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wip, stepper doesn't run

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This commit is contained in:
Hakan Bastedt
2024-01-01 15:27:29 +01:00
parent f0ec7a834c
commit 703bbfb03a
2 changed files with 15 additions and 6 deletions
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2
Firmware/src/Stepper.cpp
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@@ -226,7 +226,7 @@ static void MX_TIM1_Init(void)
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }

19
Firmware/src/main.cpp
View File

@@ -57,7 +57,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
nFires++; nFires++;
PreviousEncoderCounterValue = 0; PreviousEncoderCounterValue = 0;
} }
Obj.DiffT = sync0CycleTime; // Obj.DiffT = sync0CycleTime;
int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue); int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
double CurPos = pos * PosScaleRes; double CurPos = pos * PosScaleRes;
@@ -102,7 +102,7 @@ static esc_cfg_t config =
.esc_hw_eep_handler = NULL, .esc_hw_eep_handler = NULL,
.esc_check_dc_handler = dc_checker, .esc_check_dc_handler = dc_checker,
}; };
#define STEPPER_DIR PA12
void setup(void) void setup(void)
{ {
Serial1.begin(115200); Serial1.begin(115200);
@@ -117,6 +117,7 @@ void setup(void)
ecat_slv_init(&config); ecat_slv_init(&config);
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
pinMode(STEPPER_DIR, OUTPUT);
} }
void loop(void) void loop(void)
@@ -160,11 +161,12 @@ volatile int32_t actualPosition = 0;
volatile int32_t requestedPosition; volatile int32_t requestedPosition;
volatile uint32_t pulsesToGo = 0; volatile uint32_t pulsesToGo = 0;
volatile byte forwardDirection = 0; // 1 if going forward volatile byte forwardDirection = 0; // 1 if going forward
#define STEPPER_DIR PA12
// #define STEPPER_STEP PA11 // Set in StepperSetup volatile uint32_t syncCounts = 0;
void sync0Handler(void) void sync0Handler(void)
{ {
#if 0
// Update the actual position // Update the actual position
actualPosition += pulsesToGo; actualPosition += pulsesToGo;
Obj.StepGenOut1.ActualPosition = actualPosition; Obj.StepGenOut1.ActualPosition = actualPosition;
@@ -172,9 +174,16 @@ void sync0Handler(void)
requestedPosition = Obj.StepGenIn1.CommandedPosition; requestedPosition = Obj.StepGenIn1.CommandedPosition;
// Get the diff and the direction // Get the diff and the direction
pulsesToGo = requestedPosition - actualPosition; pulsesToGo = requestedPosition - actualPosition;
forwardDirection = pulsesToGo > 0 ? 1 : 0; #else
syncCounts++;
pulsesToGo = syncCounts % 2 ? 4 : 8;
#endif
// forwardDirection = pulsesToGo > 0 ? 1 : 0;
forwardDirection = syncCounts % 2 ? 1 : 0;
// Set direction pin // Set direction pin
digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed
Obj.DiffT = forwardDirection;
// Make the pulses using hardware timer // Make the pulses using hardware timer
makePulses(sync0CycleTime / 1000, pulsesToGo); makePulses(sync0CycleTime / 1000, pulsesToGo);
} }