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Merge pull request #5259 from Sebastianv650/Allow_UART-ISR_inside_Stepper

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Allow UART ISRs inside the stepper ISR
This commit is contained in:
Scott Lahteine 2016-12-01 23:17:42 -06:00 committed by GitHub
commit 3f4c02e42f
2 changed files with 34 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) {
--cleaning_buffer_counter;
current_block = NULL;
@ -339,6 +347,12 @@ void Stepper::isr() {
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
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)

5
Marlin/temperature.cpp
View File

@ -1489,6 +1489,9 @@ void Temperature::set_current_temp_raw() {
ISR(TIMER0_COMPB_vect) { Temperature::isr(); }
void Temperature::isr() {
//Allow UART and stepper ISRs
CBI(TIMSK0, OCIE0B); //Disable Temperature ISR
sei();
static uint8_t temp_count = 0;
static TempState temp_state = StartupDelay;
@ -1940,4 +1943,6 @@ void Temperature::isr() {
if (!endstop_monitor_count) endstop_monitor(); // report changes in endstop status
}
#endif
SBI(TIMSK0, OCIE0B); //re-enable Temperature ISR
}