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Baseline 2.7.0 code for ISR optomization.

pull/146/head
EmbeddedMan 2020-11-18 16:08:54 -06:00
rodzic 972e96edeb
commit ac33be1b73
2 zmienionych plików z 29 dodań i 33 usunięć
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54
EBB_firmware/app.X/source/ebb.c
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@ -392,7 +392,6 @@ LATDbits.LATD1 = 1;
// Only output DIR bits if we are actually doing something
if (CurrentCommand.Steps[0] || CurrentCommand.Steps[1])
{
#if 0
if (DriverConfiguration == PIC_CONTROLS_DRIVERS)
{
if (CurrentCommand.DirBits & DIR1_BIT)
@ -502,7 +501,6 @@ LATDbits.LATD1 = 1;
}
}
else
#endif
{
// This only fires if the Command is COMMAND_MOTOR_MOVE
@ -510,15 +508,15 @@ LATDbits.LATD1 = 1;
if (CurrentCommand.Steps[0])
{
// For acceleration, we now add a bit to StepAdd each time through as well
// TestRate = CurrentCommand.Rate[0] + CurrentCommand.Accel[0];
// if (TestRate > 0)
// {
// CurrentCommand.Rate[0] = TestRate;
// }
// else
// {
// CurrentCommand.Rate[0] = 0x80000000;
// }
TestRate = CurrentCommand.Rate[0] + CurrentCommand.Accel[0];
if (TestRate > 0)
{
CurrentCommand.Rate[0] = TestRate;
}
else
{
CurrentCommand.Rate[0] = 0x80000000;
}
StepAcc[0] = StepAcc[0] + CurrentCommand.Rate[0];
if (StepAcc[0] & 0x80000000)
{
@ -540,15 +538,15 @@ LATDbits.LATD1 = 1;
if (CurrentCommand.Steps[1])
{
// For acceleration, we now add a bit to StepAdd each time through as well
// TestRate = CurrentCommand.Rate[1] + CurrentCommand.Accel[1];
// if (TestRate > 0)
// {
// CurrentCommand.Rate[1] = TestRate;
// }
// else
// {
// CurrentCommand.Rate[1] = 0x80000000;
// }
TestRate = CurrentCommand.Rate[1] + CurrentCommand.Accel[1];
if (TestRate > 0)
{
CurrentCommand.Rate[1] = TestRate;
}
else
{
CurrentCommand.Rate[1] = 0x80000000;
}
StepAcc[1] = StepAcc[1] + CurrentCommand.Rate[1];
if (StepAcc[1] & 0x80000000)
{
@ -571,13 +569,13 @@ LATDbits.LATD1 = 1;
// to see if the move has been completed here (to load the next command
// immediately rather than waiting for the next tick). This primarily gives
// us simpler math when figuring out how long moves will take.
// if (CurrentCommand.Steps[0] == 0 && CurrentCommand.Steps[1] == 0)
// {
// TRISCbits.TRISC0 = 0;
// LATCbits.LATC0 = 1;
// AllDone = TRUE;
// LATCbits.LATC0 = 0;
// }
if (CurrentCommand.Steps[0] == 0 && CurrentCommand.Steps[1] == 0)
{
TRISCbits.TRISC0 = 0;
LATCbits.LATC0 = 1;
AllDone = TRUE;
LATCbits.LATC0 = 0;
}
}
if (TookStep)
{
@ -750,7 +748,6 @@ LATDbits.LATD0 = 1;
// Take care of clearing the step accumulators for the next move if
// it's a motor move
#if 0
if (
(CurrentCommand.Command == COMMAND_MOTOR_MOVE)
||
@ -767,7 +764,6 @@ LATDbits.LATD0 = 1;
StepAcc[1] = 0;
}
}
#endif
FIFOEmpty = TRUE;
LATDbits.LATD0 = 0;
}

8
EBB_firmware/app.X/source/ebb.h
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@ -112,10 +112,10 @@ typedef struct
// values.
// The values here are hand tuned for 25KHz ISR operation
// 0xFFFF - 0x01E0 = 0xFE1F
//#define TIMER1_L_RELOAD (61) // 0x3D
//#define TIMER1_H_RELOAD (254) // 0xFE
#define TIMER1_L_RELOAD (0x3F)
#define TIMER1_H_RELOAD (0xED)
#define TIMER1_L_RELOAD (61) // 0x3D
#define TIMER1_H_RELOAD (254) // 0xFE
//#define TIMER1_L_RELOAD (0x3F)
//#define TIMER1_H_RELOAD (0xED)
#define HIGH_ISR_TICKS_PER_MS (25) // Note: computed by hand, could be formula