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-rw-r--r--klippy/mcu.py6
-rw-r--r--src/avr/irq.h4
-rw-r--r--src/avr/timer.c26
-rw-r--r--src/basecmd.c18
-rw-r--r--src/basecmd.h1
-rw-r--r--src/generic/armcm_irq.c6
-rw-r--r--src/generic/irq.h1
-rw-r--r--src/generic/timer_irq.c17
-rw-r--r--src/generic/timer_irq.h1
-rw-r--r--src/pru/main.c12
-rw-r--r--src/pru/pru0.c7
-rw-r--r--src/sam3x8e/timer.c7
-rw-r--r--src/simulator/main.c5
13 files changed, 101 insertions, 10 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py
index cf85b740..f4e3e861 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -420,6 +420,7 @@ class MCU:
self._stats_sumsq_base = 0.
self._mcu_tick_avg = 0.
self._mcu_tick_stddev = 0.
+ self._mcu_tick_awake = 0.
def handle_mcu_stats(self, params):
count = params['count']
tick_sum = params['sum']
@@ -427,6 +428,7 @@ class MCU:
self._mcu_tick_avg = tick_sum * c
tick_sumsq = params['sumsq'] * self._stats_sumsq_base
self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2)
+ self._mcu_tick_awake = tick_sum / self._mcu_freq
def handle_shutdown(self, params):
if self.is_shutdown:
return
@@ -493,9 +495,9 @@ class MCU:
self._ffi_lib.steppersync_free(self._steppersync)
self._steppersync = None
def stats(self, eventtime):
- return "%s mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
+ return "%s mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self.serial.stats(eventtime),
- self._mcu_tick_avg, self._mcu_tick_stddev)
+ self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
def force_shutdown(self):
self.send(self._emergency_stop_cmd.encode())
def microcontroller_restart(self):
diff --git a/src/avr/irq.h b/src/avr/irq.h
index 33172c0f..349c4c43 100644
--- a/src/avr/irq.h
+++ b/src/avr/irq.h
@@ -28,6 +28,10 @@ static inline void irq_restore(irqstatus_t flag) {
SREG = flag;
}
+static inline void irq_wait(void) {
+ asm("sei\n sleep\n cli" : : : "memory");
+}
+
static inline void irq_poll(void) {
}
diff --git a/src/avr/timer.c b/src/avr/timer.c
index 92459af3..d9397187 100644
--- a/src/avr/timer.c
+++ b/src/avr/timer.c
@@ -6,6 +6,7 @@
#include <avr/interrupt.h> // TCNT1
#include "autoconf.h" // CONFIG_AVR_CLKPR
+#include "basecmd.h" // stats_note_sleep
#include "board/misc.h" // timer_from_us
#include "command.h" // shutdown
#include "irq.h" // irq_save
@@ -62,6 +63,12 @@ timer_set(uint16_t next)
OCR1A = next;
}
+static inline uint16_t
+timer_get_next(void)
+{
+ return OCR1A;
+}
+
static inline void
timer_repeat_set(uint16_t next)
{
@@ -103,6 +110,9 @@ timer_init(void)
// enable interrupt
TIMSK1 = 1<<OCIE1A;
irq_restore(flag);
+
+ // Enable idle on sleep instruction
+ SMCR = 0x01;
}
DECL_INIT(timer_init);
@@ -196,8 +206,22 @@ done:
void
timer_task(void)
{
+ static uint16_t last_timer;
+ uint16_t lst = last_timer;
irq_disable();
- timer_repeat_set(timer_get() + TIMER_IDLE_REPEAT_TICKS);
+ uint16_t next = timer_get_next(), cur = timer_get();
+ if (lst != next) {
+ timer_repeat_set(cur + TIMER_IDLE_REPEAT_TICKS);
+ irq_enable();
+ last_timer = next;
+ return;
+ }
+
+ // Sleep the processor
+ irq_wait();
+ uint16_t post_sleep = timer_get();
+ timer_repeat_set(post_sleep + TIMER_IDLE_REPEAT_TICKS);
irq_enable();
+ stats_note_sleep(post_sleep - cur);
}
DECL_TASK(timer_task);
diff --git a/src/basecmd.c b/src/basecmd.c
index 742a9e26..7a2f7882 100644
--- a/src/basecmd.c
+++ b/src/basecmd.c
@@ -188,6 +188,7 @@ command_get_status(uint32_t *args)
DECL_COMMAND_FLAGS(command_get_status, HF_IN_SHUTDOWN, "get_status");
static uint32_t stats_send_time, stats_send_time_high;
+static uint32_t stats_last_time, stats_sleep_time;
void
command_get_uptime(uint32_t *args)
@@ -198,16 +199,23 @@ command_get_uptime(uint32_t *args)
}
DECL_COMMAND_FLAGS(command_get_uptime, HF_IN_SHUTDOWN, "get_uptime");
+void
+stats_note_sleep(uint32_t sleep_time)
+{
+ stats_sleep_time += sleep_time;
+ stats_last_time += sleep_time;
+}
+
#define SUMSQ_BASE 256
DECL_CONSTANT(STATS_SUMSQ_BASE, SUMSQ_BASE);
void
stats_task(void)
{
- static uint32_t last, count, sumsq;
+ static uint32_t count, sumsq;
uint32_t cur = timer_read_time();
- uint32_t diff = cur - last;
- last = cur;
+ uint32_t diff = cur - stats_last_time;
+ stats_last_time = cur;
count++;
// Calculate sum of diff^2 - be careful of integer overflow
uint32_t nextsumsq;
@@ -224,10 +232,12 @@ stats_task(void)
if (timer_is_before(cur, stats_send_time + timer_from_us(5000000)))
return;
- sendf("stats count=%u sum=%u sumsq=%u", count, cur - stats_send_time, sumsq);
+ sendf("stats count=%u sum=%u sumsq=%u"
+ , count, cur - stats_send_time - stats_sleep_time, sumsq);
if (cur < stats_send_time)
stats_send_time_high++;
stats_send_time = cur;
+ stats_sleep_time = 0;
count = sumsq = 0;
}
DECL_TASK(stats_task);
diff --git a/src/basecmd.h b/src/basecmd.h
index 987d7498..713343e2 100644
--- a/src/basecmd.h
+++ b/src/basecmd.h
@@ -9,6 +9,7 @@ void move_request_size(int size);
void *oid_lookup(uint8_t oid, void *type);
void *oid_alloc(uint8_t oid, void *type, uint16_t size);
void *oid_next(uint8_t *i, void *type);
+void stats_note_sleep(uint32_t sleep_time);
#define foreach_oid(pos,data,oidtype) \
for (pos=-1; (data=oid_next(&pos, oidtype)); )
diff --git a/src/generic/armcm_irq.c b/src/generic/armcm_irq.c
index 7778c389..9b5a67d5 100644
--- a/src/generic/armcm_irq.c
+++ b/src/generic/armcm_irq.c
@@ -35,6 +35,12 @@ irq_restore(irqstatus_t flag)
}
void
+irq_wait(void)
+{
+ asm volatile("cpsie i\n wfi\n cpsid i\n" ::: "memory");
+}
+
+void
irq_poll(void)
{
}
diff --git a/src/generic/irq.h b/src/generic/irq.h
index 1e39d4e6..bbabf029 100644
--- a/src/generic/irq.h
+++ b/src/generic/irq.h
@@ -9,6 +9,7 @@ void irq_disable(void);
void irq_enable(void);
irqstatus_t irq_save(void);
void irq_restore(irqstatus_t flag);
+void irq_wait(void);
void irq_poll(void);
#endif // irq.h
diff --git a/src/generic/timer_irq.c b/src/generic/timer_irq.c
index 07161eee..6c14f9ae 100644
--- a/src/generic/timer_irq.c
+++ b/src/generic/timer_irq.c
@@ -8,6 +8,7 @@
#include "board/irq.h" // irq_disable
#include "board/misc.h" // timer_from_us
#include "board/timer_irq.h" // timer_dispatch_many
+#include "basecmd.h" // stats_note_sleep
#include "command.h" // shutdown
#include "sched.h" // sched_timer_kick
@@ -85,9 +86,23 @@ timer_dispatch_many(void)
void
timer_task(void)
{
+ static uint32_t last_timer;
+ uint32_t lst = last_timer;
irq_disable();
- timer_repeat_until = timer_read_time() + TIMER_IDLE_REPEAT_TICKS;
+ uint32_t next = timer_get_next(), cur = timer_read_time();
+ if (lst != next) {
+ timer_repeat_until = cur + TIMER_IDLE_REPEAT_TICKS;
+ irq_enable();
+ last_timer = next;
+ return;
+ }
+
+ // Sleep the processor
+ irq_wait();
+ uint32_t post_sleep = timer_read_time();
+ timer_repeat_until = post_sleep + TIMER_IDLE_REPEAT_TICKS;
irq_enable();
+ stats_note_sleep(post_sleep - cur);
}
DECL_TASK(timer_task);
diff --git a/src/generic/timer_irq.h b/src/generic/timer_irq.h
index 031f0d6b..ad6ad033 100644
--- a/src/generic/timer_irq.h
+++ b/src/generic/timer_irq.h
@@ -2,5 +2,6 @@
#define __GENERIC_TIMER_IRQ_H
uint32_t timer_dispatch_many(void);
+uint32_t timer_get_next(void);
#endif // timer_irq.h
diff --git a/src/pru/main.c b/src/pru/main.c
index 3ead0bde..021bee3f 100644
--- a/src/pru/main.c
+++ b/src/pru/main.c
@@ -46,6 +46,12 @@ irq_restore(irqstatus_t flag)
{
}
+void
+irq_wait(void)
+{
+ asm("slp 1");
+}
+
static void
timer_set(uint32_t value)
{
@@ -53,6 +59,12 @@ timer_set(uint32_t value)
}
uint32_t
+timer_get_next(void)
+{
+ return CT_IEP.TMR_CMP0;
+}
+
+uint32_t
timer_read_time(void)
{
return CT_IEP.TMR_CNT;
diff --git a/src/pru/pru0.c b/src/pru/pru0.c
index 3a8fd421..c6a63cb9 100644
--- a/src/pru/pru0.c
+++ b/src/pru/pru0.c
@@ -135,8 +135,7 @@ static void
process_io(void)
{
for (;;) {
- if (!(read_r31() & (1 << (WAKE_PRU0_IRQ + R31_IRQ_OFFSET))))
- continue;
+ asm("slp 1");
CT_INTC.SECR0 = (1 << KICK_PRU0_FROM_ARM_EVENT) | (1 << KICK_PRU0_EVENT);
check_can_send();
check_can_read();
@@ -327,6 +326,10 @@ main(void)
, CHAN_DESC, CHAN_PORT) != PRU_RPMSG_SUCCESS)
;
+ // Allow PRU0 and PRU1 to wake from sleep
+ PRU0_CTRL.WAKEUP_EN = 1 << (WAKE_PRU0_IRQ + R31_IRQ_OFFSET);
+ PRU1_CTRL.WAKEUP_EN = 1 << (WAKE_PRU1_IRQ + R31_IRQ_OFFSET);
+
// Wait for PRU1 to be ready
memset(SHARED_MEM, 0, sizeof(*SHARED_MEM));
writel(&SHARED_MEM->signal, SIGNAL_PRU0_WAITING);
diff --git a/src/sam3x8e/timer.c b/src/sam3x8e/timer.c
index 0bc21dae..ba1124cb 100644
--- a/src/sam3x8e/timer.c
+++ b/src/sam3x8e/timer.c
@@ -18,6 +18,13 @@ timer_set(uint32_t value)
TC0->TC_CHANNEL[0].TC_RA = value;
}
+// Return the next scheduled wake up time
+uint32_t
+timer_get_next(void)
+{
+ return TC0->TC_CHANNEL[0].TC_RA;
+}
+
// Return the current time (in absolute clock ticks).
uint32_t
timer_read_time(void)
diff --git a/src/simulator/main.c b/src/simulator/main.c
index f0e18737..ccd6dd93 100644
--- a/src/simulator/main.c
+++ b/src/simulator/main.c
@@ -48,6 +48,11 @@ irq_restore(irqstatus_t flag)
}
void
+irq_wait(void)
+{
+}
+
+void
irq_poll(void)
{
}
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-01 21:43:25 +0000