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Various improvements. New pdo variable stepsPerMM.

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This commit is contained in:
Hakan Bastedt
2024-01-17 00:24:17 +01:00
parent 044e8fd2c5
commit 760944afe5
9 changed files with 150 additions and 48 deletions
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12
Firmware/include/StepGen.h
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@@ -15,21 +15,23 @@ public:
volatile double_t actualPosition;
volatile double_t requestedPosition;
HardwareTimer *MyTim;
uint32_t stepsPerMM;
uint16_t stepsPerMM;
static uint32_t sync0CycleTime;
uint8_t dirPin;
uint8_t stepPin;
uint8_t timerChan;
PinName stepPin;
uint32_t timerChan;
const uint32_t maxFreq = 100000;
volatile uint32_t prevFreq1 = 0;
volatile uint32_t prevFreq2 = 0;
StepGen(TIM_TypeDef *Timer, uint8_t timerChannel, uint8_t stepPin, uint8_t dirPin, void irq(void));
StepGen(TIM_TypeDef *Timer, uint32_t timerChannel, PinName stepPin, uint8_t dirPin, void irq(void));
void reqPos(double_t pos);
double reqPos();
void actPos(double_t pos);
double actPos();
void handleStepper(void);
void timerCB();
void setScale(int32_t spm);
void setScale(int16_t spm);
};
#endif