ManuelW/grbl-LPC-CoreXY
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adjustments to retriggering protection

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Simen Svale Skogsrud 2010-03-03 23:18:39 +01:00
parent b85b575b9b
commit b9c3ea02fb
1 changed files with 9 additions and 7 deletions
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16
stepper.c
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@ -88,21 +88,23 @@ void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t
// five microseconds. // five microseconds.
SIGNAL(SIG_OUTPUT_COMPARE1A) SIGNAL(SIG_OUTPUT_COMPARE1A)
{ {
if(busy){ return; } // The busy-flag is used to avoid retriggering this interrupt.
PORTD |= (1<<3); PORTD |= (1<<3);
// Set the direction pins a cuple of nanoseconds before we step the steppers // Set the direction pins a cuple of nanoseconds before we step the steppers
STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK); STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
// Then pulse the stepping pins // Then pulse the stepping pins
STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | out_bits; STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | out_bits;
// Reset step pulse reset timer // Reset step pulse reset timer
TCNT2 = -(((STEP_PULSE_MICROSECONDS-4)*TICKS_PER_MICROSECOND)/8); TCNT2 = -(((STEP_PULSE_MICROSECONDS-2)*TICKS_PER_MICROSECOND)/8);
// 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
// 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
// set up another. The busy-flag is used to avoid retriggering this interrupt.
if(busy){return;}
busy = TRUE; busy = TRUE;
sei(); sei();
// We re-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
// to generate a clean stepper-signal in the event that this is going to be a time consuming
// time around in this interrupt e.g. if we just completed a line and need to
// set up another.
// 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
if (current_line == NULL) { if (current_line == NULL) {