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Fixed Race-Condtion problem with arming of done_flag

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This commit is contained in:
AlexanderHD27
2024-09-27 23:21:04 +02:00
parent 986927d740
commit 84e351d154
3 changed files with 44 additions and 24 deletions
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53
motor-control/firmware/src/main.cpp
View File

@@ -21,6 +21,9 @@
#define ENABLE0_PIN 2 #define ENABLE0_PIN 2
#define ENABLE1_PIN 3 #define ENABLE1_PIN 3
#define LIMIT0_PIN 10
#define LIMIT1_PIN 11
#define STEP0_PIN 6 #define STEP0_PIN 6
#define STEP1_PIN 7 #define STEP1_PIN 7
#define DIR0_PIN 8 #define DIR0_PIN 8
@@ -58,40 +61,50 @@ int main() {
sleep_ms(5); 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); step_driver.set_conf1(10000, 0);
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.set_conf0(10000, 1);
step_driver.set_conf1(10000, 1); step_driver.pulse0(10000);
step_driver.pulse0(1000);
step_driver.pulse1(1000);
step_driver.wait0(0); step_driver.wait0(0);
step_driver.wait1(0);
volatile uint t = 500 - step_driver.get_remaining_steps0(); step_driver.set_conf0(10000, 0);
volatile uint s = step_driver.get_remaining_steps1(); step_driver.pulse0(100000);
while(!gpio_get(LIMIT1_PIN)) {
sleep_ms(1);
}
step_driver.pulse0(0);
sleep_ms(500);
step_driver.set_conf0(1000, 1); step_driver.set_conf0(10000, 1);
step_driver.set_conf1(1000, 1); step_driver.pulse0(200);
step_driver.wait0(0);
step_driver.set_conf0(500, 0);
sleep_ms(100); step_driver.pulse0(5000);
while(!gpio_get(LIMIT1_PIN)) {
sleep_ms(1);
}
step_driver.pulse0(0);
sleep_ms(1);
gpio_init(LED_PIN); gpio_init(LED_PIN);
gpio_set_dir(LED_PIN, GPIO_OUT); gpio_set_dir(LED_PIN, GPIO_OUT);
while (true) { while (true) {
sleep_ms(50);
gpio_put(LED_PIN, 1);
sleep_ms(50); sleep_ms(50);
gpio_put(LED_PIN, 0); gpio_put(LED_PIN, 0);
sleep_ms(50);
gpio_put(LED_PIN, 1);
} }

6
motor-control/firmware/src/tmc2209/pulser.pio
View File

@@ -23,14 +23,14 @@ counter:
l1: l1:
PULL NOBLOCK PULL NOBLOCK
MOV Y, OSR MOV Y, OSR
MOV X, OSR
JMP !Y l1_end JMP !Y l1_end
IRQ WAIT 2 REL
IRQ WAIT 2 REL
SET PINS, 1 SET PINS, 1
IRQ WAIT 2 REL IRQ WAIT 2 REL
SET PINS, 0 SET PINS, 0
MOV X, OSR
JMP X-- l1 JMP X-- l1
l1_end: l1_end:

7
motor-control/firmware/src/tmc2209/step.cpp
View File

@@ -167,6 +167,8 @@ void TMC2209_step_dual::set_conf1(uint frequency, bool dir) {
void TMC2209_step_dual::pulse0(uint n) { void TMC2209_step_dual::pulse0(uint n) {
this->remaining_step_count0 = n; this->remaining_step_count0 = n;
this->done_flag0_arm = true; this->done_flag0_arm = true;
this->done_flag0 = false;
pio_sm_put_blocking( pio_sm_put_blocking(
this->pio_core, this->sm_num_counter0, n 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) { void TMC2209_step_dual::pulse1(uint n) {
this->remaining_step_count1 = n; this->remaining_step_count1 = n;
this->done_flag1_arm = true; this->done_flag1_arm = true;
this->done_flag1 = false;
pio_sm_put_blocking( pio_sm_put_blocking(
this->pio_core, this->sm_num_counter1, n this->pio_core, this->sm_num_counter1, n
); );
}; };
void TMC2209_step_dual::pulse0_int(int n) { void TMC2209_step_dual::pulse0_int(int n) {
this->remaining_step_count0 = n;
this->done_flag0_arm = true; this->done_flag0_arm = true;
if(n < 0) { if(n < 0) {
n = abs(n); n = abs(n);
@@ -193,6 +198,7 @@ void TMC2209_step_dual::pulse0_int(int n) {
}; };
void TMC2209_step_dual::pulse1_int(int n) { void TMC2209_step_dual::pulse1_int(int n) {
this->remaining_step_count1 = n;
this->done_flag1_arm = true; this->done_flag1_arm = true;
if(n < 0) { if(n < 0) {
n = abs(n); n = abs(n);
@@ -212,6 +218,7 @@ void TMC2209_step_dual::irq_handler0() {
} else { } else {
done_flag0 = false; done_flag0 = false;
} }
pio_interrupt_clear(this->pio_core, 2); pio_interrupt_clear(this->pio_core, 2);
} }