Stepper optimisations #25474

tombrazier · 2023-03-06T21:10:16Z

Description

A tranche of speed improvements for the stepper ISR along with an experimental new dynamic multi-stepping algorithm.

Needs testing and the dynamic muti-stepping algorithm needs to be made optional and extended to cover adaptive step smoothing.

More details to follow.

Requirements

Benefits

Configurations

Related Issues

#25117

…ve the minimal speed case

… as a byte for speed_lookuptable_fast

…ough the ternay function

…_needed

…to re-enable them either

…, matched formatting to speed_lookuptable.h and improved rounding

Marlin/src/module/stepper.cpp

tombrazier · 2023-03-18T13:46:02Z

Awesome.

* [cron] Bump distribution date (2023-03-05) * 🐛 Fix apply_power for SPINDLE_SERVO (MarlinFirmware#25465) * 🐛 Fix Flash EEPROM for STM32G0B1CB (MarlinFirmware#25469) * 🌐 Update Turkish language (MarlinFirmware#25447) * [cron] Bump distribution date (2023-03-06) * 🧑‍💻 Script to make non-accented languages * 🌐 Update Turkish language Followup to MarlinFirmware#25447 * [cron] Bump distribution date (2023-03-07) * 🌐 DGUS Reloaded non-accented French (MarlinFirmware#25443) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🔧 Add DGUS_LCD_UI RELOADED conditions * [cron] Bump distribution date (2023-03-08) * ✨ Extra Z Servo Probe options (MarlinFirmware#21427) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🔧 Update some config.ini options * 🔨 VSCode + Devcontainer support (MarlinFirmware#22420) * [cron] Bump distribution date (2023-03-09) * ✨ Z_SAFE_HOMING_POINT_ABSOLUTE (MarlinFirmware#23069) * [cron] Bump distribution date (2023-03-10) * ✨ BTT Octopus Max EZ 1.0, SKR 3.0 / 3.0 EZ (MarlinFirmware#25387) BTT Octopus Max EZ V1.0 (STM32H723VE/ZE), SKR V3.0 / V3.0 EZ (STM32H723VG) * [cron] Bump distribution date (2023-03-11) * 🐛 Fix Anet ET4 SD_SS_PIN (MarlinFirmware#25492) * [cron] Bump distribution date (2023-03-12) * BTT Octopus … followup (MarlinFirmware#25495) Followup to MarlinFirmware#25387 * ⚡️ Exit from ISR on AVR already does sei Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * 🎨 Cosmetic stepper updates Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * ✨ MAX7219_DEBUG_MULTISTEPPING Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * ⚡️ Use hal_timer_t for timing vars Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * ⚡️ Use cached la_active state Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * ⚡️ Use AxisFlags for step_needed Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * [cron] Bump distribution date (2023-03-13) * ⚡️ Major shaper optimization Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * ⚡️ Set steps_per_isr in calc_multistep_timer_interval Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * 🔧 Expose MULTISTEPPING_LIMIT option Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * ⚡️ Optimize speed lookup for AVR Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * ⚡️ Update ISR cycle counts Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com> * 📺 DGUS_RELOADED 1.03 (MarlinFirmware#25490) * [cron] Bump distribution date (2023-03-14) * 🐛 Fix Polargraph without Z (MarlinFirmware#25514) * 🐛 Fix long filename read/report (MarlinFirmware#25509) * 🩹 Fix IA_CREALITY float, startup (MarlinFirmware#25493) Followup to MarlinFirmware#25440 * [cron] Bump distribution date (2023-03-15) * 🎨 Misc. formatting * 🎨 Misc. tramming menu cleanup (MarlinFirmware#25519) * 🩹 Fan Menu / Status fixes Followup to MarlinFirmware#21888 * 🩹 Fix DWIN MarlinUI Fan/E/XY (MarlinFirmware#25502) * [cron] Bump distribution date (2023-03-16) * 🔧 Safer default for Z_MIN_PROBE_PIN override (MarlinFirmware#25524) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * ♻️ Refactor PROBE_PT_[123] * ♻️ Refactor UBL 'G29 J' * [cron] Bump distribution date (2023-03-17) * 🚸 Refinements for UBL G29 J (tilt mesh) (MarlinFirmware#25486) * [cron] Bump distribution date (2023-03-18) * 🔧 Optional MPC_AUTOTUNE to save 5.5 - 5.8KB * ✨ Sovol v1.3.1 (Sovol SV06) (MarlinFirmware#25267) * 🧑‍💻 More IntelliSense-friendly declares * 🎨 Clean up IA_CREALITY includes (MarlinFirmware#25530) * 🎨 Suppress warning (MarlinFirmware#25529) * 🔧 SQUARE_WAVE_STEPPING => EDGE_STEPPING (MarlinFirmware#25526) Co-Authored-By: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🚸 Improve Z-Probe raise for deploy (MarlinFirmware#25498) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🐛 Fix LVGL / MKS WiFi long filename (MarlinFirmware#25483) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🔨 Fix STM32H723Vx_btt for case-sensitive (MarlinFirmware#25535) * 🐛 Fix FYSETC Cheetah v2.0 Servo/Probe pins (MarlinFirmware#24635) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🐛 Prevent MPC E-permm overrun in Load Filament (MarlinFirmware#25531) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🚸 Fix / improve LCD_BED_TRAMMING (MarlinFirmware#25425) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🔧 Sanity-check PRINTCOUNTER_SAVE_INTERVAL + ESP32 I2S Exp (MarlinFirmware#25527) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * ⚡️ Smart Adaptive Multi-Stepping (MarlinFirmware#25474) * 🚸 Temperature Variance Monitor tweaks (MarlinFirmware#23571) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🩹 Fix Ender 2 stock LCD (MarlinFirmware#25538) * ⚡️ Misc. optimizations * [cron] Bump distribution date (2023-03-19) * ✨ REPORT_ADAPTIVE_FAN_SLOWING (MarlinFirmware#25537) * 🩹 Fix a serial_ternary * ✨ Z_SERVO_DEACTIVATE_AFTER_STOW (MarlinFirmware#24215) * 🐛 Avoid step rate overflow (MarlinFirmware#25541) * [cron] Bump distribution date (2023-03-20) * ✨ PROBING_TOOL (MarlinFirmware#24411) * [cron] Bump distribution date (2023-03-22) * ✨ FILAMENT_SWITCH_AND_MOTION (MarlinFirmware#25548) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🧑‍💻 ExtUI::onSetPowerLoss * [cron] Bump distribution date (2023-03-23) * 🎨 calibration_stage => stage * [cron] Bump distribution date (2023-03-24) * 🩹 Reset touch screen calibration on failure (MarlinFirmware#25334) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> * 🎨 TMC SPI Pins Co-Authored-By: Martin Turski <turningtides@outlook.de> * 🎨 Pins header comments Co-Authored-By: Martin Turski <turningtides@outlook.de> * 🎨 Wrap font includes Co-Authored-By: Martin Turski <turningtides@outlook.de> * 🎨 LPC_SOFTWARE_SPI => SOFTWARE_SPI Co-Authored-By: Martin Turski <turningtides@outlook.de> * 🔨 INI Updates Co-Authored-By: Martin Turski <turningtides@outlook.de> * 🎨 Misc. fixes, cleanup Co-Authored-By: Martin Turski <turningtides@outlook.de> * 🩹 Update TRONXY_V10 SPI_FLASH pins * [cron] Bump distribution date (2023-03-25) * 🩹 Fix Chitu3D V6 default probe pin (MarlinFirmware#25552) * 🔧 Remove TVPM warning (MarlinFirmware#25551) * 🐛 Fix MKS Gen L 2.1 MOSFET pins (MarlinFirmware#25542) * 🩹 Refine MKS boards with a dedicated FAN port (MarlinFirmware#25567) * 🎨 Rename FAN_PIN to FAN0_PIN (MarlinFirmware#25568) * 📝 Fix spelling (MarlinFirmware#25563) * [cron] Bump distribution date (2023-03-26) * 🎨 Timer tweaks * 🔧 Refactor endstop state config (MarlinFirmware#25574) * ✨ AnyCubic Vyper / Vyper LCD (MarlinFirmware#25405) * 🩹 Fix Touch Calibration first point (MarlinFirmware#25298) * 🧑‍💻 Auto Fan / Cooler Fan updates (MarlinFirmware#25554) * 🐛 Prevent divide-by-zero in calc_timer_interval (MarlinFirmware#25557) * 🔧 Sanity-check for endstop inverting Followup to MarlinFirmware#25574 * 🔧 Clarify axis disable / timeout (MarlinFirmware#25571) * [cron] Bump distribution date (2023-03-27) * 🔨 Fix thread-unsafe deque iteration * 🐛 Fix AnyCubic Vyper ProcessPanelRequest Followup to MarlinFirmware#25405 * 🎨 Suppress a type warning (MarlinFirmware#25575) * ⚡️ Improve TFT DMA for STM32 (MarlinFirmware#25359) * 🐛 Fix M23 long filename support (MarlinFirmware#25540) * [cron] Bump distribution date (2023-03-28) * 🎨 Misc. cleanup * 🔧 Fix up WiFi options (MarlinFirmware#25586) * 🔨 Update config.ini endstop states Followup to MarlinFirmware#25574 * [cron] Bump distribution date (2023-03-29) * 🔧 Impose Hephestos 2 Bed Kit requirements (MarlinFirmware#25585) * 🎨 Remove unused ProUI : UBLValidMesh (MarlinFirmware#25591) * 🔨 Improve Docker local tests support (MarlinFirmware#25583) * 🔨 MarlinSimUI updates (MarlinFirmware#25589) * [cron] Bump distribution date (2023-03-30) * 🩹 Update Trigorilla V006 fan pin Followup to MarlinFirmware#25568 * 🩹 Fix Ender-3 V2 with no fan * 🐛 Fix _HAS_FAN for fan on Pin 0 * 🎨 Refine probe, more debug * 🩹 Fix displayed mix percentages * [cron] Bump distribution date (2023-03-31) * 🔧 DGUS_LCD_UI selectable options * 🔧 Fix SENSORLESS hit state error (MarlinFirmware#25604) * 🧑‍💻 CardReader adjustments (MarlinFirmware#25611) * [cron] Bump distribution date (2023-04-01) * 🎨 HAS_SHAPING => HAS_ZV_SHAPING * ✨ Fixed-Time Motion with Input Shaping by Ulendo (MarlinFirmware#25394) Co-authored-by: Ulendo Alex <alex@ulendo.io> * 🐛 Fix Long FIlename lookup (MarlinFirmware#25598) * 🌐 Update Italian language (MarlinFirmware#25587) * 🔨 Move Docker local test script Followup to MarlinFirmware#25583 * 🩹 FT_MOTION Followup * 🐛 Ensure root for 'M503 C' * 🐛 Clean up DELTA babystep Z * 🐛 INVERT_*_DIR for FT_MOTION (MarlinFirmware#25637) * 🔧 Move DOGLCD options * 🧑‍💻 Update pinsformat.js * 📝 Update Ender # labels * [cron] Bump distribution date (2023-04-07) * 🚸 Support CoreXY without Z (MarlinFirmware#25630) * 🎨 Apply const (MarlinFirmware#25643) * update `pins_Aquila_X2.h` to new format --------- Co-authored-by: thinkyhead <thinkyhead@users.noreply.github.com> Co-authored-by: Hans-Christian Ebke <ebke@cs.rwth-aachen.de> Co-authored-by: alextrical <35117191+alextrical@users.noreply.github.com> Co-authored-by: Abdullah YILMAZ <h.abdullahyilmaz@hotmail.com> Co-authored-by: albatorsssx <albator_ssx@hotmail.com> Co-authored-by: Kurt Haenen <Misterke@users.noreply.github.com> Co-authored-by: Sion Williams <sion5@hotmail.co.uk> Co-authored-by: Evgeniy Zhabotinskiy <evg-zhabotinsky@users.noreply.github.com> Co-authored-by: Keith Bennett <13375512+thisiskeithb@users.noreply.github.com> Co-authored-by: tombrazier <68918209+tombrazier@users.noreply.github.com> Co-authored-by: Neo2003 <Neo2003@users.noreply.github.com> Co-authored-by: jbubik <jbubik@centrum.cz> Co-authored-by: Eduard Sukharev <sukharev.eh@gmail.com> Co-authored-by: Davide Rombolà <davide.rombola@gmail.com> Co-authored-by: dwzg <50058606+dwzg@users.noreply.github.com> Co-authored-by: ellensp <530024+ellensp@users.noreply.github.com> Co-authored-by: jamespearson04 <jamespearson04@hotmail.co.uk> Co-authored-by: Michael Hill <mhill@hillsoftware.com> Co-authored-by: James Gilliland <neclimdul@gmail.com> Co-authored-by: Liam Powell <liam+github@liampwll.com> Co-authored-by: George Fu <nailao_5918@163.com> Co-authored-by: Piotr Paczyński <ppaczyn@gmail.com> Co-authored-by: Farva42 <100859196+Farva42@users.noreply.github.com> Co-authored-by: John Robertson <john@cirtech.co.uk> Co-authored-by: John Lagonikas <39417467+zeleps@users.noreply.github.com> Co-authored-by: StevilKnevil <stevilknevil@hotmail.co.uk> Co-authored-by: FilippoR <filippo.rossoni@gmail.com> Co-authored-by: BIGTREETECH <38851044+bigtreetech@users.noreply.github.com> Co-authored-by: Martin Turski <turningtides@outlook.de> Co-authored-by: Giuliano Zaro <3684609+GMagician@users.noreply.github.com> Co-authored-by: Bob Kuhn <bob.kuhn@att.net> Co-authored-by: Alexander Gavrilenko <jmz52@users.noreply.github.com> Co-authored-by: Andrew <18502096+classicrocker883@users.noreply.github.com> Co-authored-by: John Unland <junland.foss@gmail.com> Co-authored-by: Chris Pepper <p3p@p3psoft.co.uk> Co-authored-by: Ulendo Alex <alex@ulendo.io>

tombrazier added 13 commits March 6, 2023 20:56

When moving fast, do not waste CPU cycles applying an offset to impro…

27cca14

…ve the minimal speed case

For the fastest step rates, do the least work in calc_timer_interval()

52771c5

Save 256 bytes of PROGMEM and gain cycles by saving the LERP gradient…

e42ba84

… as a byte for speed_lookuptable_fast

Use hal_timer_t for timers in the stepper ISR

535a931

The compiler is not smart enough to distribute the multiplication thr…

8391f31

…ough the ternay function

Removed redundant check against step_needed

bbf1d4e

Use the AxisFlags bitfield rather than the xyze_bool_t array for step…

a60777c

…_needed

Add 1 byte to RAM and save a lot of load/compare of 32 bit numbers

67ee043

Helped the compiler to keep bresenham logic in registers

848a638

As well as not needing to disable interrupts on AVR, you do not need …

3469556

…to re-enable them either

Added multistepping debugging to max7219

6ecf510

Not clean: added dynamic CPU control

62870e5

Merge branch 'bugfix-2.1.x' into stepper_optimisations

c537719

thinkyhead added PR: Improvement C: Motion labels Mar 6, 2023

thinkyhead added 3 commits March 6, 2023 15:37

Update createSpeedLookupTable.py

e34ce79

remove dead friends

0c1057c

sei() automatically invoked by AVR reti

4a8ca11

thinkyhead force-pushed the stepper_optimisations branch from 48f1269 to 4a8ca11 Compare March 6, 2023 22:00

er1z mentioned this pull request Mar 6, 2023

[BUG] 2.1.2 Stepper motor stutters and skips at high speed due to new ISR calculation #25117

Closed

1 task

thinkyhead added 2 commits March 6, 2023 16:34

style tweak

6c8431a

Minor calc_timer_interval optimizations

ae934bf

thinkyhead force-pushed the stepper_optimisations branch 3 times, most recently from 0ef56a7 to d1d2948 Compare March 7, 2023 00:19

style tweak

ea948d6

thinkyhead force-pushed the stepper_optimisations branch from d1d2948 to ea948d6 Compare March 7, 2023 01:35

thinkyhead force-pushed the bugfix-2.1.x branch 2 times, most recently from e90c213 to 4b9bb85 Compare March 7, 2023 05:17

Corrected logic for speed_lookuptable_fast to match values from 27cca14…

6c039bd

…, matched formatting to speed_lookuptable.h and improved rounding

Merge branch 'bugfix-2.1.x' into pr/25474

4db7e8c

thinkyhead force-pushed the stepper_optimisations branch from a361cb6 to 4db7e8c Compare March 12, 2023 20:22

thinkyhead added 2 commits March 13, 2023 17:42

Merge branch 'bugfix-2.1.x' into pr/25474

3cb8b2d

remove Q

fa0e4d8

thinkyhead reviewed Mar 17, 2023

View reviewed changes

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thinkyhead reviewed Mar 17, 2023

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thinkyhead force-pushed the stepper_optimisations branch 3 times, most recently from feb79a3 to 9de8199 Compare March 17, 2023 21:21

thinkyhead added 2 commits March 17, 2023 16:29

Old adaptive multi-stepping option

8c70c3e

tweak e motor direction

e7a2bab

thinkyhead force-pushed the stepper_optimisations branch 5 times, most recently from f28ded7 to d99894c Compare March 17, 2023 22:49

thinkyhead force-pushed the bugfix-2.1.x branch from faa3233 to 5abfc61 Compare March 18, 2023 10:15

thinkyhead force-pushed the stepper_optimisations branch from d99894c to e7a2bab Compare March 18, 2023 10:22

Merge branch 'bugfix-2.1.x' into pr/25474

679a587

thinkyhead merged commit 3c88270 into MarlinFirmware:bugfix-2.1.x Mar 18, 2023

tombrazier mentioned this pull request Mar 19, 2023

Fix hang caused by la_interval == 0 #25541

Merged

jesterhead82 mentioned this pull request Mar 23, 2023

[BUG] Crash during Print, LA, IS, Bugfix.2.1x #25553

Closed

1 task

EvilGremlin pushed a commit to EvilGremlin/Marlin that referenced this pull request Apr 8, 2023

⚡️ Smart Adaptive Multi-Stepping (MarlinFirmware#25474)

1dcf209

thinkyhead pushed a commit that referenced this pull request Apr 10, 2023

⚡️ Smart Adaptive Multi-Stepping (#25474)

609f2c6

thinkyhead pushed a commit to thinkyhead/Marlin that referenced this pull request May 16, 2023

⚡️ Smart Adaptive Multi-Stepping (MarlinFirmware#25474)

b9113be

EvilGremlin pushed a commit to EvilGremlin/Marlin that referenced this pull request May 17, 2023

⚡️ Smart Adaptive Multi-Stepping (MarlinFirmware#25474)

cba9ca3

tspiva pushed a commit to tspiva/Marlin that referenced this pull request May 25, 2023

⚡️ Smart Adaptive Multi-Stepping (MarlinFirmware#25474)

51d5d83

Andy-Big pushed a commit to Andy-Big/Marlin_FB_Reborn that referenced this pull request Jul 10, 2023

⚡️ Smart Adaptive Multi-Stepping (MarlinFirmware#25474)

a2c8db1

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Stepper optimisations #25474

Stepper optimisations #25474

tombrazier commented Mar 6, 2023

tombrazier commented Mar 18, 2023

Stepper optimisations #25474

Stepper optimisations #25474

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tombrazier commented Mar 6, 2023

Description

Requirements

Benefits

Configurations

Related Issues

tombrazier commented Mar 18, 2023