From 1f97534133befd25332412f9095ffcb1d35a7d05 Mon Sep 17 00:00:00 2001
From: Hakan Bastedt <hakan.bastedt@gmail.com>
Date: Sat, 20 Jan 2024 12:37:42 +0100
Subject: [PATCH] New pwmCycleTime different from sync0CycleTime

---
 Firmware/include/StepGen.h |  1 +
 Firmware/src/StepGen.cpp   | 11 ++++++-----
 Firmware/src/main.cpp      |  3 ++-
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/Firmware/include/StepGen.h b/Firmware/include/StepGen.h
index 4f7fc85..b94fbe2 100755
--- a/Firmware/include/StepGen.h
+++ b/Firmware/include/StepGen.h
@@ -26,6 +26,7 @@ private:
 
 public:
     static uint32_t sync0CycleTime;
+    static uint32_t pwmCycleTime;
 
     StepGen(TIM_TypeDef *Timer, uint32_t timerChannel, PinName stepPin, uint8_t dirPin, void irq(void));
     void reqPos(double_t pos);
diff --git a/Firmware/src/StepGen.cpp b/Firmware/src/StepGen.cpp
index 52fd1de..c0f37d2 100755
--- a/Firmware/src/StepGen.cpp
+++ b/Firmware/src/StepGen.cpp
@@ -51,10 +51,10 @@ void StepGen::handleStepper(void)
     actPos(timerStepPosition / double(stepsPerMM));
     double diffPosition = reqPos() - actPos();
 
-    uint64_t fre = abs(diffPosition) * stepsPerMM * 1000000 / double(sync0CycleTime); // Frequency needed
+    uint64_t fre = abs(diffPosition) * stepsPerMM * 1000000 / double(pwmCycleTime); // Frequency needed
     if (fre > maxFreq)                                                                // Only do maxFre
     {
-        double maxDist = maxFreq / stepsPerMM * sync0CycleTime / 1000000.0 * (diffPosition > 0 ? 1 : -1);
+        double maxDist = maxFreq / stepsPerMM * pwmCycleTime / 1000000.0 * (diffPosition > 0 ? 1 : -1);
         reqPos(actualPosition + maxDist);
     }
     int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos(); // From Turner.hal X:5000 Z:2000 ps/mm
@@ -72,7 +72,7 @@ void StepGen::handleStepper(void)
             digitalWrite(dirPin, sgn);
             timerStepDirection = steps > 0 ? 1 : -1;
             timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
-            double_t freqf = abs(steps) * (1e6 / double(sync0CycleTime));
+            double_t freqf = abs(steps) * (1e6 / double(pwmCycleTime));
             uint32_t freq = uint32_t(freqf);
             MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
             MyTim->setOverflow(freq, HERTZ_FORMAT);
@@ -96,7 +96,7 @@ void StepGen::timerCB()
         {
             uint8_t sgn = steps > 0 ? HIGH : LOW;
             digitalWrite(dirPin, sgn);
-            double_t freqf = abs(steps) * (1e6 / double(sync0CycleTime));
+            double_t freqf = abs(steps) * (1e6 / double(pwmCycleTime));
             uint32_t freq = uint32_t(freqf);
             timerStepDirection = steps > 0 ? 1 : -1;
             timerStepPositionAtEnd = timerNewEndStepPosition;
@@ -120,4 +120,5 @@ void StepGen::setScale(int16_t spm)
     stepsPerMM = spm;
 }
 
-uint32_t StepGen::sync0CycleTime = 0;
\ No newline at end of file
+uint32_t StepGen::sync0CycleTime = 0;
+uint32_t StepGen::pwmCycleTime = 0;
diff --git a/Firmware/src/main.cpp b/Firmware/src/main.cpp
index 3f702dd..5d15905 100755
--- a/Firmware/src/main.cpp
+++ b/Firmware/src/main.cpp
@@ -176,6 +176,7 @@ uint16_t dc_checker(void)
 {
    // Indicate we run DC
    ESCvar.dcsync = 1;
-   StepGen::sync0CycleTime = 10*ESC_SYNC0cycletime() / 1000;
+   StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
+   StepGen::pwmCycleTime = 10 * StepGen::sync0CycleTime;
    return 0;
 }