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Fixed I2S_STATIC stepping

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This commit is contained in:
Mitch Bradley
2021-07-06 19:21:26 -10:00
parent 0d6e47db2b
commit e843bc8a67
6 changed files with 31 additions and 18 deletions
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29
Grbl_Esp32/src/I2SOut.cpp
View File

@@ -168,14 +168,16 @@ static inline void gpio_matrix_out_check(uint8_t gpio, uint32_t signal_idx, bool
}
}
static inline void i2s_out_single_data() {
void i2s_out_push() {
if (i2s_out_pulser_status == PASSTHROUGH) {
#if I2S_OUT_NUM_BITS == 16
uint32_t port_data = atomic_load(&i2s_out_port_data);
port_data <<= 16; // Shift needed. This specification is not spelled out in the manual.
I2S0.conf_single_data = port_data; // Apply port data in real-time (static I2S)
uint32_t port_data = atomic_load(&i2s_out_port_data);
port_data <<= 16; // Shift needed. This specification is not spelled out in the manual.
I2S0.conf_single_data = port_data; // Apply port data in real-time (static I2S)
#else
I2S0.conf_single_data = atomic_load(&i2s_out_port_data); // Apply port data in real-time (static I2S)
I2S0.conf_single_data = atomic_load(&i2s_out_port_data); // Apply port data in real-time (static I2S)
#endif
}
}
static inline void i2s_out_reset_fifo_without_lock() {
@@ -561,15 +563,6 @@ void IRAM_ATTR i2s_out_write(uint8_t pin, uint8_t val) {
} else {
atomic_fetch_and(&i2s_out_port_data, ~bit);
}
#ifdef USE_I2S_OUT_STREAM_IMPL
// It needs a lock for access, but I've given up because I need speed.
// This is not a problem as long as there is no overlap between the status change and digitalWrite().
if (i2s_out_pulser_status == PASSTHROUGH) {
i2s_out_single_data();
}
#else
i2s_out_single_data();
#endif
}
uint8_t IRAM_ATTR i2s_out_read(uint8_t pin) {
@@ -835,8 +828,8 @@ int IRAM_ATTR i2s_out_init(i2s_out_init_t& init_param) {
}
#else
// For the static output mode
I2S0.conf_chan.tx_chan_mod = 3; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = init_param.init_val; // initial constant value
I2S0.conf_chan.tx_chan_mod = 3; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = init_param.init_val; // initial constant value
#endif
#if I2S_OUT_NUM_BITS == 16
I2S0.fifo_conf.tx_fifo_mod = 0; // 0: 16-bit dual channel data, 3: 32-bit single channel data
@@ -844,8 +837,8 @@ int IRAM_ATTR i2s_out_init(i2s_out_init_t& init_param) {
I2S0.sample_rate_conf.tx_bits_mod = 16; // default is 16-bits
I2S0.sample_rate_conf.rx_bits_mod = 16; // default is 16-bits
#else
I2S0.fifo_conf.tx_fifo_mod = 3; // 0: 16-bit dual channel data, 3: 32-bit single channel data
I2S0.fifo_conf.rx_fifo_mod = 3; // 0: 16-bit dual channel data, 3: 32-bit single channel data
I2S0.fifo_conf.tx_fifo_mod = 3; // 0: 16-bit dual channel data, 3: 32-bit single channel data
I2S0.fifo_conf.rx_fifo_mod = 3; // 0: 16-bit dual channel data, 3: 32-bit single channel data
// Data width is 32-bit. Forgetting this setting will result in a 16-bit transfer.
I2S0.sample_rate_conf.tx_bits_mod = 32;
I2S0.sample_rate_conf.rx_bits_mod = 32;

2
Grbl_Esp32/src/I2SOut.h
View File

@@ -110,6 +110,8 @@ int i2s_out_init();
*/
uint8_t i2s_out_read(uint8_t pin);
void i2s_out_push();
/*
Set a bit in the internal pin state var. (not written electrically)
pin: expanded pin No. (0..31)

1
Grbl_Esp32/src/Machine/Axes.cpp
View File

@@ -160,6 +160,7 @@ namespace Machine {
a->unstep();
}
}
config->_stepping->finishPulse();
}
// Some small helpers to find the axis index and axis ganged index for a given motor. This

1
Grbl_Esp32/src/Pins/I2SOPinDetail.cpp
View File

@@ -60,6 +60,7 @@ namespace Pins {
// Write and wait for completion. Not suitable for use from an ISR
void I2SOPinDetail::synchronousWrite(int high) {
write(high);
i2s_out_push();
i2s_out_delay();
}

15
Grbl_Esp32/src/Stepping.cpp
View File

@@ -91,6 +91,7 @@ namespace Machine {
i2s_out_push_sample(_pulseUsecs);
break;
case I2S_STATIC:
i2s_out_push();
case TIMED:
spinDelay(_stepPulseStartTime, _pulseUsecs);
break;
@@ -135,6 +136,20 @@ namespace Machine {
}
}
void Stepping::finishPulse() {
switch (_engine) {
case stepper_id_t::I2S_STREAM:
break;
case stepper_id_t::I2S_STATIC:
i2s_out_push();
break;
case stepper_id_t::TIMED:
break;
case stepper_id_t::RMT:
break;
}
}
// The argument is in units of ticks of the timer that generates ISRs
void IRAM_ATTR Stepping::setTimerPeriod(uint16_t timerTicks) {
if (_engine == I2S_STREAM) {

1
Grbl_Esp32/src/Stepping.h
View File

@@ -74,6 +74,7 @@ namespace Machine {
void waitPulse(); // Wait for pulse length
void waitDirection(); // Wait for direction delay
void waitMotion(); // Wait for motion to complete
void finishPulse(); // Cleanup after unstep
// Timers
void setTimerPeriod(uint16_t timerTicks);