From 75ebaa6cba951fdaf7ed050c708b981708c53d14 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Wed, 17 Nov 2021 16:10:08 -0500
Subject: [PATCH] new bus head for easy delimit
---
firmware/motion-head/src/main.cpp | 29 +++++++++++++++--------------
firmware/motion-head/src/osape-d51 | 2 +-
2 files changed, 16 insertions(+), 15 deletions(-)
diff --git a/firmware/motion-head/src/main.cpp b/firmware/motion-head/src/main.cpp
index f6c7ceb..534da6e 100644
--- a/firmware/motion-head/src/main.cpp
+++ b/firmware/motion-head/src/main.cpp
@@ -203,9 +203,6 @@ void setup() {
DEBUG2PIN_SETUP;
DEBUG3PIN_SETUP;
DEBUG4PIN_SETUP;
- // l i g h t s
- ERRLIGHT_ON;
- CLKLIGHT_ON;
// osap
osapSetup();
// ports
@@ -231,7 +228,7 @@ void setup() {
smoothieRoll->init(20000);
// 25kHz base (40us period) or
// 20kHz base (50us period)
- d51ClockBoss->start_ticker_a(100);
+ d51ClockBoss->start_ticker_a(50);
}
void loop() {
@@ -242,7 +239,7 @@ void loop() {
} // end loop
// runs on period defined by timer_a setup:
-volatile uint16_t timeTick = 0;
+volatile uint32_t timeTick = 0;
volatile uint64_t timeBlink = 0;
uint16_t blinkTime = 1000;
@@ -252,22 +249,17 @@ void TC0_Handler(void){
// runs at period established above...
TC0->COUNT32.INTFLAG.bit.MC0 = 1;
TC0->COUNT32.INTFLAG.bit.MC1 = 1;
- DEBUG1PIN_TOGGLE;
- timeTick ++;
- timeBlink ++;
- if(timeBlink > blinkTime){
- //DEBUG1PIN_TOGGLE;
- CLKLIGHT_TOGGLE;
- sysErrLightCheck();
- timeBlink = 0;
- }
+ DEBUG1PIN_HI;
+
// do bus action first: want downstream clocks to be deterministic-ish
ucBusHead_timerISR();
+
// do step tick
smoothieRoll->step_tick();
// every n ticks, ship position?
// each of these ticks drops 10 data bytes, so if we have 17 byte packet, can do every 2nd packet
// which would occupy the full bus - notgood - or we can do every 3rd... I'll pick every 4th.
+ timeTick ++;
if(timeTick > 3){
DEBUG2PIN_HI;
timeTick = 0;
@@ -287,4 +279,13 @@ void TC0_Handler(void){
ucBusHead_transmitA(motion_packet, 17);
DEBUG2PIN_LO;
}
+
+ // do blinking, lol
+ timeBlink ++;
+ if(timeBlink > blinkTime){
+ CLKLIGHT_TOGGLE;
+ sysErrLightCheck();
+ timeBlink = 0;
+ }
+ DEBUG1PIN_LO;
}
diff --git a/firmware/motion-head/src/osape-d51 b/firmware/motion-head/src/osape-d51
index 0beaf06..2694d0c 160000
--- a/firmware/motion-head/src/osape-d51
+++ b/firmware/motion-head/src/osape-d51
@@ -1 +1 @@
-Subproject commit 0beaf064563e5773f2979d09ad40cefd786ca383
+Subproject commit 2694d0c983f0da1679cceb31b41d79e128a2b81d
--
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