Inital rewrite of stepticker and associated code to implement accleration per tick.

[clinton/Smoothieware.git] / src / libs / Kernel.cpp

diff --git a/src/libs/Kernel.cpp b/src/libs/Kernel.cpp
index c025689..6dcffae 100644 (file)
--- a/src/libs/Kernel.cpp
+++ b/src/libs/Kernel.cpp
@@ -118,7 +118,6 @@ Kernel::Kernel(){
     NVIC_SetPriority(TIMER1_IRQn, 1);
     NVIC_SetPriority(TIMER2_IRQn, 4);
     NVIC_SetPriority(PendSV_IRQn, 3);
-    NVIC_SetPriority(RIT_IRQn, 3); // we make acceleration tick the same prio as pendsv so it can't be pre-empted by end of block
 
     // Set other priorities lower than the timers
     NVIC_SetPriority(ADC_IRQn, 5);
@@ -143,9 +142,8 @@ Kernel::Kernel(){
     this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(1000)->as_number();
 
     // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
-    this->step_ticker->set_reset_delay( microseconds_per_step_pulse );
+    this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
     this->step_ticker->set_frequency( this->base_stepping_frequency );
-    this->step_ticker->set_acceleration_ticks_per_second(acceleration_ticks_per_second); // must be set after set_frequency
 
     // Core modules
     this->add_module( this->gcode_dispatch = new GcodeDispatch() );