Diff: CoreISR.cpp

Revision:

53:72f350a6d09c

diff -r 53b1625b8035 -r 72f350a6d09c CoreISR.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CoreISR.cpp	Thu Apr 14 13:45:38 2016 +0100
@@ -0,0 +1,73 @@
+/*
+ * CoreISR.cpp
+ *
+ *  Created on: 12 Mar 2016
+ *      Author: mike
+ */
+#include "mbed.h"
+#include "CGimbal.h"
+#include "base.h"
+
+
+extern int mgTick;
+extern CGimbal * pGimbal;
+extern DigitalIn	xHome;
+extern DigitalIn	yHome;
+extern Serial pc;
+
+
+
+/*
+ *	Core Stepper Timer, called every 20 us
+ */
+void Pulse()
+{
+
+	mgTick++;
+
+	//	If m_TickCount (every 20us) has incremented to the defined step interval (1000us) then action may need to be taken
+	if (pGimbal->m_TickCount > pGimbal->m_StepInterval)
+	{
+		if (pGimbal->m_TickCount & 0x01)	// First (rising) edge of the pulse
+		{
+			if (pGimbal->m_xPulses)			// Still need to move along x?
+			{
+				if (xHome)					//	Are we clear of the x Limit switch?
+				{
+					pGimbal->m_pXStepPin->write(1);
+				}
+			}
+			if (pGimbal->m_yPulses)			// Still need to move along y?
+			{
+				if (yHome)					//	Are we clear of the y Limit switch?
+				{
+					pGimbal->m_pYStepPin->write(1);
+				}
+			}
+			pGimbal->m_TickCount++;
+		}
+		else
+		{	//	Second (falling) edge of the pulse
+			if (pGimbal->m_xPulses)
+			{
+				//	This x pulse has been completed
+				pGimbal->m_pXStepPin->write(0);
+				pGimbal->m_xPulses --;
+			}
+			if (pGimbal->m_yPulses)
+			{
+				//	This y pulse has been completed
+				pGimbal->m_pYStepPin->write(0);
+				pGimbal->m_yPulses --;
+			}
+			//  Regardless of whether only x or only y falling edge was actioned, the window is now closed
+			pGimbal->m_TickCount=0;
+		}
+	}
+	else
+	{
+		pGimbal->m_TickCount++;
+	}
+
+}
+