Add the new item at the same time as checking if there is space in the
queue.
Also, update the default optimization level of c_helper.so to O2 to
improve the compiled code layout.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculate where a tower must reverse direction during a move in the C
code instead of the delta.py kinematic code. This simplifies the
python code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The delta code calculates a "virtual tower" along the line of
movement. Rework the variable names and comments to make it clear
that this is occurring.
It is not necessary to pass the start_pos variable to the C code as it
is simple to update the start_pos at the start of each movement.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's not necessary to have separate C delta kinematic functions for
constant acceleration and constant velocity as constant velocity can
be obtained by using a constant acceleration of zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the C delta kinematic code to take velocity and acceleration
directly in step distances and clock ticks. This simplifies the
mcu.py python code as it only needs to do unit and axis conversion.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's not necessary to have separate C functions for constant
acceleration and constant velocity as constant velocity can be
obtained by using a constant acceleration of zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the C code to take velocity and acceleration directly in step
distances and clock ticks. This simplifies the mcu.py python code as
it only needs to do unit and axis conversion.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the set_position() method to convert from millimeters to
absolute step position.
Also, update PrinterStepper.get_homed_offset() and
mcu_stepper.get_commanded_position() to return millimeters.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the kinematic classes call the mcu_stepper with millimeters
and seconds it is no longer necessary for them to directly access the
stepper's position in absolute steps. Rename
mcu_stepper.commanded_position to mcu_stepper._commanded_pos to make
clear it is not a variable intended to be externally accessed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rework the parameters of step_delta_const() and step_delta_accel() so
that they take velocity and acceleration directly in millimeters and
seconds. This simplifies the delta.py kinematic code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename step_sqrt/step_factor to step_accel/step_const and have them
directly take the velocity and acceleration in millimeters and
seconds. This simplifies the kinematic classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Extend the endstop code so that more than one stepper can be halted
during endstop homing. Some kinematic setups (eg, corexy) require an
endstop to support this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The relax option corrupts the compilation on at least some versions of
gcc/binutils (eg, on fedora's avr-gcc 6.2.0 / binutils 2.27) due to
corruption of switch tables that use jump offsets. This issue is also
the root cause that resulted in commit d67f962a. Since the --relax
option provides minimal size / performance improvements it can simply
be dropped.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the reactor isn't running then implement pause using the system
sleep command. This simplifies the users of pause().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commmit a1c61563 renamed timer_shutdown() to timer_reset() but
neglected to delete timer_shutdown().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 16e3dbb1 changed the avr implementation of timer_read_time().
Unfortunately, it raised the possibility for timer_read_time() to be
out of sync with the scheduler's understanding of the current time.
In particular, it was common for the timer irq to overflow the 16bit
hardware counter once at startup, and this would lead to
timer_read_time() always returning a time ~4ms ahead of the scheduler
on 16Mhz chips. This resulted in "Move queue empty" errors.
To resolve this issue, only increment timer_high from timer_periodic()
and make sure the timer irqs start immediately after timer_init().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Increase the default motor_off_time from 1 minute to 10 minutes. The
small value is a common source of confusion.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the example files for cartesian printers to have a 25mm/s
maximum Z velocity. It's common to use lead screws for the Z axis on
cartesians and it is unlikely one would want to drive them at 250mm/s.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The code alignment of the TC0_Handler function seems to noticeably
impact performance benchmarks. Set the function alignment to 16 bytes
to improve testing consistency. An alignment of 16 doesn't
necessarily improve performance, but it seems to improve testing
consistency on code changes unrelated to timer dispatch.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename the file to make it clear that the code is helper functions for
boards with irq based timers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename sched_timer_kick() to sched_timer_dispatch() and move its loop
into its callers in the board code. This eliminates the need to
export timer_try_set_next() from the board code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Reset the timer repeat checks on shutdown, otherwise it is possible to
get into an infinite shutdown loop.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On faster MCUs where a delay is needed between step and unstep use a
"busy loop" in the scheduler instead of trying to schedule to the
unstep time. This reduces the chance of jitter in the scheduler
accumulating.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Directly use the Kconfig defined CONFIG_CLOCK_FREQ in the code and
avoid defining F_CPU. Also, remove the unnecessary O2 option - that
is already the default from the main makefile.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some additional tweeks to the scheduler has resulted in minor
improvements to the stepper benchmarks.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Explicilty load the timer waketime variable into local variables in
sched_timer_kick(). Change the optimization level from Os to O2.
This helps gcc to avoid unnecessary reloads from memory in the common
stepper_event() case.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Provide hand-coded assembler for timer_is_before() on AVR as that code
is used frequently in the time-critical timer dispatch loop and gcc
doesn't do a good job at compiling that comparison code. Remove the
no longer needed waketime+1 hack from reschedule_timer().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move sched_is_before() from sched.c to timer_is_before() in the board
specific timer code. This allows the board code to provide its own
definition.
Also, remove the sched_from_us() and sched_read_time() wrapper
functions and change the callers to directly invoke timer_from_us() /
timer_read_time().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit f28eb902 reworked the switch to fix int16 encoding. However,
at least one version of avr gcc doesn't like that switch layout (it
uses a jump table). Reorg the switch to avoid that issue.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The est_clock calculation code requires timestamps on status messages
to never be prior to the reception of the message. The eventtime of
handle_message() is taken before the read() and there is a small
possibility that it could be inaccurate enough to corrupt the
est_clock calculation. Take a new timestamp when storing receive_time
to prevent this. This fix prevents some firmware "Move queue empty"
shutdowns.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The code wasn't properly sign-extending 16bit integers which caused
int16_t reports in output() to appear as uint16_t.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor