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Fixed bug in extend32to64:extendTime()

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This commit is contained in:
Hakan Bastedt
2024-03-13 23:33:25 +01:00
parent f341eb5074
commit 71ae242fc4
5 changed files with 109 additions and 110 deletions
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13
Firmware/src/StepGen2.cpp
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@@ -31,21 +31,21 @@ uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
{
frequency = 0;
nSteps = 0;
dbg=0;
dbg = 0;
if (!enabled) // Just .... don't
return updatePos(0);
commandedStepPosition = floor(commandedPosition * stepsPerMM); // Scale position to steps
#if 0
if (initialStepPosition == commandedStepPosition) // No movement
{
return updatePos(1);
}
#endif
nSteps = commandedStepPosition - initialStepPosition;
lcncCycleTime = nLoops * StepGen2::sync0CycleTime * 1.0e-9; // nLoops is there in case we missed an ethercat cycle. secs
if (abs(nSteps) < 1) // Some small number
if (abs(nSteps) < 0) // Some small number
{ //
frequency = (abs(nSteps) + 1) / lcncCycleTime; // Distribute steps inside available time
Tpulses = abs(nSteps) / frequency; //
@@ -63,12 +63,14 @@ uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
Tpulses = abs(nSteps) / frequency;
}
updatePos(5);
return 1;
uint32_t timeSinceISR = (longTime.extendTime(micros()) - irqTime); // Diff time from ISR (usecs)
dbg = timeSinceISR; //
Tstartu = Tjitter + uint32_t(Tstartf * 1e6) - timeSinceISR; // Have already wasted some time since the irq.
timerFrequency = uint32_t(ceil(frequency));
startTimer->setOverflow(Tstartu, MICROSEC_FORMAT); // All handled by irqs
startTimer->refresh();
startTimer->resume();
return 1;
}
@@ -83,6 +85,7 @@ void StepGen2::startTimerCB()
pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
// pulseTimer->setCaptureCompare(pulseTimerChan, t3, MICROSEC_COMPARE_FORMAT);
pulseTimer->setCaptureCompare(pulseTimerChan, 50, PERCENT_COMPARE_FORMAT);
pulseTimer->refresh();
pulseTimer->resume();
}
@@ -112,7 +115,7 @@ int64_t extend32to64::extendTime(uint32_t in)
// wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
if (dif < -HALF_PERIOD)
if (dif < int64_t(-HALF_PERIOD))
mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
int64_t unwrapped = previousTimeValue + mod_dif;