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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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24
Firmware/src/StepGen.cpp
View File

@@ -2,14 +2,13 @@
#include <stdio.h>
#include "StepGen.h"
StepGen::StepGen(TIM_TypeDef *Timer, uint8_t _timerChannel, uint8_t _stepPin, uint8_t _dirPin, void irq(void))
StepGen::StepGen(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void))
{
timerIsRunning = 0;
timerStepPosition = 0;
timerStepDirection = 0;
timerStepPositionAtEnd = 0;
timerNewEndStepPosition = 0;
timerNewCycleTime = 0;
actualPosition = 0;
requestedPosition = 0;
stepsPerMM = 0;
@@ -18,7 +17,6 @@ StepGen::StepGen(TIM_TypeDef *Timer, uint8_t _timerChannel, uint8_t _stepPin, ui
stepPin = _stepPin;
timerChan = _timerChannel;
MyTim = new HardwareTimer(Timer);
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->attachInterrupt(irq);
pinMode(dirPin, OUTPUT);
}
@@ -52,18 +50,13 @@ void StepGen::handleStepper(void)
}
int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos(); // From Turner.hal X:5000 Z:2000 ps/mm
sync0CycleTime = 1000;
// Will be picked up by the timer_CB and the timer is reloaded.
timerNewEndStepPosition = pulsesAtEndOfCycle;
if (timerIsRunning)
{
// Set variables, they will be picked up by the timer_CB and the timer is reloaded.
timerNewEndStepPosition = pulsesAtEndOfCycle;
timerNewCycleTime = sync0CycleTime;
}
if (!timerIsRunning)
if (!timerIsRunning) // no timer isn't running. start it here
{
// Start the timer
int32_t steps = pulsesAtEndOfCycle - timerStepPositionAtEnd; // Pulses to go + or -
int32_t steps = pulsesAtEndOfCycle - timerStepPosition; // Pulses to go + or -
if (steps != 0)
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
@@ -83,7 +76,7 @@ void StepGen::handleStepper(void)
void StepGen::timerCB()
{
timerStepPosition += timerStepDirection; // The step that was just completed
if (timerNewCycleTime != 0) // Are we going to reload?
if (timerNewEndStepPosition != 0) // Are we going to reload?
{
// Input for reload is timerNewEndStepPosition and timerNewEndTime
// The timer has current position and current time and from this
@@ -94,12 +87,11 @@ void StepGen::timerCB()
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(dirPin, sgn);
double_t freqf = abs(steps) * (1e6 / double(timerNewCycleTime));
double_t freqf = abs(steps) * (1e6 / double(sync0CycleTime));
uint32_t freq = uint32_t(freqf);
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 %
@@ -114,7 +106,7 @@ void StepGen::timerCB()
}
}
void StepGen::setScale(int32_t spm)
void StepGen::setScale(int16_t spm)
{
stepsPerMM = spm;
}

9
Firmware/src/main.cpp
View File

@@ -27,13 +27,13 @@ void indexPulseEncoderCB2(void)
#include "StepGen.h"
void timerCallbackStep1(void);
StepGen Step1(TIM1, 4, PA11, PA12, timerCallbackStep1);
StepGen Step1(TIM1, 4, PA_11, PA12, timerCallbackStep1);
void timerCallbackStep1(void)
{
Step1.timerCB();
}
void timerCallbackStep2(void);
StepGen Step2(TIM8, 4, PC9, PC10, timerCallbackStep2);
StepGen Step2(TIM8, 4, PC_9, PC10, timerCallbackStep2);
void timerCallbackStep2(void)
{
Step2.timerCB();
@@ -45,7 +45,9 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
Encoder1.setScale(Obj.EncPosScale);
Step1.reqPos(Obj.StepGenIn1.CommandedPosition);
Step1.setScale(Obj.StepGenIn1.StepsPerMM);
Step2.reqPos(Obj.StepGenIn2.CommandedPosition);
Step2.setScale(Obj.StepGenIn2.StepsPerMM);
}
void handleStepper(void)
@@ -98,9 +100,6 @@ void setup(void)
Serial1.begin(115200);
rcc_config(); // probably breaks some timers.
Step1.setScale(1000); // 2000 /rev 4 mm/rev x 2.5 gear => 1250 /mm
Step2.setScale(500); // 2000 /rev 4 mm/rev => 500 /mm
ecat_slv_init(&config);
}