kopia lustrzana https://github.com/evil-mad/EggBot
Check for a move being done after the steps have been taken so that code like "LM,2147483647,1,0,0,0,0" can actually produce a 1-tick move. (Previously it would need 1 tick to create the step and then another tick to load up the next move, meaning that there was always an extra ISR tick for ever move. This code change eleminates that, at the expense of a longer ISR (21uS vs now 34uS).
EmbeddedMan
rodzic
4c1eae4712
commit
9ca8cfa37c
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@ -345,11 +345,11 @@ void high_ISR(void)
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USBDeviceTasks();
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#endif
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// 25KHz ISR fire
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// 25KHz ISR fire
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if (PIR1bits.TMR1IF)
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{
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TRISDbits.TRISD0 = 0;
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LATDbits.LATD0 = 1;
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TRISDbits.TRISD1 = 0;
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LATDbits.LATD1 = 1;
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// Clear the interrupt
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PIR1bits.TMR1IF = 0;
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TMR1H = TIMER1_H_RELOAD; //
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@ -359,37 +359,37 @@ LATDbits.LATD0 = 1;
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TookStep = FALSE;
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AllDone = TRUE;
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// Note, you don't even need a command to delay. Any command can have
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// a delay associated with it, if DelayCounter is != 0.
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if (CurrentCommand.DelayCounter)
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{
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// Double check that things aren't way too big
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if (CurrentCommand.DelayCounter > HIGH_ISR_TICKS_PER_MS * (UINT32)0x10000)
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{
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CurrentCommand.DelayCounter = 0;
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}
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else {
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CurrentCommand.DelayCounter--;
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}
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}
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// Note, you don't even need a command to delay. Any command can have
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// a delay associated with it, if DelayCounter is != 0.
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if (CurrentCommand.DelayCounter)
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{
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// Double check that things aren't way too big
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if (CurrentCommand.DelayCounter > HIGH_ISR_TICKS_PER_MS * (UINT32)0x10000)
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{
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CurrentCommand.DelayCounter = 0;
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}
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else {
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CurrentCommand.DelayCounter--;
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}
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}
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if (CurrentCommand.DelayCounter)
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{
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AllDone = FALSE;
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}
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if (CurrentCommand.DelayCounter)
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{
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AllDone = FALSE;
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}
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// Not sure why this is here? For debugging? If so, then #ifdef it out for release build
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//PORTDbits.RD1 = 0;
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// Not sure why this is here? For debugging? If so, then #ifdef it out for release build
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//PORTDbits.RD1 = 0;
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// Note: by not making this an else-if, we have our DelayCounter
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// counting done at the same time as our motor move or servo move.
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// This allows the delay time to start counting at the beginning of the
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// command execution.
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if (CurrentCommand.Command == COMMAND_MOTOR_MOVE)
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// Note: by not making this an else-if, we have our DelayCounter
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// counting done at the same time as our motor move or servo move.
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// This allows the delay time to start counting at the beginning of the
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// command execution.
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if (CurrentCommand.Command == COMMAND_MOTOR_MOVE)
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{
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// Only output DIR bits if we are actually doing something
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// Only output DIR bits if we are actually doing something
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if (CurrentCommand.StepsCounter[0] || CurrentCommand.StepsCounter[1])
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{
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{
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if (DriverConfiguration == PIC_CONTROLS_DRIVERS)
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{
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if (CurrentCommand.DirBits & DIR1_BIT)
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@ -409,7 +409,7 @@ LATDbits.LATD0 = 1;
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Dir2IO = 0;
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}
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}
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else if (DriverConfiguration == PIC_CONTROLS_EXTERNAL)
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else if (DriverConfiguration == PIC_CONTROLS_EXTERNAL)
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{
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if (CurrentCommand.DirBits & DIR1_BIT)
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{
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@ -441,11 +441,11 @@ LATDbits.LATD0 = 1;
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CurrentCommand.StepsCounter[0]--;
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if (CurrentCommand.DirBits & DIR1_BIT)
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{
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globalStepCounter1--;
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globalStepCounter1--;
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}
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else
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{
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globalStepCounter1++;
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globalStepCounter1++;
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}
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}
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// For acceleration, we now add a bit to StepAdd each time through as well
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@ -467,11 +467,11 @@ LATDbits.LATD0 = 1;
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CurrentCommand.StepsCounter[1]--;
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if (CurrentCommand.DirBits & DIR2_BIT)
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{
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globalStepCounter2--;
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globalStepCounter2--;
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}
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else
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{
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globalStepCounter2++;
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globalStepCounter2++;
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}
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}
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// For acceleration, we now add a bit to StepAdd each time through as well
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@ -482,7 +482,14 @@ LATDbits.LATD0 = 1;
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}
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AllDone = FALSE;
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}
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// We want to allow for a one-ISR tick move, which requires us to check
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// to see if the move has been completed here (to load the next command
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// immediately rather than waiting for the next tick). This primarily gives
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// us simpler math when figuring out how long moves will take.
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if (CurrentCommand.StepsCounter[0] == 0 && CurrentCommand.StepsCounter[1] == 0)
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{
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AllDone = TRUE;
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}
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if (TookStep)
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{
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if (DriverConfiguration == PIC_CONTROLS_DRIVERS)
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@ -496,7 +503,7 @@ LATDbits.LATD0 = 1;
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Step2IO = 1;
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}
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}
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else if (DriverConfiguration == PIC_CONTROLS_EXTERNAL)
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else if (DriverConfiguration == PIC_CONTROLS_EXTERNAL)
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{
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if (OutByte & STEP1_BIT)
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{
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@ -546,87 +553,87 @@ LATDbits.LATD0 = 1;
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}
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}
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}
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}
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// Check to see if we should change the state of the pen
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}
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// Check to see if we should change the state of the pen
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else if (CurrentCommand.Command == COMMAND_SERVO_MOVE)
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{
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if (gUseRCPenServo)
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{
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// Precompute the channel, since we use it all over the place
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UINT8 Channel = CurrentCommand.ServoChannel - 1;
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if (gUseRCPenServo)
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{
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// Precompute the channel, since we use it all over the place
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UINT8 Channel = CurrentCommand.ServoChannel - 1;
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// This code below is the meat of the RCServo2_Move() function
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// We have to manually write it in here rather than calling
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// the function because a real function inside the ISR
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// causes the compiler to generate enormous amounts of setup/teardown
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// code and things run way too slowly.
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// This code below is the meat of the RCServo2_Move() function
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// We have to manually write it in here rather than calling
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// the function because a real function inside the ISR
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// causes the compiler to generate enormous amounts of setup/teardown
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// code and things run way too slowly.
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// If the user is trying to turn off this channel's RC servo output
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if (0 == CurrentCommand.ServoPosition)
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{
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// Turn off the PPS routing to the pin
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*(gRC2RPORPtr + gRC2RPn[Channel]) = 0;
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// Clear everything else out for this channel
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gRC2Rate[Channel] = 0;
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gRC2Target[Channel] = 0;
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gRC2RPn[Channel] = 0;
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gRC2Value[Channel] = 0;
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}
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else
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{
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// Otherwise, set all of the values that start this RC servo moving
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gRC2Rate[Channel] = CurrentCommand.ServoRate;
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gRC2Target[Channel] = CurrentCommand.ServoPosition;
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gRC2RPn[Channel] = CurrentCommand.ServoRPn;
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if (gRC2Value[Channel] == 0)
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{
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gRC2Value[Channel] = CurrentCommand.ServoPosition;
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}
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}
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}
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// If the user is trying to turn off this channel's RC servo output
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if (0 == CurrentCommand.ServoPosition)
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{
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// Turn off the PPS routing to the pin
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*(gRC2RPORPtr + gRC2RPn[Channel]) = 0;
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// Clear everything else out for this channel
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gRC2Rate[Channel] = 0;
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gRC2Target[Channel] = 0;
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gRC2RPn[Channel] = 0;
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gRC2Value[Channel] = 0;
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}
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else
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{
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// Otherwise, set all of the values that start this RC servo moving
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gRC2Rate[Channel] = CurrentCommand.ServoRate;
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gRC2Target[Channel] = CurrentCommand.ServoPosition;
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gRC2RPn[Channel] = CurrentCommand.ServoRPn;
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if (gRC2Value[Channel] == 0)
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{
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gRC2Value[Channel] = CurrentCommand.ServoPosition;
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}
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}
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}
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// If this servo is the pen servo (on g_servo2_RPn)
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if (CurrentCommand.ServoRPn == g_servo2_RPn)
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{
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// Then set its new state based on the new position
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if (CurrentCommand.ServoPosition == g_servo2_min)
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{
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PenState = PEN_UP;
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SolenoidState = SOLENOID_OFF;
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if (gUseSolenoid)
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{
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PenUpDownIO = 0;
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}
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}
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else
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{
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PenState = PEN_DOWN;
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SolenoidState = SOLENOID_ON;
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if (gUseSolenoid)
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{
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PenUpDownIO = 1;
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}
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}
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}
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// If this servo is the pen servo (on g_servo2_RPn)
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if (CurrentCommand.ServoRPn == g_servo2_RPn)
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{
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// Then set its new state based on the new position
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if (CurrentCommand.ServoPosition == g_servo2_min)
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{
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PenState = PEN_UP;
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SolenoidState = SOLENOID_OFF;
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if (gUseSolenoid)
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{
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PenUpDownIO = 0;
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}
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}
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else
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{
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PenState = PEN_DOWN;
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SolenoidState = SOLENOID_ON;
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if (gUseSolenoid)
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{
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PenUpDownIO = 1;
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}
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}
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}
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}
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// Check to see if we should start or stop the engraver
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// Check to see if we should start or stop the engraver
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else if (CurrentCommand.Command == COMMAND_SE)
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{
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// Now act on the State of the SE command
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if (CurrentCommand.SEState)
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{
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// Set RB3 to StoredEngraverPower
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CCPR1L = CurrentCommand.SEPower >> 2;
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CCP1CON = (CCP1CON & 0b11001111) | ((StoredEngraverPower << 4) & 0b00110000);
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}
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else
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{
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// Set RB3 to low by setting PWM duty cycle to zero
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CCPR1L = 0;
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CCP1CON = (CCP1CON & 0b11001111);
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}
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AllDone = TRUE;
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}
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// Now act on the State of the SE command
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if (CurrentCommand.SEState)
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{
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// Set RB3 to StoredEngraverPower
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CCPR1L = CurrentCommand.SEPower >> 2;
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CCP1CON = (CCP1CON & 0b11001111) | ((StoredEngraverPower << 4) & 0b00110000);
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}
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else
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{
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// Set RB3 to low by setting PWM duty cycle to zero
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CCPR1L = 0;
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CCP1CON = (CCP1CON & 0b11001111);
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}
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AllDone = TRUE;
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}
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else if (CurrentCommand.Command == COMMAND_CLEAR_ACCUMULATORS)
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{
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// Use the SEState to determine which accumulators to clear.
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@ -646,29 +653,29 @@ LATDbits.LATD0 = 1;
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CurrentCommand.Command = COMMAND_NONE;
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if (!FIFOEmpty)
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{
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TRISDbits.TRISD1 = 0;
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LATDbits.LATD1 = 1;
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CurrentCommand = CommandFIFO[0];
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// Zero out command in FIFO
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CommandFIFO[0].Command = COMMAND_NONE;
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CommandFIFO[0].StepAdd[0] = 0;
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CommandFIFO[0].StepAdd[1] = 0;
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CommandFIFO[0].StepsCounter[0] = 0;
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CommandFIFO[0].StepsCounter[1] = 0;
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CommandFIFO[0].DirBits = 0;
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CommandFIFO[0].DelayCounter = 0;
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CommandFIFO[0].ServoPosition = 0;
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CommandFIFO[0].ServoRPn = 0;
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CommandFIFO[0].ServoChannel = 0;
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CommandFIFO[0].ServoRate = 0;
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CommandFIFO[0].SEState = 0;
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CommandFIFO[0].SEPower = 0;
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TRISDbits.TRISD0 = 0;
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LATDbits.LATD0 = 1;
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CurrentCommand = CommandFIFO[0];
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// Zero out command in FIFO
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CommandFIFO[0].Command = COMMAND_NONE;
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CommandFIFO[0].StepAdd[0] = 0;
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CommandFIFO[0].StepAdd[1] = 0;
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CommandFIFO[0].StepsCounter[0] = 0;
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CommandFIFO[0].StepsCounter[1] = 0;
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CommandFIFO[0].DirBits = 0;
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CommandFIFO[0].DelayCounter = 0;
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CommandFIFO[0].ServoPosition = 0;
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CommandFIFO[0].ServoRPn = 0;
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CommandFIFO[0].ServoChannel = 0;
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CommandFIFO[0].ServoRate = 0;
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CommandFIFO[0].SEState = 0;
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CommandFIFO[0].SEPower = 0;
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FIFOEmpty = TRUE;
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LATDbits.LATD0 = 0;
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}
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else {
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CurrentCommand.DelayCounter = 0;
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}
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else {
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CurrentCommand.DelayCounter = 0;
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}
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}
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// Check for button being pushed
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@ -685,7 +692,7 @@ LATDbits.LATD0 = 0;
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ButtonPushed = TRUE;
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}
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}
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LATDbits.LATD0 = 0;
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LATDbits.LATD1 = 0;
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}
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// Init code
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Ładowanie…
Reference in New Issue