jeka/MyOwnEtherCATDevice
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Maybe works better now. Using G0 can not provoke the scrape sound. Jogging for a long while can provoke still.

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This commit is contained in:
Hakan Bastedt
2024-01-15 21:12:23 +01:00
parent c6857d0be2
commit 20ca9d4974
2 changed files with 3 additions and 12 deletions
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13
Firmware/src/StepGen.cpp
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@@ -21,14 +21,6 @@ StepGen::StepGen(TIM_TypeDef *Timer, uint8_t _timerChannel, uint8_t _stepPin, ui
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin); MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->attachInterrupt(irq); MyTim->attachInterrupt(irq);
pinMode(dirPin, OUTPUT); pinMode(dirPin, OUTPUT);
/*
TIM_TypeDef *Timer = TIM1;
MyTim = new HardwareTimer(Timer);
MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
MyTim->attachInterrupt(TimerStep_CB);
pinMode(STEPPER_DIR_PIN, OUTPUT);
*/
} }
void StepGen::reqPos(double_t pos) void StepGen::reqPos(double_t pos)
{ {
@@ -60,7 +52,7 @@ void StepGen::handleStepper(void)
} }
int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos(); // From Turner.hal X:5000 Z:2000 ps/mm int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos(); // From Turner.hal X:5000 Z:2000 ps/mm
sync0CycleTime = 800; sync0CycleTime = 1000;
if (timerIsRunning) if (timerIsRunning)
{ {
@@ -78,13 +70,12 @@ void StepGen::handleStepper(void)
digitalWrite(dirPin, sgn); digitalWrite(dirPin, sgn);
double_t freqf = (abs(steps) * 1000000.0) / double(sync0CycleTime); double_t freqf = (abs(steps) * 1000000.0) / double(sync0CycleTime);
uint32_t freq = uint32_t(freqf); uint32_t freq = uint32_t(freqf);
// freq=1428; MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->setOverflow(freq, HERTZ_FORMAT); MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 % MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
timerStepDirection = steps > 0 ? 1 : -1; timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
timerIsRunning = 1; timerIsRunning = 1;
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->resume(); MyTim->resume();
} }
} }

2
Firmware/src/main.cpp
View File

@@ -98,7 +98,7 @@ void setup(void)
Serial1.begin(115200); Serial1.begin(115200);
rcc_config(); // probably breaks some timers. rcc_config(); // probably breaks some timers.
Step1.setScale(1250); // 2000 /rev 4 mm/rev x 2.5 gear => 1250 /mm Step1.setScale(1000); // 2000 /rev 4 mm/rev x 2.5 gear => 1250 /mm
Step2.setScale(500); // 2000 /rev 4 mm/rev => 500 /mm Step2.setScale(500); // 2000 /rev 4 mm/rev => 500 /mm
ecat_slv_init(&config); ecat_slv_init(&config);