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Direction output to dirPin.

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This commit is contained in:
Hakan Bastedt
2024-02-16 11:45:06 +01:00
parent 2b2be4f63d
commit 30dc44d5e6
2 changed files with 17 additions and 20 deletions
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12
Firmware/include/StepGen2.h
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@@ -12,10 +12,10 @@ public:
volatile uint32_t timerFrequency;
public:
volatile float Tstartf; // Starting delay in secs
volatile uint32_t Tstartu; // Starting delay in usecs
volatile float Tpulses; // Time it takes to do pulses. Debug
const float maxAllowedFrequency = 100000; // 100 kHz for now
volatile float Tstartf; // Starting delay in secs
volatile uint32_t Tstartu; // Starting delay in usecs
volatile float Tpulses; // Time it takes to do pulses. Debug
HardwareTimer *pulseTimer;
uint32_t pulseTimerChan;
HardwareTimer *startTimer; // 10,11,13,14
@@ -23,6 +23,10 @@ public:
PinName stepPin;
const uint32_t Tjitter = 500; // Time unit is microseconds
uint64_t dbg;
const uint16_t t2 = 5; // DIR is ahead of PUL with at least 5 usecs
const uint16_t t3 = 3; // Pulse width at least 2.5 usecs
const uint16_t t4 = 3; // Low level width not less than 2.5 usecs
const float maxAllowedFrequency = 1000000 / float(t3 + t4) * 0.9; // 150 kHz for now
public:
volatile double_t commandedPosition; // End position when this cycle is completed