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Move interrupt busy detection from dda_clock() to clock tick ISR. 

The reason is, interrupts can't be re-entered on ARM, so we need
a different mechanism.
This commit is contained in:
Markus Hitter 2015-08-02 16:36:34 +02:00
parent a171a0c57f
commit 5d8e866501
2 changed files with 15 additions and 12 deletions
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11
dda.c
View File

@ -749,7 +749,6 @@ void dda_step(DDA *dda) {
accurate curves! accurate curves!
*/ */
void dda_clock() { void dda_clock() {
static volatile uint8_t busy = 0;
DDA *dda; DDA *dda;
static DDA *last_dda = NULL; static DDA *last_dda = NULL;
uint8_t endstop_trigger = 0; uint8_t endstop_trigger = 0;
@ -769,13 +768,6 @@ void dda_clock() {
if (dda == NULL) if (dda == NULL)
return; return;
// Lengthy calculations ahead!
// Make sure we didn't re-enter, then allow nested interrupts.
if (busy)
return;
busy = 1;
sei();
// Caution: we mangle step counters here without locking interrupts. This // Caution: we mangle step counters here without locking interrupts. This
// means, we trust dda isn't changed behind our back, which could // means, we trust dda isn't changed behind our back, which could
// in principle (but rarely) happen if endstops are checked not as // in principle (but rarely) happen if endstops are checked not as
@ -923,9 +915,6 @@ void dda_clock() {
ATOMIC_END ATOMIC_END
} }
#endif #endif
cli(); // Compensate sei() above.
busy = 0;
} }
/// update global current_position struct /// update global current_position struct

14
timer-avr.c
View File

@ -41,11 +41,25 @@ uint32_t step_extra_time = 0;
Comparator B is the system clock, happens every TICK_TIME. Comparator B is the system clock, happens every TICK_TIME.
*/ */
ISR(TIMER1_COMPB_vect) { ISR(TIMER1_COMPB_vect) {
static volatile uint8_t busy = 0;
// set output compare register to the next clock tick // set output compare register to the next clock tick
OCR1B = (OCR1B + TICK_TIME) & 0xFFFF; OCR1B = (OCR1B + TICK_TIME) & 0xFFFF;
clock_tick(); clock_tick();
/**
Lengthy calculations ahead! Make sure we didn't re-enter, then allow
nested interrupts.
*/
if ( ! busy) {
busy = 1;
sei();
dda_clock(); dda_clock();
busy = 0;
}
} }
#ifdef MOTHERBOARD #ifdef MOTHERBOARD