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Optimization 1) Union for StepAcc

pull/146/head
EmbeddedMan 2020-11-19 18:55:19 -06:00
rodzic ba8cda332b
commit 69dffbdcb1
2 zmienionych plików z 32 dodań i 17 usunięć
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38
EBB_firmware/app.X/source/ebb.c
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@ -306,7 +306,8 @@ typedef enum
// Working registers
static volatile MoveCommandType CurrentCommand;
//#pragma udata access fast_vars
static UINT32 StepAcc[NUMBER_OF_STEPPERS] = {0,0};
union union32b4 acc_union[2];
//static UINT32 StepAcc[NUMBER_OF_STEPPERS] = {0,0};
// Temporary signed 32 bit value for ISR
static INT32 TestRate;
BOOL FIFOEmpty;
@ -353,6 +354,8 @@ void clear_StepCounters(void);
#pragma interrupt high_ISR
void high_ISR(void)
{
TRISDbits.TRISD1 = 0;
LATDbits.LATD1 = 1;
//Check which interrupt flag caused the interrupt.
//Service the interrupt
//Clear the interrupt flag
@ -468,10 +471,10 @@ void high_ISR(void)
{
CurrentCommand.Rate[0] = 0x80000000;
}
StepAcc[0] = StepAcc[0] + CurrentCommand.Rate[0];
if (StepAcc[0] & 0x80000000)
acc_union[0].value = acc_union[0].value + CurrentCommand.Rate[0];
if (acc_union[0].bytes.b4 & 0x80)
{
StepAcc[0] = StepAcc[0] & 0x7FFFFFFF;
acc_union[0].bytes.b4 = acc_union[0].bytes.b4 & 0x7F;
OutByte = OutByte | STEP1_BIT;
TookStep = TRUE;
if (CurrentCommand.DirBits & DIR1_BIT)
@ -496,10 +499,10 @@ void high_ISR(void)
{
CurrentCommand.Rate[1] = 0x80000000;
}
StepAcc[1] = StepAcc[1] + CurrentCommand.Rate[1];
if (StepAcc[1] & 0x80000000)
acc_union[1].value = acc_union[1].value + CurrentCommand.Rate[1];
if (acc_union[1].bytes.b4 & 0x80)
{
StepAcc[1] = StepAcc[1] & 0x7FFFFFFF;
acc_union[1].bytes.b4 = acc_union[1].bytes.b4 & 0x7F;
OutByte = OutByte | STEP2_BIT;
TookStep = TRUE;
if (CurrentCommand.DirBits & DIR2_BIT)
@ -530,10 +533,10 @@ void high_ISR(void)
{
CurrentCommand.Rate[0] = 0x80000000;
}
StepAcc[0] = StepAcc[0] + CurrentCommand.Rate[0];
if (StepAcc[0] & 0x80000000)
acc_union[0].value = acc_union[0].value + CurrentCommand.Rate[0];
if (acc_union[0].bytes.b4 & 0x80)
{
StepAcc[0] = StepAcc[0] & 0x7FFFFFFF;
acc_union[0].bytes.b4 = acc_union[0].bytes.b4 & 0x7F;
OutByte = OutByte | STEP1_BIT;
TookStep = TRUE;
CurrentCommand.Steps[0]--;
@ -560,10 +563,10 @@ void high_ISR(void)
{
CurrentCommand.Rate[1] = 0x80000000;
}
StepAcc[1] = StepAcc[1] + CurrentCommand.Rate[1];
if (StepAcc[1] & 0x80000000)
acc_union[1].value = acc_union[1].value + CurrentCommand.Rate[1];
if (acc_union[1].bytes.b4 & 0x80)
{
StepAcc[1] = StepAcc[1] & 0x7FFFFFFF;
acc_union[1].bytes.b4 = acc_union[1].bytes.b4 & 0x7F;
OutByte = OutByte | STEP2_BIT;
TookStep = TRUE;
CurrentCommand.Steps[1]--;
@ -765,11 +768,11 @@ void high_ISR(void)
// Use the SEState to determine which accumulators to clear.
if (CurrentCommand.SEState & 0x01)
{
StepAcc[0] = 0;
acc_union[0].value = 0;
}
if (CurrentCommand.SEState & 0x02)
{
StepAcc[1] = 0;
acc_union[1].value = 0;
}
}
FIFOEmpty = TRUE;
@ -793,6 +796,7 @@ void high_ISR(void)
ButtonPushed = TRUE;
}
}
LATDbits.LATD1 = 0;
}
// Init code
@ -2812,8 +2816,8 @@ void clear_StepCounters(void)
globalStepCounter2 = 0;
// Clear both step accumulators as well
StepAcc[0] = 0;
StepAcc[1] = 0;
acc_union[0].value = 0;
acc_union[1].value = 0;
// Re-enable interrupts
INTCONbits.GIEH = 1; // Turn high priority interrupts on

11
EBB_firmware/app.X/source/ebb.h
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@ -75,6 +75,17 @@ typedef enum
COMMAND_MOTOR_MOVE_TIMED
} CommandType;
// Byte union used for accumulator
union union32b4 {
struct byte_map {
UINT8 b1; // Low byte
UINT8 b2;
UINT8 b3;
UINT8 b4; // High byte
} bytes;
UINT32 value;
};
// This structure defines the elements of the move commands in the FIFO that
// are sent from the command parser to the ISR move engine.
typedef struct