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Fixed a few bugs with ISR binding. Basically you should never call attachInterrupt without an ISR setMode; the pin might not support it after all.

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This commit is contained in:
Stefan de Bruijn
2020-10-28 09:22:28 +01:00
parent 463c92babf
commit 77c4ca4fe8
5 changed files with 35 additions and 27 deletions
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16
Grbl_Esp32/src/Grbl.cpp
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@@ -77,10 +77,11 @@ void grbl_init() {
WebUI::inputBuffer.begin();
} catch (const AssertionFailed& ex) {
// This means something is terribly broken:
grbl_sendf(CLIENT_ALL, "Critical error in run_once: %s", ex.stackTrace.c_str());
while (true) {
sleep(1000);
}
// Should grbl_sendf always work? Serial is initialized first, so after line 34 it should.
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Error, "Critical error in run_once: %s", ex.stackTrace.c_str());
sleep(10000);
throw;
}
}
@@ -127,10 +128,9 @@ void run_once() {
protocol_main_loop();
} catch (const AssertionFailed& ex) {
// This means something is terribly broken:
grbl_sendf(CLIENT_ALL, "Critical error in run_once: %s", ex.stackTrace.c_str());
while (true) {
sleep(1000);
}
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Error, "Critical error in run_once: %s", ex.stackTrace.c_str());
sleep(10000);
throw;
}
}

5
Grbl_Esp32/src/Limits.cpp
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@@ -309,10 +309,11 @@ uint8_t limit_mask = 0;
void limits_init() {
limit_mask = 0;
Pin::Attr mode = Pin::Attr::Input | Pin::Attr::PullUp;
Pin::Attr mode = Pin::Attr::Input | Pin::Attr::PullUp | Pin::Attr::ISR;
#ifdef DISABLE_LIMIT_PIN_PULL_UP
mode = Pin::Attr::Input;
mode = Pin::Attr::Input | Pin::Attr::ISR;
#endif
auto n_axis = number_axis->get();
for (int axis = 0; axis < n_axis; axis++) {
for (int gang_index = 0; gang_index < 2; gang_index++) {

13
Grbl_Esp32/src/PinSettingsDefinitions.cpp
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@@ -177,7 +177,6 @@ const char* USER_ANALOG_PIN_2_DEFAULT = USER_ANALOG_PIN_2;
#endif
const char* USER_ANALOG_PIN_3_DEFAULT = USER_ANALOG_PIN_3;
#ifndef SPINDLE_OUTPUT_PIN
# define SPINDLE_OUTPUT_PIN UNDEFINED_PIN
#endif
@@ -866,9 +865,9 @@ void make_pin_settings() {
MacroButton3Pin = new PinSetting("Macro/3/Pin", MACRO_BUTTON_3_PIN_DEFAULT);
// XXX Move to Dynamixel class
DynamixelTXDPin = new PinSetting("Dynamixel/TXD/Pin", DYNAMIXEL_TXD_DEFAULT);
DynamixelRXDPin = new PinSetting("Dynamixel/RXD/Pin", DYNAMIXEL_RXD_DEFAULT);
DynamixelRTSPin = new PinSetting("Dynamixel/RTS/Pin", DYNAMIXEL_RTS_DEFAULT);
DynamixelTXDPin = new PinSetting("Dynamixel/TXD/Pin", DYNAMIXEL_TXD_DEFAULT);
DynamixelRXDPin = new PinSetting("Dynamixel/RXD/Pin", DYNAMIXEL_RXD_DEFAULT);
DynamixelRTSPin = new PinSetting("Dynamixel/RTS/Pin", DYNAMIXEL_RTS_DEFAULT);
// User pins:
UserDigitalPin[0] = new PinSetting("UserDigital/0/Pin", USER_DIGITAL_PIN_0_DEFAULT);
@@ -887,9 +886,9 @@ void make_pin_settings() {
SpindleForwardPin = new PinSetting("Spindle/Forward/Pin", SPINDLE_FORWARD_PIN_DEFAULT);
SpindleReversePin = new PinSetting("Spindle/Reverse/Pin", SPINDLE_REVERSE_PIN_DEFAULT);
// XXX Move to VFD class
VFDRS485TXDPin = new PinSetting("Spindle/VFD/TxD/Pin", VFD_RS485_TXD_PIN_DEFAULT); // VFD_RS485_TXD_PIN
VFDRS485RXDPin = new PinSetting("Spindle/VFD/RxD/Pin", VFD_RS485_RXD_PIN_DEFAULT); // VFD_RS485_RXD_PIN
VFDRS485RTSPin = new PinSetting("Spindle/VFD/RTS/Pin", VFD_RS485_RTS_PIN_DEFAULT); // VFD_RS485_RTS_PIN
VFDRS485TXDPin = new PinSetting("Spindle/VFD/TxD/Pin", VFD_RS485_TXD_PIN_DEFAULT); // VFD_RS485_TXD_PIN
VFDRS485RXDPin = new PinSetting("Spindle/VFD/RxD/Pin", VFD_RS485_RXD_PIN_DEFAULT); // VFD_RS485_RXD_PIN
VFDRS485RTSPin = new PinSetting("Spindle/VFD/RTS/Pin", VFD_RS485_RTS_PIN_DEFAULT); // VFD_RS485_RTS_PIN
// Axis:
LimitPins[X_AXIS][0] = new PinSetting("X/Limit/Pin", X_LIMIT_PIN_DEFAULT);

12
Grbl_Esp32/src/Pins/GPIOPinDetail.cpp
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@@ -143,6 +143,12 @@ namespace Pins {
pinModeValue |= OUTPUT;
}
// TODO FIXME: For now, I added PU capabilities to 'value' as well. This *should* be removed once the
// code that uses #define's to decide this is gone.
if (value.has(PinAttributes::PullUp)) {
pinModeValue |= PULLUP;
}
// PU/PD should be specified by the user. Code has nothing to do with them:
if (_attributes.has(PinAttributes::PullUp)) {
pinModeValue |= PULLUP;
@@ -161,12 +167,14 @@ namespace Pins {
}
void GPIOPinDetail::attachInterrupt(void (*callback)(void*), void* arg, int mode) {
Assert(_capabilities.has(PinCapabilities::ISR), "Pin has no ISR capability defined. Cannot bind ISR.");
Assert(_attributes.has(PinAttributes::ISR),
"Pin has no ISR attribute, which means 'setAttr' was not set, or the pin doesn't support ISR's. Cannot bind ISR.");
::attachInterruptArg(_index, callback, arg, mode);
}
void GPIOPinDetail::detachInterrupt() {
Assert(_capabilities.has(PinCapabilities::ISR), "Pin has no ISR capability defined. Cannot unbind ISR.");
Assert(_attributes.has(PinAttributes::ISR),
"Pin has no ISR attribute, which means 'setAttr' was not set, or the pin doesn't support ISR's. Cannot unbind ISR.");
::detachInterrupt(_index);
}

16
Grbl_Esp32/src/System.cpp
View File

@@ -48,42 +48,42 @@ void system_ini() { // Renamed from system_init() due to conflict with esp32 fi
// setup control inputs
if (ControlSafetyDoorPin->get() != Pin::UNDEFINED) {
ControlSafetyDoorPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
ControlSafetyDoorPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp | Pin::Attr::ISR);
ControlSafetyDoorPin->get().attachInterrupt(isr_control_inputs, CHANGE);
}
if (ControlResetPin->get() != Pin::UNDEFINED) {
ControlResetPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
ControlResetPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp | Pin::Attr::ISR);
ControlResetPin->get().attachInterrupt(isr_control_inputs, CHANGE);
}
if (ControlFeedHoldPin->get() != Pin::UNDEFINED) {
ControlFeedHoldPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
ControlFeedHoldPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp | Pin::Attr::ISR);
ControlFeedHoldPin->get().attachInterrupt(isr_control_inputs, CHANGE);
}
if (ControlCycleStartPin->get() != Pin::UNDEFINED) {
ControlCycleStartPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
ControlCycleStartPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp | Pin::Attr::ISR);
ControlCycleStartPin->get().attachInterrupt(isr_control_inputs, CHANGE);
}
if (MacroButton0Pin->get() != Pin::UNDEFINED) {
MacroButton0Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
MacroButton0Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp | Pin::Attr::ISR);
MacroButton0Pin->get().attachInterrupt(isr_control_inputs, CHANGE);
}
if (MacroButton1Pin->get() != Pin::UNDEFINED) {
MacroButton1Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
MacroButton1Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp | Pin::Attr::ISR);
MacroButton1Pin->get().attachInterrupt(isr_control_inputs, CHANGE);
}
if (MacroButton2Pin->get() != Pin::UNDEFINED) {
MacroButton2Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
MacroButton2Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp | Pin::Attr::ISR);
MacroButton2Pin->get().attachInterrupt(isr_control_inputs, CHANGE);
}
if (MacroButton3Pin->get() != Pin::UNDEFINED) {
MacroButton3Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
MacroButton3Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp | Pin::Attr::ISR);
MacroButton3Pin->get().attachInterrupt(isr_control_inputs, CHANGE);
}