I think I've resolved the issue, but limited testing has been performed.
I believe the issue was here:
void MotorStateMachine()
{
// update the SteppingRateTMR if required
// reduce the number of calculations
if (UpdateSteppingRateTMR == true)
{
SteppingRateTMR = SMCLK_FREQ/SteppingRate; // calculate new value
UpdateSteppingRateTMR = false; // clear flag
}
switch (AccelerateState)
{
case (IDLE):
if(G_RECIPROCATION == false && G_WAKE == high && G_ENABLE == high)
{
G_MOTOR_CMD_ACTIVE1 = false;
G_MOTOR_CMD_ACTIVE2 = false;
G_MOTOR_CMD_ACTIVE3 = false;
G_ENBL_START_STOP = false; // enable with false, allow Start Stop
G_MANUAL_ADVANCE = false; // clear the flags once stops
G_ENBL_RECIPROCATION_BUTTON = false;
G_RUN_MOTOR = false;
G_ENBL_MOVE_STEPS = false;
MoveSteps = false; // clear the MoveSteps flag here
// reset the timers if the last command was run motor
if (LastCommandWasRunSteps == true)
{
TACTL &= ~MC_3; // Stop timerA
TBCTL &= ~MC_3; // Stop timerB
}
}The IDLE case was running often, and clobbering all of the GUI writes to those GLOBALS before DetermineMotorMovement() could take action on them. I added a PrevAccelerateState variable, and set it to AccelerateState just before each time it changed.
Now the UpdateStateMachine() only clears the GLOBALS on the first transition into IDLE:
void MotorStateMachine()
{
// update the SteppingRateTMR if required
// reduce the number of calculations
if (UpdateSteppingRateTMR == true)
{
SteppingRateTMR = SMCLK_FREQ/SteppingRate; // calculate new value
UpdateSteppingRateTMR = false; // clear flag
}
switch (AccelerateState)
{
case (IDLE):
{
if (PrevAccelerateState == IDLE)
{
// do nothing, make sure we only clear the globals listed below once on a state change
}
else
{
PrevAccelerateState = IDLE; // Set state to idle
if(G_RECIPROCATION == false && G_WAKE == high && G_ENABLE == high)
{
G_MOTOR_CMD_ACTIVE1 = false;
G_MOTOR_CMD_ACTIVE2 = false;
G_MOTOR_CMD_ACTIVE3 = false;
G_ENBL_START_STOP = false; // enable with false, allow Start Stop
G_MANUAL_ADVANCE = false; // clear the flags once stops
G_ENBL_RECIPROCATION_BUTTON = false;
G_RUN_MOTOR = false;
G_ENBL_MOVE_STEPS = false;
MoveSteps = false; // clear the MoveSteps flag here
// reset the timers if the last command was run motor
if (LastCommandWasRunSteps == true)
{
TACTL &= ~MC_3; // Stop timerA
TBCTL &= ~MC_3; // Stop timerB
}
}
}
}
I'll leave a CCS 7.2.0 project here in case anyone else has this issue, this FW image calls itself v1.1.
Thanks,
Adam
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