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Proper AVR preemptive interrupt handling (#10501)

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Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine 2018-04-23 20:47:31 -05:00 • committed by GitHub
parent 0764981aa1
commit 51004e003d
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 47 additions and 38 deletions
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40
Marlin/stepper.cpp
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@ -360,14 +360,33 @@ void Stepper::set_directions() {
* 4000 500 Hz - init rate
*/
ISR(TIMER1_COMPA_vect) {
/**
* On AVR there is no hardware prioritization and preemption of
* interrupts, so this emulates it. The UART has first priority
* (otherwise, characters will be lost due to UART overflow).
* Then: Stepper, Endstops, Temperature, and -finally- all others.
*
* This ISR needs to run with as little preemption as possible, so
* the Temperature ISR is disabled here. Now only the UART, Endstops,
* and Arduino-defined interrupts can preempt.
*/
const bool temp_isr_was_enabled = TEMPERATURE_ISR_ENABLED();
DISABLE_TEMPERATURE_INTERRUPT();
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
#if ENABLED(LIN_ADVANCE)
Stepper::advance_isr_scheduler();
#else
Stepper::isr();
#endif
}
#define _ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr) CBI(TIMSK0, OCIE0B); else SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// Disable global interrupts and reenable this ISR
cli();
ENABLE_STEPPER_DRIVER_INTERRUPT();
// Reenable the temperature ISR (if it was enabled)
if (temp_isr_was_enabled) ENABLE_TEMPERATURE_INTERRUPT();
}
void Stepper::isr() {
@ -378,7 +397,7 @@ void Stepper::isr() {
#if DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI(TIMSK0, OCIE0B); // Temperature ISR
DISABLE_TEMPERATURE_INTERRUPT();
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
#endif
@ -409,7 +428,6 @@ void Stepper::isr() {
step_remaining -= ocr_val;
_NEXT_ISR(ocr_val);
NOLESS(OCR1A, TCNT1 + 16);
_ENABLE_ISRs(); // re-enable ISRs
return;
}
@ -433,7 +451,6 @@ void Stepper::isr() {
}
current_block = NULL; // Prep to get a new block after cleaning
_NEXT_ISR(200); // Run at max speed - 10 KHz
_ENABLE_ISRs();
return;
}
@ -462,14 +479,12 @@ void Stepper::isr() {
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
_ENABLE_ISRs(); // re-enable ISRs
return;
}
#endif
}
else {
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
_ENABLE_ISRs(); // re-enable ISRs
return;
}
}
@ -773,9 +788,6 @@ void Stepper::isr() {
current_block = NULL;
planner.discard_current_block();
}
#if DISABLED(LIN_ADVANCE)
_ENABLE_ISRs(); // re-enable ISRs
#endif
}
#if ENABLED(LIN_ADVANCE)
@ -897,11 +909,6 @@ void Stepper::isr() {
}
void Stepper::advance_isr_scheduler() {
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI(TIMSK0, OCIE0B); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
@ -929,9 +936,6 @@ void Stepper::isr() {
// Don't run the ISR faster than possible
NOLESS(OCR1A, TCNT1 + 16);
// Restore original ISR settings
_ENABLE_ISRs();
}
#endif // LIN_ADVANCE