Patch to stop DDA timer before Dwell timer to address Issue #193

g2core/board/Archim/hardware.h

@@ -127,8 +127,8 @@ using Motate::OutputPin;
 // Timer definitions. See stepper.h and other headers for setup
 typedef TimerChannel<3,0> dda_timer_type;	// stepper pulse generation in stepper.cpp
 typedef TimerChannel<4,0> dwell_timer_type;	// dwell timing in stepper.cpp
-typedef ServiceCall<0> load_timer_type;	// request load timer in stepper.cpp
-typedef ServiceCall<1> exec_timer_type;	// request exec timer in stepper.cpp
+typedef ServiceCall<0> load_timer_type;	    // request load timer in stepper.cpp
+typedef ServiceCall<1> exec_timer_type;	    // request exec timer in stepper.cpp
 typedef ServiceCall<2> fwd_plan_timer_type;	// request exec timer in stepper.cpp
 
 // Pin assignments

g2core/board/ArduinoDue/hardware.h

@@ -129,8 +129,8 @@ using Motate::OutputPin;
 // Timer definitions. See stepper.h and other headers for setup
 typedef TimerChannel<3,0> dda_timer_type;	// stepper pulse generation in stepper.cpp
 typedef TimerChannel<4,0> dwell_timer_type;	// dwell timing in stepper.cpp
-typedef ServiceCall<0> load_timer_type;	// request load timer in stepper.cpp
-typedef ServiceCall<1> exec_timer_type;	// request exec timer in stepper.cpp
+typedef ServiceCall<0> load_timer_type;	    // request load timer in stepper.cpp
+typedef ServiceCall<1> exec_timer_type;	    // request exec timer in stepper.cpp
 typedef ServiceCall<2> fwd_plan_timer_type;	// request exec timer in stepper.cpp
 
 // Pin assignments

g2core/board/G2v9/hardware.h

@@ -129,8 +129,8 @@ using Motate::OutputPin;
 // Timer definitions. See stepper.h and other headers for setup
 typedef TimerChannel<3,0> dda_timer_type;	// stepper pulse generation in stepper.cpp
 typedef TimerChannel<4,0> dwell_timer_type;	// dwell timing in stepper.cpp
-typedef ServiceCall<0> load_timer_type;	// request load timer in stepper.cpp
-typedef ServiceCall<1> exec_timer_type;	// request exec timer in stepper.cpp
+typedef ServiceCall<0> load_timer_type;	    // request load timer in stepper.cpp
+typedef ServiceCall<1> exec_timer_type;	    // request exec timer in stepper.cpp
 typedef ServiceCall<2> fwd_plan_timer_type;	// request exec timer in stepper.cpp
 
 // Pin assignments

g2core/board/gquadratic/hardware.h

@@ -110,8 +110,8 @@ using Motate::OutputPin;
  *
  * The following interrupts are defined w/indicated priorities
  *
- *	 0	DDA_TIMER (3) for step pulse generation
- *	 1	DWELL_TIMER (4) for dwell timing
+ *	 0	DDA_TIMER (9) for step pulse generation
+ *	 1	DWELL_TIMER (10) for dwell timing
  *	 2	LOADER software generated interrupt (STIR / SGI)
  *	 3	Serial read character interrupt
  *	 4	EXEC software generated interrupt (STIR / SGI)
@@ -128,11 +128,11 @@ using Motate::OutputPin;
 /**** Motate Definitions ****/
 
 // Timer definitions. See stepper.h and other headers for setup
-typedef TimerChannel<9, 0> dda_timer_type;    // stepper pulse generation in stepper.cpp
-typedef TimerChannel<10, 0> dwell_timer_type;  // dwell timing in stepper.cpp
-typedef ServiceCall<0> load_timer_type;       // request load timer in stepper.cpp
-typedef ServiceCall<1> exec_timer_type;       // request exec timer in stepper.cpp
-typedef ServiceCall<2> fwd_plan_timer_type;   // request exec timer in stepper.cpp
+typedef TimerChannel<9, 0> dda_timer_type;      // stepper pulse generation in stepper.cpp
+typedef TimerChannel<10, 0> dwell_timer_type;   // dwell timing in stepper.cpp
+typedef ServiceCall<0> load_timer_type;         // request load timer in stepper.cpp
+typedef ServiceCall<1> exec_timer_type;         // request exec timer in stepper.cpp
+typedef ServiceCall<2> fwd_plan_timer_type;     // request exec timer in stepper.cpp
 
 // Pin assignments
 

g2core/planner.h

@@ -381,23 +381,18 @@ struct mpBuffer_to_clear {
         length  = 0.0;
         block_time = 0.0;
         override_factor = 0.0;
-
         cruise_velocity = 0.0;
         exit_velocity = 0.0;
-
         cruise_vset = 0.0;
         cruise_vmax = 0.0;
         exit_vmax = 0.0;
-
         absolute_vmax = 0.0;
         junction_vmax = 0.0;
-
         jerk = 0.0;
         jerk_sq = 0.0;
         recip_jerk = 0.0;
         sqrt_j = 0.0;
         q_recip_2_sqrt_j = 0.0;
-
         gm.reset();
     }
 };

g2core/stepper.cpp

@@ -254,7 +254,7 @@ namespace Motate {            // Must define timer interrupts inside the Motate
 template<>
 void dda_timer_type::interrupt()
 {
-    dda_timer.getInterruptCause();        // clear interrupt condition
+    dda_timer.getInterruptCause();  // clear interrupt condition
 
     // clear all steps from the previous interrupt
 	// for (uint8_t motor=0; motor<MOTORS; motor++) {
@@ -282,7 +282,7 @@ void dda_timer_type::interrupt()
         return;
     }
 
-//  The following code would work, but it's faster to loop unroll it
+//  The following code would work, but it's faster on the M3 to loop unroll it. Perhaps not on the M7
 //    for (uint8_t motor=0; motor<MOTORS; motor++) {
 //        if  ((st_run.mot[motor].substep_accumulator += st_run.mot[motor].substep_increment) > 0) {
 //            Motors[motor]->stepStart();        // turn step bit on
@@ -331,9 +331,10 @@ void dda_timer_type::interrupt()
         }
 #endif
 
-    // process end of segment
+    // Process end of segment. 
+    // One more interrupt will occur to turn of any pulses set in this pass.
     if (--st_run.dda_ticks_downcount == 0) {
-        _load_move();                            // load the next move at the current interrupt level
+        _load_move();       // load the next move at the current interrupt level
     }
 } // MOTATE_TIMER_INTERRUPT
 } // namespace Motate
@@ -629,11 +630,12 @@ static void _load_move()
 
         //**** do this last ****
 
-        dda_timer.start();                                    // start the DDA timer if not already running
+        dda_timer.start();                              // start the DDA timer if not already running
 
     // handle dwells
     } else if (st_pre.block_type == BLOCK_TYPE_DWELL) {
         st_run.dda_ticks_downcount = st_pre.dda_ticks;
+        dda_timer.stop();   // ++++ This is a stopgap. The DDA timer should have been stopped before here
         dwell_timer.start();
 
     // handle synchronous commands
@@ -648,7 +650,7 @@ static void _load_move()
     // all other cases drop to here (e.g. Null moves after Mcodes skip to here)
     st_pre.block_type = BLOCK_TYPE_NULL;
     st_pre.buffer_state = PREP_BUFFER_OWNED_BY_EXEC;    // we are done with the prep buffer - flip the flag back
-    st_request_exec_move();                                // exec and prep next move
+    st_request_exec_move();                             // exec and prep next move
 }
 
 /***********************************************************************************
@@ -788,7 +790,6 @@ void st_prep_command(void *bf)
 void st_prep_dwell(float microseconds)
 {
     st_pre.block_type = BLOCK_TYPE_DWELL;
-    //st_pre.dda_period = _f_to_period(FREQUENCY_DWELL);
     st_pre.dda_ticks = (uint32_t)((microseconds/1000000) * FREQUENCY_DWELL);
     st_pre.buffer_state = PREP_BUFFER_OWNED_BY_LOADER;    // signal that prep buffer is ready
 }