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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 class StepGen2
{ {
private: 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 actualPosition;
volatile double_t requestedPosition; volatile double_t requestedPosition;
volatile double_t oldPosition; volatile double_t oldPosition;
volatile int32_t oldStepPosition; volatile int32_t oldStepPosition;
volatile uint8_t enabled; volatile uint8_t enabled;
volatile int32_t nSteps;
volatile float Tstart;
volatile float Tstop;
volatile float Tstep;
HardwareTimer *MyTim; HardwareTimer *MyTim;
HardwareTimer *MyTim2; HardwareTimer *MyTim2; // 10,11,13,14
int16_t stepsPerMM; int16_t stepsPerMM;
uint8_t dirPin; uint8_t dirPin;
PinName stepPin; PinName stepPin;
@@ -34,10 +32,11 @@ public:
static uint32_t sync0CycleTime; static uint32_t sync0CycleTime;
volatile uint32_t lcncCycleTime; // Linuxcnc nominal cycle time (1 ms often) 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); uint32_t handleStepper(void);
void timerCB(); void timerCB();
void timer2CB();
void enable(uint8_t yes); void enable(uint8_t yes);
void reqPos(double_t pos) { requestedPosition = pos; }; void reqPos(double_t pos) { requestedPosition = pos; };

94
Firmware/src/StepGen2.cpp
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@@ -2,13 +2,8 @@
#include <stdio.h> #include <stdio.h>
#include "StepGen2.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; actualPosition = 0;
requestedPosition = 0; requestedPosition = 0;
oldPosition = 0; oldPosition = 0;
@@ -23,6 +18,7 @@ StepGen2::StepGen2(TIM_TypeDef *Timer, TIM_TypeDef *Timer2, uint32_t _timerChann
MyTim->attachInterrupt(irq); MyTim->attachInterrupt(irq);
pinMode(dirPin, OUTPUT); pinMode(dirPin, OUTPUT);
MyTim2 = new HardwareTimer(Timer2); MyTim2 = new HardwareTimer(Timer2);
MyTim2->attachInterrupt(irq2);
} }
uint32_t StepGen2::handleStepper(void) uint32_t StepGen2::handleStepper(void)
@@ -31,42 +27,55 @@ uint32_t StepGen2::handleStepper(void)
return 1; return 1;
lcncCycleTime = StepGen2::sync0CycleTime; lcncCycleTime = StepGen2::sync0CycleTime;
float y0TRAJ = oldPos() * getScale(); // Straight line equation between old and new point float y0TRAJ = oldPos() * getScale(); // Straight line equation between old and new point
float y1TRAJ = reqPos() * getScale(); // Time runs between 0 and lcncCycleTime (1 ms) float y1TRAJ = reqPos() * getScale(); // Time runs between 0 and lcncCycleTime (1 ms)
float kTRAJ = (y1TRAJ - y0TRAJ) / lcncCycleTime; // Slope float kTRAJ = (y1TRAJ - y0TRAJ) / lcncCycleTime; // Slope
float mTRAJ = y1TRAJ - kTRAJ * lcncCycleTime; // Intercept float mTRAJ = y1TRAJ - kTRAJ * lcncCycleTime; // Intercept
int32_t stepPosStart = floor(y0TRAJ); // First step position, integer value of first point position int32_t stepPosStart = floor(y0TRAJ); // First step position, integer value of first point position
int32_t stepPosStop = floor(y1TRAJ); // End step position int32_t stepPosStop = floor(y1TRAJ); // End step position
// //
float Tstart = (stepPosStart - mTRAJ) / kTRAJ; // First step at this time float Tstart = (stepPosStart - mTRAJ) / kTRAJ; // First step at this time
float Tstop = (stepPosStop - mTRAJ) / kTRAJ; // And the last step float Tstop = (stepPosStop - mTRAJ) / kTRAJ; // And the last step
float Tstep = fabs(1.0 / kTRAJ); // Time between steps float Tstep = fabs(1.0 / kTRAJ); // Time between steps
float stepFrequency = fabs(kTRAJ); // 1/Tstep - which is kTRAJ float stepFrequency = fabs(kTRAJ); // 1/Tstep - which is kTRAJ
// //
if (Tstart > lcncCycleTime) // Not enough movement to make a step if (Tstart > lcncCycleTime) // Not enough movement to make a step
return updatePosAndReturn(stepPosStop, 2); // return updatePosAndReturn(stepPosStop, 2); //
if (/* 1.0 / Tstep */ kTRAJ > 200000) // if (/* 1.0 / Tstep */ kTRAJ > 200000) //
{ // Too high frequency, deal with this later. { // Too high frequency, deal with this later.
return updatePosAndReturn(stepPosStop, 3); // return updatePosAndReturn(stepPosStop, 3); //
} // } //
int8_t dir = stepPosStart > stepPosStop ? -1 : 1; // Which direction to step in int8_t dir = stepPosStart > stepPosStop ? -1 : 1; // Which direction to step in
// //
if (abs(stepPosStart - oldStepPos()) == 0) // StepPosStart and oldStepPos() are often the same, but don't redo the step if (abs(stepPosStart - oldStepPos()) == 0) // StepPosStart and oldStepPos() are often the same, but don't redo the step
{ // { //
stepPosStart += dir; // New first step stepPosStart += dir; // New first step
Tstart += Tstep; // Tstart += Tstep; //
if (Tstart > lcncCycleTime) // Not enough movement to make a step if (Tstart > lcncCycleTime) // Not enough movement to make a step
return updatePosAndReturn(stepPosStop, 4); // return updatePosAndReturn(stepPosStop, 4); //
} // } //
if (abs(stepPosStart - oldStepPos()) > 1) // Shouldn't happen if (abs(stepPosStart - oldStepPos()) > 1) // Shouldn't happen
{ // { //
return updatePosAndReturn(stepPosStop, 5); // return updatePosAndReturn(stepPosStop, 5); //
} // } //
// Now the old point and the start point should be separate. // Now the old point and the start point should be separate.
if (Tstart > lcncCycleTime) // Not enough movement to make a step if (Tstart > lcncCycleTime) // Not enough movement to make a step
return updatePosAndReturn(stepPosStop, 6); // Check this again return updatePosAndReturn(stepPosStop, 6); // Check this again
// Tstart, Tstep and Tstop defines the coming pwm-sequence. // 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() void StepGen2::timerCB()
{ {
@@ -102,6 +111,7 @@ void StepGen2::timerCB()
} }
#endif #endif
} }
uint32_t StepGen2::updatePosAndReturn(int32_t stepPosStop, uint32_t i) uint32_t StepGen2::updatePosAndReturn(int32_t stepPosStop, uint32_t i)
{ // { //
oldPos(reqPos()); // Save the numeric position for next step oldPos(reqPos()); // Save the numeric position for next step

4
Firmware/src/main.cpp
View File

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