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Version 1.17c+1

Browse source 
Removed O3 optimisation pragmas because they inhibited function
inlining, making performance worse
Implemented G2 and G3 commands, inclusing corkscrew moves
Firmware retraction/unretraction now defaults to 2.0/2.0 instead of
1.0/2.0
Bug fix: absolute extrusion didn't work when using a mixing tool
This commit is contained in:
David Crocker 2017-01-20 21:00:38 +00:00
parent 120987ff63
commit 8963082a38
11 changed files with 173 additions and 164 deletions
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40
.cproject
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<configuration artifactExtension="elf" artifactName="DuetEthernetFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290" name="DuetEthernet" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/DuetEthernetFirmware.elf ${workspace_loc:/${ProjName}/${ConfigName}}/DuetEthernetFirmware.bin">
<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.311889538" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
<option id="cdt.managedbuild.option.gnu.cross.path.1965306885" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" value="C:\Arduino-1.5.8\hardware\tools\gcc-arm-none-eabi-4.8.3-2014q1\bin" valueType="string"/>
@ -384,10 +384,10 @@
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1429050288" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
</tool>
<tool commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" id="cdt.managedbuild.tool.gnu.cross.c.compiler.1431507147" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
<option defaultValue="gnu.c.optimization.level.most" id="gnu.c.compiler.option.optimization.level.1104471278" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
<option defaultValue="gnu.c.optimization.level.most" id="gnu.c.compiler.option.optimization.level.1104471278" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.c.optimization.level.more" valueType="enumerated"/>
<option id="gnu.c.compiler.option.debugging.level.477980593" name="Debug Level" superClass="gnu.c.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.c.debugging.level.none" valueType="enumerated"/>
<option id="gnu.c.compiler.option.misc.verbose.1592038422" name="Verbose (-v)" superClass="gnu.c.compiler.option.misc.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
<option id="gnu.c.compiler.option.misc.other.370908347" name="Other flags" superClass="gnu.c.compiler.option.misc.other" useByScannerDiscovery="false" value="-c -std=gnu99 -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500" valueType="string"/>
<option id="gnu.c.compiler.option.misc.other.370908347" name="Other flags" superClass="gnu.c.compiler.option.misc.other" useByScannerDiscovery="false" value="-c -std=gnu99 -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -ffunction-sections -fdata-sections -nostdlib" valueType="string"/>
<option id="gnu.c.compiler.option.include.paths.1126811520" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/cores/arduino}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Storage}&quot;"/>
@ -434,7 +434,7 @@
<option id="gnu.cpp.compiler.option.optimization.level.2020978856" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.more" valueType="enumerated"/>
<option id="gnu.cpp.compiler.option.debugging.level.910542376" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
<option id="gnu.cpp.compiler.option.other.verbose.1078412916" name="Verbose (-v)" superClass="gnu.cpp.compiler.option.other.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
<option id="gnu.cpp.compiler.option.other.other.683644273" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -std=gnu++11 -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib --param max-inline-insns-single=500" valueType="string"/>
<option id="gnu.cpp.compiler.option.other.other.683644273" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -std=gnu++11 -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
<option id="gnu.cpp.compiler.option.include.paths.1135603629" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/cores/arduino}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Flash}&quot;"/>

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Release/Duet-WiFi/Edge/DuetWebControl-1.14-b4.bin
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Release/Duet-WiFi/Edge/DuetWiFiFirmware-1.17c+1.bin Normal file
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Release/Duet-WiFi/Edge/DuetWiFiFirmware-1.17rc3.bin
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2
src/Configuration.h
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@ -163,7 +163,7 @@ const size_t RESERVED_OUTPUT_BUFFERS = 2; // Number of reserved output buffers
const float DefaultFeedrate = 3000.0; // The initial requested feed rate after resetting the printer, in mm/min
const float DefaultRetractSpeed = 1000.0; // The default firmware retraction and un-retraction speed, in mm
const float DefaultRetractLength = 1.0;
const float DefaultRetractLength = 2.0;
const float DefaultArcSegmentLength = 0.2; // G2 and G3 arc movement commands get split into segments this long

18
src/GCodes/GCodes.cpp
View file

@ -110,7 +110,8 @@ void GCodes::Init()
}
lastDefaultFanSpeed = 0.0;
retractLength = retractExtra = DefaultRetractLength;
retractLength = DefaultRetractLength;
retractExtra = 0.0;
retractHop = 0.0;
retractSpeed = unRetractSpeed = DefaultRetractSpeed * SecondsToMinutes;
isRetracted = false;
@ -1025,9 +1026,18 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, int moveType)
}
else
{
const float requestedExtrusionAmount = (gb.MachineState().drivesRelative)
? moveArg
: moveArg - tool->virtualExtruderPosition;
float requestedExtrusionAmount;
if (gb.MachineState().drivesRelative)
{
requestedExtrusionAmount = moveArg;
tool->virtualExtruderPosition += moveArg;
}
else
{
requestedExtrusionAmount = moveArg - tool->virtualExtruderPosition;
tool->virtualExtruderPosition = moveArg;
}
for (size_t eDrive = 0; eDrive < eMoveCount; eDrive++)
{
const int drive = tool->Drive(eDrive);

253
src/Movement/DDA.cpp
View file

@ -102,6 +102,38 @@ pre(state == executing || state == frozen || state == completed)
: (int32_t)clocksNeeded;
}
// Insert the specified drive into the step list, in step time order.
// We insert the drive before any existing entries with the same step time for best performance. Now that we generate step pulses
// for multiple motors simultaneously, there is no need to preserve round-robin order.
inline void DDA::InsertDM(DriveMovement *dm)
{
DriveMovement **dmp = &firstDM;
while (*dmp != nullptr && (*dmp)->nextStepTime < dm->nextStepTime)
{
dmp = &((*dmp)->nextDM);
}
dm->nextDM = *dmp;
*dmp = dm;
}
// Remove this drive from the list of drives with steps due, and return its DM or nullptr if not there
// Called from the step ISR only.
DriveMovement *DDA::RemoveDM(size_t drive)
{
DriveMovement **dmp = &firstDM;
while (*dmp != nullptr)
{
DriveMovement *dm = *dmp;
if (dm->drive == drive)
{
(*dmp) = dm->nextDM;
return dm;
}
dmp = &(dm->nextDM);
}
return nullptr;
}
void DDA::DebugPrintVector(const char *name, const float *vec, size_t len) const
{
debugPrintf("%s=", name);
@ -898,8 +930,107 @@ void DDA::Absolute(float v[], size_t dimensions)
}
}
void DDA::CheckEndstops(Platform *platform)
{
if ((endStopsToCheck & ZProbeActive) != 0) // if the Z probe is enabled in this move
{
// Check whether the Z probe has been triggered. On a delta at least, this must be done separately from endstop checks,
// because we have both a high endstop and a Z probe, and the Z motor is not the same thing as the Z axis.
switch (platform->GetZProbeResult())
{
case EndStopHit::lowHit:
MoveAborted(); // set the state to completed and recalculate the endpoints
reprap.GetMove()->ZProbeTriggered(this);
break;
case EndStopHit::lowNear:
ReduceHomingSpeed();
break;
default:
break;
}
}
#if DDA_LOG_PROBE_CHANGES
else if ((endStopsToCheck & LogProbeChanges) != 0)
{
switch (platform->GetZProbeResult())
{
case EndStopHit::lowHit:
if (!probeTriggered)
{
probeTriggered = true;
LogProbePosition();
}
break;
case EndStopHit::lowNear:
case EndStopHit::noStop:
if (probeTriggered)
{
probeTriggered = false;
LogProbePosition();
}
break;
default:
break;
}
}
#endif
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
for (size_t drive = 0; drive < numAxes; ++drive)
{
if ((endStopsToCheck & (1 << drive)) != 0)
{
switch(platform->Stopped(drive))
{
case EndStopHit::lowHit:
endStopsToCheck &= ~(1 << drive); // clear this check so that we can check for more
if (endStopsToCheck == 0 || reprap.GetMove()->IsCoreXYAxis(drive)) // if no more endstops to check, or this axis uses shared motors
{
MoveAborted();
}
else
{
StopDrive(drive);
}
reprap.GetMove()->HitLowStop(drive, this);
break;
case EndStopHit::highHit:
endStopsToCheck &= ~(1 << drive); // clear this check so that we can check for more
if (endStopsToCheck == 0 || reprap.GetMove()->IsCoreXYAxis(drive)) // if no more endstops to check, or this axis uses shared motors
{
MoveAborted();
}
else
{
StopDrive(drive);
}
reprap.GetMove()->HitHighStop(drive, this);
break;
case EndStopHit::lowNear:
// Only reduce homing speed if there are no more axes to be homed.
// This allows us to home X and Y simultaneously.
if (endStopsToCheck == (1 << drive))
{
ReduceHomingSpeed();
}
break;
default:
break;
}
}
}
}
// The remaining functions are speed-critical, so use full optimisation
#pragma GCC optimize ("O3")
// The GCC optimize pragma appears to be broken, if we try to force O3 optimisation here then functions are never inlined
// Start executing this move, returning true if Step() needs to be called immediately. Must be called with interrupts disabled, to avoid a race condition.
// Returns true if the caller needs to call the step ISR immediately.
@ -996,103 +1127,9 @@ bool DDA::Step()
// Keep this loop as fast as possible, in the case that there are no endstops to check!
// 1. Check endstop switches and Z probe if asked. This is not speed critical because fast moves do not use endstops or the Z probe.
if (endStopsToCheck != 0) // if any homing switches or the Z probe is enabled in this move
if (endStopsToCheck != 0) // if any homing switches or the Z probe is enabled in this move
{
if ((endStopsToCheck & ZProbeActive) != 0) // if the Z probe is enabled in this move
{
// Check whether the Z probe has been triggered. On a delta at least, this must be done separately from endstop checks,
// because we have both a high endstop and a Z probe, and the Z motor is not the same thing as the Z axis.
switch (platform->GetZProbeResult())
{
case EndStopHit::lowHit:
MoveAborted(); // set the state to completed and recalculate the endpoints
reprap.GetMove()->ZProbeTriggered(this);
break;
case EndStopHit::lowNear:
ReduceHomingSpeed();
break;
default:
break;
}
}
#if DDA_LOG_PROBE_CHANGES
else if ((endStopsToCheck & LogProbeChanges) != 0)
{
switch (platform->GetZProbeResult())
{
case EndStopHit::lowHit:
if (!probeTriggered)
{
probeTriggered = true;
LogProbePosition();
}
break;
case EndStopHit::lowNear:
case EndStopHit::noStop:
if (probeTriggered)
{
probeTriggered = false;
LogProbePosition();
}
break;
default:
break;
}
}
#endif
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
for (size_t drive = 0; drive < numAxes; ++drive)
{
if ((endStopsToCheck & (1 << drive)) != 0)
{
switch(platform->Stopped(drive))
{
case EndStopHit::lowHit:
endStopsToCheck &= ~(1 << drive); // clear this check so that we can check for more
if (endStopsToCheck == 0 || reprap.GetMove()->IsCoreXYAxis(drive)) // if no more endstops to check, or this axis uses shared motors
{
MoveAborted();
}
else
{
StopDrive(drive);
}
reprap.GetMove()->HitLowStop(drive, this);
break;
case EndStopHit::highHit:
endStopsToCheck &= ~(1 << drive); // clear this check so that we can check for more
if (endStopsToCheck == 0 || reprap.GetMove()->IsCoreXYAxis(drive)) // if no more endstops to check, or this axis uses shared motors
{
MoveAborted();
}
else
{
StopDrive(drive);
}
reprap.GetMove()->HitHighStop(drive, this);
break;
case EndStopHit::lowNear:
// Only reduce homing speed if there are no more axes to be homed.
// This allows us to home X and Y simultaneously.
if (endStopsToCheck == (1 << drive))
{
ReduceHomingSpeed();
}
break;
default:
break;
}
}
}
CheckEndstops(platform); // Call out to a separate function because this may help cache usage in the more common case where we don't call it
if (state == completed) // we may have completed the move due to triggering an endstop switch or Z probe
{
break;
@ -1174,8 +1211,8 @@ bool DDA::Step()
if (state == completed)
{
uint32_t finishTime = moveStartTime + clocksNeeded; // calculate how long this move should take
Move *move = reprap.GetMove();
const uint32_t finishTime = moveStartTime + clocksNeeded; // calculate how long this move should take
Move * const move = reprap.GetMove();
move->CurrentMoveCompleted(); // tell Move that the current move is complete
return move->TryStartNextMove(finishTime); // schedule the next move
}
@ -1257,22 +1294,4 @@ bool DDA::HasStepError() const
return false;
}
// Remove this drive from the list of drives with steps due, and return its DM or nullptr if not there
// Called from the step ISR only.
DriveMovement *DDA::RemoveDM(size_t drive)
{
DriveMovement **dmp = &firstDM;
while (*dmp != nullptr)
{
DriveMovement *dm = *dmp;
if (dm->drive == drive)
{
(*dmp) = dm->nextDM;
return dm;
}
dmp = &(dm->nextDM);
}
return nullptr;
}
// End

15
src/Movement/DDA.h
View file

@ -104,6 +104,7 @@ private:
DriveMovement *RemoveDM(size_t drive);
bool IsDecelerationMove() const; // return true if this move is or have been might have been intended to be a deceleration-only move
void DebugPrintVector(const char *name, const float *vec, size_t len) const;
void CheckEndstops(Platform *platform);
static void DoLookahead(DDA *laDDA); // called by AdjustEndSpeed to do the real work
static float Normalise(float v[], size_t dim1, size_t dim2); // Normalise a vector of dim1 dimensions to unit length in the first dim1 dimensions
@ -180,18 +181,4 @@ inline void DDA::SetDriveCoordinate(int32_t a, size_t drive)
endCoordinatesValid = false;
}
// Insert the specified drive into the step list, in step time order.
// We insert the drive before any existing entries with the same step time for best performance. Now that we generate step pulses
// for multiple motors simultaneously, there is no need to preserve round-robin order.
inline void DDA::InsertDM(DriveMovement *dm)
{
DriveMovement **dmp = &firstDM;
while (*dmp != nullptr && (*dmp)->nextStepTime < dm->nextStepTime)
{
dmp = &((*dmp)->nextDM);
}
dm->nextDM = *dmp;
*dmp = dm;
}
#endif /* DDA_H_ */

3
src/Movement/DriveMovement.cpp
View file

@ -192,9 +192,6 @@ void DriveMovement::DebugPrint(char c, bool isDeltaMovement) const
}
}
// The remaining functions are speed-critical, so use full optimisation
#pragma GCC optimize ("O3")
// Calculate and store the time since the start of the move when the next step for the specified DriveMovement is due.
// Return true if there are more steps to do.
// This is also used for extruders on delta machines.

4
src/Platform.cpp
View file

@ -2906,10 +2906,6 @@ bool Platform::SetTime(time_t time)
return ok;
}
// Pragma pop_options is not supported on this platform, so we put this time-critical code right at the end of the file
//#pragma GCC push_options
#pragma GCC optimize ("O3")
// Step pulse timer interrupt
void STEP_TC_HANDLER()
{

2
src/Version.h
View file

@ -13,7 +13,7 @@
#endif
#ifndef DATE
# define DATE "2017-01-19"
# define DATE "2017-01-20"
#endif
#define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"