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Bug, digitalWrite of stepPin should be dirPin in timerCB. Reshuffling

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This commit is contained in:
Hakan Bastedt
2024-01-15 23:07:46 +01:00
parent 20ca9d4974
commit 697ea19dae
1 changed files with 8 additions and 8 deletions
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16
Firmware/src/StepGen.cpp
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@@ -68,13 +68,13 @@ void StepGen::handleStepper(void)
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(dirPin, sgn);
double_t freqf = (abs(steps) * 1000000.0) / double(sync0CycleTime);
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
double_t freqf = abs(steps) * (1e6 / double(sync0CycleTime));
uint32_t freq = uint32_t(freqf);
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
timerIsRunning = 1;
MyTim->resume();
}
@@ -88,23 +88,23 @@ void StepGen::timerCB()
// Input for reload is timerNewEndStepPosition and timerNewEndTime
// The timer has current position and current time and from this
// can set new frequency and new endtarget for steps
MyTim->pause(); // Does this hurt?
MyTim->pause(); // We are not at stop, let's stop it
int32_t steps = timerNewEndStepPosition - timerStepPosition;
if (steps != 0)
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(stepPin, sgn);
digitalWrite(dirPin, sgn);
double_t freqf = abs(steps) * (1e6 / double(timerNewCycleTime));
uint32_t freq = uint32_t(freqf);
if (freq != 0)
{
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = timerNewEndStepPosition;
timerNewEndStepPosition = 0; // Set to zero to not reload next time
timerNewCycleTime = 0;
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
MyTim->resume();
timerIsRunning = 1;
}