Set ISR priorities

grbl/main.c

@@ -22,6 +22,8 @@
 #include "grbl.h"
 #include "current_control.h"
 
+void isr_init();
+
 /*Holding space for dummy registers*/
 DummyReg DDRA;
 DummyReg DDRB;
@@ -43,28 +45,14 @@ DummyReg EECR;
 DummyReg EEDR;
 DummyReg EEMPE;
 DummyReg EEPE;
-DummyReg OCIE0A;
-DummyReg OCIE0B;
-DummyReg OCIE1A;
-DummyReg OCR1A;
 DummyReg OCR2A;
 DummyReg PCICR;
 DummyReg PCIE0;
 DummyReg PCIE1;
 DummyReg PCMSK0;
 DummyReg PCMSK1;
-DummyReg SREG;
-DummyReg TCCR0A;
-DummyReg TCCR0B;
-DummyReg TCCR1A;
-DummyReg TCCR1B;
-DummyReg TCCRA;
 DummyReg TCCR2A;
 DummyReg TCCR2B;
-DummyReg TCNT0;
-DummyReg TIMSK0;
-DummyReg TIMSK1;
-DummyReg TOIE0;
 
 DummyReg UCSR0A;
 DummyReg UCSR0B;
@@ -88,6 +76,7 @@ volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bit
 int main(void)
 {
   // Initialize system upon power-up.
+  isr_init();      // Set ISR priorities
   delay_init();    // Setup delay timer
   serial_init();   // Setup serial baud rate and interrupts
   settings_init(); // Load Grbl settings from EEPROM

smoother/isr_init.cpp

@@ -0,0 +1,31 @@
+// Copyright 2017 Todd Fleming
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#include "grbl.h"
+
+void isr_init()
+{
+    // Set all interrupts to lowest priority
+    for (auto &ip : NVIC->IP)
+        ip = 31;
+
+    // Stepper ISR needs highest priority
+    NVIC->IP[TIMER1_IRQn] = 0;
+}