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Remove two more OCR1A direct manipulations

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Use _NEXT_ISR and st_reset_timer to correctly reinitialize and
re-schedule the advance ticks.
This commit is contained in:
Yuri D'Elia 2019-05-04 23:05:30 +02:00
parent cbf1a85ec3
commit ebdc5e35e7
2 changed files with 28 additions and 15 deletions
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33
Firmware/stepper.cpp
View file

@ -535,7 +535,7 @@ FORCE_INLINE void stepper_next_block()
}
}
else {
OCR1A = 2000; // 1kHz.
_NEXT_ISR(2000); // 1kHz.
}
//WRITE_NC(LOGIC_ANALYZER_CH2, false);
}
@ -1229,20 +1229,41 @@ void st_init()
// create_speed_lookuptable.py
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
// Plan the first interrupt after 8ms from now.
OCR1A = 0x4000;
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#ifdef LIN_ADVANCE
// Reset the state for the next advance scheduler as well
nextMainISR = 0;
nextAdvanceISR = ADV_NEVER;
eISR_Rate = ADV_NEVER;
clear_current_adv_vars();
#endif
st_reset_timer();
enable_endstops(true); // Start with endstops active. After homing they can be disabled
ENABLE_STEPPER_DRIVER_INTERRUPT();
sei();
}
void st_reset_timer()
{
// Clear a possible pending interrupt on OCR1A overflow.
TIFR1 |= 1 << OCF1A;
// Reset the counter.
TCNT1 = 0;
// Wake up after 1ms from now.
OCR1A = 2000;
#ifdef LIN_ADVANCE
// If an eISR was pending, reschedule too
if (nextAdvanceISR <= nextMainISR)
nextAdvanceISR = 0;
nextMainISR = 0;
#endif
}
// Block until all buffered steps are executed
void st_synchronize()
{

10
Firmware/stepper.h
View file

@ -60,15 +60,7 @@ float st_get_position_mm(uint8_t axis);
// Call this function just before re-enabling the stepper driver interrupt and the global interrupts
// to avoid a stepper timer overflow.
FORCE_INLINE void st_reset_timer()
{
// Clear a possible pending interrupt on OCR1A overflow.
TIFR1 |= 1 << OCF1A;
// Reset the counter.
TCNT1 = 0;
// Wake up after 1ms from now.
OCR1A = 2000;
}
void st_reset_timer();
void checkHitEndstops(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
bool endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();