diff options
Diffstat (limited to 'src/Movement')
| -rw-r--r-- | src/Movement/DDA.cpp | 24 | ||||
| -rw-r--r-- | src/Movement/DDA.h | 3 | ||||
| -rw-r--r-- | src/Movement/Move.cpp | 22 |
3 files changed, 17 insertions, 32 deletions
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp index a8cc3515..efe6186a 100644 --- a/src/Movement/DDA.cpp +++ b/src/Movement/DDA.cpp @@ -1442,7 +1442,7 @@ pre(state == frozen) return true; // schedule another interrupt immediately } -uint32_t DDA::maxReps = 0; // this holds he maximum ISR loop count +uint32_t DDA::numHiccups = 0; uint32_t DDA::lastStepLowTime = 0; uint32_t DDA::lastDirChangeTime = 0; @@ -1454,8 +1454,8 @@ bool DDA::Step() { Platform& platform = reprap.GetPlatform(); uint32_t lastStepPulseTime = lastStepLowTime; - bool repeat; - uint32_t numReps = 0; + bool repeat = false; + uint32_t isrStartTime; do { // Keep this loop as fast as possible, in the case that there are no endstops to check! @@ -1471,12 +1471,16 @@ bool DDA::Step() } // 2. Determine which drivers are due for stepping, overdue, or will be due very shortly + const uint32_t iClocks = Platform::GetInterruptClocks(); + if (!repeat) + { + isrStartTime = iClocks; // first time through, so make a note of the ISR start time + } + const uint32_t elapsedTime = (iClocks - moveStartTime) + MinInterruptInterval; DriveMovement* dm = firstDM; - const uint32_t elapsedTime = (Platform::GetInterruptClocks() - moveStartTime) + MinInterruptInterval; uint32_t driversStepping = 0; while (dm != nullptr && elapsedTime >= dm->nextStepTime) // if the next step is due { - ++numReps; driversStepping |= platform.GetDriversBitmap(dm->drive); dm = dm->nextDM; @@ -1485,7 +1489,7 @@ bool DDA::Step() //if (t3 < minCalcTime) minCalcTime = t3; } - if ((driversStepping & platform.GetSlowDriversBitmap()) == 0) // if not using any external drivers + if ((driversStepping & platform.GetSlowDriversBitmap()) == 0) // if not using any external drivers { // 3. Step the drivers Platform::StepDriversHigh(driversStepping); // generate the steps @@ -1537,14 +1541,10 @@ bool DDA::Step() } // 7. Schedule next interrupt, or if it would be too soon, generate more steps immediately - repeat = platform.ScheduleStepInterrupt(firstDM->nextStepTime + moveStartTime); + // If we have already spent too much time in the ISR, delay the interrupt + repeat = platform.ScheduleStepInterruptWithLimit(firstDM->nextStepTime + moveStartTime, isrStartTime); } while (repeat); - if (numReps > maxReps) - { - maxReps = numReps; - } - if (state == completed) { // The following finish time is wrong if we aborted the move because of endstop or Z probe checks. diff --git a/src/Movement/DDA.h b/src/Movement/DDA.h index 5c340c8a..45f085c4 100644 --- a/src/Movement/DDA.h +++ b/src/Movement/DDA.h @@ -119,6 +119,7 @@ public: static constexpr uint32_t MinCalcIntervalCartesian = (60 * stepClockRate)/1000000; // same as delta for now, but could be lower static constexpr uint32_t MinInterruptInterval = 4; // about 6us minimum interval between interrupts, in step clocks #endif + static constexpr uint32_t MaxStepInterruptTime = 10 * MinInterruptInterval; // the maximum time we spend looping in the ISR , in step clocks static void PrintMoves(); // print saved moves for debugging @@ -128,7 +129,7 @@ public: static int32_t loggedProbePositions[XYZ_AXES * MaxLoggedProbePositions]; #endif - static uint32_t maxReps; // maximum number of times that the ISR looped + static uint32_t numHiccups; // how many times we delayed an interrupt to avoid using too much CPU time in interrupts static uint32_t lastStepLowTime; // when we last completed a step pulse to a slow driver static uint32_t lastDirChangeTime; // when we last change the DIR signal to a slow driver diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp index 34c952af..0949a043 100644 --- a/src/Movement/Move.cpp +++ b/src/Movement/Move.cpp @@ -584,19 +584,13 @@ bool Move::LowPowerPause(RestorePoint& rp) #endif -#if 0 -// For debugging -extern uint32_t sqSum1, sqSum2, sqCount, sqErrors, lastRes1, lastRes2; -extern uint64_t lastNum; -#endif - void Move::Diagnostics(MessageType mtype) { Platform& p = reprap.GetPlatform(); p.Message(mtype, "=== Move ===\n"); - p.MessageF(mtype, "MaxReps: %" PRIu32 ", StepErrors: %u, LaErrors: %u, FreeDm: %d, MinFreeDm %d, MaxWait: %" PRIu32 "ms, Underruns: %u, %u\n", - DDA::maxReps, stepErrors, numLookaheadErrors, DriveMovement::NumFree(), DriveMovement::MinFree(), longestGcodeWaitInterval, numLookaheadUnderruns, numPrepareUnderruns); - DDA::maxReps = 0; + p.MessageF(mtype, "Hiccups: %" PRIu32 ", StepErrors: %u, LaErrors: %u, FreeDm: %d, MinFreeDm %d, MaxWait: %" PRIu32 "ms, Underruns: %u, %u\n", + DDA::numHiccups, stepErrors, numLookaheadErrors, DriveMovement::NumFree(), DriveMovement::MinFree(), longestGcodeWaitInterval, numLookaheadUnderruns, numPrepareUnderruns); + DDA::numHiccups = 0; numLookaheadUnderruns = numPrepareUnderruns = numLookaheadErrors = 0; longestGcodeWaitInterval = 0; DriveMovement::ResetMinFree(); @@ -644,16 +638,6 @@ void Move::Diagnostics(MessageType mtype) } p.Message(mtype, "\n"); #endif - -#if 0 - // For debugging - if (sqCount != 0) - { - p.AppendMessage(GenericMessage, "Average sqrt times %.2f, %.2f, count %u, errors %u, last %" PRIu64 " %u %u\n", - (float)sqSum1/sqCount, (float)sqSum2/sqCount, sqCount, sqErrors, lastNum, lastRes1, lastRes2); - sqSum1 = sqSum2 = sqCount = sqErrors = 0; - } -#endif } // Set the current position to be this |