disable TIMER1 - causes problems - ISR is stuck after a certain time

state not needed anymore - ISR is creating entire pulse instead of each flank at a time

iAccelStepper.cpp

@@ -1,48 +1,47 @@
 #include "iAccelStepper.h"
 #include "driverlib/timer.h"
 
-volatile boolean state[3];
 static iAccelStepper* me[3];
 static unsigned int all_instances;
 static unsigned long ulPeriod;
 
 void iAccelStepper::ISR(void) {
  TimerIntClear(g_ulTIMERBase[id], TIMER_TIMA_TIMEOUT);
- digitalWrite(_pin[0], state[id]);
- if(state[id]) {
- if(_direction == DIRECTION_CW)
- // Clockwise
- ++_currentPos;
- else
- // Anticlockwise
- --_currentPos;
- // prepare for the next period
- computeNewSpeed();
- digitalWrite(_pin[1], _direction);
- TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
- TimerEnable(g_ulTIMERBase[id], TIMER_A);
+
+ if(_direction == DIRECTION_CW)
+ // Clockwise
+ ++_currentPos;
+ else
+ // Anticlockwise
+ --_currentPos;
+
+ // prepare for the next period
+ computeNewSpeed();
+ digitalWrite(_pin[1], _direction);
+
+ // switch off timer at the falling edge
+ if((_stepInterval == 0) || (abs(distanceToGo()) < 1)) {
+ TimerDisable(g_ulTIMERBase[id], TIMER_A);
+ running = false;
  } else {
- // switch off timer at the falling edge
- if(_stepInterval == 0) {
- TimerDisable(g_ulTIMERBase[id], TIMER_A);
- running = false;
- } else {
- TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
- TimerEnable(g_ulTIMERBase[id], TIMER_A);
- }
+ digitalWrite(_pin[0], true);
+ delayMicroseconds(ulPeriod);
+ digitalWrite(_pin[0], false);
+
+ TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
+ TimerEnable(g_ulTIMERBase[id], TIMER_A);
  }
- state[id] ^= 1;
 }
 
 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[3] = { timerISR0, timerISR1, timerISR2 };
+ISR_ptr_t timerISR_ptr[2] = { timerISR0, timerISR1 };
 
 void iAccelStepper::begin(uint8_t pin1, uint8_t pin2, uint8_t pin3)
 {
@@ -52,9 +51,10 @@ void iAccelStepper::begin(uint8_t pin1, uint8_t pin2, uint8_t pin3)
  AccelStepper::setEnablePin(pin3);
  AccelStepper::setPinsInverted(false, false, false, false, true);
 
- ulPeriod = 2 * clockCyclesPerMicrosecond();
+// ulPeriod = 2 * clockCyclesPerMicrosecond();
+ ulPeriod = 1;
 
- if(all_instances < 3) {
+ if(all_instances < 2) {
  id = all_instances;
  // Configure timer
  SysCtlPeripheralEnable(g_ulTIMERPeriph[id]);
@@ -64,7 +64,6 @@ void iAccelStepper::begin(uint8_t pin1, uint8_t pin2, uint8_t pin3)
  TimerIntRegister(g_ulTIMERBase[id], TIMER_A, timerISR_ptr[id]);
 
  me[id] = this;
- state[id] = false;
  running = false;
  ++all_instances;
  }
@@ -83,17 +82,21 @@ void iAccelStepper::moveTo(long absolute)
  running = true;
  // enable driver
 // enableOutputs();
- digitalWrite(_pin[1], _direction);
  computeNewSpeed();
- state[id] = true;
- digitalWrite(_pin[0], true);
- TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
+ digitalWrite(_pin[1], _direction);
+
  if(_direction == DIRECTION_CW)
  // Clockwise
  ++_currentPos;
  else
  // Anticlockwise
  --_currentPos;
+
+ digitalWrite(_pin[0], true);
+ delayMicroseconds(ulPeriod);
+ digitalWrite(_pin[0], false);
+
+ TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
  TimerEnable(g_ulTIMERBase[id], TIMER_A);
  }
 }

iAccelStepper.h

@@ -11,11 +11,11 @@
 // The list of Timer peripherals.
 //
 //*****************************************************************************
-static const unsigned long g_ulTIMERPeriph[3] =
+static const unsigned long g_ulTIMERPeriph[2] =
 {
 #if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
 // SYSCTL_PERIPH_TIMER0, // wiring_analog.c analogWrite()
- SYSCTL_PERIPH_TIMER1,
+// SYSCTL_PERIPH_TIMER1,
  SYSCTL_PERIPH_TIMER2,
  SYSCTL_PERIPH_TIMER3
 // SYSCTL_PERIPH_TIMER4, // Tone.c
@@ -27,11 +27,11 @@ static const unsigned long g_ulTIMERPeriph[3] =
 #endif
 };
 
-static const unsigned long g_ulTIMERBase[3] =
+static const unsigned long g_ulTIMERBase[2] =
 {
 #if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
 // TIMER0_BASE, // wiring_analog.c analogWrite()
- TIMER1_BASE,
+// TIMER1_BASE,
  TIMER2_BASE,
  TIMER3_BASE
 // TIMER4_BASE, // Tone.c
@@ -51,6 +51,7 @@ class iAccelStepper : public AccelStepper
  void moveTo(long absolute);
  void move(long relative);
  boolean run(void) { return running; };
+ unsigned long stepInterval() { return _stepInterval; };
  void ISR(void);
 private:
  volatile boolean running;