jeka/MyOwnEtherCATDevice
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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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9
Firmware/src/main.cpp
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@@ -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);
}