jeka/MyOwnEtherCATDevice
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Added Z stepgen. Both X and Z works on the scope

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This commit is contained in:
Hakan Bastedt
2024-03-03 19:01:02 +01:00
parent e8ef618fcc
commit 94d68adbb1
1 changed files with 26 additions and 14 deletions
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40
Firmware/src/main.cpp
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@@ -19,11 +19,20 @@ void indexPulseEncoderCB1(void)
}
#include "StepGen2.h"
void pulseTimerCallback(void);
void startTimerCallback(void);
StepGen2 Step(TIM1, 4, PA_11, PA12, pulseTimerCallback, TIM10, startTimerCallback);
void pulseTimerCallback(void) { Step.pulseTimerCB(); }
void startTimerCallback(void) { Step.startTimerCB(); }
//Stepper 1
void pulseTimerCallback1(void);
void startTimerCallback1(void);
StepGen2 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);
StepGen2 Step2(TIM3, 4, PC_9, PC10, pulseTimerCallback2, TIM11, startTimerCallback2);
void pulseTimerCallback2(void) { Step2.pulseTimerCB(); }
void startTimerCallback2(void) { Step2.startTimerCB(); }
CircularBuffer<uint32_t, 200> Tim;
volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0;
volatile uint32_t ccnnt = 0;
@@ -44,12 +53,15 @@ volatile uint32_t cmt;
void handleStepper(void)
{
//digitalWrite(Step.dirPin, cmt++ % 2);
Step.enabled = true;
Step.commandedPosition = Obj.CommandedPosition1;
Step.stepsPerMM = Obj.StepsPerMM1;
Step.handleStepper(irqTime);
Step1.enabled = true;
Step1.commandedPosition = Obj.CommandedPosition1;
Step1.stepsPerMM = Obj.StepsPerMM1;
Step1.handleStepper(irqTime);
Obj.ActualPosition1 = Obj.CommandedPosition1;
Step2.enabled = true;
Step2.commandedPosition = Obj.CommandedPosition2;
Step2.stepsPerMM = Obj.StepsPerMM2;
Step2.handleStepper(irqTime);
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -72,10 +84,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
}
thenTime = irqTime;
Obj.DiffT = max_Tim - min_Tim; // Debug
Obj.DiffT = abs(Step.nSteps);
Obj.D1 = Step.Tjitter;
Obj.D2 = Step.Tstartf * 1e6;
Obj.D3 = Step.dbg;
Obj.DiffT = abs(Step1.nSteps);
Obj.D1 = Step1.Tjitter;
Obj.D2 = Step1.Tstartf * 1e6;
Obj.D3 = Step1.dbg;
Obj.D4 = Obj.D1 + Obj.D2 - Obj.D3;
}