stepus53/EggbotWireless
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fix timer interrupt issues

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This commit is contained in:
Stepan Usatiuk
2019-07-15 20:57:15 +03:00
parent a7f9f387b0
commit 133a4abc5e
2 changed files with 43 additions and 25 deletions
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19
Firmware/EggbotWireless/src/main.cpp
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@@ -49,11 +49,20 @@ void execCommand(Command command) {
} }
Serial.println("Status:"); Serial.println("Status:");
Serial.println("X: " + String(resp[servoRot])); Serial.print("X: ");
Serial.println("Y: " + String(resp[eggRot])); Serial.println(resp[servoRot]);
Serial.println("Xmm: " + String(resp[servoPos]));
Serial.println("Ymm: " + String(resp[eggPos])); Serial.print("Y: ");
Serial.println("PEN: " + String(resp[penPos])); Serial.println(resp[eggRot]);
Serial.print("Xmm: ");
Serial.println(resp[servoPos]);
Serial.print("Ymm: ");
Serial.println(resp[eggPos]);
Serial.print("PEN: ");
Serial.println(resp[penPos]);
return; return;
} }

49
Firmware/MotorControl/src/main.cpp
View File

@@ -1,6 +1,7 @@
#include <Arduino.h> #include <Arduino.h>
#include <Servo.h> #include <Servo.h>
#include <Wire.h> #include <Wire.h>
#include <util/atomic.h>
#include "Globals.h" #include "Globals.h"
#include "common/Commands.h" #include "common/Commands.h"
@@ -28,10 +29,11 @@ void adjustRPM() {
} }
} }
} }
cli(); ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
eggStepperDelay = calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION); eggStepperDelay = calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION);
servoStepperDelay = calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION); servoStepperDelay =
sei(); calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION);
}
} }
Command command; Command command;
@@ -39,10 +41,10 @@ Command command;
bool newCommand = false; bool newCommand = false;
bool executing = false; bool executing = false;
int curByte = 0;
int curFloat = 0;
byte rxBuffer[7][sizeof(float)]; byte rxBuffer[7][sizeof(float)];
void receiveEvent(int howMany) { void receiveEvent(int howMany) {
static int curByte = 0;
static int curFloat = 0;
while (Wire.available() > 0) { while (Wire.available() > 0) {
if (!newCommand) { if (!newCommand) {
char c = Wire.read(); char c = Wire.read();
@@ -121,29 +123,36 @@ void setup() {
eggStepperRPM = servoStepperRPM = curRPM; eggStepperRPM = servoStepperRPM = curRPM;
pinMode(A0, OUTPUT); pinMode(A0, OUTPUT);
digitalWrite(A0, true); digitalWrite(A0, true);
OCR0A = 250; OCR2A = 250;
TCCR0A |= (1 << WGM20) | (1 << CS22); TCCR2A |= (1 << WGM20) | (1 << CS22);
TIMSK0 |= (1 << OCIE0A); TIMSK2 |= (1 << OCIE2A);
servoStepper.setPos(X_LIMIT); servoStepper.setPos(X_LIMIT);
pen.init(); pen.init();
} }
volatile unsigned int ms = 0; volatile unsigned int tick = 0;
volatile bool armed = false;
ISR(TIMER0_COMPA_vect) { ISR(TIMER2_COMPA_vect) {
ms++; if (armed) {
if (ms % adjustDelay == 0) { tick++;
adjustRPM(); armed = false;
}
if (ms % eggStepperDelay == 0) {
eggStepper.doStep();
}
if (ms % servoStepperDelay == 0) {
servoStepper.doStep();
} }
} }
void updateExecution() { void updateExecution() {
if (!armed) {
if (tick % adjustDelay == 0) {
adjustRPM();
}
if (tick % eggStepperDelay == 0) {
eggStepper.doStep();
}
if (tick % servoStepperDelay == 0) {
servoStepper.doStep();
}
armed = true;
}
if (eggStepper.getRemainingSteps() == 0 && if (eggStepper.getRemainingSteps() == 0 &&
servoStepper.getRemainingSteps() == 0) { servoStepper.getRemainingSteps() == 0) {
executing = false; executing = false;