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dda.c: allow protected re-entry for time based stepper calculations. 

This becomes more important when acceleration is calculated
there, too.
This commit is contained in:
Markus Hitter 2013-10-19 23:02:14 +02:00
parent c7ee530c62
commit ccec75d9f8
2 changed files with 13 additions and 2 deletions
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11
dda.c
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@ -717,6 +717,7 @@ void dda_step(DDA *dda) {
Updating speed 500 times a second is easily enough for smooth acceleration! Updating speed 500 times a second is easily enough for smooth acceleration!
*/ */
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;
static uint8_t endstop_stop = 0; ///< Stop due to endstop trigger static uint8_t endstop_stop = 0; ///< Stop due to endstop trigger
@ -732,6 +733,13 @@ 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
@ -808,6 +816,9 @@ void dda_clock() {
} /* if (endstop_stop == 0) */ } /* if (endstop_stop == 0) */
last_dda = dda; last_dda = dda;
cli(); // Compensate sei() above.
busy = 0;
} }
/// update global current_position struct /// update global current_position struct

4
timer.c
View File

@ -57,8 +57,6 @@ ISR(TIMER1_COMPB_vect) {
/* /*
clock stuff clock stuff
*/ */
dda_clock();
clock_counter_10ms += TICK_TIME_MS; clock_counter_10ms += TICK_TIME_MS;
if (clock_counter_10ms >= 10) { if (clock_counter_10ms >= 10) {
clock_counter_10ms -= 10; clock_counter_10ms -= 10;
@ -77,6 +75,8 @@ ISR(TIMER1_COMPB_vect) {
} }
} }
dda_clock();
// restore status register // restore status register
MEMORY_BARRIER(); MEMORY_BARRIER();
SREG = sreg_save; SREG = sreg_save;