ManuelW/grbl-LPC-CoreXY
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added protection against retriggering stepper irq

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Simen Svale Skogsrud 2010-03-03 22:55:45 +01:00
parent db193f4336
commit b85b575b9b
1 changed files with 6 additions and 2 deletions
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8
stepper.c
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@ -50,6 +50,7 @@ uint8_t out_bits;
struct Line *current_line; struct Line *current_line;
volatile int32_t counter_x, counter_y, counter_z; volatile int32_t counter_x, counter_y, counter_z;
uint32_t iterations; uint32_t iterations;
volatile busy;
void config_step_timer(uint32_t microseconds); void config_step_timer(uint32_t microseconds);
@ -96,9 +97,11 @@ SIGNAL(SIG_OUTPUT_COMPARE1A)
TCNT2 = -(((STEP_PULSE_MICROSECONDS-4)*TICKS_PER_MICROSECOND)/8); TCNT2 = -(((STEP_PULSE_MICROSECONDS-4)*TICKS_PER_MICROSECOND)/8);
// Enable interrupts in order for SIG_OVERFLOW2 to be able to be triggered // Enable interrupts in order for SIG_OVERFLOW2 to be able to be triggered
// and reset the stepper signal even before this handler is done. Needed // and reset the stepper signal even before this handler is done. Needed
// to generate a clean stepper-signal even if this is going to be a time consuming // to generate a clean stepper-signal in the event that this is going to be a time consuming
// time oround in this interrupt e.g. if we just completed a line and need to // time oround in this interrupt e.g. if we just completed a line and need to
// set up another. // set up another. The busy-flag is used to avoid retriggering this interrupt.
if(busy){return;}
busy = TRUE;
sei(); sei();
// If there is no current line, attempt to pop one from the buffer // If there is no current line, attempt to pop one from the buffer
@ -149,6 +152,7 @@ SIGNAL(SIG_OUTPUT_COMPARE1A)
out_bits = 0; out_bits = 0;
} }
out_bits ^= STEPPING_INVERT_MASK; out_bits ^= STEPPING_INVERT_MASK;
busy=FALSE;
PORTD &= ~(1<<3); PORTD &= ~(1<<3);
} }