Allow reqclock to be slightly less than the transmitted messages's
deadline. That is, delay messages with a reqclock far in the future
to slightly past (1<<31) ticks from its deadline. Use (3<<29)
instead, which gives an additional (1<<29) grace period to avoid clock
overflows.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The MIN_REQTIME_DELTA parameter controls when the host will flush
incomplete message blocks to the mcu. If the message had a target
time less than 250ms it would result in a flush even if a message
block was not completely full.
In the situation where the host generates lots of queue_step commands
to the point that it fills the mcu move_queue, then it would be
possible for individual queue_step commands to become eligible for
transmit only microseconds apart. It could also lead to a situation
where the target time was less than 250ms in the future. The result
could lead to many small message blocks as each became flushed
individually.
Tune the MIN_REQTIME_DELTA to 100ms to reduce the chance of this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Keep moving messages from the pending queues to the ready queues even
if it's not currently valid to transmit messages to the mcu. This
improves the statistics when debugging.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only hold the lock in the serialqueue thread when moving messages to
the ready queue and when setting the next need_kick_clock.
Only set the need_kick_clock just prior to sleeping.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Maintain the next needed wakeup time for entries in the pending
queues. This avoids needing to walk the upcoming queues when it is
known that nothing is ready to be released.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
There's no reason to attempt to handle multiple buffer transmissions
in a single command_event() call. Handle the transmit case outside of
the command building loop.
If data is transmitted, then get a new timestamp from the pollreactor
and retry before sleeping.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Simply describe how the cmdqueue is moved between states.
This is commit d7da45e1 resubmitted with a slighly different
implementation. It is thought that the previous implementation was
causing a gcc compiliation issue on gcc v12.0-v12.4 compilers. (It
may be related to gcc bug report 107467).
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This reverts commit aea8d8e0a1.
This reverts commit 493271697f.
This reverts commit d7da45e152.
There are reports of a regression since making this change. Revert
for now until the root cause can be found.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support extracting moves from both the "live" trapq->moves as well as
the "history" from trapq->history storage. Now that moves are flushed
separately from the lookahead queue, there is a good chance that the
current move being processed on the mcus will still be in the active
trapq list.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit b60804bb changed the trapq head sentinel to store
print_time=-1. However, it failed to update trapq_add_move() that
relied on that value to detect the head sentinel. As a result,
numerical stability issues could lead to stepcompress errors.
Fix by changing trapq_add_move() to detect the head sentinel even with
a negative print_time.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit a89694ac changed the code to run itersolve_generate_steps()
from multiple threads simultaneously. However,
trapq_check_sentinels() can modify the shared trapq object. So,
calling it from multiple threads could introduce a race condition.
Move the call to trapq_check_sentinels() to steppersyncmgr_gen_steps()
to avoid the issue.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement step generation from 'struct syncemitter' instead of in the
stepcompress code. This simplifies the stepcompress code and
simplifies the overall interface.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move msg_queue allocation from stepcompress to syncemitter. With this
change the pwm_tool module does not need to allocate a stepcompress
object.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create a new 'struct syncemitter' for each object that can generate
messages for a 'struct steppersync' and store in a regular linked
list.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a new C based mechanism for tracking all the 'struct steppersync'
instances. This simplifies memory management.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If a stepper kinematics has a "scan window" defined during its first
flush then the iterative solver may walk past the head sentinel. Set
a small negative print_time for the head sentinel to avoid this corner
case.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Remove the toolhead note_step_generation_scan_time() code and
automatically detect the itersolve scan windows that are in use.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support storing a reference to 'struct stepper_kinematics' in 'struct
stepcompress' and support globally generating steps via the
steppersync mechanism.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't implement history expiration from the main steppersync_flush()
code. Instead, have callers directly invoke
steppersync_history_expire().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* tests: Added a regression test for generic_cartesian kinematics
* kinematics: An intial implementation of generic_cartesian kinematics
* generic_cartesian: Refactored kinematics configuration API
* generic_cartesian: Use stepper instead of kinematic_stepper in configs
* generic_cartesian: Added SET_STEPPER_KINEMATICS command
* generic_cartesian: Fixed parsing of section names
* docs: Generic Caretsian kinematics documentation and config samples
* generic_cartesian: Implemented multi-mcu homing validation
* generic_cartesian: Fixed typos in docs, minor fixes
* generic_cartesian: Renamed `kinematics` option to `carriages`
* generic_cartesian: Moved kinematic_stepper.py file
* idex_modes: Internal refactoring of handling dual carriages
* stepper: Refactored the code to not store a reference to config object
* config: Updated example-generic-cartesian config
* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status
* idex_modes: Fixed handling stepper kinematics with input shaper enabled
* config: Updated configs and tests for SET_DUAL_CARRIAGE new params
* generic_cartesian: Avoid inheritance in the added classes
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
