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Kludge with 'tone' of steppers. Gives ferror, but nice tone

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This commit is contained in:
Hakan Bastedt
2024-01-21 23:29:59 +01:00
parent 6ac0949f26
commit b534e3d4da
3 changed files with 10 additions and 6 deletions
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13
Firmware/src/StepGen.cpp
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@@ -47,12 +47,18 @@ void StepGen::handleStepper(void)
{
if (!enabled)
return;
pwmCycleTime = StepGen::sync0CycleTime;
actPos(timerStepPosition / double(stepsPerMM));
double diffPosition = reqPos() - actPos();
// Wild "tone" kludge
if (abs(diffPosition) > 0.0005) // 60 mm/min = 0.001 mm/ms
{
pwmCycleTime = 10 * StepGen::sync0CycleTime;
}
uint64_t fre = abs(diffPosition) * stepsPerMM * 1000000 / double(pwmCycleTime); // Frequency needed
if (fre > maxFreq) // Only do maxFre
if (fre > maxFreq) // Only do maxFre
{
double maxDist = maxFreq / stepsPerMM * pwmCycleTime / 1000000.0 * (diffPosition > 0 ? 1 : -1);
reqPos(actualPosition + maxDist);
@@ -72,7 +78,7 @@ void StepGen::handleStepper(void)
digitalWrite(dirPin, sgn);
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
double_t freqf = abs(steps) * (1e6 / double(pwmCycleTime));
float_t freqf = abs(steps) * (1e6 / float(pwmCycleTime));
uint32_t freq = uint32_t(freqf);
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->setOverflow(freq, HERTZ_FORMAT);
@@ -96,7 +102,7 @@ void StepGen::timerCB()
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(dirPin, sgn);
double_t freqf = abs(steps) * (1e6 / double(pwmCycleTime));
float_t freqf = abs(steps) * (1e6 / float(pwmCycleTime));
uint32_t freq = uint32_t(freqf);
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = timerNewEndStepPosition;
@@ -121,4 +127,3 @@ void StepGen::setScale(int16_t spm)
}
uint32_t StepGen::sync0CycleTime = 0;
uint32_t StepGen::pwmCycleTime = 0;