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Fix i2s probing hang (#608)

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* Fix I2S stepper hung just after the completion of motor moving

* Fix recompile issue

Fixed a problem with the recompile not being recompiled even if the files under the Custom folder are changed.

* More comment for macOS in debug.ini

* Fix the timing of calling I2S out's exclusion function and reset sequence

The reset sequence did not seem to be correct, so I changed it.
According to the ESP-IDF PR, the correct sequence is as follows:
1)TX module
2)DMA
3)FIFO
c7f33524b4 (diff-27688c6b3c29373d2a2b142b8471981c)

* Changed the message level for I2S swtiching from warning to debug

* Add some comments
This commit is contained in:
odaki
2020-10-10 06:32:32 +09:00
committed by GitHub
parent 27061bfca6
commit d9dba2c908
6 changed files with 79 additions and 45 deletions
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14
Grbl_Esp32/src/GCode.cpp
View File

@@ -1502,9 +1502,6 @@ Error gc_execute_line(char* line, uint8_t client) {
if (gc_state.modal.motion != Motion::None) {
if (axis_command == AxisCommand::MotionMode) {
GCUpdatePos gc_update_pos = GCUpdatePos::Target;
#ifdef USE_I2S_STEPS
stepper_id_t save_stepper = current_stepper;
#endif
if (gc_state.modal.motion == Motion::Linear) {
//mc_line(gc_block.values.xyz, pl_data);
mc_line_kins(gc_block.values.xyz, pl_data, gc_state.position);
@@ -1527,12 +1524,6 @@ Error gc_execute_line(char* line, uint8_t client) {
// upon a successful probing cycle, the machine position and the returned value should be the same.
#ifndef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
pl_data->motion.noFeedOverride = 1;
#endif
#ifdef USE_I2S_STEPS
save_stepper = current_stepper; // remember the stepper
if (save_stepper == ST_I2S_STREAM) {
stepper_switch(ST_I2S_STATIC); // Change the stepper to reduce the delay for accurate probing.
}
#endif
gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, gc_parser_flags);
}
@@ -1544,11 +1535,6 @@ Error gc_execute_line(char* line, uint8_t client) {
} else if (gc_update_pos == GCUpdatePos::System) {
gc_sync_position(); // gc_state.position[] = sys_position
} // == GCUpdatePos::None
#ifdef USE_I2S_STEPS
if (save_stepper == ST_I2S_STREAM && current_stepper != ST_I2S_STREAM) {
stepper_switch(ST_I2S_STREAM); // Put the stepper back on.
}
#endif
}
}
// [21. Program flow ]:

55
Grbl_Esp32/src/I2SOut.cpp
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@@ -291,9 +291,27 @@ static int IRAM_ATTR i2s_out_start() {
// Attach I2S to specified GPIO pin
i2s_out_gpio_attach(i2s_out_ws_pin, i2s_out_bck_pin, i2s_out_data_pin);
//start DMA link
// reest TX/RX module
I2S0.conf.tx_reset = 1;
I2S0.conf.tx_reset = 0;
I2S0.conf.rx_reset = 1;
I2S0.conf.rx_reset = 0;
# ifdef USE_I2S_OUT_STREAM_IMPL
// reset DMA
I2S0.lc_conf.in_rst = 1;
I2S0.lc_conf.in_rst = 0;
I2S0.lc_conf.out_rst = 1;
I2S0.lc_conf.out_rst = 0;
I2S0.out_link.addr = (uint32_t)o_dma.desc[0];
# endif
// reset FIFO
i2s_out_reset_fifo_without_lock();
// start DMA link
# ifdef USE_I2S_OUT_STREAM_IMPL
if (i2s_out_pulser_status == PASSTHROUGH) {
I2S0.conf_chan.tx_chan_mod = 3; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
@@ -304,21 +322,6 @@ static int IRAM_ATTR i2s_out_start() {
}
# endif
# ifdef USE_I2S_OUT_STREAM_IMPL
//reset DMA
I2S0.lc_conf.in_rst = 1;
I2S0.lc_conf.in_rst = 0;
I2S0.lc_conf.out_rst = 1;
I2S0.lc_conf.out_rst = 0;
I2S0.out_link.addr = (uint32_t)o_dma.desc[0];
# endif
I2S0.conf.tx_reset = 1;
I2S0.conf.tx_reset = 0;
I2S0.conf.rx_reset = 1;
I2S0.conf.rx_reset = 0;
I2S0.conf1.tx_stop_en = 1; // BCK and WCK are suppressed while FIFO is empty
# ifdef USE_I2S_OUT_STREAM_IMPL
@@ -339,13 +342,14 @@ static int IRAM_ATTR i2s_out_start() {
}
# ifdef USE_I2S_OUT_STREAM_IMPL
// Fill out one DMA buffer
// Call with the I2S_OUT_PULSER lock acquired.
// Note that the lock is temporarily released while calling the callback function.
static int IRAM_ATTR i2s_fillout_dma_buffer(lldesc_t* dma_desc) {
uint32_t* buf = (uint32_t*)dma_desc->buf;
o_dma.rw_pos = 0;
// It reuses the oldest (just transferred) buffer with the name "current"
// and fills the buffer for later DMA.
I2S_OUT_PULSER_ENTER_CRITICAL(); // Lock pulser status
if (i2s_out_pulser_status == STEPPING) {
//
// Fillout the buffer for pulse
@@ -408,7 +412,6 @@ static int IRAM_ATTR i2s_fillout_dma_buffer(lldesc_t* dma_desc) {
o_dma.rw_pos = 0; // If someone calls i2s_out_push_sample, make sure there is no buffer overflow
i2s_out_remain_time_until_next_pulse = 0;
}
I2S_OUT_PULSER_EXIT_CRITICAL(); // Unlock pulser status
return 0;
}
@@ -591,10 +594,18 @@ i2s_out_pulser_status_t IRAM_ATTR i2s_out_get_pulser_status() {
int IRAM_ATTR i2s_out_set_passthrough() {
I2S_OUT_PULSER_ENTER_CRITICAL();
# ifdef USE_I2S_OUT_STREAM_IMPL
// Triggers a change of mode if it is compiled to use I2S stream.
// The mode is not changed directly by this function.
// Pull the trigger
if (i2s_out_pulser_status == STEPPING) {
i2s_out_pulser_status = WAITING; // Start stopping the pulser
i2s_out_pulser_status = WAITING; // Start stopping the pulser (trigger)
}
// It is a function that may be called via i2sOutTask().
// (i2sOutTask() -> stepper_pulse_func() -> st_go_idle() -> Stepper_Timer_Stop() -> this function)
// And only i2sOutTask() can change the state to PASSTHROUGH.
// So, to change the state, you need to return to i2sOutTask() as soon as possible.
# else
// If it is compiled to not use I2S streams, change the mode directly.
i2s_out_pulser_status = PASSTHROUGH;
# endif
I2S_OUT_PULSER_EXIT_CRITICAL();
@@ -627,6 +638,7 @@ int IRAM_ATTR i2s_out_set_stepping() {
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
// Now, DMA completed. Fallthrough.
}
// Change I2S state from PASSTHROUGH to STEPPING
@@ -772,7 +784,6 @@ int IRAM_ATTR i2s_out_init(i2s_out_init_t& init_param) {
//
// configure I2S data port interface.
i2s_out_reset_fifo();
//reset i2s
I2S0.conf.tx_reset = 1;
@@ -786,6 +797,8 @@ int IRAM_ATTR i2s_out_init(i2s_out_init_t& init_param) {
I2S0.lc_conf.out_rst = 1; // Set this bit to reset out DMA FSM. (R/W)
I2S0.lc_conf.out_rst = 0;
i2s_out_reset_fifo_without_lock();
//Enable and configure DMA
I2S0.lc_conf.check_owner = 0;
I2S0.lc_conf.out_loop_test = 0;

36
Grbl_Esp32/src/MotionControl.cpp
View File

@@ -260,6 +260,25 @@ static bool axis_is_squared(uint8_t axis_mask) {
return mask_is_single_axis(axis_mask) && mask_has_squared_axis(axis_mask);
}
#ifdef USE_I2S_STEPS
# define BACKUP_STEPPER(save_stepper) \
do { \
if (save_stepper == ST_I2S_STREAM) { \
stepper_switch(ST_I2S_STATIC); /* Change the stepper to reduce the delay for accurate probing. */ \
} \
} while (0)
# define RESTORE_STEPPER(save_stepper) \
do { \
if (save_stepper == ST_I2S_STREAM && current_stepper != ST_I2S_STREAM) { \
stepper_switch(ST_I2S_STREAM); /* Put the stepper back on. */ \
} \
} while (0)
#else
# define BACKUP_STEPPER(save_stepper)
# define RESTORE_STEPPER(save_stepper)
#endif
// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
@@ -371,6 +390,13 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
if (sys.abort) {
return GCUpdatePos::None; // Return if system reset has been issued.
}
#ifdef USE_I2S_STEPS
stepper_id_t save_stepper = current_stepper; /* remember the stepper */
#endif
// Switch stepper mode to the I2S static (realtime mode)
BACKUP_STEPPER(save_stepper);
// Initialize probing control variables
uint8_t is_probe_away = bit_istrue(parser_flags, GCParserProbeIsAway);
uint8_t is_no_error = bit_istrue(parser_flags, GCParserProbeIsNoError);
@@ -381,7 +407,8 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
if (probe_get_state() ^ is_probe_away) { // Check probe pin state.
sys_rt_exec_alarm = ExecAlarm::ProbeFailInitial;
protocol_execute_realtime();
return GCUpdatePos::None; // Nothing else to do but bail.
RESTORE_STEPPER(save_stepper); // Switch the stepper mode to the previous mode
return GCUpdatePos::None; // Nothing else to do but bail.
}
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
mc_line(target, pl_data);
@@ -392,9 +419,14 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
do {
protocol_execute_realtime();
if (sys.abort) {
return GCUpdatePos::None; // Check for system abort
RESTORE_STEPPER(save_stepper); // Switch the stepper mode to the previous mode
return GCUpdatePos::None; // Check for system abort
}
} while (sys.state != State::Idle);
// Switch the stepper mode to the previous mode
RESTORE_STEPPER(save_stepper);
// Probing cycle complete!
// Set state variables and error out, if the probe failed and cycle with error is enabled.
if (sys_probe_state == Probe::Active) {

7
Grbl_Esp32/src/Stepper.cpp
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@@ -457,11 +457,10 @@ void stepper_switch(stepper_id_t new_stepper) {
#ifdef USE_I2S_STEPS
if (current_stepper == ST_I2S_STREAM) {
if (i2s_out_get_pulser_status() != PASSTHROUGH) {
// This switching function should not be called during streaming.
// However, if it is called, it will stop streaming.
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Warning, "Stop the I2S streaming and switch to the passthrough mode.");
// Called during streaming. Stop streaming.
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Debug, "Stop the I2S streaming and switch to the passthrough mode.");
i2s_out_set_passthrough();
i2s_out_delay();
i2s_out_delay(); // Wait for a change in mode.
}
}
#endif

10
debug.ini
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@@ -6,14 +6,18 @@
upload_port = COM3
monitor_port = COM3
; macOS
;upload_port = /dev/cu.usbserial-*
;monitor_port = /dev/cu.usbserial-*
;upload_port = /dev/cu.SLAB_USBtoUART
;monitor_port = /dev/cu.SLAB_USBtoUART
; macOS ESP-Prog
;upload_port = /dev/cu.usbserial-14200
;monitor_port = /dev/cu.usbserial-14201
;upload_protocol = esp-prog
; Linux
;upload_port = /dev/ttyUSB*
;monitor_port = /dev/ttyUSB*
build_flags =
${common.build_flags}
-DMACHINE_FILENAME=test_drive.h
-DMACHINE_FILENAME=test_drive.h
[env:debug]
; You can switch between debugging tools using debug_tool option

2
platformio.ini
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@@ -49,7 +49,7 @@ board_build.flash_mode = qio
build_flags = ${common.build_flags}
src_filter =
+<*.h> +<*.s> +<*.S> +<*.cpp> +<*.c> +<*.ino> +<src/>
-<.git/> -<data/> -<test/> -<tests/> -<Custom/>
-<.git/> -<data/> -<test/> -<tests/>
[env:release]