tschwery/reprapfirmware-dc42
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Simple DDA now working. All axes move as expected.

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This commit is contained in:
Adrian Bowyer 2013-05-20 19:12:00 +01:00
parent 4b0e9e61bf
commit 9ec28592e5
5 changed files with 58 additions and 9 deletions
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6
Move.h
View file

@ -53,6 +53,7 @@ class Move
void Exit();
void Qmove();
void GetCurrentState(float m[]);
void Interrupt();
@ -73,5 +74,10 @@ inline boolean DDA::Active()
return active;
}
inline void Move::Interrupt()
{
dda->Step();
}
#endif

7
Move.ino
View file

@ -50,12 +50,6 @@ void Move::Spin()
if(!active)
return;
Qmove();
unsigned long t = platform->Time();
if(t - lastTime > 1000)
{
lastTime = t;
dda->Step();
}
}
@ -131,6 +125,7 @@ void DDA::Start()
{
for(char drive = 0; drive < DRIVES; drive++)
platform->SetDirection(drive, directions[drive]);
platform->SetInterrupt(300);
active = true;
}

6
Platform.h
View file

@ -246,6 +246,8 @@ class Platform
int GetRawTemperature(byte heater);
void InitialiseInterrupts();
RepRap* reprap;
// DRIVES
@ -360,7 +362,9 @@ inline void Platform::SetDirection(byte drive, bool direction)
inline void Platform::Step(byte drive)
{
digitalWrite(stepPins[drive], !digitalRead(stepPins[drive]));
//digitalWrite(stepPins[drive], !digitalRead(stepPins[drive]));
digitalWrite(stepPins[drive], 0);
digitalWrite(stepPins[drive], 1);
}
inline int Platform::GetRawTemperature(byte heater)

46
Platform.ino
View file

@ -46,9 +46,51 @@ Platform::Platform(RepRap* r)
// Interrupts
void TC3_Handler()
{
TC_GetStatus(TC1, 0);
reprap.GetPlatform()->Interrupt();
}
/*
void startTimer(Tc *tc, uint32_t channel, IRQn_Type irq, uint32_t frequency)
{
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t)irq);
TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK4);
// VARIANT_MCK = 84x10^6 for the Due
uint32_t rc = VARIANT_MCK/128/frequency; //128 because we selected TIMER_CLOCK4 above
TC_SetRA(tc, channel, rc/2); //50% high, 50% low
TC_SetRC(tc, channel, rc);
TC_Start(tc, channel);
tc->TC_CHANNEL[channel].TC_IER=TC_IER_CPCS;
tc->TC_CHANNEL[channel].TC_IDR=~TC_IER_CPCS;
NVIC_EnableIRQ(irq);
}
*/
void Platform::InitialiseInterrupts()
{
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t)TC3_IRQn);
TC_Configure(TC1, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK4);
TC1->TC_CHANNEL[0].TC_IER=TC_IER_CPCS;
TC1->TC_CHANNEL[0].TC_IDR=~TC_IER_CPCS;
NVIC_DisableIRQ(TC3_IRQn);
}
inline void Platform::SetInterrupt(long t)
{
if(t <= 0)
{
NVIC_DisableIRQ(TC3_IRQn);
return;
}
uint32_t rc = (uint32_t)(t*84)/128;
TC_SetRA(TC1, 0, rc/2); //50% high, 50% low
TC_SetRC(TC1, 0, rc);
TC_Start(TC1, 0);
NVIC_EnableIRQ(TC3_IRQn);
}
inline void Platform::Interrupt()
@ -243,6 +285,8 @@ void Platform::Init()
Serial.println("SD initialization failed.");
// SD.begin() returns with the SPI disabled, so you need not disable it here
InitialiseInterrupts();
active = true;
}

2
RepRapFirmware.ino
View file

@ -101,7 +101,7 @@ void RepRap::Spin()
void RepRap::Interrupt()
{
move->Interrupt();
}
//*************************************************************************************************