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Experimental ISR structure (thread prioritizing) 

Remove need to call CheckRx
This commit is contained in:
Ted Hess 2018-02-04 12:57:26 -05:00
parent 305d9d8dad
commit fa7f306726
9 changed files with 126 additions and 102 deletions
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2
Firmware/Configuration.h
View File

@ -10,7 +10,7 @@
// Firmware version
#define FW_version "3.1.0"
#define FW_local_variant 6
#define FW_local_variant 7
#define FW_report_version FW_version " r" STR(FW_local_variant)
#define FW_PRUSA3D_MAGIC "PRUSA3DFW"

57
Firmware/MarlinSerial.cpp
View File

@ -46,12 +46,8 @@ FORCE_INLINE void store_char(unsigned char c)
}
}
//#elif defined(SIG_USART_RECV)
#if defined(M_USARTx_RX_vect)
// fixed by Mark Sproul this is on the 644/644p
//SIGNAL(SIG_USART_RECV)
SIGNAL(M_USARTx_RX_vect)
ISR(M_USARTx_RX_vect)
{
// Test for a framing error.
if (M_UCSRxA & (1<<M_FEx)) {
@ -65,7 +61,7 @@ FORCE_INLINE void store_char(unsigned char c)
}
}
#ifndef SNMM
SIGNAL(USART2_RX_vect)
ISR(USART2_RX_vect)
{
if (selectedSerialPort == 1) {
// Test for a framing error.
@ -159,6 +155,55 @@ void MarlinSerial::end()
}
void MarlinSerial::checkRx(void)
{
#ifdef SNMM
if((M_UCSRxA & (1<<M_RXCx)) != 0) {
CRITICAL_SECTION_START
// Test for a framing error.
if (M_UCSRxA & (1<<M_FEx)) {
// Characters received with the framing errors will be ignored.
(void)(*(char *)M_UDRx);
} else {
unsigned char c = M_UDRx;
store_char(c);
selectedSerialPort = 0;
}
CRITICAL_SECTION_END
}
#else
if (selectedSerialPort == 0) {
if((M_UCSRxA & (1<<M_RXCx)) != 0) {
CRITICAL_SECTION_START
// Test for a framing error.
if (M_UCSRxA & (1<<M_FEx)) {
// Characters received with the framing errors will be ignored.
(void)(*(char *)M_UDRx);
} else {
unsigned char c = M_UDRx;
store_char(c);
selectedSerialPort = 0;
}
CRITICAL_SECTION_END
}
} else if(selectedSerialPort == 1) {
if((UCSR2A & (1<<RXC2)) != 0) {
CRITICAL_SECTION_START
// Test for a framing error.
if (UCSR2A & (1<<FE2)) {
// Characters received with the framing errors will be ignored.
(void)(*(char *)UDR2);
} else {
unsigned char c = UDR2;
store_char(c);
selectedSerialPort = 1;
}
CRITICAL_SECTION_END
}
}
#endif
}
int MarlinSerial::peek(void)
{

72
Firmware/MarlinSerial.h
View File

@ -96,6 +96,7 @@ class MarlinSerial //: public Stream
int peek(void);
int read(void);
void flush(void);
void checkRx(void);
FORCE_INLINE int available(void)
{
@ -124,76 +125,7 @@ class MarlinSerial //: public Stream
}
#endif
}
void checkRx(void)
{
#ifdef SNMM
if((M_UCSRxA & (1<<M_RXCx)) != 0) {
// Test for a framing error.
if (M_UCSRxA & (1<<M_FEx)) {
// Characters received with the framing errors will be ignored.
(void)(*(char *)M_UDRx);
} else {
unsigned char c = M_UDRx;
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != rx_buffer.tail) {
rx_buffer.buffer[rx_buffer.head] = c;
rx_buffer.head = i;
}
selectedSerialPort = 0;
}
}
#else
if (selectedSerialPort == 0) {
if((M_UCSRxA & (1<<M_RXCx)) != 0) {
// Test for a framing error.
if (M_UCSRxA & (1<<M_FEx)) {
// Characters received with the framing errors will be ignored.
(void)(*(char *)M_UDRx);
} else {
unsigned char c = M_UDRx;
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != rx_buffer.tail) {
rx_buffer.buffer[rx_buffer.head] = c;
rx_buffer.head = i;
}
selectedSerialPort = 0;
}
}
} else if(selectedSerialPort == 1) {
if((UCSR2A & (1<<RXC2)) != 0) {
// Test for a framing error.
if (UCSR2A & (1<<FE2)) {
// Characters received with the framing errors will be ignored.
(void)(*(char *)UDR2);
} else {
unsigned char c = UDR2;
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != rx_buffer.tail) {
rx_buffer.buffer[rx_buffer.head] = c;
rx_buffer.head = i;
}
selectedSerialPort = 1;
}
}
}
#endif
}
private:
void printNumber(unsigned long, uint8_t);

20
Firmware/planner.cpp
View File

@ -585,7 +585,7 @@ static inline void planner_update_queue_min_counter()
void planner_abort_hard()
{
// Abort the stepper routine and flush the planner queue.
quickStop();
DISABLE_STEPPER_DRIVER_INTERRUPT();
// Now the front-end (the Marlin_main.cpp with its current_position) is out of sync.
// First update the planner's current position in the physical motor steps.
@ -604,6 +604,10 @@ void planner_abort_hard()
if (mbl.active)
current_position[Z_AXIS] -= mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
#endif
// Clear the planner queue, reset and re-enable the stepper timer
quickStop();
// Apply inverse world correction matrix.
machine2world(current_position[X_AXIS], current_position[Y_AXIS]);
memcpy(destination, current_position, sizeof(destination));
@ -1229,7 +1233,10 @@ Having the real displacement of the head, we can calculate the total movement le
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTIC */
st_wake_up();
// Safe to turn on here
// Note: ints only disabled while higher priority thread running - no recursion
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
#ifdef ENABLE_AUTO_BED_LEVELING
@ -1254,6 +1261,7 @@ void plan_set_position(float x, float y, float z, const float &e)
#endif // ENABLE_AUTO_BED_LEVELING
// Apply the machine correction matrix.
if (world2machine_correction_mode != WORLD2MACHINE_CORRECTION_NONE)
{
float tmpx = x;
float tmpy = y;
@ -1264,11 +1272,9 @@ void plan_set_position(float x, float y, float z, const float &e)
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
#ifdef MESH_BED_LEVELING
if (mbl.active){
position[Z_AXIS] = lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]);
}else{
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
}
position[Z_AXIS] = (mbl.active) ?
lround((z + mbl.get_z(x, y)) * axis_steps_per_unit[Z_AXIS]) :
lround(z * axis_steps_per_unit[Z_AXIS]);
#else
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING

34
Firmware/stepper.cpp
View File

@ -189,12 +189,6 @@ asm volatile ( \
"r26" , "r27" \
)
// Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
@ -277,11 +271,6 @@ bool enable_z_endstop(bool check)
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated with the leib ramp alghorithm.
void st_wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer;
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
@ -348,6 +337,13 @@ ISR(TIMER1_COMPA_vect) {
}
void isr() {
#ifndef 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();
sei();
#endif
// If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) {
// Anything in the buffer?
@ -366,6 +362,7 @@ void isr() {
if(current_block->steps_z > 0) {
enable_z();
_NEXT_ISR(2000); //1ms wait
ENABLE_ISRs();
return;
}
#endif
@ -573,7 +570,8 @@ void isr() {
for(uint8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
#ifndef AT90USB
MSerial.checkRx(); // Check for serial chars.
// Not needed - ints are enabled here
//MSerial.checkRx(); // Check for serial chars.
#endif
#ifdef LIN_ADVANCE
@ -719,6 +717,10 @@ void isr() {
plan_discard_current_block();
}
}
#ifndef LIN_ADVANCE
ENABLE_ISRs(); // Re-enable ISRs
#endif
}
#ifdef LIN_ADVANCE
@ -750,6 +752,11 @@ void isr() {
}
void 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();
@ -777,6 +784,9 @@ void isr() {
// Don't run the ISR faster than possible
if (OCR1A < TCNT1 + 16) OCR1A = TCNT1 + 16;
// Restore original ISR settings
ENABLE_ISRs();
}
void clear_current_adv_vars() {

5
Firmware/stepper.h
View File

@ -102,6 +102,11 @@ void microstep_readings();
void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
#endif
// Interrupt enable/disable macros
#define ENABLE_STEPPER_DRIVER_INTERRUPT() sbi(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() cbi(TIMSK1, OCIE1A)
#define ENABLE_ISRs() do { cli(); if (in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
#endif

27
Firmware/temperature.cpp
View File

@ -991,7 +991,7 @@ void tp_init()
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
TIMSK0 |= (1<<OCIE0B);
sbi(TIMSK0, OCIE0B);
// Wait for temperature measurement to settle
delay(250);
@ -1439,10 +1439,20 @@ int read_max6675()
}
#endif
volatile bool in_temp_isr = false;
// Timer 0 is shared with millies
ISR(TIMER0_COMPB_vect)
{
// 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
sei();
//these variables are only accesible from the ISR, but static, so they don't lose their value
static unsigned char temp_count = 0;
static unsigned long raw_temp_0_value = 0;
@ -1759,6 +1769,12 @@ ISR(TIMER0_COMPB_vect)
#endif //ifndef SLOW_PWM_HEATERS
//
// Update lcd buttons 488 times per second
//
static bool do_buttons;
if ((do_buttons ^= true)) lcd_buttons_update();
switch(temp_state) {
case 0: // Prepare TEMP_0
#if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1)
@ -1770,7 +1786,6 @@ ISR(TIMER0_COMPB_vect)
ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
lcd_buttons_update();
temp_state = 1;
break;
case 1: // Measure TEMP_0
@ -1792,7 +1807,6 @@ ISR(TIMER0_COMPB_vect)
ADMUX = ((1 << REFS0) | (TEMP_BED_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
lcd_buttons_update();
temp_state = 3;
break;
case 3: // Measure TEMP_BED
@ -1811,7 +1825,6 @@ ISR(TIMER0_COMPB_vect)
ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
lcd_buttons_update();
temp_state = 5;
break;
case 5: // Measure TEMP_1
@ -1830,7 +1843,6 @@ ISR(TIMER0_COMPB_vect)
ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
lcd_buttons_update();
temp_state = 7;
break;
case 7: // Measure TEMP_2
@ -1850,7 +1862,6 @@ ISR(TIMER0_COMPB_vect)
ADMUX = ((1 << REFS0) | (FILWIDTH_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
lcd_buttons_update();
temp_state = 9;
break;
case 9: //Measure FILWIDTH
@ -1999,6 +2010,10 @@ ISR(TIMER0_COMPB_vect)
}
}
#endif //BABYSTEPPING
cli();
in_temp_isr = false;
ENABLE_TEMPERATURE_INTERRUPT(); //re-enable Temperature ISR
}
#ifdef PIDTEMP

5
Firmware/temperature.h
View File

@ -202,5 +202,10 @@ void PID_autotune(float temp, int extruder, int ncycles);
void setExtruderAutoFanState(int pin, bool state);
void checkExtruderAutoFans();
extern volatile bool in_temp_isr;
#define ENABLE_TEMPERATURE_INTERRUPT() sbi(TIMSK0, OCIE0B)
#define DISABLE_TEMPERATURE_INTERRUPT() cbi(TIMSK0, OCIE0B)
#endif

6
Firmware/ultralcd.cpp
View File

@ -6289,6 +6289,11 @@ void lcd_setcontrast(uint8_t value)
/* Warning: This function is called from interrupt context */
void lcd_buttons_update()
{
// Avoid re-entrancy from temperature interrups
static bool in_buttons_update = false;
if (in_buttons_update) return;
in_buttons_update = true;
#ifdef NEWPANEL
uint8_t newbutton = 0;
if (READ(BTN_EN1) == 0) newbutton |= EN_A;
@ -6413,6 +6418,7 @@ void lcd_buttons_update()
}
}
lastEncoderBits = enc;
in_buttons_update = false;
}
bool lcd_detected(void)