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double float = fal_float size added to lcec. LCNC starts and works

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This commit is contained in:
Hakan Bastedt
2024-01-02 18:46:26 +01:00
parent 8007a2ff6c
commit b57bd740ab
7 changed files with 128 additions and 124 deletions
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20
Firmware/src/main.cpp
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@@ -106,8 +106,8 @@ static esc_cfg_t config =
#define STEPPER_STEP_PIN PA11
HardwareTimer *MyTim;
volatile uint32_t stepCount = 0, stepPulses = 0;
volatile int32_t actualPosition = 0;
volatile int32_t requestedPosition;
volatile double_t actualPosition = 0;
volatile double_t requestedPosition;
volatile uint32_t pulsesToGo = 0;
volatile byte forwardDirection = 0; // 1 if going forward
@@ -119,7 +119,7 @@ void TimerStep_CB(void)
stepCount++;
else
stepCount--;
//digitalWrite(STEPPER_STEP_PIN, !digitalRead(STEPPER_STEP_PIN));
// digitalWrite(STEPPER_STEP_PIN, !digitalRead(STEPPER_STEP_PIN));
if (stepCount == stepPulses)
{
MyTim->pause();
@@ -146,7 +146,7 @@ void setup(void)
MyTim->attachInterrupt(TimerStep_CB);
stepCount = 0;
pinMode(STEPPER_DIR_PIN, OUTPUT);
#if 1
#if 0
while (1)
{
@@ -223,21 +223,19 @@ void indexPulse(void)
void sync0Handler(void)
{
const int32_t stepsPerMM = 100;
// Update the actual position
actualPosition += pulsesToGo;
Obj.StepGenOut1.ActualPosition = actualPosition;
pulsesToGo = stepsPerMM * (Obj.StepGenIn1.CommandedPosition - Obj.StepGenOut1.ActualPosition);
Obj.StepGenOut1.ActualPosition = Obj.StepGenIn1.CommandedPosition; // Cheat
// Get new end position
requestedPosition = Obj.StepGenIn1.CommandedPosition;
// Get the diff and the direction
pulsesToGo = requestedPosition - actualPosition;
syncCounts++;
forwardDirection = syncCounts % 2 ? 1 : 0;
forwardDirection = pulsesToGo > 1 ? 1 : 0;
// Set direction pin
Obj.DiffT = forwardDirection;
digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed
// Make the pulses using hardware timer
makePulses(sync0CycleTime / 1000, pulsesToGo);
makePulses(sync0CycleTime / 1000, abs((int)pulsesToGo));
}
void ESC_interrupt_enable(uint32_t mask)