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Stepper isr init #377

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Stepper isr init #377

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bcaf61d
init isr if needed
chowette Nov 2, 2020
e4d5059
revert stepper_set_position() bug introduced in d8477c8
chowette Nov 2, 2020
3abf0ea
fix stepper_stop() to stop only the stepper from the list.
chowette Nov 4, 2020
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12 changes: 10 additions & 2 deletions components/sys/drivers/stepper.c
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
#include <sys/driver.h>
#include <sys/syslog.h>
#include <sys/mutex.h>
#include <sys/status.h>

#include <drivers/stepper.h>
#include <drivers/gpio.h>
Expand Down Expand Up @@ -531,6 +532,13 @@ driver_error_t *stepper_setup(uint8_t step_pin, uint8_t dir_pin, float min_spd,
esp_intr_alloc(ETS_RMT_INTR_SOURCE, ESP_INTR_FLAG_IRAM, rmt_isr, NULL, &isr_h);
}

// Configure interrupts
if (!status_get(STATUS_ISR_SERVICE_INSTALLED)) {
gpio_install_isr_service(0);

status_set(STATUS_ISR_SERVICE_INSTALLED, 0x00000000);
}

// Attach ISR on step_in to get feedback
gpio_set_intr_type(stepper[*unit].step_pin, GPIO_INTR_POSEDGE);
gpio_isr_handler_add(stepper[*unit].step_pin, step_feedback, &stepper[*unit]);
Expand Down Expand Up @@ -636,7 +644,7 @@ driver_error_t *stepper_set_position(uint8_t unit, float units) {
}

stepper_t *pstepper = &stepper[unit];
pstepper->pos = units * pstepper->units_per_step;
pstepper->pos = units * pstepper->steps_per_unit;

mtx_unlock(&stepper_mutex);
return NULL;
Expand Down Expand Up @@ -790,7 +798,7 @@ void stepper_stop(int mask, uint8_t async) {
uint8_t channel = 0;

while (testMask != (1 << (NSTEP - 1))) {
if (start_mask & testMask) {
if (start_mask & testMask & mask) {
RMTMEM.chan[channel].data32[0].val = 0;
RMT.conf_ch[channel].conf1.tx_start = 0;
RMT.conf_ch[channel].conf1.mem_rd_rst = 1;
Expand Down