reverted to the method with _state: false during the LOW of the durat…

…ion of _stepInterval and HIGH for the duration of step pulse

iAccelStepper.cpp

@@ -8,39 +8,45 @@ 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 unsigned int all_instances;
 static unsigned long ulPeriod;
 
 void iAccelStepper::ISR(void) {
  TimerIntClear(g_ulTIMERBase[id], TIMER_TIMA_TIMEOUT);
 
- if(_direction == DIRECTION_CW)
- // Clockwise
- ++_currentPos;
- else
- // Anticlockwise
- --_currentPos;
-
- // prepare for the next period
- computeNewSpeed();
-
- // 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);
- running = false;
- } else {
- HWREG(_port_step[id]) = _pin_step[id];
- // TODO: check if ISR can handle delayMicroseconds(int)
-// delayMicroseconds(ulPeriod);
- if(direction[id] != _direction) {
- direction[id] = _direction;
- HWREG(_port_dir[id]) = _direction?_pin_dir[id]:0;
- }
-
+ // 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);
+ } else {
+ // prepare for the next period
+ // rising edge - calculate everything necessary and calculate _stepInterval
+ computeNewSpeed();
 
- HWREG(_port_step[id]) = 0;
+ if(_direction == DIRECTION_CW)
+ // Clockwise
+ ++_currentPos;
+ else
+ // Anticlockwise
+ --_currentPos;
+
+ // 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);
+ 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;
+ }
+ TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
+ TimerEnable(g_ulTIMERBase[id], TIMER_A);
+ }
  }
 }
 
@@ -63,8 +69,8 @@ void iAccelStepper::begin(uint8_t pin1, uint8_t pin2, uint8_t pin3)
  AccelStepper::setPinsInverted(false, false, false, false, true);
 
  // specs of DRV8825 requires 2us, A3967 and A4988 requires atleast 1us step pulse
-// ulPeriod = 2 * clockCyclesPerMicrosecond();
- ulPeriod = 1;
+ ulPeriod = clockCyclesPerMicrosecond();
+// ulPeriod = 1;
 
  if(all_instances < 2) {
  id = all_instances;
@@ -83,6 +89,7 @@ void iAccelStepper::begin(uint8_t pin1, uint8_t pin2, uint8_t pin3)
  _port_dir[id] = (uint32_t)portBASERegister(digitalPinToPort(pin2)) + (GPIO_O_DATA + (digitalPinToBitMask(pin2) << 2));
  _pin_dir[id] = (uint8_t)digitalPinToBitMask(pin2);
  direction[id] = false;
+ _state[id] = false;
  }
 }
 
@@ -113,10 +120,9 @@ void iAccelStepper::moveTo(long absolute)
  --_currentPos;
 
  HWREG(_port_step[id]) = _pin_step[id];
- delayMicroseconds(ulPeriod);
- HWREG(_port_step[id]) = 0;
+ _state[id] = true;
 
- TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
+ TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
  TimerEnable(g_ulTIMERBase[id], TIMER_A);
  }
 }