コード例 #1
0
ファイル: JTAG.c プロジェクト: yetanothername/PulseGenerator
/*
 * Runs through a clock cycle. It sets the pulse generator to output a 36.6ns pulse or ~27.3MHz clock
 */
inline void TCK_Pump(void) { 
	set_length(0x0FFF);
	__asm__ volatile ("nop");
	trigger_pulse();
	__asm__ volatile ("nop");
}
コード例 #2
0
ファイル: interrupt_2.cpp プロジェクト: chrismath/BRS
// --------------------------
// timerIsr() 50uS second interrupt ISR()
// Called every time the hardware timer 1 times out.
// --------------------------
void timerIsr()
{
    trigger_pulse();                                 // Schedule the trigger pulses
    distance_flasher();                              // Flash the onboard LED distance indicator
}
コード例 #3
0
ファイル: stepper.c プロジェクト: BenW0/IMC_Closed_Loop
void pit0_isr(void) {
  // Set the direction bits. Todo: only do this at the start of a block.
  STEPPER_PORT(DOR) = (STEPPER_PORT(DOR) & ~DIR_BIT) | (out_dir ? DIR_BIT : 0);

  // hook for controller
  if(step_hook_set)
    if(step_hook())
      return;       // step_hook has done everything and asks us to quit here.
  
  if(out_step)
    trigger_pulse();

  if(st.state == STATE_IDLE || st.state == STATE_ERROR){
    // Disable this interrupt
    PIT_TCTRL0 &= ~TEN;
    PIT_TFLG0 = 1;
    return;
  }
  
  if(st.state == STATE_SYNC){ // Done with a block, and done with outputting the last pulse
    enter_sync_state();
    // Allow this to retrigger next time
    PIT_TFLG0 = 1;
    return;
  } 

  out_dir = out_step = 0;
  // Execute step displacement profile by bresenham line algorithm
  if(current_block->length < 0){
    out_dir = 1;
    st.counter -= current_block->length;
  }else{
    st.counter += current_block->length;
  }
  if (st.counter > 0) {
    out_step = 1;
    st.counter -= st.event_count;
  }
  st.step_events_completed++; // Iterate step events

  if(current_block->total_length <= st.step_events_completed){
    // Allow this to trigger once more, to pulse out the last step
    current_block = NULL;
    st.state = STATE_SYNC;
    PIT_TFLG0 = 1;
    return;
  }
  
  // The trapezoid generator always checks step event location to ensure de/ac-celerations are 
  // executed and terminated at exactly the right time. This helps prevent over/under-shooting
  // the target position and speed. 
  // NOTE: By increasing the ACCELERATION_TICKS_PER_SECOND in config.h, the resolution of the 
  // discrete velocity changes increase and accuracy can increase as well to a point. Numerical 
  // round-off errors can effect this, if set too high. This is important to note if a user has 
  // very high acceleration and/or feedrate requirements for their machine.
  if (st.step_events_completed < current_block->stop_accelerating) {
    // Iterate cycle counter and check if speeds need to be increased.
    if ( iterate_trapezoid_cycle_counter() ) {
      st.trapezoid_adjusted_rate += current_block->acceleration;
      if (st.trapezoid_adjusted_rate >= current_block->nominal_rate) {
	// Reached nominal rate a little early. Cruise at nominal rate until decelerate_after.
	st.trapezoid_adjusted_rate = current_block->nominal_rate;
      }
      set_step_events_per_minute(st.trapezoid_adjusted_rate);
    }
  } else if (st.step_events_completed >= current_block->start_decelerating) {
    // Reset trapezoid tick cycle counter to make sure that the deceleration is performed the
    // same every time. Reset to CYCLES_PER_ACCELERATION_TICK/2 to follow the midpoint rule for
    // an accurate approximation of the deceleration curve. For triangle profiles, down count
      // from current cycle counter to ensure exact deceleration curve.
    if (st.step_events_completed == current_block->start_decelerating) {
      if (st.trapezoid_adjusted_rate == current_block->nominal_rate) {
	st.trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2; // Trapezoid profile
      } else {  
	st.trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK-st.trapezoid_tick_cycle_counter; // Triangle profile
      }
    } else {
      // Iterate cycle counter and check if speeds need to be reduced.
      if ( iterate_trapezoid_cycle_counter() ) {  
	// NOTE: We will only do a full speed reduction if the result is more than the minimum safe 
	// rate, initialized in trapezoid reset as 1.5 x rate_delta. Otherwise, reduce the speed by
	// half increments until finished. The half increments are guaranteed not to exceed the 
	// CNC acceleration limits, because they will never be greater than rate_delta. This catches
	// small errors that might leave steps hanging after the last trapezoid tick or a very slow
	// step rate at the end of a full stop deceleration in certain situations. The half rate 
	// reductions should only be called once or twice per block and create a nice smooth 
	// end deceleration.
	if (st.trapezoid_adjusted_rate > st.min_safe_rate) {
	  st.trapezoid_adjusted_rate -= current_block->acceleration;
	} else {
	  st.trapezoid_adjusted_rate >>= 1; // Bit shift divide by 2
	}
	if (st.trapezoid_adjusted_rate < current_block->final_rate) {
	  // Reached final rate a little early. Cruise to end of block at final rate.
	    st.trapezoid_adjusted_rate = current_block->final_rate;
	}
	  set_step_events_per_minute(st.trapezoid_adjusted_rate);
      }
    }
  } else {
    // No accelerations. Make sure we cruise exactly at the nominal rate.
    if (st.trapezoid_adjusted_rate != current_block->nominal_rate) {