wip

Firmware/include/StepGen2.h

@@ -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; };

Firmware/src/StepGen2.cpp

@@ -2,13 +2,8 @@
 #include <stdio.h>
 #include "StepGen2.h"
 
-StepGen2::StepGen2(TIM_TypeDef *Timer, TIM_TypeDef *Timer2, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void))
+StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void))
 {
-    timerIsRunning = 0;
-    timerStepPosition = 0;
-    timerStepDirection = 0;
-    timerStepPositionAtEnd = 0;
-    timerNewEndStepPosition = 0;
     actualPosition = 0;
     requestedPosition = 0;
     oldPosition = 0;
@@ -23,6 +18,7 @@ StepGen2::StepGen2(TIM_TypeDef *Timer, TIM_TypeDef *Timer2, uint32_t _timerChann
     MyTim->attachInterrupt(irq);
     pinMode(dirPin, OUTPUT);
     MyTim2 = new HardwareTimer(Timer2);
+    MyTim2->attachInterrupt(irq2);
 }
 
 uint32_t StepGen2::handleStepper(void)
@@ -66,7 +62,20 @@ uint32_t StepGen2::handleStepper(void)
     if (Tstart > lcncCycleTime)                             // Not enough movement to make a step
         return updatePosAndReturn(stepPosStop, 6);          // Check this again
                                                             // Tstart, Tstep and Tstop defines the coming pwm-sequence.
-    return 0;                                          // Always do one pulse at Tstart when we come here. Next Tstart+Tstep and so on until Tstop.
+                                                            //
+    MyTim2->setOverflow(Tstart + Tjitter, MICROSEC_FORMAT); // All handled by irqs
+    MyTim2->resume();
+    return updatePosAndReturn(stepPosStop, 0);
+}
+void StepGen2::timer2CB()
+{
+    MyTim2->pause(); // Once is enough.
+    MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
+    MyTim->setOverflow(floor(1e6 / Tstep), HERTZ_FORMAT);            // 100000 microseconds = 100 milliseconds
+    MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50%
+    nSteps = round((Tstop - Tstart) / Tstep + 1);
+    if (nSteps > 0)
+        MyTim->resume();
 }
 void StepGen2::timerCB()
 {
@@ -102,6 +111,7 @@ void StepGen2::timerCB()
     }
 #endif
 }
+
 uint32_t StepGen2::updatePosAndReturn(int32_t stepPosStop, uint32_t i)
 {                            //
     oldPos(reqPos());        // Save the numeric position for next step

Firmware/src/main.cpp

@@ -34,8 +34,10 @@ void timerCallbackStep2(void)
 #endif
 #include "StepGen2.h"
 void timerCallbackStep(void);
-StepGen2 Step(TIM1, TIM10, 4, PA_11, PA12, timerCallbackStep);
+void timerCallbackStepStart(void);
+StepGen2 Step(TIM1, 4, PA_11, PA12, timerCallbackStep, TIM10, timerCallbackStepStart);
 void timerCallbackStep(void) { Step.timerCB(); }
+void timerCallbackStepStart(void) { Step.timer2CB(); }
 CircularBuffer<uint32_t, 200> Tim;
 volatile uint64_t nowTime = 0, thenTime = 0;