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This commit is contained in:
Hakan Bastedt
2024-02-05 21:22:23 +01:00
parent dbb4d0f34e
commit 43854ca4d0
3 changed files with 62 additions and 51 deletions
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15
Firmware/include/StepGen2.h
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@@ -6,19 +6,17 @@
class StepGen2
{
private:
volatile uint8_t timerIsRunning;
volatile int32_t timerStepPosition;
volatile int32_t timerStepDirection;
volatile int32_t timerStepPositionAtEnd;
volatile int32_t timerNewEndStepPosition;
volatile uint32_t timerNewCycleTime;
volatile double_t actualPosition;
volatile double_t requestedPosition;
volatile double_t oldPosition;
volatile int32_t oldStepPosition;
volatile uint8_t enabled;
volatile int32_t nSteps;
volatile float Tstart;
volatile float Tstop;
volatile float Tstep;
HardwareTimer *MyTim;
HardwareTimer *MyTim2;
HardwareTimer *MyTim2; // 10,11,13,14
int16_t stepsPerMM;
uint8_t dirPin;
PinName stepPin;
@@ -34,10 +32,11 @@ public:
static uint32_t sync0CycleTime;
volatile uint32_t lcncCycleTime; // Linuxcnc nominal cycle time (1 ms often)
StepGen2(TIM_TypeDef *Timer, TIM_TypeDef *Timer2, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void));
StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
uint32_t handleStepper(void);
void timerCB();
void timer2CB();
void enable(uint8_t yes);
void reqPos(double_t pos) { requestedPosition = pos; };