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Reloading in irq might possibly work

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This commit is contained in:
Hakan Bastedt
2024-01-09 10:39:56 +01:00
parent 120b423f59
commit 0b9ce37200
1 changed files with 45 additions and 13 deletions
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58
Firmware/src/main.cpp
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@@ -180,28 +180,32 @@ volatile int32_t timerStepPositionAtEnd = 0;
void handleStepper(void) void handleStepper(void)
{ {
int32_t pulsesAtEndOfCycle = 1000 * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm int32_t pulsesAtEndOfCycle = 100 * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm
makePulses(/*sync0CycleTime / 1000*/ 700, pulsesAtEndOfCycle); // Make the pulses using hardware timer makePulses(/*sync0CycleTime / 1000*/ 1200, pulsesAtEndOfCycle); // Make the pulses using hardware timer
actualPosition = requestedPosition; actualPosition = requestedPosition;
} }
volatile int32_t timerNewEndStepPosition = 0;
volatile uint64_t timerNewEndTime = 0;
void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/) void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/)
{ {
// if (!stepperTimerIsRunning) if (1 /*!timerIsRunning*/)
{ {
// Start the timer
int32_t steps = pulsesAtEnd - timerStepPositionAtEnd; // Pulses to go + or - int32_t steps = pulsesAtEnd - timerStepPositionAtEnd; // Pulses to go + or -
if (abs(steps) * 1000000 / cycleTime > 100000) // 100 kHz is too much for driver, reduce
{
int32_t stepsMax = 100000 * cycleTime / 1000000;
steps = stepsMax*(steps > 0 ? 1 : -1);
pulsesAtEnd = timerStepPositionAtEnd + stepsMax;
}
if (steps != 0) if (steps != 0)
{ {
if (abs(steps) * 1000000 / cycleTime > 100000) // 100 kHz is too much for driver, reduce
{
int32_t stepsMax = 100000 * cycleTime / 1000000;
steps = stepsMax * (steps > 0 ? 1 : -1);
pulsesAtEnd = timerStepPositionAtEnd + steps;
}
byte sgn = steps > 0 ? HIGH : LOW; byte sgn = steps > 0 ? HIGH : LOW;
digitalWrite(STEPPER_DIR_PIN, sgn); digitalWrite(STEPPER_DIR_PIN, sgn);
uint64_t period = cycleTime; // usecs uint32_t freq = 1.4 * abs(steps) * 1000000 / cycleTime;
uint32_t freq = abs(steps) * 1000000 / period; MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
MyTim->setOverflow(freq, HERTZ_FORMAT); MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 % MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
timerStepDirection = steps > 0 ? 1 : -1; timerStepDirection = steps > 0 ? 1 : -1;
@@ -210,12 +214,40 @@ void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end po
MyTim->resume(); MyTim->resume();
} }
} }
else // Timer is running, reload
{
// Set variables, they will be picked up by the timer_CB and the timer is reloaded.
timerNewEndStepPosition = pulsesAtEnd;
timerNewEndTime = micros() + cycleTime;
}
} }
void TimerStep_CB(void) void TimerStep_CB(void)
{ {
timerStepPosition += timerStepDirection; timerStepPosition += timerStepDirection; // The step that was just completed
if (timerStepPosition == timerStepPositionAtEnd) if (timerNewEndTime != 0) // Are we going to reload?
{
// Input for reload is timerNewEndStepPosition and timerNewEndTime
// The timer has current position and current time and from this
// can set new frequency and new endtarget for steps
MyTim->pause();
int32_t steps = timerNewEndStepPosition - timerStepPosition;
uint64_t cycleTime = timerNewEndTime - micros();
byte sgn = steps > 0 ? HIGH : LOW;
digitalWrite(STEPPER_DIR_PIN, sgn);
uint32_t freq = abs(steps) * 1000000 / cycleTime;
MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = timerNewEndStepPosition;
timerNewEndStepPosition = 0; // Set to zero to not reload next time
timerNewEndTime = 0;
timerIsRunning = 1;
MyTim->resume();
}
if (timerStepPosition == timerStepPositionAtEnd) // Are we finished?
{ {
timerIsRunning = 0; timerIsRunning = 0;
MyTim->pause(); MyTim->pause();