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Removed interrupt nesting in the stepper ISR.

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Add serial checkRx in stepper ISR.
Copied HardwareSerial to MarlinSerial (Needed for checkRx).
This commit is contained in:
Erik van der Zalm
2011-11-27 21:12:55 +01:00
parent aad4b75b94
commit f75f426dfa
16 changed files with 1007 additions and 754 deletions
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37
Marlin/stepper.cpp
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@ -52,7 +52,7 @@ static long counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z,
counter_e;
static unsigned long step_events_completed; // The number of step events executed in the current block
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
static short old_advance = 0;
@ -63,6 +63,7 @@ static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point
static char step_loops;
static unsigned short OCR1A_nominal;
volatile long endstops_trigsteps[3]={0,0,0};
volatile long endstops_stepsTotal,endstops_stepsDone;
@ -77,10 +78,6 @@ static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false;
static bool busy_error=false;
unsigned short OCR1A_error=12345;
unsigned short OCR1A_nominal;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
@ -164,15 +161,6 @@ asm volatile ( \
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
void checkStepperErrors()
{
if(busy_error) {
SERIAL_ERROR_START
SERIAL_ERROR(OCR1A_error);
SERIAL_ERRORLNPGM(" ISR overtaking itself.");
busy_error = false;
}
}
void checkHitEndstops()
{
@ -255,7 +243,7 @@ inline unsigned short calc_timer(unsigned short step_rate) {
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
}
if(timer < 100) { timer = 100; Serial.print("Steprate to high : "); Serial.println(step_rate); }//(20kHz this should never happen)
if(timer < 100) { timer = 100; MSerial.print("Steprate to high : "); MSerial.println(step_rate); }//(20kHz this should never happen)
return timer;
}
@ -277,17 +265,7 @@ inline void trapezoid_generator_reset() {
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect)
{
if(busy){
OCR1A_error = OCR1A;
busy_error = true;
OCR1A = 30000;
return;
} // The busy-flag is used to avoid reentering this interrupt
busy = true;
sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
{
// If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) {
// Anything in the buffer?
@ -304,7 +282,7 @@ ISR(TIMER1_COMPA_vect)
// #endif
}
else {
// DISABLE_STEPPER_DRIVER_INTERRUPT();
OCR1A=2000; // 1kHz.
}
}
@ -404,8 +382,8 @@ ISR(TIMER1_COMPA_vect)
count_direction[E_AXIS]=-1;
}
#endif //!ADVANCE
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
MSerial.checkRx();
/*
counter_e += current_block->steps_e;
if (counter_e > 0) {
@ -470,6 +448,7 @@ ISR(TIMER1_COMPA_vect)
unsigned short timer;
unsigned short step_rate;
if (step_events_completed <= current_block->accelerate_until) {
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += current_block->initial_rate;
@ -519,8 +498,6 @@ ISR(TIMER1_COMPA_vect)
plan_discard_current_block();
}
}
cli(); // disable interrupts
busy=false;
}
#ifdef ADVANCE