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sync0CycleTime static member of StepGen

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This commit is contained in:
Hakan Bastedt
2024-01-11 10:54:13 +01:00
parent a4488da9fa
commit 5df911296c
4 changed files with 6 additions and 7 deletions
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3
Firmware/include/StepGen.h
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@@ -16,7 +16,7 @@ public:
volatile double_t requestedPosition;
HardwareTimer *MyTim;
uint32_t stepsPerMM;
uint32_t sync0CycleTime;
static uint32_t sync0CycleTime;
uint8_t dirPin;
uint8_t stepPin;
uint8_t timerChan;
@@ -27,7 +27,6 @@ public:
double actPos();
double reqPos();
void handleStepper(void);
void setCycleTime(uint32_t cycleTime);
void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/);
void timerCB();
void setScale(int32_t spm);

1
Firmware/src/MyEncoder.cpp
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@@ -99,3 +99,4 @@ void MyEncoder::setLatch(uint8_t latchEnable)
}
oldLatchCEnable = latchEnable;
}

6
Firmware/src/StepGen.cpp
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@@ -57,10 +57,6 @@ void StepGen::handleStepper(void)
int32_t pulsesAtEndOfCycle = stepsPerMM * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm
makePulses(sync0CycleTime, pulsesAtEndOfCycle); // Make the pulses using hardware timer
}
void StepGen::setCycleTime(uint32_t cycleTime)
{
sync0CycleTime = cycleTime;
}
void StepGen::makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/)
{
@@ -134,3 +130,5 @@ void StepGen::setScale(int32_t spm)
{
stepsPerMM = spm;
}
uint32_t StepGen::sync0CycleTime = 0;

3
Firmware/src/main.cpp
View File

@@ -150,6 +150,7 @@ uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 0;
Step1.setCycleTime(ESC_SYNC0cycletime() / 1000); // nsec to usec
//Step1.setCycleTime(ESC_SYNC0cycletime() / 1000); // nsec to usec
StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000;
return 0;
}