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Moving all to Kicad8. Housekeeping symbols,libraries,3d-models

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This commit is contained in:
Hakan Bastedt
2024-11-21 11:10:24 +01:00
parent 0795eea21e
commit b722cc6b25
58 changed files with 256822 additions and 130557 deletions
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78
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/include/stepper_test.h
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#ifdef STEPPER_TEST
#include <Arduino.h>
#include <stdio.h>
HardwareSerial Serial1(PA10, PA9);
#include "StepGen3.h"
StepGen3 *Step = 0;
int baseTimer; // The base period timer
int syncTimer; // The timer that syncs "with linuxcnc cycle"
uint32_t sync0CycleTime = 1000000; // nanosecs, often 1000000 ( 1 ms )
volatile double posCmd1, posCmd2, posCmd3, posCmd4;
volatile uint16_t basePeriodCnt;
volatile uint16_t deltaMakePulsesCnt;
volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0;
void syncWithLCNC(void);
void basePeriodCB(void);
void setup(void)
{
Serial1.begin(115200);
delay(1000);
Step = new StepGen3;
pinMode(PA11, OUTPUT); // Step 1
pinMode(PA12, OUTPUT); // Dir 1
pinMode(PC9, OUTPUT); // Step 2
pinMode(PC8, OUTPUT); // Dir 2
pinMode(PD12, OUTPUT); // Step 3
pinMode(PD11, OUTPUT); // Dir 3
pinMode(PE5, OUTPUT); // Step 4
pinMode(PE4, OUTPUT); // Dir 4
posCmd1 = 1.0; // The position update
posCmd2 = 2.0;
posCmd3 = 3.0;
posCmd4 = 4.0;
for (int k = 0; k < 50; k++)
{ // Every ms
Step->updateStepGen(posCmd1, posCmd2, posCmd3, posCmd4, sync0CycleTime); // Update positions, pos_fb etc
Serial1.print(" pos_fb = ");
Serial1.print(Step->stepgen_array[0].pos_fb);
Serial1.print(" ");
Serial1.print(Step->stepgen_array[1].pos_fb);
Serial1.print(" ");
Serial1.print(Step->stepgen_array[2].pos_fb);
Serial1.print(" ");
Serial1.println(Step->stepgen_array[3].pos_fb);
Step->makeAllPulses(); // Make first step right here
basePeriodCnt = sync0CycleTime / BASE_PERIOD; // 50 counts
for (int i = 0; i < 50; i++)
{
if (--basePeriodCnt > 0) // Stop
Step->makeAllPulses(); // Only make pulses
}
}
}
// baseTimer runs every 20 usecs => 50 kHz. Every ms it runs 50 times
// syncTimer runs ever 1 ms
void loop(void)
{
}
void syncWithLCNC(void)
{
Step->updateStepGen(posCmd1, posCmd2, posCmd3, posCmd4, sync0CycleTime); // Update positions
Step->makeAllPulses(); // Make first step right here
basePeriodCnt = sync0CycleTime / BASE_PERIOD; // 50 counts
}
void basePeriodCB(void)
{
if (--basePeriodCnt > 0) // Stop
Step->makeAllPulses();
}
#endif