replace critical driverlib methods with HWREG alternative for sake of…

… time spent in ISR
sq7bti · Aug 28, 2014 · f78042a · f78042a
1 parent fce2db2
commit f78042a
Showing 1 changed file with 16 additions and 8 deletions.
diff --git a/iAccelStepper.cpp b/iAccelStepper.cpp
@@ -13,14 +13,17 @@ static unsigned int all_instances;
 static unsigned long ulPeriod;
 
 void iAccelStepper::ISR(void) {
- TimerIntClear(g_ulTIMERBase[id], TIMER_TIMA_TIMEOUT);
+ //TimerIntClear(g_ulTIMERBase[id], TIMER_TIMA_TIMEOUT);
+ HWREG(g_ulTIMERBase[id] + TIMER_O_ICR) = TIMER_TIMA_TIMEOUT;
 
  // falling edge produce space for length _stepInterval
  if(_state[id]) {
  _state[id] = false;
  HWREG(_port_step[id]) = 0;
- TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
- TimerEnable(g_ulTIMERBase[id], TIMER_A);
+ //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
@@ -35,7 +38,8 @@ void iAccelStepper::ISR(void) {
 
  // either fire the timer again for another period or switch it off when the move is finished
  if((_stepInterval == 0) || (abs(distanceToGo()) < 1)) {
- TimerDisable(g_ulTIMERBase[id], TIMER_A);
+ //TimerDisable(g_ulTIMERBase[id], TIMER_A);
+ HWREG(g_ulTIMERBase[id] + TIMER_O_CTL) &= ~(TIMER_A & (TIMER_CTL_TAEN | TIMER_CTL_TBEN));
  running = false;
  } else {
  _state[id] = true;
@@ -44,8 +48,10 @@ void iAccelStepper::ISR(void) {
  direction[id] = _direction;
  HWREG(_port_dir[id]) = _direction?_pin_dir[id]:0;
  }
- TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
- TimerEnable(g_ulTIMERBase[id], TIMER_A);
+ //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, 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);
  }
  }
 }
@@ -122,7 +128,9 @@ void iAccelStepper::moveTo(long absolute)
  HWREG(_port_step[id]) = _pin_step[id];
  _state[id] = true;
 
- TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
- TimerEnable(g_ulTIMERBase[id], TIMER_A);
+ //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, 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);
  }
 }