This required to also introduce dda_init() and re-adjust the
number of accelerating steps a bit.
Goal of this is to make look-ahead possible by just reducing
the number of deceleration steps and acceleration steps of
the next move. dda->c and dda->n no longer go down to their
initial values, then.
Also, quite a number of variables in the dda struct are used only when
the dda is live, so there is no need to store that for each
movement of the queue.
This is an intermediate step where both, the old and the new
ramping calculation methods are used and compared. The commit
is done for the case the new method needs debugging in other setups.
if delay is not zero, otherwise the timer is not turned off when it
should be. Move the test and setting back inside the block that is only
executed if delay > 0.
This fix is really a hack to protect from overflow/underflows
in the acceleration code due to the limited precision of the
fixed point calculations. It does, however, protect the code
from accidently turning off the step timer or setting the
timer interval value outside of the range defined by the current
interval and the ultimate endpoint interval.
This is a cleanup replacement for the code posted on the reprap forum:
http://forums.reprap.org/read.php?147,33082,83467#msg-83467
Specifically, disable interrupts just before returning and then enable
the timer interrupt if appropriate. This means that the timer interrupt
cannot actually fire until after the RETI, so the function cannot be
entered recursively.
service routine in the case that the requested timer interval is too
small.
Calling the interrupt service routine at this point is likely to
recursively clobber the stack.
Setting a lower bounds on the interrupt delay will limit the upper
speed of pulse generation, but it should not change the relative
pulse rates, and will not recurvisely clobber the stack.
Note that the lower limit of 17 has not been researched, it is
simply the value below which the old code attempted to call
the interrupt service routine directly.
memory barriers since it is only touched inside a single interrupt
handler or while interrupts are disabled in setTimer().
This saves about 90 bytes since it no longer needs to be reloaded multiple
times.
manage the movebuffer (mb_head, mb_tail, movebuffer).
The approach taken is to leave all of the variables non-volatile
and use memory barriers to control reads/writes. read/modify/write
operations that can be done outside of the interrupt context are
protected by disabling interrupts.
Also, manually cache the pointer to the movebuffer of interest
as the compiler does a poor job of reusing the pointer even in
places that it could.
There are still some groups of accesses to the movebuffer data that need
to be protected by disabling interrupts, but these are all related
to sending back debug data. The error will cause occassional mismatched
values to be sent back via the serial connection, but they do not
affect the actual operation of the code, so they will be addressed
in a separate checkin.
Conflicts:
dda_queue.c
& tests of the debug_flags. Currently the compiler is able to eliminate
the block and the & operation when the constant is zero, but since
the debug_flags variable is a volatile the compiler does not eliminate
the load of the variable. By pretesting and shortcutting the load is
eliminated. Saves a small number of bytes when the debug build is
disabled and costs nothing when it is enabled.
This costs 2 bytes of ram, but saves 60 bytes of flash. Doing so
also eliminates the need to disable interrupts while clearing flags
in the ifclock macro.
Conflicts:
clock.c
timer.c
timer.h
Steptimeout is used both inside and outside
of interrupts, and as such it needs special attention.
Specifically, the increment outside of the interrupt
context needs to occur when interrupts are disabled,
or a clear of the variable can be missed.
The variable was also made volatile. This is not strictly necessary
given the current code, but it is the more conservative approach
to dealing with the variable (and costs nothing in the current code).
Bas Laarhoven
Michael Moon
Jens Ch. Restemeier
Markus Hitter
Jim McGee
Sergey Batalov
Ben Jackson