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New pwmCycleTime different from sync0CycleTime

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This commit is contained in:
Hakan Bastedt
2024-01-20 12:37:42 +01:00
parent e6bfe4f880
commit 1f97534133
3 changed files with 9 additions and 6 deletions
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11
Firmware/src/StepGen.cpp
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@@ -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;
uint32_t StepGen::sync0CycleTime = 0;
uint32_t StepGen::pwmCycleTime = 0;