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Restructure, makes pulses again

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This commit is contained in:
Hakan Bastedt
2024-01-08 21:13:34 +01:00
parent 222e5857dc
commit 120b423f59
1 changed files with 40 additions and 21 deletions
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61
Firmware/src/main.cpp
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@@ -36,10 +36,7 @@ volatile uint32_t stepCount = 0, stepPulses = 0;
volatile double_t actualPosition = 0;
volatile double_t requestedPosition, requestedVelocity;
uint32_t sync0CycleTime = 0;
void handleStepper(void);
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/);
uint32_t sync0CycleTime = 0; // nanoseconds
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
@@ -98,7 +95,7 @@ uint16_t dc_checker(void);
void TimerStep_CB(void);
void sync0Handler(void);
void handleStepper(void);
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/);
void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* nr of pulses to do*/);
static esc_cfg_t config =
{
@@ -108,7 +105,7 @@ static esc_cfg_t config =
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = handleStepper,
.application_hook = handleStepper,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
@@ -173,32 +170,54 @@ void sync0Handler(void)
serveIRQ = 1;
}
volatile uint8_t timerIsRunning = 0;
volatile uint8_t reloadStepperTimer = 0;
volatile int32_t currentPosition = 0;
volatile int32_t direction = 1;
volatile int32_t timerStepPosition = 0;
volatile int32_t timerStepDirection = 0;
volatile int32_t timerStepPositionAtEnd = 0;
void handleStepper(void)
{
int32_t pulsesToGo = 5000 * (requestedPosition - actualPosition); // From Turner.hal X:5000 Z:2000 ps/mm
if (pulsesToGo != 0)
makePulses(sync0CycleTime, pulsesToGo); // Make the pulses using hardware timer
int32_t pulsesAtEndOfCycle = 1000 * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm
makePulses(/*sync0CycleTime / 1000*/ 700, pulsesAtEndOfCycle); // Make the pulses using hardware timer
actualPosition = requestedPosition;
}
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/)
void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/)
{
byte sgn = pulses > 0 ? HIGH : LOW;
digitalWrite(STEPPER_DIR_PIN, sgn); // I think one should really wait a bit when changed
uint32_t puls = abs(pulses);
MyTim->setOverflow(abs(pulses) * 1000000 / period, HERTZ_FORMAT);
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
stepCount = 0;
stepPulses = abs(pulses);
MyTim->resume();
// if (!stepperTimerIsRunning)
{
int32_t steps = pulsesAtEnd - timerStepPositionAtEnd; // Pulses to go + or -
if (abs(steps) * 1000000 / cycleTime > 100000) // 100 kHz is too much for driver, reduce
{
int32_t stepsMax = 100000 * cycleTime / 1000000;
steps = stepsMax*(steps > 0 ? 1 : -1);
pulsesAtEnd = timerStepPositionAtEnd + stepsMax;
}
if (steps != 0)
{
byte sgn = steps > 0 ? HIGH : LOW;
digitalWrite(STEPPER_DIR_PIN, sgn);
uint64_t period = cycleTime; // usecs
uint32_t freq = abs(steps) * 1000000 / period;
MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = pulsesAtEnd; // Current Position
timerIsRunning = 1;
MyTim->resume();
}
}
}
void TimerStep_CB(void)
{
stepCount++;
if (stepCount == stepPulses)
timerStepPosition += timerStepDirection;
if (timerStepPosition == timerStepPositionAtEnd)
{
timerIsRunning = 0;
MyTim->pause();
}
}