Merge pull request #619 from Paciente8159/616-bug-if-a-timeout-assert…

…-loop-using-mcu_millis-is-called-inside-an-isr-the-program-stalls

Fix program stall while waiting for timeout condition inside an ISR

uCNC/src/hal/boards/lpc176x/lpc176x.ini

@@ -9,7 +9,7 @@ platform_packages = Paciente8159/framework-arduino-lpc176x @ https://github.com/
 ; lib_deps = https://github.com/Paciente8159/uCNC-tinyusb/archive/refs/heads/master.zip
 lib_ldf_mode = off
 lib_compat_mode = strict
-build_flags = ${common.build_flags} -D NXP_LPC17xx -D USE_ARDUINO_CDC
+build_flags = ${common.build_flags} -D NXP_LPC17xx -D USE_ARDUINO_CDC -D USE_ARDUINO_WIRE
 
 [env:LPC176X-RE-ARM]
 extends = common_lpc176x

uCNC/src/hal/boards/rp2040/boardmap_rpi_pico.h

@@ -85,7 +85,7 @@ extern "C"
 #define I2C_CLK_BIT 27
 #define I2C_DATA_BIT 26
 #define I2C_PORT 1
-#define I2C_ADDRESS 1
+// #define I2C_ADDRESS 1
 
 /**
  * This is an example of how to use RP2040 PIO to control

uCNC/src/hal/boards/samd21/boardmap_mzero.h

@@ -138,7 +138,12 @@ extern "C"
 #define I2C_DATA_BIT 22
 #define I2C_DATA_PORT A
 #define I2C_PORT 3
-// #define I2C_ADDRESS 1
+// #define I2C_ADDRESS 0
+
+// #define DIN30_BIT 23
+// #define DIN30_PORT A
+// #define DIN31_BIT 22
+// #define DIN31_PORT A
 
 #define ONESHOT_TIMER 2
 

uCNC/src/hal/boards/stm32/boardmap_blackpill.h

@@ -59,10 +59,10 @@ extern "C"
 #define LIMIT_A_PORT B // assigns LIMIT_A port
 
 // Enable limits switch interrupt
-// #define LIMIT_X_ISR
-// #define LIMIT_Y_ISR
-// #define LIMIT_Z_ISR
-// #define LIMIT_A_ISR
+#define LIMIT_X_ISR
+#define LIMIT_Y_ISR
+#define LIMIT_Z_ISR
+#define LIMIT_A_ISR
 
 // Setup control input pins
 #define ESTOP_BIT 5
@@ -71,8 +71,8 @@ extern "C"
 #define FHOLD_PORT B
 #define CS_RES_BIT 7
 #define CS_RES_PORT B
-// #define SAFETY_DOOR_BIT 8
-// #define SAFETY_DOOR_PORT B
+#define SAFETY_DOOR_BIT 8
+#define SAFETY_DOOR_PORT B
 // Setup probe pin
 #define PROBE_BIT 9
 #define PROBE_PORT B
@@ -145,6 +145,11 @@ extern "C"
 // #define I2C_DATA_BIT 7
 // #define I2C_DATA_PORT B
 // #define I2C_PORT 1
+// #define DIN7_BIT 5
+// #define DIN7_PORT A
+// #define DIN7_ISR
+// #define DIN7_PULLUP
+
 
 #define ONESHOT_TIMER 1
 

uCNC/src/hal/boards/stm32/boardmap_bluepill.h

@@ -71,8 +71,8 @@ extern "C"
 #define FHOLD_PORT B
 #define CS_RES_BIT 7
 #define CS_RES_PORT B
-// #define SAFETY_DOOR_BIT 8
-// #define SAFETY_DOOR_PORT B
+#define SAFETY_DOOR_BIT 8
+#define SAFETY_DOOR_PORT B
 // Setup probe pin
 #define PROBE_BIT 9
 #define PROBE_PORT B
@@ -140,13 +140,18 @@ extern "C"
 	// On STM32F1x cores this will default to Timer 3
 	//#define SERVO_TIMER 3
 
-#define I2C_CLK_BIT 10
-#define I2C_CLK_PORT B
-#define I2C_DATA_BIT 11
-#define I2C_DATA_PORT B
-#define I2C_PORT 2
+// #define I2C_CLK_BIT 10
+// #define I2C_CLK_PORT B
+// #define I2C_DATA_BIT 11
+// #define I2C_DATA_PORT B
+// #define I2C_PORT 2
 // #define I2C_ADDRESS 1
 
+// #define DIN7_BIT 5
+// #define DIN7_PORT B
+// #define DIN7_ISR
+// #define DIN7_PULLUP
+
 #define ONESHOT_TIMER 1
 
 #ifdef __cplusplus

uCNC/src/hal/mcus/avr/mcu_avr.c

@@ -859,10 +859,9 @@ uint32_t mcu_millis()
 
 uint32_t mcu_micros()
 {
-	uint32_t rtc_elapsed = RTC_TCNT;
 	uint32_t ms = mcu_runtime_ms;
 
-	return ((rtc_elapsed * 1000) / RTC_OCRA) + (ms * 1000);
+	return ((ms * 1000) + mcu_free_micros());
 }
 
 void mcu_start_rtc()
@@ -1064,18 +1063,23 @@ static void mcu_i2c_write_stop(bool *stop)
 {
 	if (*stop)
 	{
-		uint32_t ms_timeout = mcu_millis() + 25;
+		int32_t ms_timeout = 25;
 
 		TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN);
-		while ((TWCR & (1 << TWSTO)) && (ms_timeout > mcu_millis()))
-			;
+		__TIMEOUT_MS__(ms_timeout)
+		{
+			if (!(TWCR & (1 << TWSTO)))
+			{
+				return;
+			}
+		}
 	}
 }
 
-static uint8_t mcu_i2c_write(uint8_t data, bool send_start, bool send_stop)
+static uint8_t mcu_i2c_write(uint8_t data, bool send_start, bool send_stop, uint32_t ms_timeout)
 {
 	bool stop __attribute__((__cleanup__(mcu_i2c_write_stop))) = send_stop;
-	uint32_t ms_timeout = mcu_millis() + 25;
+	int32_t timeout = ms_timeout;
 	if (send_start)
 	{
 		// init
@@ -1092,15 +1096,20 @@ static uint8_t mcu_i2c_write(uint8_t data, bool send_start, bool send_stop)
 		}
 
 		TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);
-		while (!(TWCR & (1 << TWINT)))
+		__TIMEOUT_MS__(timeout)
 		{
-			if (ms_timeout < mcu_millis())
+			if (TWCR & (1 << TWINT))
 			{
-				stop = true;
-				return I2C_NOTOK;
+				if (TW_STATUS != TW_START && TW_STATUS != TW_REP_START)
+				{
+					stop = true;
+					return I2C_NOTOK;
+				}
+				break;
 			}
 		}
-		if (TW_STATUS != TW_START && TW_STATUS != TW_REP_START)
+
+		__TIMEOUT_ASSERT__(timeout)
 		{
 			stop = true;
 			return I2C_NOTOK;
@@ -1109,64 +1118,64 @@ static uint8_t mcu_i2c_write(uint8_t data, bool send_start, bool send_stop)
 
 	TWDR = data;
 	TWCR = (1 << TWINT) | (1 << TWEN);
-	while (!(TWCR & (1 << TWINT)))
+	timeout = ms_timeout;
+	__TIMEOUT_MS__(timeout)
 	{
-		if (ms_timeout < mcu_millis())
+		if (TWCR & (1 << TWINT))
 		{
-			stop = true;
-			return I2C_NOTOK;
-		}
-	}
+			switch (TW_STATUS)
+			{
+			case TW_MT_SLA_ACK:
+			case TW_MT_DATA_ACK:
+			case TW_MR_SLA_ACK:
+			case TW_MR_DATA_ACK:
+				break;
+			default:
+				stop = true;
+				return I2C_NOTOK;
+			}
 
-	switch (TW_STATUS)
-	{
-	case TW_MT_SLA_ACK:
-	case TW_MT_DATA_ACK:
-	case TW_MR_SLA_ACK:
-	case TW_MR_DATA_ACK:
-		break;
-	default:
-		stop = true;
-		return I2C_NOTOK;
+			return I2C_OK;
+		}
 	}
 
-	return I2C_OK;
+	stop = true;
+	return I2C_NOTOK;
 }
 
 static uint8_t mcu_i2c_read(uint8_t *data, bool with_ack, bool send_stop, uint32_t ms_timeout)
 {
 	*data = 0xFF;
-	ms_timeout += mcu_millis();
 	bool stop __attribute__((__cleanup__(mcu_i2c_write_stop))) = send_stop;
 
 	TWCR = (1 << TWINT) | (1 << TWEN) | ((!with_ack) ? 0 : (1 << TWEA));
-	while (!(TWCR & (1 << TWINT)))
+	__TIMEOUT_MS__(ms_timeout)
 	{
-		if (ms_timeout < mcu_millis())
+		if (TWCR & (1 << TWINT))
 		{
-			stop = true;
-			return I2C_NOTOK;
+			*data = TWDR;
+			return I2C_OK;
 		}
 	}
 
-	*data = TWDR;
-	return I2C_OK;
+	stop = true;
+	return I2C_NOTOK;
 }
 
 #ifndef mcu_i2c_send
 // master sends command to slave
-uint8_t mcu_i2c_send(uint8_t address, uint8_t *data, uint8_t datalen, bool release)
+uint8_t mcu_i2c_send(uint8_t address, uint8_t *data, uint8_t datalen, bool release, uint32_t ms_timeout)
 {
 	if (data && datalen)
 	{
-		if (mcu_i2c_write(address << 1, true, false) == I2C_OK) // start, send address, write
+		if (mcu_i2c_write(address << 1, true, false, ms_timeout) == I2C_OK) // start, send address, write
 		{
 			// send data, stop
 			do
 			{
 				datalen--;
 				bool last = (datalen == 0);
-				if (mcu_i2c_write(*data, false, (release & last)) != I2C_OK)
+				if (mcu_i2c_write(*data, false, (release & last), ms_timeout) != I2C_OK)
 				{
 					return I2C_NOTOK;
 				}
@@ -1188,7 +1197,7 @@ uint8_t mcu_i2c_receive(uint8_t address, uint8_t *data, uint8_t datalen, uint32_
 {
 	if (data && datalen)
 	{
-		if (mcu_i2c_write((address << 1) | 0x01, true, false) == I2C_OK) // start, send address, write
+		if (mcu_i2c_write((address << 1) | 0x01, true, false, ms_timeout) == I2C_OK) // start, send address, write
 		{
 			do
 			{

uCNC/src/hal/mcus/avr/mcumap_avr.h

@@ -4648,6 +4648,8 @@ extern "C"
 #define US_DELAY_TICK (F_CPU / 3000000UL)
 #define US_DELAY_TICK2 (F_CPU / 4000000UL)
 
+#define mcu_free_micros() ((1000UL*RTC_TCNT)/RTC_OCRA)
+
 #ifdef MCU_HAS_SPI
 #define mcu_spi_xmit(X)               \
 	({                                \

uCNC/src/hal/mcus/esp32/esp32_arduino.cpp

@@ -933,7 +933,7 @@ static File upload_file;
 #endif
 	}
 
-	uint8_t mcu_i2c_send(uint8_t address, uint8_t *data, uint8_t datalen, bool release)
+	uint8_t mcu_i2c_send(uint8_t address, uint8_t *data, uint8_t datalen, bool release, uint32_t ms_timeout)
 	{
 		I2C_REG.beginTransmission(address);
 		I2C_REG.write(data, datalen);

uCNC/src/hal/mcus/esp32/mcu_esp32.c

@@ -936,6 +936,11 @@ uint32_t mcu_micros()
 	return (uint32_t)esp_system_get_time();
 }
 
+uint32_t mcu_free_micros()
+{
+	return (uint32_t)(esp_system_get_time() % 1000);
+}
+
 void esp32_delay_us(uint16_t delay)
 {
 	int64_t time = esp_system_get_time() + delay - 1;

uCNC/src/hal/mcus/esp8266/mcu_esp8266.c

@@ -553,6 +553,11 @@ void esp8266_delay_us(uint16_t delay)
 		;
 }
 
+uint32_t mcu_free_micros()
+{
+	return (uint32_t)(esp_system_get_time() % 1000);
+}
+
 /**
  * runs all internal tasks of the MCU.
  * for the moment these are:

uCNC/src/hal/mcus/lpc176x/lpc176x_arduino.cpp

@@ -78,5 +78,66 @@ extern "C"
 	}
 
 #endif
+
+#if defined(MCU_HAS_I2C) && defined(USE_ARDUINO_WIRE)
+#include <Wire.h>
+#define I2C_REG Wire
+#if I2C_ADDRESS!=0
+#error "I2C slave mode not supported
+#endif
+
+extern "C"
+{
+#if (I2C_ADDRESS != 0)
+	static uint8_t mcu_i2c_buffer_len;
+	static uint8_t mcu_i2c_buffer[I2C_SLAVE_BUFFER_SIZE];
+	void rp2040_i2c_onreceive(int len)
+	{
+		uint8_t l = I2C_REG.readBytes(mcu_i2c_buffer, len);
+		mcu_i2c_slave_cb(mcu_i2c_buffer, &l);
+		mcu_i2c_buffer_len = l;
+	}
+
+	void rp2040_i2c_onrequest(void)
+	{
+		I2C_REG.write(mcu_i2c_buffer, mcu_i2c_buffer_len);
+	}
+
+#endif
+
+	void mcu_i2c_config(uint32_t frequency)
+	{
+#if I2C_ADDRESS == 0
+		I2C_REG.begin();
+#else
+		I2C_REG.onReceive(rp2040_i2c_onreceive);
+		I2C_REG.onRequest(rp2040_i2c_onrequest);
+		I2C_REG.begin(I2C_ADDRESS);
+#endif
+	}
+
+	uint8_t mcu_i2c_send(uint8_t address, uint8_t *data, uint8_t datalen, bool release, uint32_t ms_timeout)
+	{
+		I2C_REG.beginTransmission(address);
+		I2C_REG.write(data, datalen);
+		return (I2C_REG.endTransmission() == 0) ? I2C_OK : I2C_NOTOK;
+	}
+
+	uint8_t mcu_i2c_receive(uint8_t address, uint8_t *data, uint8_t datalen, uint32_t ms_timeout)
+	{
+		if (I2C_REG.requestFrom(address, datalen) == datalen)
+		{
+			while(datalen--){
+				*data = (uint8_t)I2C_REG.read();
+				data++;
+			}
+
+			return I2C_OK;
+		}
+
+		return I2C_NOTOK;
+	}
+}
+#endif
 }
 #endif