From 1cb810ff1c04065daa29182a6c22ecf6b0c0098b Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Wed, 21 Mar 2018 19:30:06 -0500
Subject: [PATCH] [2.0.x] Automatically reset stepper timeout (#10179)
* Automatically reset stepper timeout in manage_inactivity
Any code that adds moves to the planner can skip resetting the stepper timeout. We can let `idle` / `manage_inactivity` reset the timer whenever it detects any moves in the planner.
* blocks_queued => has_blocks_queued
---
Marlin/src/Marlin.cpp | 49 +++++++++++----------
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 2 +-
Marlin/src/gcode/config/M43.cpp | 5 +--
Marlin/src/gcode/gcode.cpp | 7 +--
Marlin/src/gcode/gcode.h | 4 +-
Marlin/src/gcode/lcd/M0_M1.cpp | 3 +-
Marlin/src/gcode/motion/G2_G3.cpp | 2 +-
Marlin/src/gcode/queue.cpp | 1 -
Marlin/src/gcode/temperature/M104_M109.cpp | 2 +-
Marlin/src/gcode/temperature/M140_M190.cpp | 2 +-
Marlin/src/lcd/ultralcd.cpp | 8 +---
Marlin/src/module/motion.cpp | 5 ---
Marlin/src/module/planner.cpp | 4 +-
Marlin/src/module/planner.h | 8 ++--
Marlin/src/module/probe.cpp | 3 --
Marlin/src/module/stepper.cpp | 4 +-
16 files changed, 47 insertions(+), 62 deletions(-)
diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index c7ee0f407d..03ff2bac5c 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -336,7 +336,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
const millis_t ms = millis();
- if (max_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + max_inactive_time)) {
+ if (max_inactive_time && ELAPSED(ms, gcode.previous_move_ms + max_inactive_time)) {
SERIAL_ERROR_START();
SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
kill(PSTR(MSG_KILLED));
@@ -349,23 +349,26 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#define MOVE_AWAY_TEST true
#endif
- if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + stepper_inactive_time)
- && !ignore_stepper_queue && !planner.blocks_queued()) {
- #if ENABLED(DISABLE_INACTIVE_X)
- disable_X();
- #endif
- #if ENABLED(DISABLE_INACTIVE_Y)
- disable_Y();
- #endif
- #if ENABLED(DISABLE_INACTIVE_Z)
- disable_Z();
- #endif
- #if ENABLED(DISABLE_INACTIVE_E)
- disable_e_steppers();
- #endif
- #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL) // Only needed with an LCD
- if (ubl.lcd_map_control) ubl.lcd_map_control = defer_return_to_status = false;
- #endif
+ if (stepper_inactive_time) {
+ if (planner.has_blocks_queued())
+ gcode.previous_move_ms = ms; // reset_stepper_timeout to keep steppers powered
+ else if (MOVE_AWAY_TEST && !ignore_stepper_queue && ELAPSED(ms, gcode.previous_move_ms + stepper_inactive_time)) {
+ #if ENABLED(DISABLE_INACTIVE_X)
+ disable_X();
+ #endif
+ #if ENABLED(DISABLE_INACTIVE_Y)
+ disable_Y();
+ #endif
+ #if ENABLED(DISABLE_INACTIVE_Z)
+ disable_Z();
+ #endif
+ #if ENABLED(DISABLE_INACTIVE_E)
+ disable_e_steppers();
+ #endif
+ #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL) // Only needed with an LCD
+ if (ubl.lcd_map_control) ubl.lcd_map_control = defer_return_to_status = false;
+ #endif
+ }
}
#ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
@@ -424,8 +427,8 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
if (thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP
- && ELAPSED(ms, gcode.previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
- && !planner.blocks_queued()
+ && ELAPSED(ms, gcode.previous_move_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
+ && !planner.has_blocks_queued()
) {
#if ENABLED(SWITCHING_EXTRUDER)
const bool oldstatus = E0_ENABLE_READ;
@@ -449,8 +452,6 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
}
#endif // !SWITCHING_EXTRUDER
- gcode.refresh_cmd_timeout();
-
const float olde = current_position[E_AXIS];
current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
@@ -476,6 +477,8 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#endif // E_STEPPERS > 1
}
#endif // !SWITCHING_EXTRUDER
+
+ gcode.previous_move_ms = ms; // reset_stepper_timeout to keep steppers powered
}
#endif // EXTRUDER_RUNOUT_PREVENT
@@ -541,7 +544,7 @@ void idle(
#if ENABLED(I2C_POSITION_ENCODERS)
static millis_t i2cpem_next_update_ms;
- if (planner.blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) {
+ if (planner.has_blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) {
I2CPEM.update();
i2cpem_next_update_ms = millis() + I2CPE_MIN_UPD_TIME_MS;
}
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
index 686487f922..ceefbb1569 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -779,7 +779,7 @@
wait_for_release();
while (!is_lcd_clicked()) {
idle();
- gcode.refresh_cmd_timeout();
+ gcode.reset_stepper_timeout(); // Keep steppers powered
if (encoder_diff) {
do_blocking_move_to_z(current_position[Z_AXIS] + float(encoder_diff) * multiplier);
encoder_diff = 0;
diff --git a/Marlin/src/gcode/config/M43.cpp b/Marlin/src/gcode/config/M43.cpp
index d9e78baa45..6247225738 100644
--- a/Marlin/src/gcode/config/M43.cpp
+++ b/Marlin/src/gcode/config/M43.cpp
@@ -155,8 +155,6 @@ inline void servo_probe_test() {
} while (++i < 4);
if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
- gcode.refresh_cmd_timeout();
-
if (deploy_state != stow_state) {
SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
if (deploy_state) {
@@ -182,8 +180,7 @@ inline void servo_probe_test() {
safe_delay(2);
- if (0 == j % (500 * 1)) // keep cmd_timeout happy
- gcode.refresh_cmd_timeout();
+ if (0 == j % (500 * 1)) gcode.reset_stepper_timeout(); // Keep steppers powered
if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
index deb3c09d44..a218baf864 100644
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -43,7 +43,7 @@ GcodeSuite gcode;
#include "../Marlin.h" // for idle() and suspend_auto_report
uint8_t GcodeSuite::target_extruder;
-millis_t GcodeSuite::previous_cmd_ms;
+millis_t GcodeSuite::previous_move_ms;
bool GcodeSuite::axis_relative_modes[] = AXIS_RELATIVE_MODES;
@@ -121,8 +121,7 @@ void GcodeSuite::get_destination_from_command() {
* Dwell waits immediately. It does not synchronize. Use M400 instead of G4
*/
void GcodeSuite::dwell(millis_t time) {
- refresh_cmd_timeout();
- time += previous_cmd_ms;
+ time += millis();
while (PENDING(millis(), time)) idle();
}
@@ -735,6 +734,8 @@ void GcodeSuite::process_next_command() {
#endif
}
+ reset_stepper_timeout(); // Keep steppers powered
+
// Parse the next command in the queue
parser.parse(current_command);
process_parsed_command();
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index 3fd16a95fc..a668c05f8d 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -280,8 +280,8 @@ public:
static bool select_coordinate_system(const int8_t _new);
#endif
- static millis_t previous_cmd_ms;
- FORCE_INLINE static void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
+ static millis_t previous_move_ms;
+ FORCE_INLINE static void reset_stepper_timeout() { previous_move_ms = millis(); }
static bool get_target_extruder_from_command();
static void get_destination_from_command();
diff --git a/Marlin/src/gcode/lcd/M0_M1.cpp b/Marlin/src/gcode/lcd/M0_M1.cpp
index b09c2a9d55..4944cd11b6 100644
--- a/Marlin/src/gcode/lcd/M0_M1.cpp
+++ b/Marlin/src/gcode/lcd/M0_M1.cpp
@@ -75,10 +75,9 @@ void GcodeSuite::M0_M1() {
wait_for_user = true;
stepper.synchronize();
- refresh_cmd_timeout();
if (ms > 0) {
- ms += previous_cmd_ms; // wait until this time for a click
+ ms += previous_move_ms; // wait until this time for a click
while (PENDING(millis(), ms) && wait_for_user) idle();
}
else {
diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp
index 6ba2aa41a6..95ebba41eb 100644
--- a/Marlin/src/gcode/motion/G2_G3.cpp
+++ b/Marlin/src/gcode/motion/G2_G3.cpp
@@ -269,7 +269,7 @@ void GcodeSuite::G2_G3(const bool clockwise) {
// Send the arc to the planner
plan_arc(destination, arc_offset, clockwise);
- refresh_cmd_timeout();
+ reset_stepper_timeout();
}
else {
// Bad arguments
diff --git a/Marlin/src/gcode/queue.cpp b/Marlin/src/gcode/queue.cpp
index e3f4b0bf7a..08ba22c43c 100644
--- a/Marlin/src/gcode/queue.cpp
+++ b/Marlin/src/gcode/queue.cpp
@@ -204,7 +204,6 @@ void ok_to_send() {
const int16_t port = command_queue_port[cmd_queue_index_r];
if (port < 0) return;
#endif
- gcode.refresh_cmd_timeout();
if (!send_ok[cmd_queue_index_r]) return;
SERIAL_PROTOCOLPGM_P(port, MSG_OK);
#if ENABLED(ADVANCED_OK)
diff --git a/Marlin/src/gcode/temperature/M104_M109.cpp b/Marlin/src/gcode/temperature/M104_M109.cpp
index 2cd5f28768..e80541d20e 100644
--- a/Marlin/src/gcode/temperature/M104_M109.cpp
+++ b/Marlin/src/gcode/temperature/M104_M109.cpp
@@ -185,7 +185,7 @@ void GcodeSuite::M109() {
}
idle();
- refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
+ reset_stepper_timeout(); // Keep steppers powered
const float temp = thermalManager.degHotend(target_extruder);
diff --git a/Marlin/src/gcode/temperature/M140_M190.cpp b/Marlin/src/gcode/temperature/M140_M190.cpp
index 2acd930fd9..c0a7d7950a 100644
--- a/Marlin/src/gcode/temperature/M140_M190.cpp
+++ b/Marlin/src/gcode/temperature/M140_M190.cpp
@@ -122,7 +122,7 @@ void GcodeSuite::M190() {
}
idle();
- refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
+ reset_stepper_timeout(); // Keep steppers powered
const float temp = thermalManager.degBed();
diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp
index 0564126410..a070467159 100644
--- a/Marlin/src/lcd/ultralcd.cpp
+++ b/Marlin/src/lcd/ultralcd.cpp
@@ -1885,7 +1885,6 @@ void kill_screen(const char* lcd_msg) {
// Encoder knob or keypad buttons adjust the Z position
//
if (encoderPosition) {
- gcode.refresh_cmd_timeout();
const float z = current_position[Z_AXIS] + float((int32_t)encoderPosition) * (MBL_Z_STEP);
line_to_z(constrain(z, -(LCD_PROBE_Z_RANGE) * 0.5, (LCD_PROBE_Z_RANGE) * 0.5));
lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
@@ -2409,7 +2408,6 @@ void kill_screen(const char* lcd_msg) {
stepper.cleaning_buffer_counter = 0;
set_current_from_steppers_for_axis(ALL_AXES);
sync_plan_position();
- gcode.refresh_cmd_timeout();
}
void _lcd_ubl_output_map_lcd() {
@@ -2424,10 +2422,7 @@ void kill_screen(const char* lcd_msg) {
if (encoderPosition) {
step_scaler += (int32_t)encoderPosition;
x_plot += step_scaler / (ENCODER_STEPS_PER_MENU_ITEM);
- if (abs(step_scaler) >= ENCODER_STEPS_PER_MENU_ITEM)
- step_scaler = 0;
- gcode.refresh_cmd_timeout();
-
+ if (abs(step_scaler) >= ENCODER_STEPS_PER_MENU_ITEM) step_scaler = 0;
encoderPosition = 0;
lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
}
@@ -2909,7 +2904,6 @@ void kill_screen(const char* lcd_msg) {
if (use_click()) { return lcd_goto_previous_menu_no_defer(); }
ENCODER_DIRECTION_NORMAL();
if (encoderPosition && !processing_manual_move) {
- gcode.refresh_cmd_timeout();
// Start with no limits to movement
float min = current_position[axis] - 1000,
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 2f04af07bd..414c65e3ab 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -266,8 +266,6 @@ void buffer_line_to_destination(const float fr_mm_s) {
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
#endif
- gcode.refresh_cmd_timeout();
-
#if UBL_SEGMENTED
// ubl segmented line will do z-only moves in single segment
ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
@@ -435,12 +433,10 @@ void bracket_probe_move(const bool before) {
saved_feedrate_mm_s = feedrate_mm_s;
saved_feedrate_percentage = feedrate_percentage;
feedrate_percentage = 100;
- gcode.refresh_cmd_timeout();
}
else {
feedrate_mm_s = saved_feedrate_mm_s;
feedrate_percentage = saved_feedrate_percentage;
- gcode.refresh_cmd_timeout();
}
}
@@ -859,7 +855,6 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
*/
void prepare_move_to_destination() {
clamp_to_software_endstops(destination);
- gcode.refresh_cmd_timeout();
#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 602e4691d1..f00798d992 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -468,7 +468,7 @@ void Planner::check_axes_activity() {
#endif
#endif
- if (blocks_queued()) {
+ if (has_blocks_queued()) {
#if FAN_COUNT > 0
for (uint8_t i = 0; i < FAN_COUNT; i++)
@@ -1547,7 +1547,7 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
//*/
// Always split the first move into two (if not homing or probing)
- if (!blocks_queued()) {
+ if (!has_blocks_queued()) {
#define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
const int32_t between[ABCE] = { _BETWEEN(A), _BETWEEN(B), _BETWEEN(C), _BETWEEN(E) };
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 4097c42b2e..da2cf36009 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -512,14 +512,14 @@ class Planner {
/**
* Does the buffer have any blocks queued?
*/
- static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
+ static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
/**
* "Discard" the block and "release" the memory.
* Called when the current block is no longer needed.
*/
FORCE_INLINE static void discard_current_block() {
- if (blocks_queued())
+ if (has_blocks_queued())
block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
}
@@ -528,7 +528,7 @@ class Planner {
* Called after an interrupted move to throw away the rest of the move.
*/
FORCE_INLINE static bool discard_continued_block() {
- const bool discard = blocks_queued() && TEST(block_buffer[block_buffer_tail].flag, BLOCK_BIT_CONTINUED);
+ const bool discard = has_blocks_queued() && TEST(block_buffer[block_buffer_tail].flag, BLOCK_BIT_CONTINUED);
if (discard) discard_current_block();
return discard;
}
@@ -539,7 +539,7 @@ class Planner {
* WARNING: Called from Stepper ISR context!
*/
static block_t* get_current_block() {
- if (blocks_queued()) {
+ if (has_blocks_queued()) {
block_t * const block = &block_buffer[block_buffer_tail];
// If the block has no trapezoid calculated, it's unsafe to execute.
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index 18e13fe318..2f70a28667 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -545,9 +545,6 @@ static float run_z_probe() {
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
#endif
- // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
- gcode.refresh_cmd_timeout();
-
// Double-probing does a fast probe followed by a slow probe
#if MULTIPLE_PROBING == 2
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index bdb25bbf6a..d566f295ea 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -1091,7 +1091,7 @@ void Stepper::init() {
/**
* Block until all buffered steps are executed / cleaned
*/
-void Stepper::synchronize() { while (planner.blocks_queued() || cleaning_buffer_counter) idle(); }
+void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buffer_counter) idle(); }
/**
* Set the stepper positions directly in steps
@@ -1191,7 +1191,7 @@ void Stepper::finish_and_disable() {
void Stepper::quick_stop() {
cleaning_buffer_counter = 5000;
DISABLE_STEPPER_DRIVER_INTERRUPT();
- while (planner.blocks_queued()) planner.discard_current_block();
+ while (planner.has_blocks_queued()) planner.discard_current_block();
current_block = NULL;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(ULTRA_LCD)