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Proper AVR preemptive interrupt handling ()

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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
Marlin/src/module
stepper.cpp

26
Marlin/src/module/stepper.cpp
View file

@ -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