-by: etagle <ejtagle@hotmail.com>
2.0.x
etagle 7 years ago committed by Scott Lahteine
parent 0d79128c8d
commit a215725df6
8 changed files with 112 additions and 103 deletions
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25
Marlin/src/HAL/HAL_AVR/HAL.h
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@ -108,10 +108,6 @@ extern "C" {
int freeMemory(void);
}
// eeprom
//void eeprom_write_byte(unsigned char *pos, unsigned char value);
//unsigned char eeprom_read_byte(unsigned char *pos);
// timers
#define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz
@ -119,20 +115,15 @@ extern "C" {
#define TEMP_TIMER_NUM 0
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define STEPPER_TIMER_RATE HAL_TIMER_RATE
#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
#define STEPPER_TIMER_PRESCALE 8
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0)
#define TIMER_OCR_1 OCR1A
#define TIMER_COUNTER_1 TCNT1
#define TIMER_OCR_0 OCR0A
#define TIMER_COUNTER_0 TCNT0
#define STEPPER_TIMER_RATE HAL_TIMER_RATE
#define STEPPER_TIMER_PRESCALE 8
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
@ -173,6 +164,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t freque
}
}
#define TIMER_OCR_1 OCR1A
#define TIMER_COUNTER_1 TCNT1
#define TIMER_OCR_0 OCR0A
#define TIMER_COUNTER_0 TCNT0
#define _CAT(a, ...) a ## __VA_ARGS__
#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
#define HAL_timer_restrain(timer, interval_ticks) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_ticks)

15
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
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@ -43,21 +43,22 @@
typedef uint32_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
#define STEP_TIMER_NUM 3 // index of timer to use for stepper
#define TEMP_TIMER_NUM 4 // index of timer to use for temperature
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define TONE_TIMER_NUM 6 // index of timer to use for beeper tones
#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)

15
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
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@ -66,22 +66,23 @@
typedef uint32_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
#define STEP_TIMER_NUM 0 // Timer Index for Stepper
#define TEMP_TIMER_NUM 1 // Timer Index for Temperature
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PWM_TIMER_NUM 3 // Timer Index for PWM
#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals
#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define TEMP_TIMER_RATE 1000000
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)

31
Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
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@ -47,37 +47,34 @@
typedef uint16_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFF
#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
#define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
#define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
#if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8)
#define STEP_TIMER_NUM 4 // For C8/CB boards, use timer 4
#else
#define STEP_TIMER_NUM 5 // for other boards, five is fine.
#endif
#define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
#define TEMP_TIMER_NUM 2 // index of timer to use for temperature
#define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts
#define PULSE_TIMER_NUM STEP_TIMER_NUM
timer_dev* get_timer_dev(int number);
#define TIMER_DEV(num) get_timer_dev(num)
#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM)
#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM)
//STM32_HAVE_TIMER(n);
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define HAL_TIMER_RATE (F_CPU) // frequency of timers peripherals
#define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz
#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
timer_dev* get_timer_dev(int number);
#define TIMER_DEV(num) get_timer_dev(num)
#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM)
#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM)
#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)

17
Marlin/src/HAL/HAL_STM32F4/HAL_timers_STM32F4.h
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@ -38,21 +38,22 @@
#define hal_timer_t uint32_t // TODO: One is 16-bit, one 32-bit - does this need to be checked?
#define HAL_TIMER_TYPE_MAX 0xFFFF
#define STEP_TIMER_NUM 0 // index of timer to use for stepper
#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEP_TIMER_NUM 0 // index of timer to use for stepper
#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)

17
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
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@ -38,21 +38,22 @@
#define hal_timer_t uint32_t // TODO: One is 16-bit, one 32-bit - does this need to be checked?
#define HAL_TIMER_TYPE_MAX 0xFFFF
#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
#define STEP_TIMER_NUM 0 // index of timer to use for stepper
#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer
#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)

18
Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
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@ -43,10 +43,6 @@
typedef uint32_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
#define STEP_TIMER_NUM 0
#define TEMP_TIMER_NUM 1
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define FTM0_TIMER_PRESCALE 8
#define FTM1_TIMER_PRESCALE 4
#define FTM0_TIMER_PRESCALE_BITS 0b011
@ -56,14 +52,20 @@ typedef uint32_t hal_timer_t;
#define FTM1_TIMER_RATE (F_BUS / FTM1_TIMER_PRESCALE) // 60MHz / 4 = 15MHz
#define HAL_TIMER_RATE (FTM0_TIMER_RATE)
#define STEPPER_TIMER_RATE HAL_TIMER_RATE
#define HAL_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / HAL_TICKS_PER_US)
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
#define STEP_TIMER_NUM 0
#define TEMP_TIMER_NUM 1
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define TEMP_TIMER_FREQUENCY 1000
#define STEPPER_TIMER_RATE HAL_TIMER_RATE
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)

45
Marlin/src/module/stepper.cpp
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@ -1263,7 +1263,7 @@ void Stepper::isr() {
#else
1
#endif
* (HAL_TICKS_PER_US)
* (STEPPER_TIMER_TICKS_PER_US)
);
/**
@ -1316,10 +1316,10 @@ void Stepper::stepper_pulse_phase_isr() {
// Just update the value we will get at the end of the loop
step_events_completed += events_to_do;
#if MINIMUM_STEPPER_PULSE
// Get the timer count and estimate the end of the pulse
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
// Take multiple steps per interrupt (For high speed moves)
do {
@ -1392,10 +1392,11 @@ void Stepper::stepper_pulse_phase_isr() {
#if MINIMUM_STEPPER_PULSE
// Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
// Add the delay needed to ensure the maximum driver rate is enforced
if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
// Pulse stop
#if HAS_X_STEP
PULSE_STOP(X);
@ -1423,15 +1424,15 @@ void Stepper::stepper_pulse_phase_isr() {
// Decrement the count of pending pulses to do
--events_to_do;
#if MINIMUM_STEPPER_PULSE
// For minimum pulse time wait after stopping pulses also
if (events_to_do) {
// Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
#if MINIMUM_STEPPER_PULSE
// Add to the value, the time that the pulse must be active (to be used on the next loop)
pulse_end += hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
}
pulse_end += hal_timer_t(MIN_PULSE_TICKS);
#endif
}
} while (events_to_do);
}
@ -1810,13 +1811,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
REV_E_DIR(active_extruder);
#endif
// Get the timer count and estimate the end of the pulse
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t(MIN_PULSE_TICKS);
const hal_timer_t added_step_ticks = ADDED_STEP_TICKS;
// Step E stepper if we have steps
while (LA_steps) {
#if MINIMUM_STEPPER_PULSE
hal_timer_t pulse_end = HAL_timer_get_count(PULSE_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
// Set the STEP pulse ON
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) {
// Step mixing steppers (proportionally)
@ -1828,15 +1831,18 @@ uint32_t Stepper::stepper_block_phase_isr() {
E_STEP_WRITE(active_extruder, !INVERT_E_STEP_PIN);
#endif
// Enforce a minimum duration for STEP pulse ON
#if MINIMUM_STEPPER_PULSE
// Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
// Add to the value, the value needed for the pulse end and ensuring the maximum driver rate is enforced
pulse_end += hal_timer_t(MIN_STEPPER_PULSE_CYCLES) - hal_timer_t((HAL_TICKS_PER_US) * (MINIMUM_STEPPER_PULSE));
#endif
// Add the delay needed to ensure the maximum driver rate is enforced
if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
LA_steps < 0 ? ++LA_steps : --LA_steps;
// Set the STEP pulse OFF
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) {
if (delta_error_m[j] >= 0) {
@ -1848,12 +1854,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
E_STEP_WRITE(active_extruder, INVERT_E_STEP_PIN);
#endif
#if MINIMUM_STEPPER_PULSE
// For minimum pulse time wait before looping
// Just wait for the requested pulse duration
if (LA_steps) while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
if (LA_steps) {
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
#if MINIMUM_STEPPER_PULSE
// Add to the value, the time that the pulse must be active (to be used on the next loop)
pulse_end += hal_timer_t(MIN_PULSE_TICKS);
#endif
}
} // LA_steps
return interval;

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