0x90/Marlin
12
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

Proper AVR preemptive interrupt handling (#10496)

Browse source 
Also simplify logic on all ARM-based interrupts. Now, it is REQUIRED to properly configure interrupt priority. USART should have highest priority, followed by Stepper, and then all others.
This commit is contained in:
Eduardo José Tagle 2018-04-24 00:05:07 -03:00 committed by Scott Lahteine
parent f423e54f77
commit 0c428a66d9
12 changed files with 48 additions and 62 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

25
Marlin/src/HAL/HAL_AVR/HAL.h
View file

@ -146,6 +146,7 @@ extern "C" {
#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0B)
#define HAL_timer_start(timer_num, frequency)
@ -156,13 +157,31 @@ extern "C" {
#define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
#define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)
#define HAL_timer_isr_prologue(timer_num)
/**
* On AVR there is no hardware prioritization and preemption of
* interrupts, so this emulates it. The UART has first priority
* (otherwise, characters will be lost due to UART overflow).
* Then: Stepper, Endstops, Temperature, and -finally- all others.
*/
#define HAL_timer_isr_prologue_0 do{ DISABLE_TEMPERATURE_INTERRUPT(); sei(); }while(0)
#define HAL_timer_isr_epilogue_0 do{ cli(); ENABLE_TEMPERATURE_INTERRUPT(); }while(0)
#define HAL_timer_isr_prologue_1 \
const bool temp_isr_was_enabled = TEMPERATURE_ISR_ENABLED(); \
do{ \
DISABLE_TEMPERATURE_INTERRUPT(); \
DISABLE_STEPPER_DRIVER_INTERRUPT(); \
sei(); \
}while(0)
#define HAL_timer_isr_epilogue_1 do{ cli(); ENABLE_STEPPER_DRIVER_INTERRUPT(); if (temp_isr_was_enabled) ENABLE_TEMPERATURE_INTERRUPT(); }while(0)
#define HAL_timer_isr_prologue(TIMER_NUM) _CAT(HAL_timer_isr_prologue_, TIMER_NUM)
#define HAL_timer_isr_epilogue(TIMER_NUM) _CAT(HAL_timer_isr_epilogue_, TIMER_NUM)
#define HAL_STEP_TIMER_ISR ISR(TIMER1_COMPA_vect)
#define HAL_TEMP_TIMER_ISR ISR(TIMER0_COMPB_vect)
#define HAL_ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// ADC
#ifdef DIDR2
#define HAL_ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin & 0x07); }while(0)

6
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
View file

@ -61,13 +61,13 @@
// --------------------------------------------------------------------------
const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
{ TC0, 0, TC0_IRQn, 0}, // 0 - [servo timer5]
{ TC0, 0, TC0_IRQn, 3}, // 0 - [servo timer5]
{ TC0, 1, TC1_IRQn, 0}, // 1
{ TC0, 2, TC2_IRQn, 0}, // 2
{ TC1, 0, TC3_IRQn, 2}, // 3 - stepper
{ TC1, 1, TC4_IRQn, 15}, // 4 - temperature
{ TC1, 2, TC5_IRQn, 0}, // 5 - [servo timer3]
{ TC2, 0, TC6_IRQn, 15}, // 6 - tone
{ TC1, 2, TC5_IRQn, 3}, // 5 - [servo timer3]
{ TC2, 0, TC6_IRQn, 14}, // 6 - tone
{ TC2, 1, TC7_IRQn, 0}, // 7
{ TC2, 2, TC8_IRQn, 0}, // 8
};

4
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
View file

@ -62,8 +62,6 @@ typedef uint32_t hal_timer_t;
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
#define HAL_STEP_TIMER_ISR void TC3_Handler()
#define HAL_TEMP_TIMER_ISR void TC4_Handler()
#define HAL_TONE_TIMER_ISR void TC6_Handler()
@ -127,4 +125,6 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
}
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_DUE_H

5
Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.cpp
View file

@ -353,6 +353,11 @@
// Install interrupt handler
install_isr(HWUART_IRQ, UART_ISR);
// Configure priority. We need a very high priority to avoid losing characters
// and we need to be able to preempt the Stepper ISR and everything else!
// (this could probably be fixed by using DMA with the Serial port)
NVIC_SetPriority(HWUART_IRQ, 1);
// Enable UART interrupt in NVIC
NVIC_EnableIRQ(HWUART_IRQ);

1
Marlin/src/HAL/HAL_LPC1768/HAL_timers.cpp
View file

@ -90,5 +90,4 @@ void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#endif // TARGET_LPC1768

3
Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
View file

@ -65,8 +65,6 @@ typedef uint32_t hal_timer_t;
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
#define HAL_STEP_TIMER_ISR extern "C" void TIMER0_IRQHandler(void)
#define HAL_TEMP_TIMER_ISR extern "C" void TIMER1_IRQHandler(void)
@ -129,5 +127,6 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_DUE_H

3
Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
View file

@ -88,7 +88,6 @@ timer_dev* get_timer_dev(int number);
#define HAL_timer_get_count(timer_num) timer_get_count(TIMER_DEV(timer_num))
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// TODO change this
@ -175,4 +174,6 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
}
}
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_STM32F1_H

2
Marlin/src/HAL/HAL_STM32F4/HAL_timers_STM32F4.h
View file

@ -61,7 +61,6 @@
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// TODO change this
@ -101,5 +100,6 @@ uint32_t HAL_timer_get_count(const uint8_t timer_num);
void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_STM32F4_H

2
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
View file

@ -60,7 +60,6 @@
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// TODO change this
@ -99,5 +98,6 @@ uint32_t HAL_timer_get_count(const uint8_t timer_num);
void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_STM32F7_H

3
Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
View file

@ -78,8 +78,6 @@ typedef uint32_t hal_timer_t;
#define HAL_STEP_TIMER_ISR extern "C" void ftm0_isr(void) //void TC3_Handler()
#define HAL_TEMP_TIMER_ISR extern "C" void ftm1_isr(void) //void TC4_Handler()
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr) DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
@ -115,5 +113,6 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#define HAL_timer_isr_epilogue(TIMER_NUM)
#endif // _HAL_TIMERS_TEENSY_H

26
Marlin/src/module/stepper.cpp
View file

@ -1144,11 +1144,14 @@ void Stepper::set_directions() {
HAL_STEP_TIMER_ISR {
HAL_timer_isr_prologue(STEP_TIMER_NUM);
#if ENABLED(LIN_ADVANCE)
Stepper::advance_isr_scheduler();
#else
Stepper::isr();
#endif
HAL_timer_isr_epilogue(STEP_TIMER_NUM);
}
void Stepper::isr() {
@ -1156,15 +1159,6 @@ void Stepper::isr() {
#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // Check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
#if DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
#ifndef CPU_32_BIT
sei();
#endif
#endif
hal_timer_t ocr_val;
static uint32_t step_remaining = 0; // SPLIT function always runs. This allows 16 bit timers to be
// used to generate the stepper ISR.
@ -1191,7 +1185,6 @@ void Stepper::isr() {
#if DISABLED(LIN_ADVANCE)
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
HAL_ENABLE_ISRs();
#endif
return;
@ -1215,7 +1208,6 @@ void Stepper::isr() {
}
current_block = NULL; // Prep to get a new block after cleaning
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
HAL_ENABLE_ISRs();
return;
}
@ -1291,7 +1283,6 @@ void Stepper::isr() {
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs();
return;
}
#endif
@ -1299,7 +1290,6 @@ void Stepper::isr() {
else {
// If no more queued moves, postpone next check for 1mS
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs();
return;
}
}
@ -1631,9 +1621,6 @@ void Stepper::isr() {
current_block = NULL;
planner.discard_current_block();
}
#if DISABLED(LIN_ADVANCE)
HAL_ENABLE_ISRs();
#endif
}
#if ENABLED(LIN_ADVANCE)
@ -1755,10 +1742,6 @@ void Stepper::isr() {
}
void Stepper::advance_isr_scheduler() {
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
@ -1787,9 +1770,6 @@ void Stepper::isr() {
// Make sure stepper ISR doesn't monopolize the CPU
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
// Restore original ISR settings
HAL_ENABLE_ISRs();
}
#endif // LIN_ADVANCE

24
Marlin/src/module/temperature.cpp
View file

@ -1219,11 +1219,10 @@ void Temperature::init() {
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
SBI(TIMSK0, OCIE0B);
#else
HAL_timer_start(TEMP_TIMER_NUM, TEMP_TIMER_FREQUENCY);
HAL_timer_enable_interrupt(TEMP_TIMER_NUM);
#endif
ENABLE_TEMPERATURE_INTERRUPT();
#if HAS_AUTO_FAN_0
#if E0_AUTO_FAN_PIN == FAN1_PIN
@ -1716,22 +1715,13 @@ void Temperature::set_current_temp_raw() {
*/
HAL_TEMP_TIMER_ISR {
HAL_timer_isr_prologue(TEMP_TIMER_NUM);
Temperature::isr();
HAL_timer_isr_epilogue(TEMP_TIMER_NUM);
}
volatile bool Temperature::in_temp_isr = false;
void Temperature::isr() {
// The stepper ISR can interrupt this ISR. When it does it re-enables this ISR
// at the end of its run, potentially causing re-entry. This flag prevents it.
if (in_temp_isr) return;
in_temp_isr = true;
// Allow UART and stepper ISRs
DISABLE_TEMPERATURE_INTERRUPT(); //Disable Temperature ISR
#ifndef CPU_32_BIT
sei();
#endif
static int8_t temp_count = -1;
static ADCSensorState adc_sensor_state = StartupDelay;
@ -2255,12 +2245,6 @@ void Temperature::isr() {
e_hit--;
}
#endif
#ifndef CPU_32_BIT
cli();
#endif
in_temp_isr = false;
ENABLE_TEMPERATURE_INTERRUPT(); //re-enable Temperature ISR
}
#if HAS_TEMP_SENSOR