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Fix MarlinSerial (AVR) (#10991)

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An undocumented hw bug makes the UART lose chars when RX ISR is disabled, even for a very small amount of time. This happens when RX_BUFFER > 256, and the result is corrupted received commands. Solved by implementing pseudo-atomic operations on 16bit indices.
This commit is contained in:
Eduardo José Tagle 2018-06-10 22:32:20 -03:00 committed by Scott Lahteine
parent 3fd1f32b73
commit 5590c8ffd0
1 changed files with 90 additions and 72 deletions
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162
Marlin/src/HAL/HAL_AVR/MarlinSerial.cpp
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@ -28,7 +28,9 @@
* Modified 28 September 2010 by Mark Sproul * Modified 28 September 2010 by Mark Sproul
* Modified 14 February 2016 by Andreas Hardtung (added tx buffer) * Modified 14 February 2016 by Andreas Hardtung (added tx buffer)
* Modified 01 October 2017 by Eduardo José Tagle (added XON/XOFF) * Modified 01 October 2017 by Eduardo José Tagle (added XON/XOFF)
* Modified 10 June 2018 by Eduardo José Tagle (See #10991)
*/ */
#ifdef __AVR__ #ifdef __AVR__
// Disable HardwareSerial.cpp to support chips without a UART (Attiny, etc.) // Disable HardwareSerial.cpp to support chips without a UART (Attiny, etc.)
@ -91,6 +93,70 @@
#include "../../feature/emergency_parser.h" #include "../../feature/emergency_parser.h"
#endif #endif
// "Atomically" read the RX head index value without disabling interrupts:
// This MUST be called with RX interrupts enabled, and CAN'T be called
// from the RX ISR itself!
FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head() {
#if RX_BUFFER_SIZE > 256
// Keep reading until 2 consecutive reads return the same value,
// meaning there was no update in-between caused by an interrupt.
// This works because serial RX interrupts happen at a slower rate
// than successive reads of a variable, so 2 consecutive reads with
// the same value means no interrupt updated it.
ring_buffer_pos_t vold, vnew = rx_buffer.head;
sw_barrier();
do {
vold = vnew;
vnew = rx_buffer.head;
sw_barrier();
} while (vold != vnew);
return vnew;
#else
// With an 8bit index, reads are always atomic. No need for special handling
return rx_buffer.head;
#endif
}
#if RX_BUFFER_SIZE > 256
static volatile bool rx_tail_value_not_stable = false;
static volatile uint16_t rx_tail_value_backup = 0;
#endif
// Set RX tail index, taking into account the RX ISR could interrupt
// the write to this variable in the middle - So a backup strategy
// is used to ensure reads of the correct values.
// -Must NOT be called from the RX ISR -
FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value) {
#if RX_BUFFER_SIZE > 256
// Store the new value in the backup
rx_tail_value_backup = value;
sw_barrier();
// Flag we are about to change the true value
rx_tail_value_not_stable = true;
sw_barrier();
// Store the new value
rx_buffer.tail = value;
sw_barrier();
// Signal the new value is completely stored into the value
rx_tail_value_not_stable = false;
sw_barrier();
#else
rx_buffer.tail = value;
#endif
}
// Get the RX tail index, taking into account the read could be
// interrupting in the middle of the update of that index value
// -Called from the RX ISR -
FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail() {
#if RX_BUFFER_SIZE > 256
// If the true index is being modified, return the backup value
if (rx_tail_value_not_stable) return rx_tail_value_backup;
#endif
// The true index is stable, return it
return rx_buffer.tail;
}
// (called with RX interrupts disabled) // (called with RX interrupts disabled)
FORCE_INLINE void store_rxd_char() { FORCE_INLINE void store_rxd_char() {
@ -98,10 +164,12 @@
static EmergencyParser::State emergency_state; // = EP_RESET static EmergencyParser::State emergency_state; // = EP_RESET
#endif #endif
// Get the tail - Nothing can alter its value while we are at this ISR // Get the tail - Nothing can alter its value while this ISR is executing, but there's
const ring_buffer_pos_t t = rx_buffer.tail; // a chance that this ISR interrupted the main process while it was updating the index.
// The backup mechanism ensures the correct value is always returned.
const ring_buffer_pos_t t = atomic_read_rx_tail();
// Get the head pointer // Get the head pointer - This ISR is the only one that modifies its value, so it's safe to read here
ring_buffer_pos_t h = rx_buffer.head; ring_buffer_pos_t h = rx_buffer.head;
// Get the next element // Get the next element
@ -158,7 +226,7 @@
// and stop sending bytes. This translates to 13mS propagation time. // and stop sending bytes. This translates to 13mS propagation time.
if (rx_count >= (RX_BUFFER_SIZE) / 8) { if (rx_count >= (RX_BUFFER_SIZE) / 8) {
// At this point, definitely no TX interrupt was executing, since the TX isr can't be preempted. // At this point, definitely no TX interrupt was executing, since the TX ISR can't be preempted.
// Don't enable the TX interrupt here as a means to trigger the XOFF char, because if it happens // Don't enable the TX interrupt here as a means to trigger the XOFF char, because if it happens
// to be in the middle of trying to disable the RX interrupt in the main program, eventually the // to be in the middle of trying to disable the RX interrupt in the main program, eventually the
// enabling of the TX interrupt could be undone. The ONLY reliable thing this can do to ensure // enabling of the TX interrupt could be undone. The ONLY reliable thing this can do to ensure
@ -246,7 +314,7 @@
} }
#endif // SERIAL_XON_XOFF #endif // SERIAL_XON_XOFF
// Store the new head value // Store the new head value - The main loop will retry until the value is stable
rx_buffer.head = h; rx_buffer.head = h;
} }
@ -356,37 +424,14 @@
} }
int MarlinSerial::peek(void) { int MarlinSerial::peek(void) {
#if RX_BUFFER_SIZE > 256 const ring_buffer_pos_t h = atomic_read_rx_head(), t = rx_buffer.tail;
// Disable RX interrupts, but only if non atomic reads return h == t ? -1 : rx_buffer.buffer[t];
const bool isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
CBI(M_UCSRxB, M_RXCIEx);
#endif
const int v = rx_buffer.head == rx_buffer.tail ? -1 : rx_buffer.buffer[rx_buffer.tail];
#if RX_BUFFER_SIZE > 256
// Reenable RX interrupts if they were enabled
if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx);
#endif
return v;
} }
int MarlinSerial::read(void) { int MarlinSerial::read(void) {
const ring_buffer_pos_t h = atomic_read_rx_head();
#if RX_BUFFER_SIZE > 256 // Read the tail. Main thread owns it, so it is safe to directly read it
// Disable RX interrupts to ensure atomic reads - This could reenable TX interrupts,
// but this situation is explicitly handled at the TX isr, so no problems there
bool isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
CBI(M_UCSRxB, M_RXCIEx);
#endif
const ring_buffer_pos_t h = rx_buffer.head;
#if RX_BUFFER_SIZE > 256
// End critical section
if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx);
#endif
ring_buffer_pos_t t = rx_buffer.tail; ring_buffer_pos_t t = rx_buffer.tail;
// If nothing to read, return now // If nothing to read, return now
@ -396,22 +441,9 @@
const int v = rx_buffer.buffer[t]; const int v = rx_buffer.buffer[t];
t = (ring_buffer_pos_t)(t + 1) & (RX_BUFFER_SIZE - 1); t = (ring_buffer_pos_t)(t + 1) & (RX_BUFFER_SIZE - 1);
#if RX_BUFFER_SIZE > 256 // Advance tail - Making sure the RX ISR will always get an stable value, even
// Disable RX interrupts to ensure atomic write to tail, so // if it interrupts the writing of the value of that variable in the middle.
// the RX isr can't read partially updated values - This could atomic_set_rx_tail(t);
// reenable TX interrupts, but this situation is explicitly
// handled at the TX isr, so no problems there
isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
CBI(M_UCSRxB, M_RXCIEx);
#endif
// Advance tail
rx_buffer.tail = t;
#if RX_BUFFER_SIZE > 256
// End critical section
if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx);
#endif
#if ENABLED(SERIAL_XON_XOFF) #if ENABLED(SERIAL_XON_XOFF)
// If the XOFF char was sent, or about to be sent... // If the XOFF char was sent, or about to be sent...
@ -422,7 +454,7 @@
#if TX_BUFFER_SIZE > 0 #if TX_BUFFER_SIZE > 0
// Signal we want an XON character to be sent. // Signal we want an XON character to be sent.
xon_xoff_state = XON_CHAR; xon_xoff_state = XON_CHAR;
// Enable TX isr. Non atomic, but it will eventually enable them // Enable TX ISR. Non atomic, but it will eventually enable them
SBI(M_UCSRxB, M_UDRIEx); SBI(M_UCSRxB, M_UDRIEx);
#else #else
// If not using TX interrupts, we must send the XON char now // If not using TX interrupts, we must send the XON char now
@ -438,31 +470,17 @@
} }
ring_buffer_pos_t MarlinSerial::available(void) { ring_buffer_pos_t MarlinSerial::available(void) {
#if RX_BUFFER_SIZE > 256 const ring_buffer_pos_t h = atomic_read_rx_head(), t = rx_buffer.tail;
const bool isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
CBI(M_UCSRxB, M_RXCIEx);
#endif
const ring_buffer_pos_t h = rx_buffer.head, t = rx_buffer.tail;
#if RX_BUFFER_SIZE > 256
if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx);
#endif
return (ring_buffer_pos_t)(RX_BUFFER_SIZE + h - t) & (RX_BUFFER_SIZE - 1); return (ring_buffer_pos_t)(RX_BUFFER_SIZE + h - t) & (RX_BUFFER_SIZE - 1);
} }
void MarlinSerial::flush(void) { void MarlinSerial::flush(void) {
#if RX_BUFFER_SIZE > 256
const bool isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
CBI(M_UCSRxB, M_RXCIEx);
#endif
rx_buffer.tail = rx_buffer.head; // Set the tail to the head:
// - Read the RX head index in a safe way. (See atomic_read_rx_head.)
#if RX_BUFFER_SIZE > 256 // - Set the tail, making sure the RX ISR will always get a stable value, even
if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx); // if it interrupts the writing of the value of that variable in the middle.
#endif atomic_set_rx_tail(atomic_read_rx_head());
#if ENABLED(SERIAL_XON_XOFF) #if ENABLED(SERIAL_XON_XOFF)
// If the XOFF char was sent, or about to be sent... // If the XOFF char was sent, or about to be sent...
@ -470,7 +488,7 @@
#if TX_BUFFER_SIZE > 0 #if TX_BUFFER_SIZE > 0
// Signal we want an XON character to be sent. // Signal we want an XON character to be sent.
xon_xoff_state = XON_CHAR; xon_xoff_state = XON_CHAR;
// Enable TX isr. Non atomic, but it will eventually enable it. // Enable TX ISR. Non atomic, but it will eventually enable it.
SBI(M_UCSRxB, M_UDRIEx); SBI(M_UCSRxB, M_UDRIEx);
#else #else
// If not using TX interrupts, we must send the XON char now // If not using TX interrupts, we must send the XON char now
@ -492,7 +510,7 @@
// effective datarate at high (>500kbit/s) bitrates, where // effective datarate at high (>500kbit/s) bitrates, where
// interrupt overhead becomes a slowdown. // interrupt overhead becomes a slowdown.
// Yes, there is a race condition between the sending of the // Yes, there is a race condition between the sending of the
// XOFF char at the RX isr, but it is properly handled there // XOFF char at the RX ISR, but it is properly handled there
if (!TEST(M_UCSRxB, M_UDRIEx) && TEST(M_UCSRxA, M_UDREx)) { if (!TEST(M_UCSRxB, M_UDRIEx) && TEST(M_UCSRxA, M_UDREx)) {
M_UDRx = c; M_UDRx = c;
@ -527,7 +545,7 @@
tx_buffer.buffer[tx_buffer.head] = c; tx_buffer.buffer[tx_buffer.head] = c;
tx_buffer.head = i; tx_buffer.head = i;
// Enable TX isr - Non atomic, but it will eventually enable TX isr // Enable TX ISR - Non atomic, but it will eventually enable TX ISR
SBI(M_UCSRxB, M_UDRIEx); SBI(M_UCSRxB, M_UDRIEx);
} }