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Tried to optimize BASE_PERIOD but 12000 ns (83 kHz) is the best it can do right now

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This commit is contained in:
Hakan Bastedt
2024-03-23 20:27:32 +01:00
parent 1b8721930e
commit dccbd97a04
2 changed files with 30 additions and 31 deletions
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60
Firmware/include/StepGen3.h
View File

@@ -31,25 +31,25 @@ typedef struct
volatile int num_phases; /* number of phases for types 2 and up */
volatile int phase[5]; /* pins for output signals */
volatile const unsigned char *lut; /* pointer to state lookup table */
/* stuff that is not accessed by makepulses */
volatile int pos_mode; /* 1 = position mode, 0 = velocity mode */
volatile unsigned int step_space; /* parameter: min step pulse spacing */
volatile double old_pos_cmd; /* previous position command (counts) */
volatile int count; /* pin: captured feedback in counts */
volatile double pos_scale; /* param: steps per position unit */
/* stuff that is not accessed by makepulses */
int pos_mode; /* 1 = position mode, 0 = velocity mode */
unsigned int step_space; /* parameter: min step pulse spacing */
double old_pos_cmd; /* previous position command (counts) */
int count; /* pin: captured feedback in counts */
double pos_scale; /* param: steps per position unit */
double old_scale; /* stored scale value */
double scale_recip; /* reciprocal value used for scaling */
volatile double vel_cmd; /* pin: velocity command (pos units/sec) */
volatile double pos_cmd; /* pin: position command (position units) */
volatile double pos_fb; /* pin: position feedback (position units) */
volatile double freq; /* param: frequency command */
volatile double maxvel; /* param: max velocity, (pos units/sec) */
volatile double maxaccel; /* param: max accel (pos units/sec^2) */
volatile unsigned int old_step_len; /* used to detect parameter changes */
volatile unsigned int old_step_space;
volatile unsigned int old_dir_hold_dly;
volatile unsigned int old_dir_setup;
volatile int printed_error; /* flag to avoid repeated printing */
double vel_cmd; /* pin: velocity command (pos units/sec) */
double pos_cmd; /* pin: position command (position units) */
double pos_fb; /* pin: position feedback (position units) */
double freq; /* param: frequency command */
double maxvel; /* param: max velocity, (pos units/sec) */
double maxaccel; /* param: max accel (pos units/sec^2) */
unsigned int old_step_len; /* used to detect parameter changes */
unsigned int old_step_space;
unsigned int old_dir_hold_dly;
unsigned int old_dir_setup;
int printed_error; /* flag to avoid repeated printing */
} stepgen_t;
#define MAX_STEP_TYPE 15
@@ -71,23 +71,23 @@ typedef enum CONTROL
class StepGen3
{
public:
volatile int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // stepping types for up to 16 channels
char *ctrl_type[MAX_CHAN] = {0}; // control type ("p"pos or "v"vel) for up to 16 channels
volatile int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // stepping types for up to 16 channels
char *ctrl_type[MAX_CHAN] = {0}; // control type ("p"pos or "v"vel) for up to 16 channels
int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
uint32_t stepPin[MAX_CHAN] = {0};
uint32_t dirPin[MAX_CHAN] = {0};
stepgen_t *stepgen_array = 0;
volatile int num_chan = 0; // number of step generators configured */
volatile long periodns; // makepulses function period in nanosec */
volatile long old_periodns; // used to detect changes in periodns */
volatile double periodfp; // makepulses function period in seconds */
volatile double freqscale; // conv. factor from Hz to addval counts */
volatile double accelscale; // conv. Hz/sec to addval cnts/period */
volatile long old_dtns; // update_freq funct period in nsec */
volatile double dt; // update_freq period in seconds */
volatile double recip_dt; // recprocal of period, avoids divides */
int num_chan = 0; // number of step generators configured */
long periodns; // makepulses function period in nanosec */
long old_periodns; // used to detect changes in periodns */
double periodfp; // makepulses function period in seconds */
double freqscale; // conv. factor from Hz to addval counts */
double accelscale; // conv. Hz/sec to addval cnts/period */
long old_dtns; // update_freq funct period in nsec */
double dt; // update_freq period in seconds */
double recip_dt; // recprocal of period, avoids divides */
StepGen3(void);
void updateStepGen(double *pos_cmd);
@@ -143,7 +143,7 @@ private:
};
// For the example
#define BASE_PERIOD 15000 // 12 i smax
#define BASE_PERIOD 12000 // 12 is max
#define SERVO_PERIOD 1000000
#define JOINT_X_STEPGEN_MAXACCEL 520.0
#define JOINT_X_SCALE -200

1
Firmware/src/StepGen3.cpp
View File

@@ -7,7 +7,6 @@ extern "C"
{
#include "esc.h"
}
extern extend32to64 longTime;
////////////////////////////////////////////////
/********************************************************************