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wip, before timer stuff

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This commit is contained in:
Hakan Bastedt
2024-02-02 12:09:49 +01:00
parent d1eb1d9a40
commit 133df5662d
2 changed files with 47 additions and 48 deletions
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4
Firmware/include/StepGen2.h
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@@ -34,7 +34,7 @@ public:
StepGen2(TIM_TypeDef *Timer, uint32_t timerChannel, PinName stepPin, uint8_t dirPin, void irq(void));
void handleStepper(void);
uint32_t handleStepper(void);
void timerCB();
void enable(uint8_t yes);
@@ -48,6 +48,8 @@ public:
double actPos() { return actualPosition; };
void setScale(int16_t spm) { stepsPerMM = spm; }
int16_t getScale() { return stepsPerMM; }
uint32_t updatePosAndReturn(int32_t stepPosStop, uint32_t i);
};
#endif

41
Firmware/src/StepGen2.cpp
View File

@@ -24,10 +24,10 @@ StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin,
pinMode(dirPin, OUTPUT);
}
void StepGen2::handleStepper(void)
uint32_t StepGen2::handleStepper(void)
{
if (!enabled)
return;
return 1;
lcncCycleTime = StepGen2::sync0CycleTime;
float y0TRAJ = oldPos() * getScale(); // Straight line equation between old and new point
@@ -36,45 +36,36 @@ void StepGen2::handleStepper(void)
float mTRAJ = y1TRAJ - kTRAJ * lcncCycleTime; // Intercept
int32_t stepPosStart = floor(y0TRAJ); // First step position, integer value of first point position
int32_t stepPosStop = floor(y1TRAJ); // End step position
//
float Tstart = (stepPosStart - mTRAJ) / kTRAJ; // First step at this time
float Tstop = (stepPosStop - mTRAJ) / kTRAJ; // And the last step
float Tstep = fabs(1.0 / kTRAJ); // Time between steps
float stepFrequency = fabs(kTRAJ); // 1/Tstep - which is kTRAJ
//
oldPos(reqPos()); // Save the numeric position for next step
oldStepPos(stepPosStop); // also the step we are at
//
if (Tstart > lcncCycleTime) // Not enough movement to make a step
return; //
return updatePosAndReturn(stepPosStop, 2); //
if (/* 1.0 / Tstep */ kTRAJ > 200000) //
{ // Too high frequency, deal with this later.
err = 1; //
return; //
return updatePosAndReturn(stepPosStop, 3); //
} //
int8_t dir = stepPosStart > stepPosStop ? -1 : 1; // Which direction to step in
//
switch (abs(stepPosStart - oldStepPos())) //
if (abs(stepPosStart - oldStepPos()) == 0) // StepPosStart and oldStepPos() are often the same, but don't redo the step
{ //
case 0: // StepPosStart and oldStepPos() are often the same, but don't redo the step
stepPosStart += dir; // New first step
Tstart += Tstep; //
if (Tstart > lcncCycleTime) // Not enough movement to make a step
return; //
break; //
case 1: //
// Let it slide through and deal with it after the case switch
break; //
default: //
err = 2; //
return; //
break; //
return updatePosAndReturn(stepPosStop, 4); //
} //
if (abs(stepPosStart - oldStepPos()) > 1) // Shouldn't happen
{ //
return updatePosAndReturn(stepPosStop, 5); //
} //
// Now the old point and the start point should be separate.
if (Tstart > lcncCycleTime) // Not enough movement to make a step
return; //
return updatePosAndReturn(stepPosStop, 6); // Check this again
// Tstart, Tstep and Tstop defines the coming pwm-sequence.
// Always do one pulse at Tstart when we come here. Next Tstart+Tstep and so on until Tstop.
return 0; // Always do one pulse at Tstart when we come here. Next Tstart+Tstep and so on until Tstop.
}
void StepGen2::timerCB()
{
@@ -110,5 +101,11 @@ void StepGen2::timerCB()
}
#endif
}
uint32_t StepGen2::updatePosAndReturn(int32_t stepPosStop, uint32_t i)
{ //
oldPos(reqPos()); // Save the numeric position for next step
oldStepPos(stepPosStop); // also the step we are at}
return i;
}
uint32_t StepGen2::sync0CycleTime = 0;