when initiated from idle - start with a low state to allow a change o…

…f direction to commit

iAccelStepper.cpp

@@ -3,13 +3,13 @@
 #include "inc/hw_gpio.h"
 #include "inc/hw_timer.h"
 
-static iAccelStepper* me[2];
-static uint32_t _port_step[2];
-static uint8_t _pin_step[2];
-static uint32_t _port_dir[2];
-static uint8_t _pin_dir[2];
-static boolean direction[2];
-static boolean _state[2];
+static iAccelStepper* me[MAX_INST];
+static uint32_t _port_step[MAX_INST];
+static uint8_t _pin_step[MAX_INST];
+static uint32_t _port_dir[MAX_INST];
+static uint8_t _pin_dir[MAX_INST];
+static boolean direction[MAX_INST];
+static boolean _state[MAX_INST];
 static unsigned char all_instances;
 static uint32_t ulPeriod;
 
@@ -20,22 +20,23 @@ void iAccelStepper::ISR(void) {
  // falling edge produce space for length _stepInterval
  if(_state[id]) {
  _state[id] = false;
+
+ // prepare for the next period
+ // rising edge - calculate everything necessary and calculate _stepInterval
+ computeNewSpeed();
+
+ if(direction[id] != _direction) {
+ direction[id] = _direction;
+ HWREG(_port_dir[id]) = _direction?_pin_dir[id]:0;
+ }
+
  HWREG(_port_step[id]) = 0;
  //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
  HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = _stepInterval - ulPeriod;
  //TimerEnable(g_ulTIMERBase[id], TIMER_A);
  HWREG(g_ulTIMERBase[id] + TIMER_O_CTL) |= TIMER_A & (TIMER_CTL_TAEN | TIMER_CTL_TBEN);
- } else {
- // prepare for the next period
- // rising edge - calculate everything necessary and calculate _stepInterval
- computeNewSpeed();
 
- if(_direction == DIRECTION_CW)
- // Clockwise
- ++_currentPos;
- else
- // Anticlockwise
- --_currentPos;
+ } else {
 
  // either fire the timer again for another period or switch it off when the move is finished
  if((_stepInterval == 0) || (abs(distanceToGo()) < 1)) {
@@ -44,13 +45,17 @@ void iAccelStepper::ISR(void) {
  running = false;
  } else {
  _state[id] = true;
- HWREG(_port_step[id]) = _pin_step[id];
- if(direction[id] != _direction) {
- direction[id] = _direction;
- HWREG(_port_dir[id]) = _direction?_pin_dir[id]:0;
- }
+
+ if(_direction == DIRECTION_CW)
+ // Clockwise
+ ++_currentPos;
+ else
+ // Anticlockwise
+ --_currentPos;
+
  //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
  HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = ulPeriod;
+ HWREG(_port_step[id]) = _pin_step[id];
  //TimerEnable(g_ulTIMERBase[id], TIMER_A);
  HWREG(g_ulTIMERBase[id] + TIMER_O_CTL) |= TIMER_A & (TIMER_CTL_TAEN | TIMER_CTL_TBEN);
  }
@@ -59,27 +64,27 @@ void iAccelStepper::ISR(void) {
 
 void timerISR0(void) { me[0]->ISR(); }
 void timerISR1(void) { me[1]->ISR(); }
-//void timerISR2(void) { me[2]->ISR(); }
+void timerISR2(void) { me[2]->ISR(); }
 //void timerISR3(void) { me[3]->ISR(); }
 //void timerISR4(void) { me[4]->ISR(); }
 
 typedef void (*ISR_ptr_t)(void);
 //ISR_ptr_t timerISR_ptr[5] = { &timerISR0, &timerISR1, timerISR2, timerISR3, timerISR4 };
-ISR_ptr_t timerISR_ptr[2] = { timerISR0, timerISR1 };
+ISR_ptr_t timerISR_ptr[MAX_INST] = { timerISR0, timerISR1 };
 
 void iAccelStepper::begin(uint8_t pin1, uint8_t pin2, uint8_t pin3)
 {
  // STEP DIR
  AccelStepper::begin(AccelStepper::DRIVER, pin1, pin2);
  // ENABLE
  AccelStepper::setEnablePin(pin3);
- AccelStepper::setPinsInverted(false, false, false, false, true);
+ AccelStepper::setPinsInverted(false, false, true);
 
  // specs of DRV8825 requires 2us, A3967 and A4988 requires atleast 1us step pulse
- ulPeriod = clockCyclesPerMicrosecond();
-// ulPeriod = 1;
+// ulPeriod = clockCyclesPerMicrosecond() * 2;
+ ulPeriod = 1;
 
- if(all_instances < 2) {
+ if(all_instances < MAX_INST) {
  id = all_instances;
  // Configure timer
  SysCtlPeripheralEnable(g_ulTIMERPeriph[id]);
@@ -112,26 +117,20 @@ void iAccelStepper::moveTo(long absolute)
 
  if(!running && (distanceToGo() != 0)) {
  running = true;
- // enable driver
-// enableOutputs();
+
  computeNewSpeed();
+
  if(direction[id] != _direction) {
  direction[id] = _direction;
  HWREG(_port_dir[id]) = _direction?_pin_dir[id]:0;
  }
 
- if(_direction == DIRECTION_CW)
- // Clockwise
- ++_currentPos;
- else
- // Anticlockwise
- --_currentPos;
-
- HWREG(_port_step[id]) = _pin_step[id];
- _state[id] = true;
+ HWREG(_port_step[id]) = 0;
+ _state[id] = false;
 
  //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
- HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = ulPeriod;
+ HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = _stepInterval - ulPeriod;
+// HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = ulPeriod;
  //TimerEnable(g_ulTIMERBase[id], TIMER_A);
  HWREG(g_ulTIMERBase[id] + TIMER_O_CTL) |= TIMER_A & (TIMER_CTL_TAEN | TIMER_CTL_TBEN);
  }

iAccelStepper.h

@@ -6,12 +6,14 @@
 
 #include "driverlib/sysctl.h"
 
+#define MAX_INST 2
+
 //*****************************************************************************
 //
 // The list of Timer peripherals.
 //
 //*****************************************************************************
-static const unsigned long g_ulTIMERPeriph[2] =
+static const unsigned long g_ulTIMERPeriph[MAX_INST] =
 {
 #if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
 // SYSCTL_PERIPH_TIMER0, // wiring_analog.c analogWrite()
@@ -27,7 +29,7 @@ static const unsigned long g_ulTIMERPeriph[2] =
 #endif
 };
 
-static const unsigned long g_ulTIMERBase[2] =
+static const unsigned long g_ulTIMERBase[MAX_INST] =
 {
 #if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
 // TIMER0_BASE, // wiring_analog.c analogWrite()