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Merge pull request #7799 from Bob-the-Kuhn/Marlin-2.0.x-fix-LPC1768-stepper-hang-and-limit-maximum-stepper-ISR-spacing

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Marlin 2.0.x - fix LPC1768 stepper hang and limit maximum stepper ISR spacing
This commit is contained in:
Bob-the-Kuhn 2017-09-30 10:47:15 -05:00 committed by GitHub
commit f0d34ca4f5
2 changed files with 51 additions and 35 deletions
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12
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
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@ -79,8 +79,16 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
static FORCE_INLINE void HAL_timer_set_count(const uint8_t timer_num, const HAL_TIMER_TYPE count) { static FORCE_INLINE void HAL_timer_set_count(const uint8_t timer_num, const HAL_TIMER_TYPE count) {
switch (timer_num) { switch (timer_num) {
case 0: LPC_TIM0->MR0 = count; break; case 0:
case 1: LPC_TIM1->MR0 = count; break; LPC_TIM0->MR0 = count;
if (LPC_TIM0->TC > count)
LPC_TIM0->TC = count - 5; // generate an immediate stepper ISR
break;
case 1:
LPC_TIM1->MR0 = count;
if (LPC_TIM1->TC > count)
LPC_TIM1->TC = count - 5; // make sure we don't have one extra long period
break;
} }
} }

74
Marlin/src/module/stepper.cpp
View File

@ -323,8 +323,13 @@ void Stepper::isr() {
HAL_TIMER_TYPE ocr_val; HAL_TIMER_TYPE ocr_val;
#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch #if defined(CPU_32_BIT)
#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms #define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
#else
#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
#endif
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE) #if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars) // Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
@ -335,40 +340,45 @@ void Stepper::isr() {
#endif #endif
#endif #endif
#define _SPLIT(L) (ocr_val = (HAL_TIMER_TYPE)L) static uint32_t step_remaining = 0; // SPLIT function always runs. This allows 16 bit timers to be
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) || defined(CPU_32_BIT) // used to generate the stepper ISR.
#define SPLIT(L) _SPLIT(L) #define SPLIT(L) do { \
#else // sample endstops in between step pulses if (L > ENDSTOP_NOMINAL_OCR_VAL) { \
static uint32_t step_remaining = 0; const uint32_t remainder = (uint32_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
#define SPLIT(L) do { \ ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
_SPLIT(L); \ step_remaining = (uint32_t)L - ocr_val; \
if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \ } \
const uint16_t remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \ else \
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \ ocr_val = L;\
step_remaining = (uint16_t)L - ocr_val; \ }while(0)
} \
}while(0)
if (step_remaining && ENDSTOPS_ENABLED) { // Just check endstops - not yet time for a step if (step_remaining) {
if (ENDSTOPS_ENABLED)
endstops.update(); endstops.update();
if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) { if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
step_remaining -= ENDSTOP_NOMINAL_OCR_VAL; step_remaining -= ENDSTOP_NOMINAL_OCR_VAL;
ocr_val = ENDSTOP_NOMINAL_OCR_VAL; ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
}
else {
ocr_val = step_remaining;
step_remaining = 0; // last one before the ISR that does the step
}
_NEXT_ISR(ocr_val);
NOLESS(OCR1A, TCNT1 + 16);
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
} }
else {
ocr_val = step_remaining;
step_remaining = 0; // last one before the ISR that does the step
}
_NEXT_ISR(ocr_val);
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
#ifdef CPU_32_BIT
HAL_timer_set_count(STEP_TIMER_NUM, ocr_val);
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
HAL_ENABLE_ISRs(); // re-enable ISRs
#endif #endif
return;
}
if (cleaning_buffer_counter) { if (cleaning_buffer_counter) {
--cleaning_buffer_counter; --cleaning_buffer_counter;
current_block = NULL; current_block = NULL;
@ -748,7 +758,6 @@ void Stepper::isr() {
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL SPLIT(timer); // 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 += timer;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -832,7 +841,6 @@ void Stepper::isr() {
// Timer interrupt for E. e_steps is set in the main routine; // Timer interrupt for E. e_steps is set in the main routine;
void Stepper::advance_isr() { void Stepper::advance_isr() {
nextAdvanceISR = eISR_Rate; nextAdvanceISR = eISR_Rate;
#if ENABLED(MK2_MULTIPLEXER) #if ENABLED(MK2_MULTIPLEXER)