Simple DDA now working. All axes move as expected.

Move.h

@@ -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

Move.ino

@@ -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;  
 }
 

Platform.h

@@ -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)

Platform.ino

@@ -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;
 }
 

RepRapFirmware.ino

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