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farmbot-arduino-firmware
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Experimental interrupt

pull/77/head
Tim Evers 2017-05-01 21:57:05 +02:00
parent 6222f77016
commit a3b62463e3
5 changed files with 51 additions and 11 deletions
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2
src/Config.h
View File

@ -38,7 +38,7 @@ const int COMM_REPORT_CALIBRATE_STATUS_TO_HOME = 1;
const int COMM_REPORT_CALIBRATE_STATUS_TO_END = 2;
const int COMM_REPORT_CALIBRATE_STATUS_ERROR = -1;
const int MOVEMENT_INTERRUPT_SPEED = 200; // Interrupt cycle in micro seconds
const int MOVEMENT_INTERRUPT_SPEED = 100; // Interrupt cycle in micro seconds
const unsigned int MOVEMENT_SPEED_BASE_TIME = 2000;
const unsigned int MOVEMENT_DELAY = 250;

18
src/StepperControl.cpp
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@ -308,6 +308,19 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
checkAxisSubStatus(&axisY, &axisSubStep[1]);
checkAxisSubStatus(&axisZ, &axisSubStep[2]);
if (axisX.isStepDone())
{
axisX.checkMovement();
axisY.checkMovement();
axisZ.checkMovement();
//checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsEncoderLastPosition[0], &motorConsEncoderUseForPos[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
//checkAxisVsEncoder(&axisY, &encoderY, &motorConsMissedSteps[1], &motorLastPosition[1], &motorConsEncoderLastPosition[1], &motorConsEncoderUseForPos[1], &motorConsMissedStepsDecay[1], &motorConsEncoderEnabled[1]);
//checkAxisVsEncoder(&axisZ, &encoderZ, &motorConsMissedSteps[2], &motorLastPosition[2], &motorConsEncoderLastPosition[2], &motorConsEncoderUseForPos[2], &motorConsMissedStepsDecay[2], &motorConsEncoderEnabled[2]);
axisX.resetStepDone();
}
if (debugInterrupt)
{
delayMicroseconds(100);
@ -887,7 +900,6 @@ int StepperControl::calibrateAxis(int axis)
// Handle movement by checking each axis
void StepperControl::handleMovementInterrupt(void)
{
encoderX.readEncoder();
encoderY.readEncoder();
encoderZ.readEncoder();
@ -895,10 +907,6 @@ void StepperControl::handleMovementInterrupt(void)
axisX.checkTiming();
axisY.checkTiming();
axisZ.checkTiming();
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsEncoderLastPosition[0], &motorConsEncoderUseForPos[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
checkAxisVsEncoder(&axisY, &encoderY, &motorConsMissedSteps[1], &motorLastPosition[1], &motorConsEncoderLastPosition[1], &motorConsEncoderUseForPos[1], &motorConsMissedStepsDecay[1], &motorConsEncoderEnabled[1]);
checkAxisVsEncoder(&axisZ, &encoderZ, &motorConsMissedSteps[2], &motorLastPosition[2], &motorConsEncoderLastPosition[2], &motorConsEncoderUseForPos[2], &motorConsMissedStepsDecay[2], &motorConsEncoderEnabled[2]);
}
int debugPrintCount = 0;

2
src/StepperControlAxis.cpp
View File

@ -266,7 +266,7 @@ void StepperControlAxis::checkTiming()
// Negative flank for the steps
resetMotorStep();
checkMovement();
/**/ // checkMovement();
}
else
{

38
src/farmbot_arduino_controller.cpp
View File

@ -38,6 +38,12 @@ void blinkLed()
// - encoders
// - pin guard
//
unsigned long interruptStartTime = 0;
unsigned long interruptStopTime = 0;
unsigned long interruptDuration = 0;
unsigned long interruptDurationMax = 0;
bool interruptBusy = false;
int interruptSecondTimer = 0;
void interrupt(void)
@ -48,6 +54,7 @@ void interrupt(void)
if (interruptBusy == false)
{
interruptStartTime = micros();
interruptBusy = true;
StepperControl::getInstance()->handleMovementInterrupt();
@ -60,6 +67,18 @@ void interrupt(void)
//blinkLed();
}
interruptStopTime = micros();
if (interruptStopTime > interruptStartTime)
{
interruptDuration = interruptStopTime - interruptStartTime;
}
if (interruptDuration > interruptDurationMax)
{
interruptDurationMax = interruptDuration;
}
interruptBusy = false;
}
}
@ -146,6 +165,8 @@ void setup()
{
StepperControl::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, false, true);
}
Serial.print("R99 ARDUINO STARTUP \r\n");
}
// The loop function is called in an endless loop
@ -187,6 +208,7 @@ void loop()
if (incomingChar == '\n' || incomingCommandPointer >= INCOMING_CMD_BUF_SIZE)
{
/**/ interruptDurationMax = 0;
char commandChar[incomingCommandPointer + 1];
for (int i = 0; i < incomingCommandPointer - 1; i++)
@ -242,9 +264,12 @@ void loop()
{
lastParamChangeNr = ParameterList::getInstance()->paramChangeNumber();
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" loading parameters ");
CurrentState::getInstance()->printQAndNewLine();
if (debugMessages)
{
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" loading parameters");
CurrentState::getInstance()->printQAndNewLine();
}
StepperControl::getInstance()->loadSettings();
PinGuard::getInstance()->loadConfig();
@ -297,6 +322,13 @@ void loop()
Serial.print(freeMemory());
CurrentState::getInstance()->printQAndNewLine();
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" IND DUR ");
Serial.print(interruptDuration);
Serial.print(" MAX ");
Serial.print(interruptDurationMax);
CurrentState::getInstance()->printQAndNewLine();
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" Cycle ");
Serial.print(cycleCounter);

2
src/src.vcxproj
View File

@ -173,7 +173,7 @@
</ImportGroup>
<ProjectExtensions>
<VisualStudio>
<UserProperties vm.programmer_name="avrisp" arduino.upload.port="COM3" />
<UserProperties vm.programmer_name="avrisp" arduino.upload.port="COM4" />
</VisualStudio>
</ProjectExtensions>
</Project>