From 84e351d15450ca85165076fae3e9989c29494c6a Mon Sep 17 00:00:00 2001
From: AlexanderHD27 <alexander@hal>
Date: Fri, 27 Sep 2024 23:21:04 +0200
Subject: [PATCH] Fixed Race-Condtion problem with arming of done_flag

---
 motor-control/firmware/src/main.cpp           | 55 ++++++++++++-------
 motor-control/firmware/src/tmc2209/pulser.pio |  6 +-
 motor-control/firmware/src/tmc2209/step.cpp   |  7 +++
 3 files changed, 44 insertions(+), 24 deletions(-)

diff --git a/motor-control/firmware/src/main.cpp b/motor-control/firmware/src/main.cpp
index 7c715e7..78b8675 100755
--- a/motor-control/firmware/src/main.cpp
+++ b/motor-control/firmware/src/main.cpp
@@ -21,6 +21,9 @@
 #define ENABLE0_PIN 2
 #define ENABLE1_PIN 3
 
+#define LIMIT0_PIN 10
+#define LIMIT1_PIN 11
+
 #define STEP0_PIN 6
 #define STEP1_PIN 7
 #define DIR0_PIN 8
@@ -58,40 +61,50 @@ int main() {
 
     sleep_ms(5);
 
-    step_driver.set_conf0(10000, 0);
+    
     step_driver.set_conf1(10000, 0);
-    step_driver.pulse0(1000);
-    step_driver.pulse1(1000);
-    step_driver.wait0(0);
-    step_driver.wait1(0);
 
-    sleep_ms(200);
+
+    gpio_init(LIMIT0_PIN);
+    gpio_set_dir(LIMIT0_PIN, GPIO_IN);
+    gpio_pull_up(LIMIT0_PIN);
+
+    gpio_init(LIMIT1_PIN);
+    gpio_set_dir(LIMIT1_PIN, GPIO_IN);
+    gpio_pull_up(LIMIT1_PIN);
+    
+    step_driver.set_conf0(10000, 1);
+    step_driver.pulse0(10000);
+    step_driver.wait0(0);
+
+    step_driver.set_conf0(10000, 0);
+    step_driver.pulse0(100000);
+    while(!gpio_get(LIMIT1_PIN)) {
+        sleep_ms(1);
+    }
+    step_driver.pulse0(0);
+    sleep_ms(500);
 
     step_driver.set_conf0(10000, 1);
-    step_driver.set_conf1(10000, 1);
-    step_driver.pulse0(1000);
-    step_driver.pulse1(1000);
+    step_driver.pulse0(200);
     step_driver.wait0(0);
-    step_driver.wait1(0);
-    
-    volatile uint t = 500 - step_driver.get_remaining_steps0();
-    volatile uint s = step_driver.get_remaining_steps1();
 
-    step_driver.set_conf0(1000, 1);
-    step_driver.set_conf1(1000, 1);
-
-
-    sleep_ms(100);
+    step_driver.set_conf0(500, 0);
+    step_driver.pulse0(5000);
+    while(!gpio_get(LIMIT1_PIN)) {
+        sleep_ms(1);
+    }
+    step_driver.pulse0(0);
+    sleep_ms(1);
 
     gpio_init(LED_PIN);
     gpio_set_dir(LED_PIN, GPIO_OUT);
 
     while (true) {
-        sleep_ms(50);
-        gpio_put(LED_PIN, 1);
-
         sleep_ms(50);
         gpio_put(LED_PIN, 0);
+        sleep_ms(50);
+        gpio_put(LED_PIN, 1);
     }
     
 
diff --git a/motor-control/firmware/src/tmc2209/pulser.pio b/motor-control/firmware/src/tmc2209/pulser.pio
index 747ecab..5368f1f 100644
--- a/motor-control/firmware/src/tmc2209/pulser.pio
+++ b/motor-control/firmware/src/tmc2209/pulser.pio
@@ -23,14 +23,14 @@ counter:
 l1:
     PULL NOBLOCK
     MOV Y, OSR
+    MOV X, OSR
     JMP !Y l1_end
-    IRQ WAIT 2 REL
 
+    IRQ WAIT 2 REL
     SET PINS, 1
     IRQ WAIT 2 REL
-    
     SET PINS, 0
-    MOV X, OSR
+
     JMP X-- l1
 
 l1_end:
diff --git a/motor-control/firmware/src/tmc2209/step.cpp b/motor-control/firmware/src/tmc2209/step.cpp
index 82bd785..10bde8e 100644
--- a/motor-control/firmware/src/tmc2209/step.cpp
+++ b/motor-control/firmware/src/tmc2209/step.cpp
@@ -167,6 +167,8 @@ void TMC2209_step_dual::set_conf1(uint frequency, bool dir) {
 void TMC2209_step_dual::pulse0(uint n) {
     this->remaining_step_count0 = n;
     this->done_flag0_arm = true;
+    this->done_flag0 = false;
+
     pio_sm_put_blocking(
         this->pio_core, this->sm_num_counter0, n
     );
@@ -175,12 +177,15 @@ void TMC2209_step_dual::pulse0(uint n) {
 void TMC2209_step_dual::pulse1(uint n) {
     this->remaining_step_count1 = n;
     this->done_flag1_arm = true;
+    this->done_flag1 = false;
+
     pio_sm_put_blocking(
         this->pio_core, this->sm_num_counter1, n
     );
 };
 
 void TMC2209_step_dual::pulse0_int(int n) {
+    this->remaining_step_count0 = n;
     this->done_flag0_arm = true;
     if(n < 0) {
         n = abs(n);
@@ -193,6 +198,7 @@ void TMC2209_step_dual::pulse0_int(int n) {
 };
 
 void TMC2209_step_dual::pulse1_int(int n) {
+    this->remaining_step_count1 = n;
     this->done_flag1_arm = true;
     if(n < 0) {
         n = abs(n);
@@ -212,6 +218,7 @@ void TMC2209_step_dual::irq_handler0() {
     } else {
         done_flag0 = false;
     }
+    
     pio_interrupt_clear(this->pio_core, 2);
 }