Merge pull request #7799 from Bob-the-Kuhn/Marlin-2.0.x-fix-LPC1768-stepper-hang-and-limit-maximum-stepper-ISR-spacing
Marlin 2.0.x - fix LPC1768 stepper hang and limit maximum stepper ISR spacing
This commit is contained in:
commit
f0d34ca4f5
@ -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;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -323,8 +323,13 @@ void Stepper::isr() {
|
|||||||
|
|
||||||
HAL_TIMER_TYPE ocr_val;
|
HAL_TIMER_TYPE ocr_val;
|
||||||
|
|
||||||
|
#if defined(CPU_32_BIT)
|
||||||
|
#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 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
|
#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)
|
||||||
@ -335,21 +340,20 @@ 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)
|
|
||||||
#else // sample endstops in between step pulses
|
|
||||||
static uint32_t step_remaining = 0;
|
|
||||||
#define SPLIT(L) do { \
|
#define SPLIT(L) do { \
|
||||||
_SPLIT(L); \
|
if (L > ENDSTOP_NOMINAL_OCR_VAL) { \
|
||||||
if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \
|
const uint32_t remainder = (uint32_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
|
||||||
const uint16_t remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
|
|
||||||
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
|
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
|
||||||
step_remaining = (uint16_t)L - ocr_val; \
|
step_remaining = (uint32_t)L - ocr_val; \
|
||||||
} \
|
} \
|
||||||
|
else \
|
||||||
|
ocr_val = L;\
|
||||||
}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;
|
||||||
@ -362,12 +366,18 @@ void Stepper::isr() {
|
|||||||
|
|
||||||
_NEXT_ISR(ocr_val);
|
_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);
|
NOLESS(OCR1A, TCNT1 + 16);
|
||||||
|
#endif
|
||||||
HAL_ENABLE_ISRs(); // re-enable ISRs
|
HAL_ENABLE_ISRs(); // re-enable ISRs
|
||||||
|
#endif
|
||||||
|
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
#endif
|
|
||||||
|
|
||||||
if (cleaning_buffer_counter) {
|
if (cleaning_buffer_counter) {
|
||||||
--cleaning_buffer_counter;
|
--cleaning_buffer_counter;
|
||||||
@ -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)
|
||||||
|
Loading…
Reference in New Issue
Block a user