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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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6
Firmware/include/StepGen.h
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@@ -23,11 +23,11 @@ public:
const uint32_t maxFreq = 100000;
StepGen(TIM_TypeDef *Timer, uint8_t timerChannel, uint8_t stepPin, uint8_t dirPin, void irq(void));
void cmdPos(double_t pos);
double actPos();
void reqPos(double_t pos);
double reqPos();
void actPos(double_t pos);
double actPos();
void handleStepper(void);
void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/);
void timerCB();
void setScale(int32_t spm);
};

46
Firmware/src/StepGen.cpp
View File

@@ -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;
}
int32_t pulsesAtEndOfCycle = stepsPerMM * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm
makePulses(sync0CycleTime, pulsesAtEndOfCycle); // Make the pulses using hardware timer
reqPos(actualPosition + maxDist);
}
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;

4
Firmware/src/Stm32F4_Encoder.cpp
View File

@@ -291,7 +291,7 @@ void rcc_config()
GPIO_PinAF(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
GPIO_PinAF(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
#if 0 // Skipping since I use TIM8 as stepper generator
TIM_EncoderInterConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructure.TIM_Period = 65535;
TIMER_InitStructure.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -299,7 +299,7 @@ void rcc_config()
TIM_TimeBaseStructInit(&TIMER_InitStructure);
TIM_Cmd(TIM8, ENABLE);
TIM8->CNT = 0;
#endif
TIM_EncoderInterConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureE.TIM_Period = 65535;
TIMER_InitStructureE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;

6
Firmware/src/main.cpp
View File

@@ -44,8 +44,8 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
Encoder1.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(Obj.EncPosScale);
Step1.cmdPos(Obj.StepGenIn1.CommandedPosition);
Step2.cmdPos(Obj.StepGenIn2.CommandedPosition);
Step1.reqPos(Obj.StepGenIn1.CommandedPosition);
Step2.reqPos(Obj.StepGenIn2.CommandedPosition);
}
void handleStepper(void)
@@ -96,7 +96,7 @@ volatile byte serveIRQ = 0;
void setup(void)
{
Serial1.begin(115200);
rcc_config();
rcc_config(); // probably breaks some timers.
Step1.setScale(1250); // 2000 /rev 4 mm/rev x 2.5 gear => 1250 /mm
Step2.setScale(500); // 2000 /rev 4 mm/rev => 500 /mm

2
Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl
View File

@@ -64,7 +64,7 @@
39,
40
],
"visible_layers": "002202a_00000001",
"visible_layers": "002202b_80000005",
"zone_display_mode": 0
},
"meta": {