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Still problem with overlapping cycles in stepgen. TIM8 works for stepgen now.

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This commit is contained in:
Hakan Bastedt
2024-01-15 20:21:14 +01:00
parent f14b0160f6
commit c6857d0be2
5 changed files with 33 additions and 33 deletions
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48
Firmware/src/StepGen.cpp
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@@ -30,57 +30,59 @@ StepGen::StepGen(TIM_TypeDef *Timer, uint8_t _timerChannel, uint8_t _stepPin, ui
pinMode(STEPPER_DIR_PIN, OUTPUT);
*/
}
void StepGen::cmdPos(double_t pos)
void StepGen::reqPos(double_t pos)
{
requestedPosition = pos;
}
double StepGen::actPos()
{
return actualPosition;
}
double StepGen::reqPos()
{
return requestedPosition;
}
void StepGen::actPos(double pos)
{
actualPosition = pos;
}
double StepGen::actPos()
{
return actualPosition;
}
void StepGen::handleStepper(void)
{
actualPosition = timerStepPosition / double(stepsPerMM);
double diffPosition = requestedPosition - actualPosition;
actPos(timerStepPosition / double(stepsPerMM));
double diffPosition = reqPos() - actPos();
uint64_t fre = abs(diffPosition) * stepsPerMM * 1000000 / double(sync0CycleTime); // Frequency needed
if (fre > maxFreq) // Only do maxFre
{
double maxDist = maxFreq/stepsPerMM * sync0CycleTime / 1000000.0 * (diffPosition > 0 ? 1 : -1);
requestedPosition = actualPosition + maxDist;
double maxDist = maxFreq / stepsPerMM * sync0CycleTime / 1000000.0 * (diffPosition > 0 ? 1 : -1);
reqPos(actualPosition + maxDist);
}
int32_t pulsesAtEndOfCycle = stepsPerMM * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm
makePulses(sync0CycleTime, pulsesAtEndOfCycle); // Make the pulses using hardware timer
}
int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos(); // From Turner.hal X:5000 Z:2000 ps/mm
sync0CycleTime = 800;
void StepGen::makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/)
{
if (timerIsRunning)
{
// Set variables, they will be picked up by the timer_CB and the timer is reloaded.
timerNewEndStepPosition = pulsesAtEnd;
timerNewCycleTime = cycleTime;
timerNewEndStepPosition = pulsesAtEndOfCycle;
timerNewCycleTime = sync0CycleTime;
}
if (!timerIsRunning)
{
// Start the timer
int32_t steps = pulsesAtEnd - timerStepPositionAtEnd; // Pulses to go + or -
int32_t steps = pulsesAtEndOfCycle - timerStepPositionAtEnd; // Pulses to go + or -
if (steps != 0)
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(dirPin, sgn);
double_t freqf = (abs(steps) * 1000000.0) / double(cycleTime);
double_t freqf = (abs(steps) * 1000000.0) / double(sync0CycleTime);
uint32_t freq = uint32_t(freqf);
// freq=1428;
MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = pulsesAtEnd; // Current Position
timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
timerIsRunning = 1;
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->resume();
@@ -95,19 +97,17 @@ void StepGen::timerCB()
// Input for reload is timerNewEndStepPosition and timerNewEndTime
// The timer has current position and current time and from this
// can set new frequency and new endtarget for steps
MyTim->pause();
MyTim->pause(); // Does this hurt?
int32_t steps = timerNewEndStepPosition - timerStepPosition;
if (steps != 0)
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(stepPin, sgn);
double_t freqf = (abs(steps) * 1000000.0) / double(timerNewCycleTime);
double_t freqf = abs(steps) * (1e6 / double(timerNewCycleTime));
uint32_t freq = uint32_t(freqf);
// freq=1428;
if (freq != 0)
{
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
// freq=1428;
MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
timerStepDirection = steps > 0 ? 1 : -1;