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try to prevent queue locking due to non-atomic accesses and interrupt mismanagement

This commit is contained in:
Michael Moon 2011-05-10 12:43:27 +10:00
parent ea437e8e12
commit 1b1aea7f41
2 changed files with 22 additions and 23 deletions
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22
dda.c
View File

@ -432,11 +432,6 @@ void dda_step(DDA *dda) {
x_step(); x_step();
did_step = 1; did_step = 1;
dda->x_steps--; dda->x_steps--;
// if (dda->x_direction)
// current_position.X++;
// else
// current_position.X--;
dda->x_counter += dda->total_steps; dda->x_counter += dda->total_steps;
} }
} }
@ -448,11 +443,6 @@ void dda_step(DDA *dda) {
y_step(); y_step();
did_step = 1; did_step = 1;
dda->y_steps--; dda->y_steps--;
// if (dda->y_direction)
// current_position.Y++;
// else
// current_position.Y--;
dda->y_counter += dda->total_steps; dda->y_counter += dda->total_steps;
} }
} }
@ -464,11 +454,6 @@ void dda_step(DDA *dda) {
z_step(); z_step();
did_step = 1; did_step = 1;
dda->z_steps--; dda->z_steps--;
// if (dda->z_direction)
// current_position.Z++;
// else
// current_position.Z--;
dda->z_counter += dda->total_steps; dda->z_counter += dda->total_steps;
} }
} }
@ -479,11 +464,6 @@ void dda_step(DDA *dda) {
e_step(); e_step();
did_step = 1; did_step = 1;
dda->e_steps--; dda->e_steps--;
// if (dda->e_direction)
// current_position.E++;
// else
// current_position.E--;
dda->e_counter += dda->total_steps; dda->e_counter += dda->total_steps;
} }
} }
@ -565,6 +545,8 @@ void dda_step(DDA *dda) {
z_disable(); z_disable();
} }
cli();
setTimer(dda->c >> 8); setTimer(dda->c >> 8);
// turn off step outputs, hopefully they've been on long enough by now to register with the drivers // turn off step outputs, hopefully they've been on long enough by now to register with the drivers

23
dda_queue.c
View File

@ -28,12 +28,20 @@ DDA movebuffer[MOVEBUFFER_SIZE] __attribute__ ((__section__ (".bss")));
/// check if the queue is completely full /// check if the queue is completely full
uint8_t queue_full() { uint8_t queue_full() {
return (((mb_tail - mb_head - 1) & (MOVEBUFFER_SIZE - 1)) == 0)?255:0; uint8_t sreg = SREG, r;
cli();
r = (((mb_tail - mb_head - 1) & (MOVEBUFFER_SIZE - 1)) == 0)?255:0;
SREG = sreg;
return r;
} }
/// check if the queue is completely empty /// check if the queue is completely empty
uint8_t queue_empty() { uint8_t queue_empty() {
return ((mb_tail == mb_head) && (movebuffer[mb_tail].live == 0))?255:0; uint8_t sreg = SREG, r;
cli();
r = ((mb_tail == mb_head) && (movebuffer[mb_tail].live == 0))?255:0;
SREG = sreg;
return r;
} }
// ------------------------------------------------------- // -------------------------------------------------------
@ -95,9 +103,15 @@ void enqueue(TARGET *t) {
mb_head = h; mb_head = h;
uint8_t sreg = SREG;
cli();
// fire up in case we're not running yet // fire up in case we're not running yet
if (movebuffer[mb_tail].live == 0) if (movebuffer[mb_tail].live == 0) {
SREG = sreg;
next_move(); next_move();
}
else
SREG = sreg;
} }
/// go to the next move. /// go to the next move.
@ -144,6 +158,9 @@ void queue_flush() {
mb_tail = mb_head; mb_tail = mb_head;
movebuffer[mb_head].live = 0; movebuffer[mb_head].live = 0;
// disable timer
setTimer(0);
// restore interrupt flag // restore interrupt flag
SREG = sreg; SREG = sreg;
} }