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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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2
Firmware/include/StepGen.h
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@@ -26,7 +26,7 @@ private:
public: public:
static uint32_t sync0CycleTime; static uint32_t sync0CycleTime;
static uint32_t pwmCycleTime; volatile uint32_t pwmCycleTime;
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);

13
Firmware/src/StepGen.cpp
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@@ -47,12 +47,18 @@ void StepGen::handleStepper(void)
{ {
if (!enabled) if (!enabled)
return; return;
pwmCycleTime = StepGen::sync0CycleTime;
actPos(timerStepPosition / double(stepsPerMM)); actPos(timerStepPosition / double(stepsPerMM));
double diffPosition = reqPos() - actPos(); 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 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); double maxDist = maxFreq / stepsPerMM * pwmCycleTime / 1000000.0 * (diffPosition > 0 ? 1 : -1);
reqPos(actualPosition + maxDist); reqPos(actualPosition + maxDist);
@@ -72,7 +78,7 @@ void StepGen::handleStepper(void)
digitalWrite(dirPin, sgn); digitalWrite(dirPin, sgn);
timerStepDirection = steps > 0 ? 1 : -1; timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position 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); uint32_t freq = uint32_t(freqf);
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin); MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->setOverflow(freq, HERTZ_FORMAT); MyTim->setOverflow(freq, HERTZ_FORMAT);
@@ -96,7 +102,7 @@ void StepGen::timerCB()
{ {
uint8_t sgn = steps > 0 ? HIGH : LOW; uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(dirPin, sgn); 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); uint32_t freq = uint32_t(freqf);
timerStepDirection = steps > 0 ? 1 : -1; timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = timerNewEndStepPosition; timerStepPositionAtEnd = timerNewEndStepPosition;
@@ -121,4 +127,3 @@ void StepGen::setScale(int16_t spm)
} }
uint32_t StepGen::sync0CycleTime = 0; uint32_t StepGen::sync0CycleTime = 0;
uint32_t StepGen::pwmCycleTime = 0;

1
Firmware/src/main.cpp
View File

@@ -177,6 +177,5 @@ uint16_t dc_checker(void)
// Indicate we run DC // Indicate we run DC
ESCvar.dcsync = 1; ESCvar.dcsync = 1;
StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
StepGen::pwmCycleTime = 10 * StepGen::sync0CycleTime;
return 0; return 0;
} }