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Use calibrated frequencty for the base timer. No big difference but more scientific, maybe

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Hakan Bastedt
2024-04-07 22:55:23 +02:00
parent 226cbc5035
commit 5eda2b451e
1 changed files with 3 additions and 4 deletions
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7
Firmware/src/main.cpp
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@@ -113,7 +113,7 @@ void handleStepper(void)
// Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb; // Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
// Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb; // Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
//maxIrqServeTime = 600; // maxIrqServeTime = 600;
delayT = maxIrqServeTime - diffT; // Add 10 as some safety margin delayT = maxIrqServeTime - diffT; // Add 10 as some safety margin
if (delayT > 0 && delayT < 900) if (delayT > 0 && delayT < 900)
{ {
@@ -212,9 +212,8 @@ void setup(void)
Step = new StepGen3; Step = new StepGen3;
baseTimer = new HardwareTimer(TIM11); // The base period timer baseTimer = new HardwareTimer(TIM11); // The base period timer
uint32_t usecs = BASE_PERIOD / sync0CycleTime; setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000);
// setFrequencyAdjustedMicrosSeconds(baseTimer, usecs); // baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT);
baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT);
baseTimer->attachInterrupt(basePeriodCB); baseTimer->attachInterrupt(basePeriodCB);
syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer