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Both steppers work in simulated environment

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This commit is contained in:
Hakan Bastedt
2024-01-18 18:21:21 +01:00
parent 9e311038c1
commit 8f05f33e58
2 changed files with 7 additions and 3 deletions
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6
Firmware/include/StepGen.h
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@@ -5,7 +5,7 @@
class StepGen class StepGen
{ {
public: private:
volatile uint8_t timerIsRunning; volatile uint8_t timerIsRunning;
volatile int32_t timerStepPosition; volatile int32_t timerStepPosition;
volatile int32_t timerStepDirection; volatile int32_t timerStepDirection;
@@ -17,7 +17,6 @@ public:
volatile uint8_t enabled; volatile uint8_t enabled;
HardwareTimer *MyTim; HardwareTimer *MyTim;
uint16_t stepsPerMM; uint16_t stepsPerMM;
static uint32_t sync0CycleTime;
uint8_t dirPin; uint8_t dirPin;
PinName stepPin; PinName stepPin;
uint32_t timerChan; uint32_t timerChan;
@@ -25,6 +24,9 @@ public:
volatile uint32_t prevFreq1 = 0; volatile uint32_t prevFreq1 = 0;
volatile uint32_t prevFreq2 = 0; volatile uint32_t prevFreq2 = 0;
public:
static uint32_t sync0CycleTime;
StepGen(TIM_TypeDef *Timer, uint32_t timerChannel, PinName 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); void reqPos(double_t pos);
double reqPos(); double reqPos();

4
Firmware/src/main.cpp
View File

@@ -19,17 +19,19 @@ void indexPulseEncoderCB1(void)
} }
#include "StepGen.h" #include "StepGen.h"
void timerCallbackStep1(void); void timerCallbackStep1(void);
StepGen Step1(TIM1, 4, PA_11, PA12, timerCallbackStep1); StepGen Step1(TIM1, 4, PA_11, PA12, timerCallbackStep1);
void timerCallbackStep1(void) void timerCallbackStep1(void)
{ {
Step1.timerCB(); Step1.timerCB();
} }
void timerCallbackStep2(void); void timerCallbackStep2(void);
StepGen Step2(TIM3, 4, PC_9, PC10, timerCallbackStep2); StepGen Step2(TIM3, 4, PC_9, PC10, timerCallbackStep2);
void timerCallbackStep2(void) void timerCallbackStep2(void)
{ {
//Step2.timerCB(); Step2.timerCB();
} }
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation