jeka/MyOwnEtherCATDevice
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Bugs found. set duty cycle after overflow()

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This commit is contained in:
Hakan Bastedt
2024-01-02 23:51:58 +01:00
parent cc1ca73219
commit 2e8e938345
1 changed files with 13 additions and 2 deletions
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15
Firmware/src/main.cpp
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@@ -123,11 +123,13 @@ void TimerStep_CB(void)
void makePulses(uint32_t period /* in usecs */, uint32_t pulses /* nr of pulses to do*/)
{
MyTim->setOverflow(period / pulses, MICROSEC_FORMAT);
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
stepCount = 0;
stepPulses = pulses;
MyTim->resume();
}
void sync0Handler(void);
void setup(void)
{
Serial1.begin(115200);
@@ -140,6 +142,15 @@ void setup(void)
MyTim->attachInterrupt(TimerStep_CB);
pinMode(STEPPER_DIR_PIN, OUTPUT);
uint32_t i = 2;
while (1)
{
Obj.StepGenIn1.CommandedPosition = i;
sync0Handler();
HAL_Delay(1000);
i++;
}
// Set starting count value
EncoderInit.SetCount(Tim2, 0);
// EncoderInit.SetCount(Tim3, 0);
@@ -192,7 +203,7 @@ void sync0Handler(void)
const int32_t stepsPerMM = 1;
// Update the actual position
pulsesToGo = stepsPerMM * Obj.StepGenIn1.CommandedPosition; // Wrong, but test
Obj.StepGenOut1.ActualPosition = actualPosition;
Obj.StepGenOut1.ActualPosition = actualPosition;
// Get new end position
forwardDirection = pulsesToGo > 1 ? 1 : 0;
// Set direction pin
@@ -201,7 +212,7 @@ void sync0Handler(void)
// Make the pulses using hardware timer
if (pulsesToGo != 0)
makePulses(sync0CycleTime / 1000, abs((int)pulsesToGo));
makePulses(1000 /*sync0CycleTime / 1000*/, abs((int)pulsesToGo));
actualPosition = Obj.StepGenIn1.CommandedPosition;
}