restruct timer handler setter functions #49

TheGreenBox · May 18, 2014 · 479335d · 479335d
2 parents a0c4c82 + 43da75b
commit 479335d
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Showing 6 changed files with 30 additions and 17 deletions.
diff --git a/firmware/SatStepperBegin/control_algo.c b/firmware/SatStepperBegin/control_algo.c
@@ -40,13 +40,13 @@ void stop() {
 }
 
 void step(int_fast8_t dist) {
-    gState.stepTicker += dist;
-
     if (currentAlgo == NULL) {
         return;
     }
 
-    int_fast8_t nextStep =  gState.stepTicker % currentAlgo->algoStepsNumber;
+    gState.stepTicker += dist;
+
+    int_fast8_t nextStep = gState.stepTicker % currentAlgo->algoStepsNumber;
     if (nextStep < 0) {
         nextStep += currentAlgo->algoStepsNumber;
     }

diff --git a/firmware/SatStepperBegin/control_modules/synchronized_control.c b/firmware/SatStepperBegin/control_modules/synchronized_control.c
@@ -33,9 +33,9 @@ void syncControlInterruptHadler(void) {
 }
 
 void enableSyncControl() {
-    timer0Init(&syncControlInterruptHadler);
+    installTimer0IntrHandler(&syncControlInterruptHadler);
 }
 
 void disableSyncControl() {
-    timer0Init(&emptyTimerIntrHandler);
+    installTimer0IntrHandler(&emptyTimerIntrHandler);
 }
diff --git a/firmware/SatStepperBegin/pwm_wrap_module.c b/firmware/SatStepperBegin/pwm_wrap_module.c
@@ -13,8 +13,7 @@
 
 #include "pwm_wrap_module.h"
 
-#define MAX_PWM_DUTY 1024
-static int16_t pmwCoefficient = 0;
+static int16_t pwmCoefficient = 0;
 
 static volatile struct EPWM_REGS* pwm_control_regs[2] = {
     &EPwm1Regs,
@@ -25,10 +24,10 @@ static inline void initPWMChannel(volatile struct EPWM_REGS* pwmRegs) {
     pwmRegs->TBCTL.bit.SYNCOSEL = 0;   // Pass through
 
     // Init Timer-Base Period Register for EPWM1-EPWM3
-    pwmRegs->TBPRD = MAX_PWM_DUTY;
+    pwmRegs->TBPRD = MAX_PWM;
 
     // Init Compare Register for EPWM1-EPWM3
-    pwmRegs->CMPA.half.CMPA = MAX_PWM_DUTY;
+    pwmRegs->CMPA.half.CMPA = MAX_PWM;
 
     // Init Timer-Base Phase Register for EPWM1-EPWM3
     pwmRegs->TBPHS.half.TBPHS = 0;
@@ -97,10 +96,11 @@ void setPwm(uint16_t pwm) {
     if (pwm > MAX_PWM) {
         pwm = MAX_PWM;
     }
-    uint32_t truePwm = pwm;
-    truePwm *= pmwCoefficient;
-    truePwm >>= PWM_COEFF_RANK;
-    uint16_t pwmDutyCycle = MAX_PWM - truePwm;
+
+    uint32_t algoStepPwm = pwm;
+    algoStepPwm *= pwmCoefficient;
+    algoStepPwm >>= PWM_COEFF_RANK;
+    uint16_t pwmDutyCycle = MAX_PWM - algoStepPwm;
 
     EPwm1Regs.CMPA.half.CMPA = pwmDutyCycle;
     EPwm2Regs.CMPA.half.CMPA = pwmDutyCycle;
@@ -141,7 +141,7 @@ void setBDirection(int_fast8_t direct) {
 }
 
 void setCoeff(uint16_t pwmCoeff) {
-    pmwCoefficient = pwmCoeff;
+    pwmCoefficient = pwmCoeff;
 }
 
 void deactivate_pwm_driver() {

diff --git a/firmware/SatStepperBegin/pwm_wrap_module.h b/firmware/SatStepperBegin/pwm_wrap_module.h
@@ -15,7 +15,7 @@
 void initPwm();
 
 #define MAX_PWM 1024
-void setPwm(uint16_t pwmDutyCycle);
+void setPwm(uint16_t pwm);
 
 #define PWM_COEFF_RANK 10
 #define PWM_COEFF_DIVIDER (1 << PWM_COEFF_RANK)

diff --git a/firmware/SatStepperBegin/timers.c b/firmware/SatStepperBegin/timers.c
@@ -32,15 +32,15 @@ interrupt void TMR0_Interrupt(void)
     // PSCH:PSC is loaded with the value in the TDDRH:TDDR.
     CpuTimer0Regs.TCR.bit.TRB = 1;
 
-    // Acknowledge interrupt to recieve more interrupts from PIE group 1
-    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
+    ACKNOWLEDGE_ONE_MORE_INTERRUPT_FROM_GROUP(PIEACK_GROUP1);
 }
 
 interrupt void TMR1_Interrupt(void)
 {
     _tmr1Handler();
     // CpuTimer1Regs.TCR.bit.TIF = 0;
     CpuTimer1Regs.TCR.bit.TRB = 1;
+
     // TINT1 is not part of any interrupt group, so it doesn't require
     // acknowledgement
 }
@@ -85,17 +85,25 @@ void timer1Init() {
     setTimerSettingsToDefaultByNum(1);
 }
 
+<<<<<<< HEAD
 void setTimer0IntrHandler(_controlTimerInterruptHandler handler) {
+=======
+void installTimer0IntrHandler(_controlTimerInterruptHandler handler) {
+>>>>>>> 43da75bbeb3629a01497d820b8bf6a3439c3e1d6
     if (handler != NULL) {
         _tmr0Handler = handler;
     }
 }
 
+<<<<<<< HEAD
 void clearTimer0IntrHandler() {
     _tmr0Handler = &emptyTimerIntrHandler;
 }
 
 void setTimer1IntrHandler(_controlTimerInterruptHandler handler) {
+=======
+void installTimer1IntrHandler(_controlTimerInterruptHandler handler) {
+>>>>>>> 43da75bbeb3629a01497d820b8bf6a3439c3e1d6
     if (handler != NULL) {
         _tmr1Handler = handler;
     }

diff --git a/firmware/SatStepperBegin/timers.h b/firmware/SatStepperBegin/timers.h
@@ -17,11 +17,16 @@ typedef void (* _controlTimerInterruptHandler)(void);
 void timer0Init();
 void timer1Init();
 
+<<<<<<< HEAD
 void setTimer0IntrHandler(_controlTimerInterruptHandler);
 void clearTimer0IntrHandler();
 
 void setTimer1IntrHandler(_controlTimerInterruptHandler);
 void clearTimer1IntrHandler();
+=======
+void installTimer0IntrHandler(_controlTimerInterruptHandler);
+void installTimer1IntrHandler(_controlTimerInterruptHandler);
+>>>>>>> 43da75bbeb3629a01497d820b8bf6a3439c3e1d6
 
 void setTimerPeriodByNum(uint_fast8_t timerNum, uint32_t periodInUsec);
 void stopTimerByNum(uint_fast8_t timerNum);