refactor unstep handling, not any faster but easier to understand

diff --git a/src/libs/Kernel.cpp b/src/libs/Kernel.cpp
index 6ad5b2d..27fd38c 100644 (file)
--- a/src/libs/Kernel.cpp
+++ b/src/libs/Kernel.cpp
@@ -126,7 +126,7 @@ 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 / 1000000.0F );
+    this->step_ticker->set_reset_delay( 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
 

diff --git a/src/libs/StepTicker.cpp b/src/libs/StepTicker.cpp
index 4e90fbe..a0c0ccd 100644 (file)
--- a/src/libs/StepTicker.cpp
+++ b/src/libs/StepTicker.cpp
@@ -40,7 +40,7 @@ StepTicker::StepTicker(){
     LPC_SC->PCONP |= (1 << 2);      // Power Ticker ON
     LPC_TIM1->MR0 = 1000000;
     LPC_TIM1->MCR = 1;
-    LPC_TIM1->TCR = 1;              // Enable interrupt
+    LPC_TIM1->TCR = 0;              // Disable interrupt
 
     // Setup RIT timer
     LPC_SC->PCONP |= (1L<<16); // RIT Power
@@ -56,7 +56,7 @@ StepTicker::StepTicker(){
     // Default start values
     this->a_move_finished = false;
     this->do_move_finished = 0;
-    this->reset_step_pins = false;
+    this->unstep.reset();
     this->set_frequency(100000);
     this->set_reset_delay(100);
     this->set_acceleration_ticks_per_second(1000);
@@ -87,9 +87,9 @@ void StepTicker::set_frequency( float frequency ){
 }
 
 // Set the reset delay
-void StepTicker::set_reset_delay( float seconds ){
-    this->delay = floorf((SystemCoreClock/4.0F)*seconds);  // SystemCoreClock/4 = Timer increments in a second
-    LPC_TIM1->MR0 = this->delay;
+void StepTicker::set_reset_delay( float microseconds ){
+    uint32_t delay = floorf((SystemCoreClock/4.0F)*(microseconds/1000000.0F));  // SystemCoreClock/4 = Timer increments in a second
+    LPC_TIM1->MR0 = delay;
 }
 
 // this is the number of acceleration ticks per second
@@ -117,17 +117,19 @@ void StepTicker::signal_a_move_finished(){
     }
 }
 
-// Reset step pins on all active motors
-inline void StepTicker::reset_tick(){
+// Reset step pins on any motor that was stepped
+inline void StepTicker::unstep_tick(){
     for (int i = 0; i < num_motors; i++) {
-        if(this->active_motor[i])
+        if(this->unstep[i]){
             this->motor[i]->unstep();
+            this->unstep[i]= 0;
+        }
     }
 }
 
 extern "C" void TIMER1_IRQHandler (void){
     LPC_TIM1->IR |= 1 << 0;
-    StepTicker::global_step_ticker->reset_tick();
+    StepTicker::global_step_ticker->unstep_tick();
 }
 
 // The actual interrupt handler where we do all the work
@@ -163,12 +165,10 @@ void StepTicker::PendSV_IRQHandler (void) {
 
 // run in RIT lower priority than PendSV
 void  StepTicker::acceleration_tick() {
-    //stepticker_debug_pin= 1;
     // call registered acceleration handlers
     for (size_t i = 0; i < acceleration_tick_handlers.size(); ++i) {
         acceleration_tick_handlers[i]();
     }
-    //stepticker_debug_pin= 0;
 }
 
 void StepTicker::TIMER0_IRQHandler (void){
@@ -179,16 +179,24 @@ void StepTicker::TIMER0_IRQHandler (void){
     // Step pins NOTE takes 1.2us when nothing to step, 1.8-2us for one motor stepped and 2.6us when two motors stepped, 3.167us when three motors stepped
     for (uint32_t motor = 0; motor < num_motors; motor++){
         // send tick to all active motors
-        if(this->active_motor[motor])
-            this->motor[motor]->tick();
+        if(this->active_motor[motor] && this->motor[motor]->tick()){
+            // we stepped so schedule an unstep
+            this->unstep[motor]= 1;
+        }
     }
 
-    // We may have set a pin on in this tick, now we start the timer to set it off
-    if( this->reset_step_pins ){
+    // We may have set a pin on in this tick, now we reset the timer to set it off
+    // Note there could be a race here if we run another tick before the unsteps have happened,
+    // right now it takes about 3-4us but if the unstep were near 10uS or greater it would be an issue
+    // also it takes at least 2us to get here so even when set to 1us pulse width it will still be about 3us
+    if( this->unstep.any()){
         LPC_TIM1->TCR = 3;
         LPC_TIM1->TCR = 1;
-        this->reset_step_pins = false;
     }
+    // just let it run it will fire every 143 seconds
+    // else{
+    //     LPC_TIM1->TCR = 0; // disable interrupt, no point in it running if nothing to do
+    // }
 
     if(this->a_move_finished) {
         this->a_move_finished= false;

diff --git a/src/libs/StepTicker.h b/src/libs/StepTicker.h
index 39c9706..3373a1e 100644 (file)
--- a/src/libs/StepTicker.h
+++ b/src/libs/StepTicker.h
@@ -32,7 +32,7 @@ class StepTicker{
         void remove_motor_from_active_list(StepperMotor* motor);
         void set_acceleration_ticks_per_second(uint32_t acceleration_ticks_per_second);
         float get_frequency() const { return frequency; }
-        void reset_tick();
+        void unstep_tick();
         uint32_t get_tick_cnt() const { return tick_cnt; }
         uint32_t ticks_since(uint32_t last) const { return (tick_cnt>=last) ? tick_cnt-last : (UINT32_MAX-last) + tick_cnt + 1; }
 
@@ -48,16 +48,15 @@ class StepTicker{
 
     private:
         float frequency;
-        uint32_t delay;
         uint32_t period;
         volatile uint32_t tick_cnt;
         std::vector<std::function<void(void)>> acceleration_tick_handlers;
         std::vector<StepperMotor*> motor;
         std::bitset<32> active_motor; // limit to 32 motors
+        std::bitset<32> unstep;       // limit to 32 motors
         std::atomic_uchar do_move_finished;
         uint8_t num_motors;
         volatile bool a_move_finished;
-        volatile bool reset_step_pins;
 };
 
 

diff --git a/src/libs/StepperMotor.cpp b/src/libs/StepperMotor.cpp
index 78f5239..1200117 100644 (file)
--- a/src/libs/StepperMotor.cpp
+++ b/src/libs/StepperMotor.cpp
@@ -64,7 +64,6 @@ void StepperMotor::step()
 {
     // output to pins 37t
     this->step_pin.set( 1 );
-    THEKERNEL->step_ticker->reset_step_pins = true;
 
     // move counter back 11t
     this->fx_counter -= this->fx_ticks_per_step;

diff --git a/src/libs/StepperMotor.h b/src/libs/StepperMotor.h
index 7f78e66..ad86ad7 100644 (file)
--- a/src/libs/StepperMotor.h
+++ b/src/libs/StepperMotor.h
@@ -101,13 +101,16 @@ class StepperMotor {
         };
 
         // Called a great many times per second, to step if we have to now
-        inline void tick() {
+        inline bool tick() {
             // increase the ( 32 fixed point 18:14 ) counter by one tick 11t
             fx_counter += fx_increment;
 
             // if we are to step now
-            if (fx_counter >= fx_ticks_per_step)
+            if (fx_counter >= fx_ticks_per_step){
                 step();
+                return true;
+            }
+            return false;
         };
 };