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Implement HAL and apply macros across code-base

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Implement AVR Platform
This commit is contained in:
Christopher Pepper
2017-06-18 00:36:10 +01:00
committed by Scott Lahteine
parent fb04dfcda8
commit 4b16fa3272
65 changed files with 2264 additions and 761 deletions
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178
Marlin/stepper.cpp
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@@ -48,11 +48,16 @@
#include "stepper.h"
#include "endstops.h"
#include "planner.h"
#if MB(ALLIGATOR)
#include "dac_dac084s085.h"
#endif
#include "temperature.h"
#include "ultralcd.h"
#include "language.h"
#include "cardreader.h"
#include "speed_lookuptable.h"
#ifdef ARDUINO_ARCH_AVR
#include "speed_lookuptable.h"
#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
@@ -99,11 +104,11 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
constexpr uint16_t ADV_NEVER = 65535;
constexpr HAL_TIMER_TYPE ADV_NEVER = HAL_TIMER_TYPE_MAX;
uint16_t Stepper::nextMainISR = 0,
Stepper::nextAdvanceISR = ADV_NEVER,
Stepper::eISR_Rate = ADV_NEVER;
HAL_TIMER_TYPE Stepper::nextMainISR = 0,
Stepper::nextAdvanceISR = ADV_NEVER,
Stepper::eISR_Rate = ADV_NEVER;
#if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[E_STEPPERS];
@@ -144,9 +149,9 @@ volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
long Stepper::counter_m[MIXING_STEPPERS];
#endif
unsigned short Stepper::acc_step_rate; // needed for deceleration start point
HAL_TIMER_TYPE Stepper::acc_step_rate; // needed for deceleration start point
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
unsigned short Stepper::OCR1A_nominal;
HAL_TIMER_TYPE Stepper::OCR1A_nominal;
volatile long Stepper::endstops_trigsteps[XYZ];
@@ -213,66 +218,7 @@ volatile long Stepper::endstops_trigsteps[XYZ];
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
#endif
// intRes = longIn1 * longIn2 >> 24
// uses:
// r26 to store 0
// r27 to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
// B0 A0 are bits 24-39 and are the returned value
// C1 B1 A1 is longIn1
// D2 C2 B2 A2 is longIn2
//
#define MultiU24X32toH16(intRes, longIn1, longIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r27 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"mul %D2, %A1 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %D2, %B1 \n\t" \
"add %B0, r0 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (longIn1), \
"d" (longIn2) \
: \
"r26" , "r27" \
)
// Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
/**
* __________________________
@@ -345,6 +291,8 @@ void Stepper::set_directions() {
* Stepper Driver Interrupt
*
* Directly pulses the stepper motors at high frequency.
*
* AVR :
* Timer 1 runs at a base frequency of 2MHz, with this ISR using OCR1A compare mode.
*
* OCR1A Frequency
@@ -355,7 +303,9 @@ void Stepper::set_directions() {
* 2000 1 KHz - sleep rate
* 4000 500 Hz - init rate
*/
ISR(TIMER1_COMPA_vect) {
HAL_STEP_TIMER_ISR {
HAL_timer_isr_prologue(STEP_TIMER_NUM);
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
Stepper::advance_isr_scheduler();
#else
@@ -363,23 +313,23 @@ ISR(TIMER1_COMPA_vect) {
#endif
}
#define _ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr) CBI(TIMSK0, OCIE0B); else SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
void Stepper::isr() {
uint16_t 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
#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI(TIMSK0, OCIE0B); // Temperature ISR
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
#if !defined(CPU_32_BIT)
sei();
#endif
#endif
#define _SPLIT(L) (ocr_val = (uint16_t)L)
#define _SPLIT(L) (ocr_val = (HAL_TIMER_TYPE)L)
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#define SPLIT(L) _SPLIT(L)
#else // sample endstops in between step pulses
@@ -405,10 +355,13 @@ void Stepper::isr() {
}
_NEXT_ISR(ocr_val);
#ifdef CPU_32_BIT
//todo: HAL?
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
NOLESS(OCR1A, TCNT1 + 16);
_ENABLE_ISRs(); // re-enable ISRs
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
#endif
@@ -420,8 +373,8 @@ void Stepper::isr() {
#ifdef SD_FINISHED_RELEASECOMMAND
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
_NEXT_ISR(200); // Run at max speed - 10 KHz
_ENABLE_ISRs(); // re-enable ISRs
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
@@ -450,8 +403,8 @@ void Stepper::isr() {
#if ENABLED(Z_LATE_ENABLE)
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
_ENABLE_ISRs(); // re-enable ISRs
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
#endif
@@ -461,8 +414,8 @@ void Stepper::isr() {
// #endif
}
else {
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
_ENABLE_ISRs(); // re-enable ISRs
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs(); // re-enable ISRs
return;
}
}
@@ -613,7 +566,7 @@ void Stepper::isr() {
* 10µs = 160 or 200 cycles.
*/
#if EXTRA_CYCLES_XYZE > 20
uint32_t pulse_start = TCNT0;
uint32_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
#endif
#if HAS_X_STEP
@@ -645,8 +598,8 @@ void Stepper::isr() {
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_XYZE > 20
while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
pulse_start = TCNT0;
while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
#elif EXTRA_CYCLES_XYZE > 0
DELAY_NOPS(EXTRA_CYCLES_XYZE);
#endif
@@ -686,7 +639,7 @@ void Stepper::isr() {
// For minimum pulse time wait after stopping pulses also
#if EXTRA_CYCLES_XYZE > 20
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
#elif EXTRA_CYCLES_XYZE > 0
if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
#endif
@@ -716,14 +669,18 @@ void Stepper::isr() {
// Calculate new timer value
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#ifdef CPU_32_BIT
MultiU32X24toH32(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#endif
acc_step_rate += current_block->initial_rate;
// upper limit
NOMORE(acc_step_rate, current_block->nominal_rate);
// step_rate to timer interval
const uint16_t timer = calc_timer(acc_step_rate);
const HAL_TIMER_TYPE timer = calc_timer(acc_step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
@@ -764,12 +721,17 @@ void Stepper::isr() {
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// TODO: HAL
eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
#endif
}
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
uint16_t step_rate;
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
HAL_TIMER_TYPE step_rate;
#ifdef CPU_32_BIT
MultiU32X24toH32(step_rate, deceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
#endif
if (step_rate < acc_step_rate) { // Still decelerating?
step_rate = acc_step_rate - step_rate;
@@ -779,7 +741,7 @@ void Stepper::isr() {
step_rate = current_block->final_rate;
// step_rate to timer interval
const uint16_t timer = calc_timer(step_rate);
const HAL_TIMER_TYPE timer = calc_timer(step_rate);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
@@ -834,13 +796,19 @@ void Stepper::isr() {
SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
}
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
NOLESS(OCR1A, TCNT1 + 16);
#ifdef CPU_32_BIT
// Make sure stepper interrupt does not monopolise CPU by adjusting count to give about 8 us room
uint32_t stepper_timer_count = HAL_timer_get_count(STEP_TIMER_NUM);
uint32_t stepper_timer_current_count = HAL_timer_get_current_count(STEP_TIMER_NUM) + 8 * HAL_TICKS_PER_US;
HAL_timer_set_count(STEP_TIMER_NUM, stepper_timer_count < stepper_timer_current_count ? stepper_timer_current_count : stepper_timer_count);
#else
NOLESS(OCR1A, TCNT1 + 16);
#endif
#endif
// If current block is finished, reset pointer
@@ -849,7 +817,7 @@ void Stepper::isr() {
planner.discard_current_block();
}
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
_ENABLE_ISRs(); // re-enable ISRs
HAL_ENABLE_ISRs(); // re-enable ISRs
#endif
}
@@ -951,7 +919,7 @@ void Stepper::isr() {
void Stepper::advance_isr_scheduler() {
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI(TIMSK0, OCIE0B); // Temperature ISR
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
@@ -984,7 +952,7 @@ void Stepper::isr() {
NOLESS(OCR1A, TCNT1 + 16);
// Restore original ISR settings
_ENABLE_ISRs();
HAL_ENABLE_ISRs();
}
#endif // ADVANCE or LIN_ADVANCE
@@ -996,6 +964,15 @@ void Stepper::init() {
digipot_init();
#endif
#if MB(ALLIGATOR)
const float motor_current[] = MOTOR_CURRENT;
unsigned int digipot_motor = 0;
for (uint8_t i = 0; i < 3 + EXTRUDERS; i++) {
digipot_motor = 255 * (motor_current[i] / 2.5);
dac084s085::setValue(i, digipot_motor);
}
#endif//MB(ALLIGATOR)
// Init Microstepping Pins
#if HAS_MICROSTEPS
microstep_init();
@@ -1152,6 +1129,7 @@ void Stepper::init() {
E_AXIS_INIT(4);
#endif
#ifdef ARDUINO_ARCH_AVR
// waveform generation = 0100 = CTC
SET_WGM(1, CTC_OCRnA);
@@ -1168,6 +1146,11 @@ void Stepper::init() {
// Init Stepper ISR to 122 Hz for quick starting
OCR1A = 0x4000;
TCNT1 = 0;
#else
// Init Stepper ISR to 122 Hz for quick starting
HAL_timer_start (STEP_TIMER_NUM, 122);
#endif
ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
@@ -1663,6 +1646,9 @@ void Stepper::report_positions() {
case 4: microstep_ms(driver, MICROSTEP4); break;
case 8: microstep_ms(driver, MICROSTEP8); break;
case 16: microstep_ms(driver, MICROSTEP16); break;
#if MB(ALLIGATOR)
case 32: microstep_ms(driver, MICROSTEP32); break;
#endif
}
}