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Shortest BASE_PERIOD is 12000 as it is now. Plus some cleanup

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This commit is contained in:
Hakan Bastedt
2024-03-23 20:09:35 +01:00
parent 8710a547fe
commit 1b8721930e
3 changed files with 5 additions and 21 deletions
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6
Firmware/include/StepGen3.h
View File

@@ -143,11 +143,11 @@ private:
}; };
// For the example // For the example
#define BASE_PERIOD 50000 #define BASE_PERIOD 15000 // 12 i smax
#define SERVO_PERIOD 1000000 #define SERVO_PERIOD 1000000
#define JOINT_X_STEPGEN_MAXACCEL 520.0 #define JOINT_X_STEPGEN_MAXACCEL 520.0
#define JOINT_X_SCALE 200 #define JOINT_X_SCALE -200
#define JOINT_Z_STEPGEN_MAXACCEL 520.0 #define JOINT_Z_STEPGEN_MAXACCEL 520.0
#define JOINT_Z_SCALE 80 #define JOINT_Z_SCALE -80
#endif #endif

2
Firmware/platformio.ini
View File

@@ -20,4 +20,4 @@ monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment build_flags = -Wl,--no-warn-rwx-segment
lib_deps = lib_deps =
SPI SPI
rlogiacco/CircularBuffer@^1.3.3 rlogiacco/CircularBuffer

18
Firmware/src/main.cpp
View File

@@ -51,21 +51,18 @@ void handleStepper(void)
{ {
Step->updateStepGen(pos); Step->updateStepGen(pos);
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb; Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition1 = Step->stepgen_array[1].pos_fb; Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
} }
#endif #endif
} }
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{ {
#if 1
// Obj.IndexStatus = Encoder1.indexHappened(); // Obj.IndexStatus = Encoder1.indexHappened();
// Obj.EncPos = Encoder1.currentPos(); // Obj.EncPos = Encoder1.currentPos();
// Obj.EncFrequency = Encoder1.frequency(ESCvar.Time); // Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
// Obj.IndexByte = Encoder1.getIndexState(); // Obj.IndexByte = Encoder1.getIndexState();
float_t ap2 = Obj.ActualPosition2; float_t ap2 = Obj.ActualPosition2;
Obj.ActualPosition1 = Obj.CommandedPosition1; // Step1.actPos();
Obj.ActualPosition2 = Obj.CommandedPosition2; // Step2.actPos();
#if 0 #if 0
uint64_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds uint64_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim); Tim.push(dTim);
@@ -85,7 +82,6 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.D2 = 0; Obj.D2 = 0;
Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos(); Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D4 = 0; Obj.D4 = 0;
#endif
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
@@ -140,12 +136,8 @@ void setup(void)
pinMode(PA11, OUTPUT); pinMode(PA11, OUTPUT);
pinMode(PA12, OUTPUT); pinMode(PA12, OUTPUT);
digitalWrite(PA11, HIGH);
digitalWrite(PA12, HIGH);
pinMode(PC9, OUTPUT); pinMode(PC9, OUTPUT);
pinMode(PC10, OUTPUT); pinMode(PC10, OUTPUT);
digitalWrite(PC9, HIGH);
digitalWrite(PC10, HIGH);
Step = new StepGen3; Step = new StepGen3;
HardwareTimer *MyTim = new HardwareTimer(TIM1); // The base period timer HardwareTimer *MyTim = new HardwareTimer(TIM1); // The base period timer
@@ -157,14 +149,6 @@ void setup(void)
double pos = 0; double pos = 0;
void loop(void) void loop(void)
{ {
#if 0
pinMode(PC9, OUTPUT);
digitalWrite(PC9, LOW);
delay(10);
digitalWrite(PC9, HIGH);
delay(10);
#endif
uint64_t dTime; uint64_t dTime;
if (serveIRQ) if (serveIRQ)
{ {