From a1062eec5b6afe38d6769beea89bb14017c3f260 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 12 May 2018 08:34:04 -0500 Subject: [PATCH] Better handling of DELAY_NS and DELAY_US (#10716) Co-Authored-By: ejtagle --- Marlin/src/HAL/Delay.h | 133 ++++++++++++++++++ Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp | 123 ++++++---------- Marlin/src/HAL/HAL_LPC1768/HAL.cpp | 3 +- Marlin/src/HAL/HAL_LPC1768/HAL.h | 6 +- Marlin/src/HAL/HAL_LPC1768/SoftwareSerial.cpp | 22 +-- Marlin/src/HAL/HAL_LPC1768/arduino.cpp | 22 +-- ...LPC1768_ssd_sw_i2c.cpp under construction | 9 +- Marlin/src/core/macros.h | 54 +------ Marlin/src/feature/Max7219_Debug_LEDs.cpp | 9 +- Marlin/src/feature/dac/dac_dac084s085.cpp | 23 +-- Marlin/src/inc/Conditionals_LCD.h | 6 +- .../dogm/ultralcd_st7920_u8glib_rrd_AVR.cpp | 41 +++--- Marlin/src/module/stepper.cpp | 34 +++-- Marlin/src/module/temperature.cpp | 9 +- Marlin/src/pins/pins_ANET_10.h | 6 +- Marlin/src/pins/pins_MELZI_CREALITY.h | 6 +- Marlin/src/pins/pins_MELZI_MALYAN.h | 6 +- Marlin/src/pins/pins_MELZI_TRONXY.h | 6 +- Marlin/src/pins/pins_PRINTRBOARD_REVF.h | 6 +- Marlin/src/pins/pins_SANGUINOLOLU_11.h | 6 +- Marlin/src/pins/pins_STM32F4.h | 11 +- 21 files changed, 273 insertions(+), 268 deletions(-) create mode 100644 Marlin/src/HAL/Delay.h diff --git a/Marlin/src/HAL/Delay.h b/Marlin/src/HAL/Delay.h new file mode 100644 index 000000000..75619b23e --- /dev/null +++ b/Marlin/src/HAL/Delay.h @@ -0,0 +1,133 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + + Busy wait delay Cycles routines: + + DELAY_CYCLES(count): Delay execution in cycles + DELAY_NS(count): Delay execution in nanoseconds + DELAY_US(count): Delay execution in microseconds + + */ + +#ifndef MARLIN_DELAY_H +#define MARLIN_DELAY_H + +#if defined(__arm__) || defined(__thumb__) + + /* https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles */ + + #define nop() __asm__ __volatile__("nop;\n\t":::) + + FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle + #if ARCH_PIPELINE_RELOAD_CYCLES < 2 + #define EXTRA_NOP_CYCLES A("nop") + #else + #define EXTRA_NOP_CYCLES "" + #endif + + __asm__ __volatile__( + A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax + L("1") + A("subs %[cnt],#1") + EXTRA_NOP_CYCLES + A("bne 1b") + : [cnt]"+r"(cy) // output: +r means input+output + : // input: + : "cc" // clobbers: + ); + } + + /* ---------------- Delay in cycles */ + FORCE_INLINE static void DELAY_CYCLES(uint32_t x) { + + if (__builtin_constant_p(x)) { + #define MAXNOPS 4 + + if (x <= (MAXNOPS)) { + switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); } + } + else { // because of +1 cycle inside delay_4cycles + const uint32_t rem = (x - 1) % (MAXNOPS); + switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); } + if ((x = (x - 1) / (MAXNOPS))) + __delay_4cycles(x); // if need more then 4 nop loop is more optimal + } + #undef MAXNOPS + } + else + __delay_4cycles(x / 4); + } + #undef nop + +#elif defined(__AVR__) + + #define nop() __asm__ __volatile__("nop;\n\t":::) + + FORCE_INLINE static void __delay_4cycles(uint8_t cy) { + __asm__ __volatile__( + L("1") + A("dec %[cnt]") + A("nop") + A("brne 1b") + : [cnt] "+r"(cy) // output: +r means input+output + : // input: + : "cc" // clobbers: + ); + } + + /* ---------------- Delay in cycles */ + FORCE_INLINE static void DELAY_CYCLES(uint16_t x) { + + if (__builtin_constant_p(x)) { + #define MAXNOPS 4 + + if (x <= (MAXNOPS)) { + switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); } + } + else { + const uint32_t rem = (x) % (MAXNOPS); + switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); } + if ((x = (x) / (MAXNOPS))) + __delay_4cycles(x); // if need more then 4 nop loop is more optimal + } + + #undef MAXNOPS + } + else + __delay_4cycles(x / 4); + } + #undef nop + +#else + #error "Unsupported MCU architecture" +#endif + +/* ---------------- Delay in nanoseconds */ +#define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) / 1000L ) + +/* ---------------- Delay in microseconds */ +#define DELAY_US(x) DELAY_CYCLES( (x) * (F_CPU/1000000L) ) + +#endif // MARLIN_DELAY_H + diff --git a/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp index 360d04bff..52ac1b987 100644 --- a/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp +++ b/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp @@ -42,6 +42,7 @@ // -------------------------------------------------------------------------- #include "../../inc/MarlinConfig.h" +#include "../Delay.h" // -------------------------------------------------------------------------- // Public Variables @@ -58,66 +59,16 @@ // software SPI // -------------------------------------------------------------------------- - // set optimization so ARDUINO optimizes this file + // Make sure GCC optimizes this file. + // Note that this line triggers a bug in GCC which is fixed by casting. + // See the note below. #pragma GCC optimize (3) - /* ---------------- Delay Cycles routine -------------- */ - - /* https://blueprints.launchpad.net/gcc-arm-embedded/+spec/delay-cycles */ - - #define nop() __asm__ __volatile__("nop;\n\t":::) - - FORCE_INLINE static void __delay_4cycles(uint32_t cy) { // +1 cycle - #if ARCH_PIPELINE_RELOAD_CYCLES<2 - #define EXTRA_NOP_CYCLES "nop" - #else - #define EXTRA_NOP_CYCLES "" - #endif - - __asm__ __volatile__( - ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax - - L("loop%=") - A("subs %[cnt],#1") - A(EXTRA_NOP_CYCLES) - A("bne loop%=") - : [cnt]"+r"(cy) // output: +r means input+output - : // input: - : "cc" // clobbers: - ); - } - - FORCE_INLINE static void DELAY_CYCLES(uint32_t x) { - - if (__builtin_constant_p(x)) { - - #define MAXNOPS 4 - - if (x <= (MAXNOPS)) { - switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); } - } - else { // because of +1 cycle inside delay_4cycles - const uint32_t rem = (x - 1) % (MAXNOPS); - switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); } - if ((x = (x - 1) / (MAXNOPS))) - __delay_4cycles(x); // if need more then 4 nop loop is more optimal - } - } - else - __delay_4cycles(x / 4); - } - - /* ---------------- Delay in nanoseconds and in microseconds */ - - #define DELAY_NS(x) DELAY_CYCLES( (x) * (F_CPU/1000000) / 1000) - - typedef uint8_t (*pfnSpiTransfer) (uint8_t b); + typedef uint8_t (*pfnSpiTransfer)(uint8_t b); typedef void (*pfnSpiRxBlock)(uint8_t* buf, uint32_t nbyte); typedef void (*pfnSpiTxBlock)(const uint8_t* buf, uint32_t nbyte); - /* ---------------- Macros to be able to access definitions from asm */ - #define _PORT(IO) DIO ## IO ## _WPORT #define _PIN_MASK(IO) MASK(DIO ## IO ## _PIN) #define _PIN_SHIFT(IO) DIO ## IO ## _PIN @@ -202,10 +153,10 @@ return 0; } - // Calculates the bit band alias address and returns a pointer address to word. - // addr: The byte address of bitbanding bit. - // bit: The bit position of bitbanding bit. -#define BITBAND_ADDRESS(addr, bit) \ + // Calculates the bit band alias address and returns a pointer address to word. + // addr: The byte address of bitbanding bit. + // bit: The bit position of bitbanding bit. + #define BITBAND_ADDRESS(addr, bit) \ (((uint32_t)(addr) & 0xF0000000) + 0x02000000 + ((uint32_t)(addr)&0xFFFFF)*32 + (bit)*4) // run at ~8 .. ~10Mhz - Rx version (Tx line not altered) @@ -319,8 +270,14 @@ } // Pointers to generic functions for byte transfers - static pfnSpiTransfer spiTransferTx = spiTransferX; - static pfnSpiTransfer spiTransferRx = spiTransferX; + + /** + * Note: The cast is unnecessary, but without it, this file triggers a GCC 4.8.3-2014 bug. + * Later GCC versions do not have this problem, but at this time (May 2018) Arduino still + * uses that buggy and obsolete GCC version!! + */ + static pfnSpiTransfer spiTransferRx = (pfnSpiTransfer)spiTransferX; + static pfnSpiTransfer spiTransferTx = (pfnSpiTransfer)spiTransferX; // Block transfers run at ~8 .. ~10Mhz - Tx version (Rx data discarded) static void spiTxBlock0(const uint8_t* ptr, uint32_t todo) { @@ -384,7 +341,7 @@ A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 0 */ - A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ A("str %[sck_mask],[%[sck_port]]") /* SODR */ A("subs %[todo],#1") /* Decrement count of pending words to send, update status */ A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ @@ -491,8 +448,8 @@ } // Pointers to generic functions for block tranfers - static pfnSpiTxBlock spiTxBlock = spiTxBlockX; - static pfnSpiRxBlock spiRxBlock = spiRxBlockX; + static pfnSpiTxBlock spiTxBlock = (pfnSpiTxBlock)spiTxBlockX; + static pfnSpiRxBlock spiRxBlock = (pfnSpiRxBlock)spiRxBlockX; #if MB(ALLIGATOR) // control SDSS pin void spiBegin() { @@ -580,23 +537,23 @@ void spiInit(uint8_t spiRate) { switch (spiRate) { case 0: - spiTransferTx = spiTransferTx0; - spiTransferRx = spiTransferRx0; - spiTxBlock = spiTxBlock0; - spiRxBlock = spiRxBlock0; + spiTransferTx = (pfnSpiTransfer)spiTransferTx0; + spiTransferRx = (pfnSpiTransfer)spiTransferRx0; + spiTxBlock = (pfnSpiTxBlock)spiTxBlock0; + spiRxBlock = (pfnSpiRxBlock)spiRxBlock0; break; case 1: - spiTransferTx = spiTransfer1; - spiTransferRx = spiTransfer1; - spiTxBlock = spiTxBlockX; - spiRxBlock = spiRxBlockX; + spiTransferTx = (pfnSpiTransfer)spiTransfer1; + spiTransferRx = (pfnSpiTransfer)spiTransfer1; + spiTxBlock = (pfnSpiTxBlock)spiTxBlockX; + spiRxBlock = (pfnSpiRxBlock)spiRxBlockX; break; default: spiDelayCyclesX4 = (F_CPU/1000000) >> (6 - spiRate); - spiTransferTx = spiTransferX; - spiTransferRx = spiTransferX; - spiTxBlock = spiTxBlockX; - spiRxBlock = spiRxBlockX; + spiTransferTx = (pfnSpiTransfer)spiTransferX; + spiTransferRx = (pfnSpiTransfer)spiTransferX; + spiTxBlock = (pfnSpiTxBlock)spiTxBlockX; + spiRxBlock = (pfnSpiRxBlock)spiRxBlockX; break; } @@ -614,7 +571,7 @@ #pragma GCC reset_options -#else +#else // !SOFTWARE_SPI #if MB(ALLIGATOR) @@ -714,7 +671,7 @@ while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); // clear status SPI0->SPI_RDR; - //delayMicroseconds(1U); + //DELAY_US(1U); } void spiSend(const uint8_t* buf, size_t n) { @@ -724,7 +681,7 @@ while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); SPI0->SPI_RDR; - //delayMicroseconds(1U); + //DELAY_US(1U); } spiSend(buf[n - 1]); } @@ -767,7 +724,7 @@ // wait for receive register while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); // get byte from receive register - //delayMicroseconds(1U); + //DELAY_US(1U); return SPI0->SPI_RDR; } @@ -797,7 +754,7 @@ SPI0->SPI_TDR = 0x000000FF | SPI_PCS(SPI_CHAN); while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); buf[i] = SPI0->SPI_RDR; - //delayMicroseconds(1U); + //DELAY_US(1U); } buf[nbyte] = spiRec(); } @@ -813,7 +770,7 @@ while ((SPI0->SPI_SR & SPI_SR_TDRE) == 0); while ((SPI0->SPI_SR & SPI_SR_RDRF) == 0); SPI0->SPI_RDR; - //delayMicroseconds(1U); + //DELAY_US(1U); } spiSend(buf[511]); } @@ -902,7 +859,7 @@ spiTransfer(buf[i]); } - #endif //MB(ALLIGATOR) -#endif // ENABLED(SOFTWARE_SPI) + #endif // !ALLIGATOR +#endif // !SOFTWARE_SPI #endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/HAL_LPC1768/HAL.cpp b/Marlin/src/HAL/HAL_LPC1768/HAL.cpp index 3afb253d6..b579aa620 100644 --- a/Marlin/src/HAL/HAL_LPC1768/HAL.cpp +++ b/Marlin/src/HAL/HAL_LPC1768/HAL.cpp @@ -21,12 +21,13 @@ #ifdef TARGET_LPC1768 #include "../../inc/MarlinConfig.h" +#include "../Delay.h" HalSerial usb_serial; // U8glib required functions extern "C" void u8g_xMicroDelay(uint16_t val) { - delayMicroseconds(val); + DELAY_US(val); } extern "C" void u8g_MicroDelay(void) { u8g_xMicroDelay(1); diff --git a/Marlin/src/HAL/HAL_LPC1768/HAL.h b/Marlin/src/HAL/HAL_LPC1768/HAL.h index 6aeafedf2..0944241df 100644 --- a/Marlin/src/HAL/HAL_LPC1768/HAL.h +++ b/Marlin/src/HAL/HAL_LPC1768/HAL.h @@ -68,9 +68,9 @@ extern "C" volatile uint32_t _millis; #include "HAL_timers.h" #include "HardwareSerial.h" -#define ST7920_DELAY_1 DELAY_20_NOP;DELAY_20_NOP;DELAY_20_NOP -#define ST7920_DELAY_2 DELAY_20_NOP;DELAY_20_NOP;DELAY_20_NOP;DELAY_10_NOP;DELAY_5_NOP -#define ST7920_DELAY_3 DELAY_20_NOP;DELAY_20_NOP;DELAY_20_NOP;DELAY_10_NOP;DELAY_5_NOP +#define ST7920_DELAY_1 DELAY_NS(600) +#define ST7920_DELAY_2 DELAY_NS(750) +#define ST7920_DELAY_3 DELAY_NS(750) extern HalSerial usb_serial; diff --git a/Marlin/src/HAL/HAL_LPC1768/SoftwareSerial.cpp b/Marlin/src/HAL/HAL_LPC1768/SoftwareSerial.cpp index be4a6f7bf..9604d045b 100644 --- a/Marlin/src/HAL/HAL_LPC1768/SoftwareSerial.cpp +++ b/Marlin/src/HAL/HAL_LPC1768/SoftwareSerial.cpp @@ -37,6 +37,7 @@ // //#include #include "../../inc/MarlinConfig.h" +#include "../Delay.h" #include #include #include @@ -78,28 +79,9 @@ static const DELAY_TABLE table[] = { // Private methods // -#if 0 -/* static */ inline void SoftwareSerial::tunedDelay(const uint32_t count) { - - asm volatile( - - "mov r3, %[loopsPerMicrosecond] \n\t" //load the initial loop counter - "1: \n\t" - "sub r3, r3, #1 \n\t" - "bne 1b \n\t" - - ://empty output list - :[loopsPerMicrosecond] "r" (count) - :"r3", "cc" //clobber list - ); - + DELAY_US(count); } -#else -inline void SoftwareSerial::tunedDelay(const uint32_t count) { - delayMicroseconds(count); -} -#endif // This function sets the current object as the "listening" // one and returns true if it replaces another diff --git a/Marlin/src/HAL/HAL_LPC1768/arduino.cpp b/Marlin/src/HAL/HAL_LPC1768/arduino.cpp index 8fc765779..abdc6b353 100644 --- a/Marlin/src/HAL/HAL_LPC1768/arduino.cpp +++ b/Marlin/src/HAL/HAL_LPC1768/arduino.cpp @@ -26,6 +26,7 @@ #include #include "../../inc/MarlinConfig.h" +#include "../Delay.h" // Interrupts void cli(void) { __disable_irq(); } // Disable @@ -40,26 +41,9 @@ uint32_t millis() { return _millis; } +// This is required for some Arduino libraries we are using void delayMicroseconds(uint32_t us) { - static const int nop_factor = (SystemCoreClock / 11000000); - static volatile int loops = 0; - - //previous ops already burned most of 1us, burn the rest - loops = nop_factor / 4; //measured at 1us - while (loops > 0) --loops; - - if (us < 2) return; - us--; - - //redirect to delay for large values, then set new delay to remainder - if (us > 1000) { - delay(us / 1000); - us = us % 1000; - } - - // burn cycles, time in interrupts will not be taken into account - loops = us * nop_factor; - while (loops > 0) --loops; + DELAY_US(us); } extern "C" void delay(const int msec) { diff --git a/Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_ssd_sw_i2c.cpp under construction b/Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_ssd_sw_i2c.cpp under construction index 2edc59c31..d93ea2a1f 100644 --- a/Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_ssd_sw_i2c.cpp under construction +++ b/Marlin/src/HAL/HAL_LPC1768/u8g_com_HAL_LPC1768_ssd_sw_i2c.cpp under construction @@ -63,7 +63,6 @@ #include -void delayMicroseconds(uint32_t us); //void pinMode(int16_t pin, uint8_t mode); //void digitalWrite(int16_t pin, uint8_t pin_status); @@ -122,13 +121,13 @@ uint8_t u8g_i2c_start_sw(uint8_t sla) { // assert start condition and then send LPC_GPIO(SDA_port_HAL_LPC1768_sw_I2C)->FIOCLR = LPC_PIN(SDA_pin_HAL_LPC1768_sw_I2C); LPC_GPIO(SCL_port_HAL_LPC1768_sw_I2C)->FIOCLR = LPC_PIN(SCL_pin_HAL_LPC1768_sw_I2C); - delayMicroseconds(2); + DELAY_US(2); LPC_GPIO(SCL_port_HAL_LPC1768_sw_I2C)->FIOSET = LPC_PIN(SCL_pin_HAL_LPC1768_sw_I2C); - delayMicroseconds(2); + DELAY_US(2); LPC_GPIO(SDA_port_HAL_LPC1768_sw_I2C)->FIOSET = LPC_PIN(SDA_pin_HAL_LPC1768_sw_I2C); - delayMicroseconds(2); + DELAY_US(2); LPC_GPIO(SDA_port_HAL_LPC1768_sw_I2C)->FIOCLR = LPC_PIN(SDA_pin_HAL_LPC1768_sw_I2C); - delayMicroseconds(2); + DELAY_US(2); LPC_GPIO(SCL_port_HAL_LPC1768_sw_I2C)->FIOCLR = LPC_PIN(SCL_pin_HAL_LPC1768_sw_I2C); u8g_i2c_send_byte_sw(I2C_SLA); // send slave address with write bit diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 34896c4f5..4ba013bc1 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -50,58 +50,8 @@ #define CYCLES_PER_MICROSECOND (F_CPU / 1000000L) // 16 or 20 on AVR #endif -// Processor-level delays for hardware interfaces -#ifndef _NOP - #define _NOP() do { __asm__ volatile ("nop"); } while (0) -#endif -#define DELAY_NOPS(X) \ - switch (X) { \ - case 20: _NOP(); case 19: _NOP(); case 18: _NOP(); case 17: _NOP(); \ - case 16: _NOP(); case 15: _NOP(); case 14: _NOP(); case 13: _NOP(); \ - case 12: _NOP(); case 11: _NOP(); case 10: _NOP(); case 9: _NOP(); \ - case 8: _NOP(); case 7: _NOP(); case 6: _NOP(); case 5: _NOP(); \ - case 4: _NOP(); case 3: _NOP(); case 2: _NOP(); case 1: _NOP(); \ - } -#define DELAY_0_NOP NOOP -#define DELAY_1_NOP DELAY_NOPS( 1) -#define DELAY_2_NOP DELAY_NOPS( 2) -#define DELAY_3_NOP DELAY_NOPS( 3) -#define DELAY_4_NOP DELAY_NOPS( 4) -#define DELAY_5_NOP DELAY_NOPS( 5) -#define DELAY_10_NOP DELAY_NOPS(10) -#define DELAY_20_NOP DELAY_NOPS(20) - -#if CYCLES_PER_MICROSECOND <= 200 - #define DELAY_100NS DELAY_NOPS((CYCLES_PER_MICROSECOND + 9) / 10) -#else - #define DELAY_100NS DELAY_20_NOP -#endif - -// Microsecond delays for hardware interfaces -#if CYCLES_PER_MICROSECOND <= 20 - #define DELAY_1US DELAY_NOPS(CYCLES_PER_MICROSECOND) - #define DELAY_US(X) \ - switch (X) { \ - case 20: DELAY_1US; case 19: DELAY_1US; case 18: DELAY_1US; case 17: DELAY_1US; \ - case 16: DELAY_1US; case 15: DELAY_1US; case 14: DELAY_1US; case 13: DELAY_1US; \ - case 12: DELAY_1US; case 11: DELAY_1US; case 10: DELAY_1US; case 9: DELAY_1US; \ - case 8: DELAY_1US; case 7: DELAY_1US; case 6: DELAY_1US; case 5: DELAY_1US; \ - case 4: DELAY_1US; case 3: DELAY_1US; case 2: DELAY_1US; case 1: DELAY_1US; \ - } -#else - #define DELAY_US(X) delayMicroseconds(X) // May not be usable in CRITICAL_SECTION - #define DELAY_1US DELAY_US(1) -#endif -#define DELAY_2US DELAY_US( 2) -#define DELAY_3US DELAY_US( 3) -#define DELAY_4US DELAY_US( 4) -#define DELAY_5US DELAY_US( 5) -#define DELAY_6US DELAY_US( 6) -#define DELAY_7US DELAY_US( 7) -#define DELAY_8US DELAY_US( 8) -#define DELAY_9US DELAY_US( 9) -#define DELAY_10US DELAY_US(10) -#define DELAY_20US DELAY_US(20) +// Nanoseconds per cycle +#define NANOSECONDS_PER_CYCLE (1000000000.0 / F_CPU) // Remove compiler warning on an unused variable #define UNUSED(x) (void) (x) diff --git a/Marlin/src/feature/Max7219_Debug_LEDs.cpp b/Marlin/src/feature/Max7219_Debug_LEDs.cpp index 74cbb20f2..6946490ed 100644 --- a/Marlin/src/feature/Max7219_Debug_LEDs.cpp +++ b/Marlin/src/feature/Max7219_Debug_LEDs.cpp @@ -60,19 +60,16 @@ #include "../module/planner.h" #include "../module/stepper.h" #include "../Marlin.h" +#include "../HAL/Delay.h" static uint8_t LEDs[8] = { 0 }; #ifdef CPU_32_BIT // Approximate a 1µs delay on 32-bit ARM - void SIG_DELAY() { - int16_t delay_cycles = CYCLES_PER_MICROSECOND - 10; - while (delay_cycles >= 10) { DELAY_NOPS(6); delay_cycles -= 10; } - if (delay_cycles > 0) DELAY_NOPS(delay_cycles); - } + #define SIG_DELAY() DELAY_US(1) #else // Delay for 0.1875µs (16MHz AVR) or 0.15µs (20MHz AVR) - #define SIG_DELAY() DELAY_3_NOP + #define SIG_DELAY() DELAY_NS(188) #endif void Max7219_PutByte(uint8_t data) { diff --git a/Marlin/src/feature/dac/dac_dac084s085.cpp b/Marlin/src/feature/dac/dac_dac084s085.cpp index e1aeb7e43..934b3165b 100644 --- a/Marlin/src/feature/dac/dac_dac084s085.cpp +++ b/Marlin/src/feature/dac/dac_dac084s085.cpp @@ -12,6 +12,7 @@ #include "../../Marlin.h" #include "../../module/stepper.h" +#include "../../HAL/Delay.h" dac084s085::dac084s085() { } @@ -27,11 +28,11 @@ void dac084s085::begin() { spiBegin(); //init onboard DAC - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC0_SYNC, LOW); - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC0_SYNC, HIGH); - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC0_SYNC, LOW); spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf)); @@ -39,11 +40,11 @@ void dac084s085::begin() { #if EXTRUDERS > 1 //init Piggy DAC - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC1_SYNC, LOW); - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC1_SYNC, HIGH); - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC1_SYNC, LOW); spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf)); @@ -66,20 +67,20 @@ void dac084s085::setValue(const uint8_t channel, const uint8_t value) { if (channel > 3) { // DAC Piggy E1,E2,E3 WRITE(DAC1_SYNC, LOW); - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC1_SYNC, HIGH); - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC1_SYNC, LOW); } else { // DAC onboard X,Y,Z,E0 WRITE(DAC0_SYNC, LOW); - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC0_SYNC, HIGH); - delayMicroseconds(2U); + DELAY_US(2); WRITE(DAC0_SYNC, LOW); } - delayMicroseconds(2U); + DELAY_US(2); spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf)); } diff --git a/Marlin/src/inc/Conditionals_LCD.h b/Marlin/src/inc/Conditionals_LCD.h index 67bb5a738..a9e4fd733 100644 --- a/Marlin/src/inc/Conditionals_LCD.h +++ b/Marlin/src/inc/Conditionals_LCD.h @@ -120,13 +120,13 @@ #define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER #ifndef ST7920_DELAY_1 - #define ST7920_DELAY_1 DELAY_2_NOP + #define ST7920_DELAY_1 DELAY_NS(125) #endif #ifndef ST7920_DELAY_2 - #define ST7920_DELAY_2 DELAY_2_NOP + #define ST7920_DELAY_2 DELAY_NS(125) #endif #ifndef ST7920_DELAY_3 - #define ST7920_DELAY_3 DELAY_2_NOP + #define ST7920_DELAY_3 DELAY_NS(125) #endif #elif ENABLED(MKS_12864OLED) diff --git a/Marlin/src/lcd/dogm/ultralcd_st7920_u8glib_rrd_AVR.cpp b/Marlin/src/lcd/dogm/ultralcd_st7920_u8glib_rrd_AVR.cpp index 91692eb62..cae764e68 100644 --- a/Marlin/src/lcd/dogm/ultralcd_st7920_u8glib_rrd_AVR.cpp +++ b/Marlin/src/lcd/dogm/ultralcd_st7920_u8glib_rrd_AVR.cpp @@ -24,6 +24,7 @@ // file u8g_dev_st7920_128x64_HAL.cpp for the HAL version. #include "../../inc/MarlinConfig.h" +#include "../../HAL/Delay.h" #if ENABLED(U8GLIB_ST7920) @@ -46,30 +47,30 @@ #pragma GCC optimize (3) // If you want you can define your own set of delays in Configuration.h -//#define ST7920_DELAY_1 DELAY_0_NOP -//#define ST7920_DELAY_2 DELAY_0_NOP -//#define ST7920_DELAY_3 DELAY_0_NOP +//#define ST7920_DELAY_1 DELAY_NS(0) +//#define ST7920_DELAY_2 DELAY_NS(0) +//#define ST7920_DELAY_3 DELAY_NS(0) #if F_CPU >= 20000000 - #define CPU_ST7920_DELAY_1 DELAY_0_NOP - #define CPU_ST7920_DELAY_2 DELAY_0_NOP - #define CPU_ST7920_DELAY_3 DELAY_1_NOP + #define CPU_ST7920_DELAY_1 DELAY_NS(0) + #define CPU_ST7920_DELAY_2 DELAY_NS(0) + #define CPU_ST7920_DELAY_3 DELAY_NS(50) #elif MB(3DRAG) || MB(K8200) || MB(K8400) || MB(SILVER_GATE) - #define CPU_ST7920_DELAY_1 DELAY_0_NOP - #define CPU_ST7920_DELAY_2 DELAY_3_NOP - #define CPU_ST7920_DELAY_3 DELAY_0_NOP + #define CPU_ST7920_DELAY_1 DELAY_NS(0) + #define CPU_ST7920_DELAY_2 DELAY_NS(188) + #define CPU_ST7920_DELAY_3 DELAY_NS(0) #elif MB(MINIRAMBO) - #define CPU_ST7920_DELAY_1 DELAY_0_NOP - #define CPU_ST7920_DELAY_2 DELAY_4_NOP - #define CPU_ST7920_DELAY_3 DELAY_0_NOP + #define CPU_ST7920_DELAY_1 DELAY_NS(0) + #define CPU_ST7920_DELAY_2 DELAY_NS(250) + #define CPU_ST7920_DELAY_3 DELAY_NS(0) #elif MB(RAMBO) - #define CPU_ST7920_DELAY_1 DELAY_0_NOP - #define CPU_ST7920_DELAY_2 DELAY_0_NOP - #define CPU_ST7920_DELAY_3 DELAY_0_NOP + #define CPU_ST7920_DELAY_1 DELAY_NS(0) + #define CPU_ST7920_DELAY_2 DELAY_NS(0) + #define CPU_ST7920_DELAY_3 DELAY_NS(0) #elif F_CPU == 16000000 - #define CPU_ST7920_DELAY_1 DELAY_0_NOP - #define CPU_ST7920_DELAY_2 DELAY_0_NOP - #define CPU_ST7920_DELAY_3 DELAY_1_NOP + #define CPU_ST7920_DELAY_1 DELAY_NS(0) + #define CPU_ST7920_DELAY_2 DELAY_NS(0) + #define CPU_ST7920_DELAY_3 DELAY_NS(63) #else #error "No valid condition for delays in 'ultralcd_st7920_u8glib_rrd.h'" #endif @@ -101,8 +102,8 @@ static void ST7920_SWSPI_SND_8BIT(uint8_t val) { ST7920_SND_BIT; // 8 } -#if defined(DOGM_SPI_DELAY_US) && DOGM_SPI_DELAY_US > 0 - #define U8G_DELAY() delayMicroseconds(DOGM_SPI_DELAY_US) +#if DOGM_SPI_DELAY_US > 0 + #define U8G_DELAY() DELAY_US(DOGM_SPI_DELAY_US) #else #define U8G_DELAY() u8g_10MicroDelay() #endif diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index 1c1234c64..d62081d85 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -41,15 +41,18 @@ * along with Grbl. If not, see . */ -/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith - and Philipp Tiefenbacher. */ +/** + * Timer calculations informed by the 'RepRap cartesian firmware' by Zack Smith + * and Philipp Tiefenbacher. + */ -/* Jerk controlled movements planner added by Eduardo José Tagle in April - 2018, Equations based on Synthethos TinyG2 sources, but the fixed-point - implementation is a complete new one, as we are running the ISR with a - variable period. - Also implemented the Bézier velocity curve evaluation in ARM assembler, - to avoid impacting ISR speed. */ +/** + * Jerk controlled movements planner added Apr 2018 by Eduardo José Tagle. + * Equations based on Synthethos TinyG2 sources, but the fixed-point + * implementation is new, as we are running the ISR with a variable period. + * Also implemented the Bézier velocity curve evaluation in ARM assembler, + * to avoid impacting ISR speed. + */ #include "stepper.h" @@ -67,6 +70,7 @@ #include "../gcode/queue.h" #include "../sd/cardreader.h" #include "../Marlin.h" +#include "../HAL/Delay.h" #if MB(ALLIGATOR) #include "../feature/dac/dac_dac084s085.h" @@ -1471,7 +1475,7 @@ void Stepper::isr() { while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ } pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM); #elif EXTRA_CYCLES_XYZE > 0 - DELAY_NOPS(EXTRA_CYCLES_XYZE); + DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE); #endif #if HAS_X_STEP @@ -1506,7 +1510,7 @@ void Stepper::isr() { #if EXTRA_CYCLES_XYZE > 20 if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ } #elif EXTRA_CYCLES_XYZE > 0 - if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE); + if (i) DELAY_NS(EXTRA_CYCLES_XYZE * NANOSECONDS_PER_CYCLE); #endif } // steps_loop @@ -1739,7 +1743,7 @@ void Stepper::isr() { while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ } pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM); #elif EXTRA_CYCLES_E > 0 - DELAY_NOPS(EXTRA_CYCLES_E); + DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE); #endif switch (LA_active_extruder) { @@ -1762,7 +1766,7 @@ void Stepper::isr() { #if EXTRA_CYCLES_E > 20 if (e_steps) while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ } #elif EXTRA_CYCLES_E > 0 - if (e_steps) DELAY_NOPS(EXTRA_CYCLES_E); + if (e_steps) DELAY_NS(EXTRA_CYCLES_E * NANOSECONDS_PER_CYCLE); #endif } // e_steps @@ -2146,13 +2150,13 @@ void Stepper::report_positions() { #else #define _SAVE_START NOOP #if EXTRA_CYCLES_BABYSTEP > 0 - #define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP) + #define _PULSE_WAIT DELAY_NS(EXTRA_CYCLES_BABYSTEP * NANOSECONDS_PER_CYCLE) #elif STEP_PULSE_CYCLES > 0 #define _PULSE_WAIT NOOP #elif ENABLED(DELTA) - #define _PULSE_WAIT delayMicroseconds(2); + #define _PULSE_WAIT DELAY_US(2); #else - #define _PULSE_WAIT delayMicroseconds(4); + #define _PULSE_WAIT DELAY_US(4); #endif #endif diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp index 006005024..46f3dc58c 100644 --- a/Marlin/src/module/temperature.cpp +++ b/Marlin/src/module/temperature.cpp @@ -30,6 +30,7 @@ #include "../lcd/ultralcd.h" #include "planner.h" #include "../core/language.h" +#include "../HAL/Delay.h" #if ENABLED(HEATER_0_USES_MAX6675) #include "../libs/private_spi.h" @@ -681,14 +682,14 @@ float Temperature::get_pid_output(const int8_t e) { #if ENABLED(PID_EXTRUSION_SCALING) cTerm[HOTEND_INDEX] = 0; if (_HOTEND_TEST) { - long e_position = stepper.position(E_AXIS); + const long e_position = stepper.position(E_AXIS); if (e_position > last_e_position) { lpq[lpq_ptr] = e_position - last_e_position; last_e_position = e_position; } - else { + else lpq[lpq_ptr] = 0; - } + if (++lpq_ptr >= lpq_len) lpq_ptr = 0; cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] * planner.steps_to_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX); pid_output += cTerm[HOTEND_INDEX]; @@ -1629,7 +1630,7 @@ void Temperature::disable_all_heaters() { WRITE(MAX6675_SS, 0); // enable TT_MAX6675 - DELAY_100NS; // Ensure 100ns delay + DELAY_NS(100); // Ensure 100ns delay // Read a big-endian temperature value max6675_temp = 0; diff --git a/Marlin/src/pins/pins_ANET_10.h b/Marlin/src/pins/pins_ANET_10.h index eee100b12..18a52c4e8 100644 --- a/Marlin/src/pins/pins_ANET_10.h +++ b/Marlin/src/pins/pins_ANET_10.h @@ -177,13 +177,13 @@ #define BTN_EN2 10 #define BTN_ENC 16 #ifndef ST7920_DELAY_1 - #define ST7920_DELAY_1 DELAY_0_NOP + #define ST7920_DELAY_1 DELAY_NS(0) #endif #ifndef ST7920_DELAY_2 - #define ST7920_DELAY_2 DELAY_1_NOP + #define ST7920_DELAY_2 DELAY_NS(63) #endif #ifndef ST7920_DELAY_3 - #define ST7920_DELAY_3 DELAY_2_NOP + #define ST7920_DELAY_3 DELAY_NS(125) #endif #define STD_ENCODER_PULSES_PER_STEP 4 #define STD_ENCODER_STEPS_PER_MENU_ITEM 1 diff --git a/Marlin/src/pins/pins_MELZI_CREALITY.h b/Marlin/src/pins/pins_MELZI_CREALITY.h index b42075b76..8bfd3b860 100644 --- a/Marlin/src/pins/pins_MELZI_CREALITY.h +++ b/Marlin/src/pins/pins_MELZI_CREALITY.h @@ -55,13 +55,13 @@ // Alter timing for graphical display #ifndef ST7920_DELAY_1 - #define ST7920_DELAY_1 DELAY_2_NOP + #define ST7920_DELAY_1 DELAY_NS(125) #endif #ifndef ST7920_DELAY_2 - #define ST7920_DELAY_2 DELAY_2_NOP + #define ST7920_DELAY_2 DELAY_NS(125) #endif #ifndef ST7920_DELAY_3 - #define ST7920_DELAY_3 DELAY_2_NOP + #define ST7920_DELAY_3 DELAY_NS(125) #endif #if ENABLED(MINIPANEL) diff --git a/Marlin/src/pins/pins_MELZI_MALYAN.h b/Marlin/src/pins/pins_MELZI_MALYAN.h index 3888b537d..a81526f06 100644 --- a/Marlin/src/pins/pins_MELZI_MALYAN.h +++ b/Marlin/src/pins/pins_MELZI_MALYAN.h @@ -44,11 +44,11 @@ // Alter timing for graphical display #ifndef ST7920_DELAY_1 - #define ST7920_DELAY_1 DELAY_2_NOP + #define ST7920_DELAY_1 DELAY_NS(125) #endif #ifndef ST7920_DELAY_2 - #define ST7920_DELAY_2 DELAY_2_NOP + #define ST7920_DELAY_2 DELAY_NS(125) #endif #ifndef ST7920_DELAY_3 - #define ST7920_DELAY_3 DELAY_2_NOP + #define ST7920_DELAY_3 DELAY_NS(125) #endif diff --git a/Marlin/src/pins/pins_MELZI_TRONXY.h b/Marlin/src/pins/pins_MELZI_TRONXY.h index 7c66c50c6..0da793430 100644 --- a/Marlin/src/pins/pins_MELZI_TRONXY.h +++ b/Marlin/src/pins/pins_MELZI_TRONXY.h @@ -51,11 +51,11 @@ #define BTN_ENC 26 #ifndef ST7920_DELAY_1 - #define ST7920_DELAY_1 DELAY_0_NOP + #define ST7920_DELAY_1 DELAY_NS(0) #endif #ifndef ST7920_DELAY_2 - #define ST7920_DELAY_2 DELAY_2_NOP + #define ST7920_DELAY_2 DELAY_NS(125) #endif #ifndef ST7920_DELAY_3 - #define ST7920_DELAY_3 DELAY_0_NOP + #define ST7920_DELAY_3 DELAY_NS(0) #endif diff --git a/Marlin/src/pins/pins_PRINTRBOARD_REVF.h b/Marlin/src/pins/pins_PRINTRBOARD_REVF.h index bf3a023c4..359a8b85d 100644 --- a/Marlin/src/pins/pins_PRINTRBOARD_REVF.h +++ b/Marlin/src/pins/pins_PRINTRBOARD_REVF.h @@ -244,13 +244,13 @@ // increase delays #ifndef ST7920_DELAY_1 - #define ST7920_DELAY_1 DELAY_5_NOP + #define ST7920_DELAY_1 DELAY_NS(313) #endif #ifndef ST7920_DELAY_2 - #define ST7920_DELAY_2 DELAY_5_NOP + #define ST7920_DELAY_2 DELAY_NS(313) #endif #ifndef ST7920_DELAY_3 - #define ST7920_DELAY_3 DELAY_5_NOP + #define ST7920_DELAY_3 DELAY_NS(313) #endif #else diff --git a/Marlin/src/pins/pins_SANGUINOLOLU_11.h b/Marlin/src/pins/pins_SANGUINOLOLU_11.h index c27eab1c8..ed4a521e7 100644 --- a/Marlin/src/pins/pins_SANGUINOLOLU_11.h +++ b/Marlin/src/pins/pins_SANGUINOLOLU_11.h @@ -239,13 +239,13 @@ #define BTN_EN2 30 #ifndef ST7920_DELAY_1 - #define ST7920_DELAY_1 DELAY_0_NOP + #define ST7920_DELAY_1 DELAY_NS(0) #endif #ifndef ST7920_DELAY_2 - #define ST7920_DELAY_2 DELAY_3_NOP + #define ST7920_DELAY_2 DELAY_NS(188) #endif #ifndef ST7920_DELAY_3 - #define ST7920_DELAY_3 DELAY_0_NOP + #define ST7920_DELAY_3 DELAY_NS(0) #endif #elif ENABLED(ZONESTAR_LCD) // For the Tronxy Melzi boards diff --git a/Marlin/src/pins/pins_STM32F4.h b/Marlin/src/pins/pins_STM32F4.h index fe5b6ca63..addc6a3ea 100644 --- a/Marlin/src/pins/pins_STM32F4.h +++ b/Marlin/src/pins/pins_STM32F4.h @@ -176,19 +176,14 @@ // // ST7920 Delays // - -#define STM_NOP __asm__("nop\n\t") -#define STM_DELAY_SHORT { STM_NOP; STM_NOP; STM_NOP; STM_NOP; } -#define STM_DELAY_LONG { STM_DELAY_SHORT; STM_DELAY_SHORT; STM_NOP; STM_NOP; } - #ifndef ST7920_DELAY_1 - #define ST7920_DELAY_1 { STM_DELAY_SHORT; STM_DELAY_SHORT; } + #define ST7920_DELAY_1 DELAY_NS(96) #endif #ifndef ST7920_DELAY_2 - #define ST7920_DELAY_2 { STM_DELAY_SHORT; } + #define ST7920_DELAY_2 DELAY_NS(48) #endif #ifndef ST7920_DELAY_3 - #define ST7920_DELAY_3 { STM_DELAY_LONG; STM_DELAY_LONG; STM_DELAY_LONG; STM_DELAY_LONG; STM_DELAY_LONG; STM_DELAY_LONG; } + #define ST7920_DELAY_3 DELAY_NS(715) #endif