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Direction pin works in test

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This commit is contained in:
Hakan Bastedt
2024-01-01 22:48:50 +01:00
parent 64d62a954a
commit a21e932b5a
1 changed files with 6 additions and 6 deletions
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12
Firmware/src/main.cpp
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@@ -102,7 +102,7 @@ static esc_cfg_t config =
.esc_hw_eep_handler = NULL, .esc_hw_eep_handler = NULL,
.esc_check_dc_handler = dc_checker, .esc_check_dc_handler = dc_checker,
}; };
#define STEPPER_DIR PA12 #define STEPPER_DIR_PIN PA12
#define STEPPER_STEP_PIN PA11 #define STEPPER_STEP_PIN PA11
HardwareTimer *MyTim; HardwareTimer *MyTim;
volatile uint32_t stepCount = 0, stepPulses = 0; volatile uint32_t stepCount = 0, stepPulses = 0;
@@ -145,7 +145,7 @@ void setup(void)
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50% MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50%
MyTim->attachInterrupt(TimerStep_CB); MyTim->attachInterrupt(TimerStep_CB);
stepCount = 0; stepCount = 0;
pinMode(STEPPER_DIR_PIN, OUTPUT);
#if 1 #if 1
while (1) while (1)
@@ -160,10 +160,10 @@ void setup(void)
pulsesToGo = requestedPosition - actualPosition; pulsesToGo = requestedPosition - actualPosition;
syncCounts++; syncCounts++;
forwardDirection = pulsesToGo > 0 ? 1 : 0; forwardDirection = pulsesToGo > 0 ? 1 : 0;
forwardDirection = 1; forwardDirection = syncCounts % 2 ? 1 : 0;
// Set direction pin // Set direction pin
Obj.DiffT = forwardDirection; Obj.DiffT = forwardDirection;
digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed
makePulses(1000, syncCounts % 2 ? 2 : 4); makePulses(1000, syncCounts % 2 ? 2 : 4);
// Make the pulses using hardware timer // Make the pulses using hardware timer
// if (pulsesToGo != 0) // if (pulsesToGo != 0)
@@ -181,7 +181,7 @@ void setup(void)
ecat_slv_init(&config); ecat_slv_init(&config);
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
pinMode(STEPPER_DIR, OUTPUT); pinMode(STEPPER_DIR_PIN, OUTPUT);
} }
void loop(void) void loop(void)
@@ -234,7 +234,7 @@ void sync0Handler(void)
forwardDirection = syncCounts % 2 ? 1 : 0; forwardDirection = syncCounts % 2 ? 1 : 0;
// Set direction pin // Set direction pin
Obj.DiffT = forwardDirection; Obj.DiffT = forwardDirection;
digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed
// Make the pulses using hardware timer // Make the pulses using hardware timer
makePulses(sync0CycleTime / 1000, pulsesToGo); makePulses(sync0CycleTime / 1000, pulsesToGo);