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🐛 Refine FT Motion, I2S Stepping (#26628)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
narno2202 2024-01-08 05:17:43 +01:00 committed by GitHub
parent 38f483c4a6
commit b106f59eb4
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GPG key ID: 4AEE18F83AFDEB23
15 changed files with 132 additions and 71 deletions
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22
Marlin/src/HAL/ESP32/i2s.cpp
View file

@ -34,6 +34,10 @@
#include <freertos/queue.h>
#include "../../module/stepper.h"
#if ENABLED(FT_MOTION)
#include "../../module/ft_motion.h"
#endif
#define DMA_BUF_COUNT 8 // number of DMA buffers to store data
#define DMA_BUF_LEN 4092 // maximum size in bytes
#define I2S_SAMPLE_SIZE 4 // 4 bytes, 32 bits per sample
@ -134,8 +138,8 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
if (high_priority_task_awoken == pdTRUE) portYIELD_FROM_ISR();
// clear interrupt
I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
// Clear pending interrupt
I2S0.int_clr.val = I2S0.int_st.val;
}
void stepperTask(void *parameter) {
@ -148,7 +152,20 @@ void stepperTask(void *parameter) {
xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
dma.rw_pos = 0;
const bool using_ftMotion = TERN0(FT_MOTION, ftMotion.cfg.mode);
while (dma.rw_pos < DMA_SAMPLE_COUNT) {
#if ENABLED(FT_MOTION)
if (using_ftMotion) {
if (!nextMainISR) stepper.ftMotion_stepper();
nextMainISR = 0;
}
#endif
if (!using_ftMotion) {
if (!nextMainISR) {
Stepper::pulse_phase_isr();
nextMainISR = Stepper::block_phase_isr();
@ -174,6 +191,7 @@ void stepperTask(void *parameter) {
}
}
}
}
int i2s_init() {
periph_module_enable(PERIPH_I2S0_MODULE);

6
Marlin/src/inc/Conditionals_adv.h
View file

@ -1309,6 +1309,12 @@
#define HAS_ZV_SHAPING 1
#endif
// FT Motion unified window and batch size
#if ALL(FT_MOTION, FTM_UNIFIED_BWS)
#define FTM_WINDOW_SIZE FTM_BW_SIZE
#define FTM_BATCH_SIZE FTM_BW_SIZE
#endif
// Toolchange Event G-code
#if !HAS_MULTI_EXTRUDER || !(defined(EVENT_GCODE_TOOLCHANGE_T0) || defined(EVENT_GCODE_TOOLCHANGE_T1) || defined(EVENT_GCODE_TOOLCHANGE_T2) || defined(EVENT_GCODE_TOOLCHANGE_T3) || defined(EVENT_GCODE_TOOLCHANGE_T4) || defined(EVENT_GCODE_TOOLCHANGE_T5) || defined(EVENT_GCODE_TOOLCHANGE_T6) || defined(EVENT_GCODE_TOOLCHANGE_T7))
#undef TC_GCODE_USE_GLOBAL_X

6
Marlin/src/inc/SanityCheck.h
View file

@ -4123,8 +4123,12 @@ static_assert(_PLUS_TEST(3), "DEFAULT_MAX_ACCELERATION values must be positive."
/**
* Fixed-Time Motion limitations
*/
#if ALL(FT_MOTION, MIXING_EXTRUDER)
#if ENABLED(FT_MOTION)
#if ENABLED(MIXING_EXTRUDER)
#error "FT_MOTION does not currently support MIXING_EXTRUDER."
#elif DISABLED(FTM_UNIFIED_BWS)
#error "FT_MOTION requires FTM_UNIFIED_BWS to be enabled because FBS is not yet implemented."
#endif
#endif
// Multi-Stepping Limit

7
Marlin/src/inc/Warnings.cpp
View file

@ -826,3 +826,10 @@
#if PIN_EXISTS(BEEPER) && ALL(SPEAKER, NO_SPEAKER)
#warning "The BEEPER cannot produce tones so you can disable SPEAKER."
#endif
/**
* Fixed-Time Motion
*/
#if ALL(FT_MOTION, I2S_STEPPER_STREAM)
#warning "FT_MOTION has not been tested with I2S_STEPPER_STREAM."
#endif

33
Marlin/src/module/ft_motion.cpp
View file

@ -55,7 +55,7 @@ FTMotion ftMotion;
ft_config_t FTMotion::cfg;
bool FTMotion::busy; // = false
ft_command_t FTMotion::stepperCmdBuff[FTM_STEPPERCMD_BUFF_SIZE] = {0U}; // Stepper commands buffer.
uint32_t FTMotion::stepperCmdBuff_produceIdx = 0, // Index of next stepper command write to the buffer.
int32_t FTMotion::stepperCmdBuff_produceIdx = 0, // Index of next stepper command write to the buffer.
FTMotion::stepperCmdBuff_consumeIdx = 0; // Index of next stepper command read from the buffer.
bool FTMotion::sts_stepperBusy = false; // The stepper buffer has items and is in use.
@ -123,6 +123,8 @@ uint32_t FTMotion::interpIdx = 0, // Index of current data point b
float FTMotion::e_advanced_z1 = 0.0f; // (ms) Unit delay of advanced extruder position.
#endif
constexpr uint32_t last_batchIdx = (FTM_WINDOW_SIZE) - (FTM_BATCH_SIZE);
//-----------------------------------------------------------------
// Function definitions.
//-----------------------------------------------------------------
@ -145,8 +147,16 @@ void FTMotion::runoutBlock() {
ratio.reset();
max_intervals = cfg.modeHasShaper() ? shaper_intervals : 0;
if (max_intervals <= TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, min_max_intervals - (FTM_BATCH_SIZE))) max_intervals = min_max_intervals;
max_intervals += TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, FTM_WINDOW_SIZE) - makeVector_batchIdx;
if (max_intervals <= TERN(FTM_UNIFIED_BWS, FTM_BATCH_SIZE, min_max_intervals - (FTM_BATCH_SIZE)))
max_intervals = min_max_intervals;
max_intervals += (
#if ENABLED(FTM_UNIFIED_BWS)
FTM_WINDOW_SIZE - makeVector_batchIdx
#else
FTM_WINDOW_SIZE - ((last_batchIdx < (FTM_BATCH_SIZE)) ? 0 : makeVector_batchIdx)
#endif
);
blockProcRdy = blockDataIsRunout = true;
runoutEna = blockProcDn = false;
}
@ -198,7 +208,7 @@ void FTMotion::loop() {
);
// Shift the time series back in the window
#define TSHIFT(A) memcpy(traj.A, &traj.A[FTM_BATCH_SIZE], (FTM_WINDOW_SIZE - FTM_BATCH_SIZE) * sizeof(traj.A[0]))
#define TSHIFT(A) memcpy(traj.A, &traj.A[FTM_BATCH_SIZE], last_batchIdx * sizeof(traj.A[0]))
LOGICAL_AXIS_CODE(
TSHIFT(e),
TSHIFT(x), TSHIFT(y), TSHIFT(z),
@ -219,7 +229,7 @@ void FTMotion::loop() {
&& (interpIdx - interpIdx_z1 < (FTM_STEPS_PER_LOOP))
) {
convertToSteps(interpIdx);
if (++interpIdx == TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, FTM_BATCH_SIZE)) {
if (++interpIdx == FTM_BATCH_SIZE) {
batchRdyForInterp = false;
interpIdx = 0;
}
@ -449,7 +459,7 @@ void FTMotion::reset() {
endPosn_prevBlock.reset();
makeVector_idx = makeVector_idx_z1 = 0;
makeVector_batchIdx = 0;
makeVector_batchIdx = TERN(FTM_UNIFIED_BWS, 0, _MAX(last_batchIdx, FTM_BATCH_SIZE));
steps.reset();
interpIdx = interpIdx_z1 = 0;
@ -464,10 +474,11 @@ void FTMotion::reset() {
}
// Private functions.
// Auxiliary function to get number of step commands in the buffer.
uint32_t FTMotion::stepperCmdBuffItems() {
const uint32_t udiff = stepperCmdBuff_produceIdx - stepperCmdBuff_consumeIdx;
return stepperCmdBuff_produceIdx < stepperCmdBuff_consumeIdx ? (FTM_STEPPERCMD_BUFF_SIZE) + udiff : udiff;
int32_t FTMotion::stepperCmdBuffItems() {
const int32_t udiff = stepperCmdBuff_produceIdx - stepperCmdBuff_consumeIdx;
return (udiff < 0) ? udiff + (FTM_STEPPERCMD_BUFF_SIZE) : udiff;
}
// Initializes storage variables before startup.
@ -677,8 +688,8 @@ void FTMotion::makeVector() {
#endif
// Filled up the queue with regular and shaped steps
if (++makeVector_batchIdx == TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, (FTM_WINDOW_SIZE - FTM_BATCH_SIZE))) {
makeVector_batchIdx = 0;
if (++makeVector_batchIdx == FTM_WINDOW_SIZE) {
makeVector_batchIdx = last_batchIdx;
batchRdy = true;
}

13
Marlin/src/module/ft_motion.h
View file

@ -102,12 +102,11 @@ class FTMotion {
}
static ft_command_t stepperCmdBuff[FTM_STEPPERCMD_BUFF_SIZE]; // Buffer of stepper commands.
static uint32_t stepperCmdBuff_produceIdx, // Index of next stepper command write to the buffer.
static int32_t stepperCmdBuff_produceIdx, // Index of next stepper command write to the buffer.
stepperCmdBuff_consumeIdx; // Index of next stepper command read from the buffer.
static bool sts_stepperBusy; // The stepper buffer has items and is in use.
// Public methods
static void init();
static void startBlockProc(); // Set controller states to begin processing a block.
@ -153,10 +152,10 @@ class FTMotion {
static uint32_t N1, N2, N3;
static uint32_t max_intervals;
static constexpr uint32_t _ftm_size = TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, FTM_BATCH_SIZE),
_ftm_wind = TERN(FTM_UNIFIED_BWS, 2, CEIL((FTM_WINDOW_SIZE) / _ftm_size)),
shaper_intervals = _ftm_size * CEIL((FTM_ZMAX) / _ftm_size),
min_max_intervals = _ftm_size * _ftm_wind;
#define _DIVCEIL(A,B) (((A) + (B) - 1) / (B))
static constexpr uint32_t _ftm_ratio = TERN(FTM_UNIFIED_BWS, 2, _DIVCEIL(FTM_WINDOW_SIZE, FTM_BATCH_SIZE)),
shaper_intervals = (FTM_BATCH_SIZE) * _DIVCEIL(FTM_ZMAX, FTM_BATCH_SIZE),
min_max_intervals = (FTM_BATCH_SIZE) * _ftm_ratio;
// Make vector variables.
static uint32_t makeVector_idx,
@ -203,7 +202,7 @@ class FTMotion {
#endif
// Private methods
static uint32_t stepperCmdBuffItems();
static int32_t stepperCmdBuffItems();
static void loadBlockData(block_t *const current_block);
static void makeVector();
static void convertToSteps(const uint32_t idx);

5
Marlin/src/module/ft_types.h
View file

@ -44,13 +44,8 @@ enum dynFreqMode_t : uint8_t {
#define IS_EI_MODE(N) WITHIN(N, ftMotionMode_EI, ftMotionMode_3HEI)
#if ENABLED(FTM_UNIFIED_BWS)
typedef struct XYZEarray<float, FTM_BW_SIZE> xyze_trajectory_t;
typedef struct XYZEarray<float, FTM_BW_SIZE> xyze_trajectoryMod_t;
#else
typedef struct XYZEarray<float, FTM_WINDOW_SIZE> xyze_trajectory_t;
typedef struct XYZEarray<float, FTM_BATCH_SIZE> xyze_trajectoryMod_t;
#endif
enum {
LIST_N(DOUBLE(LOGICAL_AXES),

23
Marlin/src/module/stepper.cpp
View file

@ -1508,14 +1508,12 @@ void Stepper::isr() {
#if ENABLED(FT_MOTION)
if (using_ftMotion) {
if (!nextMainISR) {
nextMainISR = FTM_MIN_TICKS;
ftMotion_stepper();
endstops.update();
TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
if (!nextMainISR) { // Main ISR is ready to fire during this iteration?
nextMainISR = FTM_MIN_TICKS; // Set to minimum interval (a limit on the top speed)
ftMotion_stepper(); // Run FTM Stepping
}
interval = nextMainISR;
nextMainISR -= interval;
interval = nextMainISR; // Interval is either some old nextMainISR or FTM_MIN_TICKS
nextMainISR = 0; // For FT Motion fire again ASAP
}
#endif
@ -3448,7 +3446,8 @@ void Stepper::report_positions() {
// Use one byte to restore one stepper command in the format:
// |X_step|X_direction|Y_step|Y_direction|Z_step|Z_direction|E_step|E_direction|
const ft_command_t command = ftMotion.stepperCmdBuff[ftMotion.stepperCmdBuff_consumeIdx];
if (++ftMotion.stepperCmdBuff_consumeIdx == (FTM_STEPPERCMD_BUFF_SIZE)) ftMotion.stepperCmdBuff_consumeIdx = 0U;
if (++ftMotion.stepperCmdBuff_consumeIdx == (FTM_STEPPERCMD_BUFF_SIZE))
ftMotion.stepperCmdBuff_consumeIdx = 0;
if (abort_current_block) return;
@ -3492,6 +3491,8 @@ void Stepper::report_positions() {
U_APPLY_STEP(axis_did_move.u, false), V_APPLY_STEP(axis_did_move.v, false), W_APPLY_STEP(axis_did_move.w, false)
);
TERN_(I2S_STEPPER_STREAM, i2s_push_sample());
// Begin waiting for the minimum pulse duration
START_TIMED_PULSE();
@ -3533,6 +3534,12 @@ void Stepper::report_positions() {
U_APPLY_STEP(!STEP_STATE_U, false), V_APPLY_STEP(!STEP_STATE_V, false), W_APPLY_STEP(!STEP_STATE_W, false)
);
// Check endstops on every step
IF_DISABLED(ENDSTOP_INTERRUPTS_FEATURE, endstops.update());
// Also handle babystepping here
TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
} // Stepper::ftMotion_stepper
void Stepper::ftMotion_blockQueueUpdate() {

2
Marlin/src/pins/esp32/pins_ENWI_ESPNP.h
View file

@ -34,7 +34,9 @@
//
// I2S (steppers & other output-only pins)
//
#ifndef I2S_STEPPER_STREAM
#define I2S_STEPPER_STREAM
#endif
#if ENABLED(I2S_STEPPER_STREAM)
#define I2S_WS 17
#define I2S_BCK 22

2
Marlin/src/pins/esp32/pins_ESP32.h
View file

@ -32,7 +32,9 @@
//
// I2S (steppers & other output-only pins)
//
#ifndef I2S_STEPPER_STREAM
#define I2S_STEPPER_STREAM
#endif
#if ENABLED(I2S_STEPPER_STREAM)
#define I2S_WS 25
#define I2S_BCK 26

2
Marlin/src/pins/esp32/pins_MKS_TINYBEE.h
View file

@ -56,7 +56,9 @@
//
// Enable I2S stepper stream
//
#ifndef I2S_STEPPER_STREAM
#define I2S_STEPPER_STREAM
#endif
#if ENABLED(I2S_STEPPER_STREAM)
#define I2S_WS 26
#define I2S_BCK 25

2
Marlin/src/pins/esp32/pins_MM_JOKER.h
View file

@ -85,7 +85,9 @@
//
// Enable I2S stepper stream
//
#ifndef I2S_STEPPER_STREAM
#define I2S_STEPPER_STREAM
#endif
#if ENABLED(I2S_STEPPER_STREAM)
#define I2S_WS 26
#define I2S_BCK 25

2
Marlin/src/pins/esp32/pins_MRR_ESPE.h
View file

@ -51,7 +51,9 @@
//
// Enable I2S stepper stream
//
#ifndef I2S_STEPPER_STREAM
#define I2S_STEPPER_STREAM
#endif
#if ENABLED(I2S_STEPPER_STREAM)
#define I2S_WS 26
#define I2S_BCK 25

2
Marlin/src/pins/esp32/pins_RESP32_CUSTOM.h
View file

@ -34,4 +34,6 @@
//
// I2S (steppers & other output-only pins)
//
#ifndef I2S_STEPPER_STREAM
#define I2S_STEPPER_STREAM
#endif

4
ini/esp32.ini
View file

@ -14,8 +14,10 @@
#
[env:esp32]
platform = espressif32@2.1.0
platform_packages = espressif/toolchain-xtensa-esp32s3
board = esp32dev
build_flags = ${common.build_flags} -DCORE_DEBUG_LEVEL=0
build_flags = ${common.build_flags} -DCORE_DEBUG_LEVEL=0 -std=gnu++17
build_unflags = -std=gnu11 -std=gnu++11
build_src_filter = ${common.default_src_filter} +<src/HAL/ESP32>
lib_ignore = NativeEthernet
upload_speed = 500000