/// step timer
static void timer1_Handler(GPTDriver *gptp)
{
palTogglePad(PORT_LED1, PIN_LED1);
//
queue_step();
}
/// step timer
static void timer1_Handler(GPTDriver *gptp)
{
#if defined(PORT_LED1) && defined(PIN_LED1)
palTogglePad(PORT_LED1, PIN_LED1);
#endif
//
queue_step();
}
static void timer1_isr(int cause, siginfo_t *HowCome, void *ucontext)
{
if (!sim_interrupts || !timerInterruptIsEnabled()) return;
sim_interrupts = false;
WRITE(SCK, 1);
queue_step();
WRITE(SCK, 0);
sim_interrupts = true;
}
void timer1_compa_isr() {
// led on
WRITE(SCK, 1);
// disable this interrupt. if we set a new timeout, it will be re-enabled when appropriate
TIMSK1 &= ~MASK(OCIE1A);
// stepper tick
queue_step();
// led off
WRITE(SCK, 0);
}
/** Step interrupt.
Happens for every stepper motor step. Must have the same name as in
cmsis-startup_lpc11xx.s
*/
void TIMER32_0_IRQHandler(void) {
#ifdef DEBUG_LED_PIN
WRITE(DEBUG_LED_PIN, 1);
#endif
/**
Turn off interrupt generation, timer counter continues. As this interrupt
is the only use of this timer, there's no need for a read-modify-write.
*/
LPC_TMR32B0->MCR = 0;
/**
We have to "reset" this interrupt, else it'll be triggered over and over
again.
*/
LPC_TMR32B0->IR = (1 << 0); // Clear match on channel 0.
queue_step();
#ifdef DEBUG_LED_PIN
WRITE(DEBUG_LED_PIN, 0);
#endif
}
void TIMER0_IRQHandler (void){
T0IR |= (1<<0);
T0TCR = 0;
queue_step();
}
