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[2.0.x] Small assorted collection of fixes and improvements (#10911)

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* Misc fixes and improvements

- Get rid of most critical sections on the Serial port drivers for AVR and DUE. Proper usage of FIFOs should allow interrupts to stay enabled without harm to queuing and dequeuing.
  Also, with 8-bit indices (for AVR) and up to 32-bit indices (for ARM), there is no need to protect reads and writes to those indices.
- Simplify the XON/XOFF logic quite a bit. Much cleaner now (both for AVR and ARM)
- Prevent a race condition (edge case) that could happen when estimating the proper value for the stepper timer (by reading it) and writing the calculated value for the time to the next ISR by disabling interrupts in those critical and small sections of the code - The problem could lead to lost steps.
- Fix dual endstops not properly homing bug (maybe).

* Set position immediately when possible
This commit is contained in:
Eduardo José Tagle
2018-06-01 21:02:22 -03:00
committed by Scott Lahteine
parent ae1be0fa53
commit d3c02410a8
16 changed files with 328 additions and 285 deletions
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46
Marlin/src/module/stepper.h
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@ -81,13 +81,13 @@ class Stepper {
static bool abort_current_block; // Signals to the stepper that current block should be aborted
#if ENABLED(X_DUAL_ENDSTOPS)
static bool locked_x_motor, locked_x2_motor;
static bool locked_X_motor, locked_X2_motor;
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
static bool locked_y_motor, locked_y2_motor;
static bool locked_Y_motor, locked_Y2_motor;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
static bool locked_z_motor, locked_z2_motor;
static bool locked_Z_motor, locked_Z2_motor;
#endif
// Counter variables for the Bresenham line tracer
@ -168,7 +168,7 @@ class Stepper {
// Interrupt Service Routines
// The ISR scheduler
static hal_timer_t isr_scheduler();
static void isr();
// The stepper pulse phase ISR
static void stepper_pulse_phase_isr();
@ -222,18 +222,18 @@ class Stepper {
#if ENABLED(X_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_flag_x(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_x_lock(const bool state) { locked_x_motor = state; }
FORCE_INLINE static void set_x2_lock(const bool state) { locked_x2_motor = state; }
FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_flag_y(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_y_lock(const bool state) { locked_y_motor = state; }
FORCE_INLINE static void set_y2_lock(const bool state) { locked_y2_motor = state; }
FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_flag_z(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_z_lock(const bool state) { locked_z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_z2_motor = state; }
FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
#endif
#if ENABLED(BABYSTEPPING)
@ -247,16 +247,34 @@ class Stepper {
// Set the current position in steps
inline static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
CRITICAL_SECTION_START;
// Disable stepper interrupts, to ensure atomic setting of all the position variables
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
// Set position
_set_position(a, b, c, e);
CRITICAL_SECTION_END;
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
inline static void set_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
CRITICAL_SECTION_START;
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
count_position[a] = v;
CRITICAL_SECTION_END;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
}
private: