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Teensy idle code

This commit is contained in:
Josh Stewart 2017-03-01 14:42:24 +11:00
parent 26a6945856
commit 88e412bcf6
2 changed files with 84 additions and 20 deletions
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18
speeduino/idle.h
View File

@ -14,10 +14,26 @@ struct StepperIdle
{
unsigned int curIdleStep; //Tracks the current location of the stepper
unsigned int targetIdleStep; //What the targetted step is
volatile StepperStatus stepperStatus;
volatile StepperStatus stepperStatus;
volatile unsigned long stepStartTime; //The time the curren
};
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)
#define IDLE_COUNTER TCNT4
#define IDLE_COMPARE OCR4C
#define IDLE_TIMER_ENABLE() TIMSK4 |= (1 << OCIE4C)
#define IDLE_TIMER_DISABLE() TIMSK4 &= ~(1 << OCIE4C)
#elif defined(CORE_TEENSY)
#define IDLE_COUNTER FTM2_CNT
#define IDLE_COMPARE FTM2_C0V
#define IDLE_TIMER_ENABLE() FTM2_C0SC |= FTM_CSC_CHIE
#define IDLE_TIMER_DISABLE() FTM2_C0SC &= ~FTM_CSC_CHIE
#endif
struct table2D iacClosedLoopTable;
struct table2D iacPWMTable;
struct table2D iacStepTable;

86
speeduino/idle.ino
View File

@ -17,10 +17,65 @@ integerPID idlePID(&currentStatus.longRPM, &idle_pwm_target_value, &idle_cl_targ
void initialiseIdle()
{
//By default, turn off the PWM interrupt (It gets turned on below if needed)
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
TIMSK4 &= ~(1 << OCIE4C); // Disable timer channel for idle
#endif
//By default, turn off the PWM interrupt (It gets turned on below if needed)
IDLE_TIMER_DISABLE();
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__) //AVR chips use the ISR for this
//No timer work required for AVRs. Timer is shared with the schedules and setup in there.
#elif defined (CORE_TEENSY)
//FlexTimer 2 is used for idle
FTM2_MODE |= FTM_MODE_WPDIS; // Write Protection Disable
FTM2_MODE |= FTM_MODE_FTMEN; //Flex Timer module enable
FTM2_MODE |= FTM_MODE_INIT;
FTM2_SC = 0x00; // Set this to zero before changing the modulus
FTM2_CNTIN = 0x0000; //Shouldn't be needed, but just in case
FTM2_CNT = 0x0000; // Reset the count to zero
FTM2_MOD = 0xFFFF; // max modulus = 65535
/*
* Enable the clock for FTM0/1
* 00 No clock selected. Disables the FTM counter.
* 01 System clock
* 10 Fixed frequency clock (32kHz)
* 11 External clock
*/
FTM2_SC |= FTM_SC_CLKS(0b10);
/*
* Trim the slow clock from 32kHz down to 31.25kHz (The slowest it will go)
* This is somewhat imprecise and documentation is not good.
* I poked the chip until I figured out the values associated with 31.25kHz
*/
MCG_C3 = 0x9B;
/*
* Set Prescaler
* This is the slowest that the timer can be clocked (Without used the slow timer, which is too slow). It results in ticks of 2.13333uS on the teensy 3.5:
* 32000 Hz = F_BUS
* 128 * 1000000uS / F_BUS = 2.133uS
*
* 000 = Divide by 1
* 001 Divide by 2
* 010 Divide by 4
* 011 Divide by 8
* 100 Divide by 16
* 101 Divide by 32
* 110 Divide by 64
* 111 Divide by 128
*/
FTM2_SC |= FTM_SC_PS(0b0); //No prescaler
//Setup the channels (See Pg 1014 of K64 DS).
FTM2_C0SC &= ~FTM_CSC_MSB; //According to Pg 965 of the K64 datasheet, this should not be needed as MSB is reset to 0 upon reset, but the channel interrupt fails to fire without it
FTM2_C0SC |= FTM_CSC_MSA; //Enable Compare mode
FTM2_C0SC |= FTM_CSC_CHIE; //Enable channel compare interrupt
// enable IRQ Interrupt
NVIC_ENABLE_IRQ(IRQ_FTM2);
#endif
//Initialising comprises of setting the 2D tables with the relevant values from the config pages
switch(configPage4.iacAlgorithm)
@ -255,12 +310,10 @@ void homeStepper()
idleStepper.stepperStatus = SOFF;
}
//The interrupt to turn off the idle pwm
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
//This function simply turns off the idle PWM and sets the pin low
static inline void disableIdle()
{
TIMSK4 &= ~(1 << OCIE4C); //Turn off interrupt
IDLE_TIMER_DISABLE();
digitalWrite(pinIdle1, LOW);
}
@ -268,10 +321,14 @@ static inline void disableIdle()
//Typically this is enabling the PWM interrupt
static inline void enableIdle()
{
TIMSK4 |= (1 << OCIE4C); //Turn on the C compare unit (ie turn on the interrupt)
IDLE_TIMER_ENABLE();
}
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__) //AVR chips use the ISR for this
ISR(TIMER4_COMPC_vect)
#elif defined (CORE_TEENSY)
static inline void idleInterrupt() //Most ARM chips can simply call a function
#endif
{
if (idle_pwm_state)
{
@ -287,7 +344,7 @@ ISR(TIMER4_COMPC_vect)
*idle_pin_port |= (idle_pin_mask); // Switch pin high
if(configPage4.iacChannels) { *idle2_pin_port &= ~(idle2_pin_mask); } //If 2 idle channels are in use, flip idle2 to be the opposite of idle1
}
OCR4C = TCNT4 + (idle_pwm_max_count - idle_pwm_cur_value);
IDLE_COMPARE = IDLE_COUNTER + (idle_pwm_max_count - idle_pwm_cur_value);
idle_pwm_state = false;
}
else
@ -304,18 +361,9 @@ ISR(TIMER4_COMPC_vect)
*idle_pin_port &= ~(idle_pin_mask); // Switch pin to low (1 pin mode)
if(configPage4.iacChannels) { *idle2_pin_port |= (idle2_pin_mask); } //If 2 idle channels are in use, flip idle2 to be the opposite of idle1
}
OCR4C = TCNT4 + idle_pwm_target_value;
IDLE_COMPARE = IDLE_COUNTER + idle_pwm_target_value;
idle_pwm_cur_value = idle_pwm_target_value;
idle_pwm_state = true;
}
}
#elif defined (CORE_TEENSY)
//This function simply turns off the idle PWM and sets the pin low
static inline void disableIdle()
{
digitalWrite(pinIdle1, LOW);
}
static inline void enableIdle() { }
#endif