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Allow UART ISRs inside the stepper ISR

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If the stepper ISR takes too long, chars are lost which leads to serial
communication errors like "Line number not +1" or "Wrong checksum". In
worst case, the printer can even do crazy moves.

With this changes, UART interrupts are handled inside the stepper ISR.
This way, no chars should be lost.
This commit is contained in:
Sebastianv650 2016-11-20 13:09:12 +01:00
parent 8bf07684d2
commit 50059690e0
1 changed files with 29 additions and 4 deletions
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33
Marlin/stepper.cpp
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@ -331,6 +331,14 @@ void Stepper::set_directions() {
ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
void Stepper::isr() {
//Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
CBI(TIMSK0, OCIE0A); //estepper ISR
#endif
CBI(TIMSK0, OCIE0B); //Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
if (cleaning_buffer_counter) {
current_block = NULL;
planner.discard_current_block();
@ -339,6 +347,12 @@ void Stepper::isr() {
#endif
cleaning_buffer_counter--;
OCR1A = 200; // Run at max speed - 10 KHz
//re-enable ISRs
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
SBI(TIMSK0, OCIE0A);
#endif
SBI(TIMSK0, OCIE0B);
ENABLE_STEPPER_DRIVER_INTERRUPT();
return;
}
@ -368,6 +382,11 @@ void Stepper::isr() {
if (current_block->steps[Z_AXIS] > 0) {
enable_z();
OCR1A = 2000; // Run at slow speed - 1 KHz
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
SBI(TIMSK0, OCIE0A);
#endif
SBI(TIMSK0, OCIE0B);
ENABLE_STEPPER_DRIVER_INTERRUPT();
return;
}
#endif
@ -378,6 +397,11 @@ void Stepper::isr() {
}
else {
OCR1A = 2000; // Run at slow speed - 1 KHz
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
SBI(TIMSK0, OCIE0A);
#endif
SBI(TIMSK0, OCIE0B);
ENABLE_STEPPER_DRIVER_INTERRUPT();
return;
}
}
@ -402,10 +426,6 @@ void Stepper::isr() {
// Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false;
for (int8_t i = 0; i < step_loops; i++) {
#ifndef USBCON
customizedSerial.checkRx(); // Check for serial chars.
#endif
#if ENABLED(LIN_ADVANCE)
counter_E += current_block->steps[E_AXIS];
@ -694,6 +714,11 @@ void Stepper::isr() {
current_block = NULL;
planner.discard_current_block();
}
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
SBI(TIMSK0, OCIE0A);
#endif
SBI(TIMSK0, OCIE0B);
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)