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Proper AVR preemptive interrupt handling (#10496)

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Also simplify logic on all ARM-based interrupts. Now, it is REQUIRED to properly configure interrupt priority. USART should have highest priority, followed by Stepper, and then all others.
This commit is contained in:
Eduardo José Tagle 2018-04-24 00:05:07 -03:00 committed by Scott Lahteine
parent f423e54f77
commit 0c428a66d9
12 changed files with 48 additions and 62 deletions
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31
Marlin/src/HAL/HAL_AVR/HAL.h
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@ -142,10 +142,11 @@ extern "C" {
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
#define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A)
#define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A)
#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0B)
#define HAL_timer_start(timer_num, frequency)
@ -156,13 +157,31 @@ extern "C" {
#define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
#define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)
#define HAL_timer_isr_prologue(timer_num)
/**
* 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.
*/
#define HAL_timer_isr_prologue_0 do{ DISABLE_TEMPERATURE_INTERRUPT(); sei(); }while(0)
#define HAL_timer_isr_epilogue_0 do{ cli(); ENABLE_TEMPERATURE_INTERRUPT(); }while(0)
#define HAL_timer_isr_prologue_1 \
const bool temp_isr_was_enabled = TEMPERATURE_ISR_ENABLED(); \
do{ \
DISABLE_TEMPERATURE_INTERRUPT(); \
DISABLE_STEPPER_DRIVER_INTERRUPT(); \
sei(); \
}while(0)
#define HAL_timer_isr_epilogue_1 do{ cli(); ENABLE_STEPPER_DRIVER_INTERRUPT(); if (temp_isr_was_enabled) ENABLE_TEMPERATURE_INTERRUPT(); }while(0)
#define HAL_timer_isr_prologue(TIMER_NUM) _CAT(HAL_timer_isr_prologue_, TIMER_NUM)
#define HAL_timer_isr_epilogue(TIMER_NUM) _CAT(HAL_timer_isr_epilogue_, TIMER_NUM)
#define HAL_STEP_TIMER_ISR ISR(TIMER1_COMPA_vect)
#define HAL_TEMP_TIMER_ISR ISR(TIMER0_COMPB_vect)
#define HAL_ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// ADC
#ifdef DIDR2
#define HAL_ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin & 0x07); }while(0)

6
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
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@ -61,13 +61,13 @@
// --------------------------------------------------------------------------
const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
{ TC0, 0, TC0_IRQn, 0}, // 0 - [servo timer5]
{ TC0, 0, TC0_IRQn, 3}, // 0 - [servo timer5]
{ TC0, 1, TC1_IRQn, 0}, // 1
{ TC0, 2, TC2_IRQn, 0}, // 2
{ TC1, 0, TC3_IRQn, 2}, // 3 - stepper
{ TC1, 1, TC4_IRQn, 15}, // 4 - temperature
{ TC1, 2, TC5_IRQn, 0}, // 5 - [servo timer3]
{ TC2, 0, TC6_IRQn, 15}, // 6 - tone
{ TC1, 2, TC5_IRQn, 3}, // 5 - [servo timer3]
{ TC2, 0, TC6_IRQn, 14}, // 6 - tone
{ TC2, 1, TC7_IRQn, 0}, // 7
{ TC2, 2, TC8_IRQn, 0}, // 8
};

4
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
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@ -62,8 +62,6 @@ typedef uint32_t hal_timer_t;
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
#define HAL_STEP_TIMER_ISR void TC3_Handler()
#define HAL_TEMP_TIMER_ISR void TC4_Handler()
#define HAL_TONE_TIMER_ISR void TC6_Handler()
@ -127,4 +125,6 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
}
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_DUE_H

5
Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.cpp
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@ -353,6 +353,11 @@
// Install interrupt handler
install_isr(HWUART_IRQ, UART_ISR);
// Configure priority. We need a very high priority to avoid losing characters
// and we need to be able to preempt the Stepper ISR and everything else!
// (this could probably be fixed by using DMA with the Serial port)
NVIC_SetPriority(HWUART_IRQ, 1);
// Enable UART interrupt in NVIC
NVIC_EnableIRQ(HWUART_IRQ);

1
Marlin/src/HAL/HAL_LPC1768/HAL_timers.cpp
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@ -90,5 +90,4 @@ void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#endif // TARGET_LPC1768

3
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
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@ -65,8 +65,6 @@ typedef uint32_t hal_timer_t;
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
#define HAL_STEP_TIMER_ISR extern "C" void TIMER0_IRQHandler(void)
#define HAL_TEMP_TIMER_ISR extern "C" void TIMER1_IRQHandler(void)
@ -129,5 +127,6 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_DUE_H

3
Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
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@ -88,7 +88,6 @@ timer_dev* get_timer_dev(int number);
#define HAL_timer_get_count(timer_num) timer_get_count(TIMER_DEV(timer_num))
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// TODO change this
@ -175,4 +174,6 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_STM32F1_H

2
Marlin/src/HAL/HAL_STM32F4/HAL_timers_STM32F4.h
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@ -61,7 +61,6 @@
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// TODO change this
@ -101,5 +100,6 @@ uint32_t HAL_timer_get_count(const uint8_t timer_num);
void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_STM32F4_H

2
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
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@ -60,7 +60,6 @@
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// TODO change this
@ -99,5 +98,6 @@ uint32_t HAL_timer_get_count(const uint8_t timer_num);
void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_STM32F7_H

3
Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
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@ -78,8 +78,6 @@ typedef uint32_t hal_timer_t;
#define HAL_STEP_TIMER_ISR extern "C" void ftm0_isr(void) //void TC3_Handler()
#define HAL_TEMP_TIMER_ISR extern "C" void ftm1_isr(void) //void TC4_Handler()
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
@ -115,5 +113,6 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_TEENSY_H

26
Marlin/src/module/stepper.cpp
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@ -1144,11 +1144,14 @@ void Stepper::set_directions() {
HAL_STEP_TIMER_ISR {
HAL_timer_isr_prologue(STEP_TIMER_NUM);
#if ENABLED(LIN_ADVANCE)
Stepper::advance_isr_scheduler();
#else
Stepper::isr();
#endif
HAL_timer_isr_epilogue(STEP_TIMER_NUM);
}
void Stepper::isr() {
@ -1156,15 +1159,6 @@ void Stepper::isr() {
#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // Check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
#if DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
#ifndef CPU_32_BIT
sei();
#endif
#endif
hal_timer_t ocr_val;
static uint32_t step_remaining = 0; // SPLIT function always runs. This allows 16 bit timers to be
// used to generate the stepper ISR.
@ -1191,7 +1185,6 @@ void Stepper::isr() {
#if DISABLED(LIN_ADVANCE)
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
HAL_ENABLE_ISRs();
#endif
return;
@ -1215,7 +1208,6 @@ void Stepper::isr() {
}
current_block = NULL; // Prep to get a new block after cleaning
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
HAL_ENABLE_ISRs();
return;
}
@ -1291,7 +1283,6 @@ void Stepper::isr() {
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs();
return;
}
#endif
@ -1299,7 +1290,6 @@ void Stepper::isr() {
else {
// If no more queued moves, postpone next check for 1mS
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs();
return;
}
}
@ -1631,9 +1621,6 @@ void Stepper::isr() {
current_block = NULL;
planner.discard_current_block();
}
#if DISABLED(LIN_ADVANCE)
HAL_ENABLE_ISRs();
#endif
}
#if ENABLED(LIN_ADVANCE)
@ -1755,10 +1742,6 @@ void Stepper::isr() {
}
void Stepper::advance_isr_scheduler() {
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
@ -1787,9 +1770,6 @@ void Stepper::isr() {
// Make sure stepper ISR doesn't monopolize the CPU
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
// Restore original ISR settings
HAL_ENABLE_ISRs();
}
#endif // LIN_ADVANCE

24
Marlin/src/module/temperature.cpp
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@ -1219,11 +1219,10 @@ void Temperature::init() {
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
SBI(TIMSK0, OCIE0B);
#else
HAL_timer_start(TEMP_TIMER_NUM, TEMP_TIMER_FREQUENCY);
HAL_timer_enable_interrupt(TEMP_TIMER_NUM);
#endif
ENABLE_TEMPERATURE_INTERRUPT();
#if HAS_AUTO_FAN_0
#if E0_AUTO_FAN_PIN == FAN1_PIN
@ -1716,22 +1715,13 @@ void Temperature::set_current_temp_raw() {
*/
HAL_TEMP_TIMER_ISR {
HAL_timer_isr_prologue(TEMP_TIMER_NUM);
Temperature::isr();
HAL_timer_isr_epilogue(TEMP_TIMER_NUM);
}
volatile bool Temperature::in_temp_isr = false;
void Temperature::isr() {
// The stepper ISR can interrupt this ISR. When it does it re-enables this ISR
// at the end of its run, potentially causing re-entry. This flag prevents it.
if (in_temp_isr) return;
in_temp_isr = true;
// Allow UART and stepper ISRs
DISABLE_TEMPERATURE_INTERRUPT(); //Disable Temperature ISR
#ifndef CPU_32_BIT
sei();
#endif
static int8_t temp_count = -1;
static ADCSensorState adc_sensor_state = StartupDelay;
@ -2255,12 +2245,6 @@ void Temperature::isr() {
e_hit--;
}
#endif
#ifndef CPU_32_BIT
cli();
#endif
in_temp_isr = false;
ENABLE_TEMPERATURE_INTERRUPT(); //re-enable Temperature ISR
}
#if HAS_TEMP_SENSOR