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linuxcnc stepgen is now in StepGen3. Compiles

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This commit is contained in:
Hakan Bastedt
2024-03-22 17:31:21 +01:00
parent 23fe81afbe
commit 7bff3f3789
3 changed files with 1293 additions and 168 deletions
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36
Firmware/src/main.cpp
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@@ -20,19 +20,6 @@ void indexPulseEncoderCB1(void)
#include "StepGen3.h"
#include "extend32to64.h"
// Stepper 1
void pulseTimerCallback1(void);
void startTimerCallback1(void);
StepGen3 Step1(TIM1, 4, PA_11, PA12, pulseTimerCallback1, TIM10, startTimerCallback1);
void pulseTimerCallback1(void) { Step1.pulseTimerCB(); }
void startTimerCallback1(void) { Step1.startTimerCB(); }
// Stepper 2
void pulseTimerCallback2(void);
void startTimerCallback2(void);
StepGen3 Step2(TIM3, 4, PC_9, PC10, pulseTimerCallback2, TIM11, startTimerCallback2);
void pulseTimerCallback2(void) { Step2.pulseTimerCB(); }
void startTimerCallback2(void) { Step2.startTimerCB(); }
CircularBuffer<uint64_t, 200> Tim;
volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0;
@@ -53,22 +40,7 @@ uint64_t reallyNowTime = 0, reallyThenTime = 0;
uint64_t timeDiff; // Timediff in nanoseconds
void handleStepper(void)
{
// Catch the case when we miss a loop for some reason
uint32_t t = micros();
reallyNowTime = longTime.extendTime(t);
timeDiff = 1000 * (reallyNowTime - reallyThenTime);
nLoops = round(double(timeDiff) / double(StepGen3::sync0CycleTime));
reallyThenTime = reallyNowTime;
nLoops=1;
Step1.enabled = true;
Step1.commandedPosition = Obj.CommandedPosition1;
Step1.stepsPerMM = Obj.StepsPerMM1;
Step1.handleStepper(irqTime, nLoops);
Step2.enabled = true;
Step2.commandedPosition = Obj.CommandedPosition2;
Step2.stepsPerMM = Obj.StepsPerMM2;
Step2.handleStepper(irqTime, nLoops);
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -94,10 +66,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
}
thenTime = irqTime;
Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.D1 = Step2.frequency;
Obj.D2 = Step2.nSteps;
Obj.D1 =0;
Obj.D2 = 0;
Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D4 = Step2.Tstartu;
Obj.D4 = 0;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -211,6 +183,6 @@ uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 1;
StepGen3::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
//StepGen3::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
return 0;
}