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This commit is contained in:
Hakan Bastedt
2024-03-23 18:02:38 +01:00
parent 2df0a0980c
commit 369a795ce5
3 changed files with 86 additions and 55 deletions
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10
Firmware/include/StepGen3.h
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@@ -74,6 +74,8 @@ public:
volatile int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // stepping types for up to 16 channels
char *ctrl_type[MAX_CHAN] = {0}; // control type ("p"pos or "v"vel) for up to 16 channels
volatile int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
uint32_t stepPin[MAX_CHAN] = {0};
uint32_t dirPin[MAX_CHAN] = {0};
stepgen_t *stepgen_array = 0;
@@ -88,7 +90,7 @@ public:
volatile double recip_dt; // recprocal of period, avoids divides */
StepGen3(void);
void test(double pos_cmd);
void updateStepGen(double *pos_cmd);
int rtapi_app_main();
int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
void make_pulses(void *arg, long period);
@@ -143,7 +145,9 @@ private:
// For the example
#define BASE_PERIOD 50000
#define SERVO_PERIOD 1000000
#define JOINT_0_STEPGEN_MAXACCEL 520.0
#define JOINT_0_SCALE 200
#define JOINT_X_STEPGEN_MAXACCEL 520.0
#define JOINT_X_SCALE 200
#define JOINT_Z_STEPGEN_MAXACCEL 520.0
#define JOINT_Z_SCALE 80
#endif