testing interrupt
TimEvWw
parent
45cc01bafd
commit
fccca87413
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@ -13,6 +13,8 @@ StepperControl * StepperControl::getInstance() {
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const int MOVEMENT_INTERRUPT_SPEED = 1000; // Interrupt cycle in micro seconds
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int test = 0;
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long sourcePoint[3] = {0,0,0};
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long currentPoint[3] = {0,0,0};
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long destinationPoint[3] = {0,0,0};
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@ -47,8 +49,10 @@ int ledState = LOW;
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void blinkLed() {
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if (ledState == LOW) {
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ledState = HIGH;
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//Serial.print("R99 led on");
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} else {
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ledState = LOW;
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//Serial.print("R99 led off");
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}
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digitalWrite(LED_PIN, ledState);
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}
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@ -429,6 +433,7 @@ void stepAxis(int i, bool state) {
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// set a step on the motors
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step(i, currentPoint[i], 1, destinationPoint[i]);
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blinkLed();
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//stepMade = true;
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//lastStepMillis[i] = currentMillis;
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@ -436,12 +441,30 @@ void stepAxis(int i, bool state) {
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void checkAxis(int i) {
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Serial.print("R99 check axis ");
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Serial.print(i);
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Serial.print(" axis active ");
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Serial.print(axisActive[i]);
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Serial.print(" current point ");
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Serial.print(currentPoint[i]);
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Serial.print(" destination point ");
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Serial.print(destinationPoint[i]);
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Serial.print("\n");
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if ((!pointReached(currentPoint, destinationPoint) || home) && axisActive[i]) {
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Serial.print("R99 point not reached yet\n");
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// home or destination not reached, keep moving
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axisSpeed[i] = calculateSpeed( sourcePoint[i],currentPoint[i],destinationPoint[i],
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speedMin[i], speedMax[i], stepsAcc[i]);
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Serial.print("R99 axis speed ");
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Serial.print(axisSpeed[i]);
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Serial.print("\n");
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checkAxisDirection(i);
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// If end stop reached, don't move anymore
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@ -469,6 +492,16 @@ void checkAxis(int i) {
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void checkTicksAxis(int i) {
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Serial.print("R99 checkTicksAxis ");
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Serial.print(" destination point ");
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Serial.print(destinationPoint[0]);
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Serial.print(" ");
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Serial.print("test ");
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Serial.print(test);
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Serial.print("\n");
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moveTicks[i]++;
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if (axisActive[i]) {
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if (moveTicks[i] >= stepOffTick[3]) {
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resetStep(i);
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@ -486,7 +519,17 @@ void checkTicksAxis(int i) {
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// Handle movement by checking each axis
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void handleMovementInterrupt(void){
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void StepperControl::handleMovementInterrupt(void){
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/**/Serial.print("R99 interrupt\n");
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Serial.print("R99 interrupt data ");
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Serial.print(" destination point ");
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Serial.print(destinationPoint[0]);
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Serial.print(" ");
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Serial.print("test ");
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Serial.print(test);
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Serial.print("\n");
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checkTicksAxis(0);
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checkTicksAxis(1);
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checkTicksAxis(2);
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@ -495,10 +538,21 @@ void handleMovementInterrupt(void){
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}
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bool interruptBusy = false;
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void handleMovementInterruptTest(void) {
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if (interruptBusy == false) {
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interruptBusy = true;
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//StepperControl::getInstance()->handleMovementInterrupt();
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blinkLed();
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interruptBusy = false;
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}
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}
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// Start the interrupt used for moviing
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// Interrupt management code library written by Paul Stoffregen
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void StepperControl::initInterrupt() {
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Timer1.attachInterrupt(handleMovementInterrupt);
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//Timer1.attachInterrupt(StepperControl::getInstance()->handleMovementInterrupt);
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Timer1.attachInterrupt(handleMovementInterruptTest);
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Timer1.initialize(MOVEMENT_INTERRUPT_SPEED);
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Timer1.stop();
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}
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@ -527,12 +581,30 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
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destinationPoint[1] = yDest;
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destinationPoint[2] = zDest;
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movementLength[3] = getLength(destinationPoint[0], currentPoint[0]);
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movementLength[3] = getLength(destinationPoint[1], currentPoint[1]);
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movementLength[3] = getLength(destinationPoint[2], currentPoint[2]);
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//test = 1;
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//Serial.print("R99 ");
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//Serial.print(" destination ");
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//Serial.print(destinationPoint[0]);
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//Serial.print(" ");
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//Serial.print("\n");
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movementLength[0] = getLength(destinationPoint[0], currentPoint[0]);
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movementLength[1] = getLength(destinationPoint[1], currentPoint[1]);
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movementLength[2] = getLength(destinationPoint[2], currentPoint[2]);
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//Serial.print("R99 ");
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//Serial.print(" during vars ");
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//Serial.print(destinationPoint[0]);
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//Serial.print("\n");
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maxLenth = getMaxLength(movementLength);
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//Serial.print("R99 ");
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//Serial.print(" during vars ");
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//Serial.print(destinationPoint[0]);
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//Serial.print("\n");
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lengthRatio[0] = 1.0 * movementLength[0] / maxLenth;
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lengthRatio[1] = 1.0 * movementLength[1] / maxLenth;
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lengthRatio[2] = 1.0 * movementLength[2] / maxLenth;
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@ -571,6 +643,12 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
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home = xHome || yHome || zHome;
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//Serial.print("R99 ");
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//Serial.print(" after vars ");
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//Serial.print(destinationPoint[0]);
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//Serial.print("\n");
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unsigned long currentMillis = 0;
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unsigned long timeStart = millis();
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@ -607,6 +685,13 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
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reportEndStops();
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enableMotors(true);
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//Serial.print("R99 ");
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//Serial.print(" before home check ");
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//Serial.print(destinationPoint[0]);
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//Serial.print(" home is up ");
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//Serial.print(homeIsUp[0]);
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//Serial.print("\n");
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// Limit normal movmement to the home position
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for (int i = 0; i < 3; i++) {
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if (!homeIsUp[i] && destinationPoint[i] < 0) {
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@ -624,21 +709,49 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
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axisActive[1] = true;
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axisActive[2] = true;
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//Serial.print("R99 ");
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//Serial.print(" before check axis ");
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//Serial.print(destinationPoint[0]);
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//Serial.print("\n");
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checkAxis(0);
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checkAxis(1);
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checkAxis(2);
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// checkAxis(1);
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// checkAxis(2);
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//Serial.print("R99 ");
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//Serial.print(" after check axis ");
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//Serial.print(destinationPoint[0]);
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//Serial.print("\n");
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Timer1.start();
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/**/Serial.print("R99 started\n");
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/**/Serial.print("R99 timeout ");
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/**/Serial.print(timeOut[0]);
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/**/Serial.print("\n");
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// Let the interrupt handle all the movements
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while (axisActive[0] || axisActive[1] || axisActive[2]) {
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/**///Serial.print("R99 while loop\n");
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delay(1);
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checkAxis(0);
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// checkAxis(1);
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// checkAxis(2);
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//axisActive[0] = false;
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axisActive[1] = false;
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axisActive[2] = false;
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storeEndStops();
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// Check timeouts
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if (axisActive[0] == true && millis() - timeStart > timeOut[0]) {
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if (axisActive[0] == true && millis() - timeStart > timeOut[0] * 10) {
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error = 1;
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}
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if (axisActive[1] == true && millis() - timeStart > timeOut[1]) {
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@ -657,6 +770,7 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
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}
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if (error == 1) {
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Serial.print("R99 error\n");
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Timer1.stop();
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axisActive[0] = false;
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axisActive[1] = false;
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@ -672,6 +786,8 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
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}
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/**/Serial.print("R99 stopped\n");
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Timer1.stop();
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enableMotors(false);
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@ -25,6 +25,8 @@ public:
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int moveAbsoluteConstant(long xDest, long yDest, long zDest,
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unsigned int xMaxSpd, unsigned int yMaxSpd, unsigned int zMaxSpd,
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bool homeX, bool homeY, bool homeZ);
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void handleMovementInterrupt();
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int calibrateAxis(int axis);
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void initInterrupt();
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private:
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