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👷 ATOMIC_SECTION macros
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@thinkyhead
thinkyhead committed Jul 22, 2024
1 parent cc122be commit cdea1b8
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Showing 2 changed files with 51 additions and 66 deletions.
17 changes: 14 additions & 3 deletions Marlin/src/module/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3153,6 +3153,14 @@ void Planner::set_machine_position_mm(const abce_pos_t &abce) {
}
}

/**
* Set the machine positions in millimeters (soon) given the native position.
* Synchonized with the planner queue.
*
* - Modifiers are applied for skew, leveling, retract, etc.
* - Kinematics are applied to remap cartesian positions to stepper positions.
* - The resulting stepper positions are synchronized at the end of the planner queue.
*/
void Planner::set_position_mm(const xyze_pos_t &xyze) {
xyze_pos_t machine = xyze;
TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine, true));
Expand All @@ -3169,12 +3177,13 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) {
#if HAS_EXTRUDERS

/**
* Setters for planner position (also setting stepper position).
* Special setter for planner E position (also setting E stepper position).
*/
void Planner::set_e_position_mm(const_float_t e) {
const uint8_t axis_index = E_AXIS_N(active_extruder);
TERN_(DISTINCT_E_FACTORS, last_extruder = active_extruder);

// Unapply the current retraction before (immediately) setting the planner position
const float e_new = DIFF_TERN(FWRETRACT, e, fwretract.current_retract[active_extruder]);
position.e = LROUND(settings.axis_steps_per_mm[axis_index] * e_new);
TERN_(HAS_POSITION_FLOAT, position_float.e = e_new);
Expand All @@ -3186,9 +3195,11 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) {
stepper.set_axis_position(E_AXIS, position.e);
}

#endif
#endif // HAS_EXTRUDERS

// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
/**
* Recalculate steps/s^2 acceleration rates based on mm/s^2 acceleration rates
*/
void Planner::refresh_acceleration_rates() {
uint32_t highest_rate = 1;
LOOP_DISTINCT_AXES(i) {
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100 changes: 37 additions & 63 deletions Marlin/src/module/stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3361,50 +3361,49 @@ void Stepper::_set_position(const abce_long_t &spos) {
#endif
}

// AVR requires guards to ensure any atomic memory operation greater than 8 bits
#define ATOMIC_SECTION_START() const bool was_enabled = suspend()
#define ATOMIC_SECTION_END() if (was_enabled) wake_up()
#define AVR_ATOMIC_SECTION_START() TERN_(__AVR__, ATOMIC_SECTION_START())
#define AVR_ATOMIC_SECTION_END() TERN_(__AVR__, ATOMIC_SECTION_END())

/**
* Get a stepper's position in steps.
*/
int32_t Stepper::position(const AxisEnum axis) {
#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 = suspend();
#endif

AVR_ATOMIC_SECTION_START();
const int32_t v = count_position[axis];

#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) wake_up();
#endif
AVR_ATOMIC_SECTION_END();
return v;
}

// Set the current position in steps
/**
* Set all axis stepper positions in steps
*/
void Stepper::set_position(const xyze_long_t &spos) {
planner.synchronize();
const bool was_enabled = suspend();
ATOMIC_SECTION_START();
_set_position(spos);
if (was_enabled) wake_up();
ATOMIC_SECTION_END();
}

/**
* Set a single axis stepper position in steps
*/
void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();

#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 = suspend();
#if ANY(__AVR__, INPUT_SHAPING_X, INPUT_SHAPING_Y, INPUT_SHAPING_Z)
ATOMIC_SECTION_START();
#endif

count_position[a] = v;
TERN_(INPUT_SHAPING_X, if (a == X_AXIS) shaping_x.last_block_end_pos = v);
TERN_(INPUT_SHAPING_Y, if (a == Y_AXIS) shaping_y.last_block_end_pos = v);
TERN_(INPUT_SHAPING_Z, if (a == Z_AXIS) shaping_z.last_block_end_pos = v);

#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) wake_up();
#if ANY(__AVR__, INPUT_SHAPING_X, INPUT_SHAPING_Y, INPUT_SHAPING_Z)
ATOMIC_SECTION_END();
#endif
}

Expand All @@ -3413,32 +3412,25 @@ void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
void Stepper::ftMotion_syncPosition() {
//planner.synchronize(); planner already synchronized in M493

#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 = suspend();
#endif

// Update stepper positions from the planner
AVR_ATOMIC_SECTION_START();
count_position = planner.position;

#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) wake_up();
#endif
AVR_ATOMIC_SECTION_END();
}

#endif // FT_MOTION

// Signal endstops were triggered - This function can be called from
// an ISR context (Temperature, Stepper or limits ISR), so we must
// be very careful here. If the interrupt being preempted was the
// Stepper ISR (this CAN happen with the endstop limits ISR) then
// when the stepper ISR resumes, we must be very sure that the movement
// is properly canceled
/**
* Record stepper positions and discard the rest of the current block
*
* WARNING! This function may be called from ISR context!
* If the Stepper ISR is preempted (e.g., by the endstop ISR) we
* must ensure the move is properly canceled before the ISR resumes.
*/
void Stepper::endstop_triggered(const AxisEnum axis) {

const bool was_enabled = suspend();
ATOMIC_SECTION_START(); // Suspend the Stepper ISR on all platforms

endstops_trigsteps[axis] = (
#if IS_CORE
(axis == CORE_AXIS_2
Expand All @@ -3461,23 +3453,14 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
// Discard the rest of the move if there is a current block
quick_stop();

if (was_enabled) wake_up();
ATOMIC_SECTION_END(); // Suspend the Stepper ISR on all platforms
}

// Return the "triggered" position for an axis (that hit an endstop)
int32_t Stepper::triggered_position(const AxisEnum axis) {
#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 = suspend();
#endif

AVR_ATOMIC_SECTION_START();
const int32_t v = endstops_trigsteps[axis];

#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) wake_up();
#endif

AVR_ATOMIC_SECTION_END();
return v;
}

Expand Down Expand Up @@ -3506,18 +3489,9 @@ void Stepper::report_a_position(const xyz_long_t &pos) {
}

void Stepper::report_positions() {

#ifdef __AVR__
// Protect the access to the position.
const bool was_enabled = suspend();
#endif

AVR_ATOMIC_SECTION_START();
const xyz_long_t pos = count_position;

#ifdef __AVR__
if (was_enabled) wake_up();
#endif

AVR_ATOMIC_SECTION_END();
report_a_position(pos);
}

Expand Down

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