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First component placement

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This commit is contained in:
Hakan Bastedt
2024-01-25 00:27:56 +01:00
parent ac711cd168
commit e641fd04b7
5 changed files with 4627 additions and 41444 deletions
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31
Firmware/src/StepGen.cpp
View File

@@ -70,15 +70,15 @@ void StepGen::handleStepper(void)
pwmCycleTime = (FACT_LOW + (FACT_HIGH - FACT_LOW) * (abs(diffPosition) - SPEED_MIN) / (SPEED_MAX - SPEED_MIN)) * StepGen::sync0CycleTime;
}
#endif
uint64_t fre = abs(diffPosition) * stepsPerMM * 1000000 / double(pwmCycleTime); // Frequency needed
if (fre > maxFreq) // Only do maxFre
uint64_t fre = (abs(diffPosition) * stepsPerMM * 1000000) / pwmCycleTime; // Frequency needed
if (fre > maxFreq) // Only do maxFre
{
double maxDist = maxFreq / stepsPerMM * pwmCycleTime / 1000000.0 * (diffPosition > 0 ? 1 : -1);
reqPos(actualPosition + maxDist);
double maxDist = (maxFreq * pwmCycleTime) / (stepsPerMM * 1000000.0) * (diffPosition > 0 ? 1 : -1);
reqPos(actPos() + maxDist);
}
int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos(); // From Turner.hal X:5000 Z:2000 ps/mm
int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos();
// Will be picked up by the timer_CB and the timer is reloaded.
// Will be picked up by the timer_CB and the timer is reloaded, if it runs.
timerNewEndStepPosition = pulsesAtEndOfCycle;
if (!timerIsRunning) // Timer isn't running. Start it here
@@ -86,11 +86,18 @@ void StepGen::handleStepper(void)
int32_t steps = pulsesAtEndOfCycle - timerStepPosition; // Pulses to go + or -
if (steps != 0)
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(dirPin, sgn);
timerStepDirection = steps > 0 ? 1 : -1;
if (steps > 0)
{
digitalWrite(dirPin, HIGH);
timerStepDirection = 1;
}
else
{
digitalWrite(dirPin, LOW);
timerStepDirection = -1;
}
timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
float_t freqf = abs(steps) * (1e6 / float(pwmCycleTime));
float_t freqf = abs(steps) / (pwmCycleTime*1.0e-6);
uint32_t freq = uint32_t(freqf);
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->setOverflow(freq, HERTZ_FORMAT);
@@ -108,13 +115,13 @@ void StepGen::timerCB()
// Input for reload is timerNewEndStepPosition
// The timer has current position and from this
// can set new frequency and new endtarget for steps
MyTim->pause(); // We are not at stop, let's stop it
MyTim->pause(); // We are not at stop, let's stop it. Note stepPin is floating
int32_t steps = timerNewEndStepPosition - timerStepPosition;
if (steps != 0)
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(dirPin, sgn);
float_t freqf = abs(steps) * (1e6 / float(pwmCycleTime));
float_t freqf = abs(steps) / float(pwmCycleTime*1.0e-6);
uint32_t freq = uint32_t(freqf);
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = timerNewEndStepPosition;

45442
Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_pcb
View File

File diff suppressed because it is too large Load Diff

6
Kicad/Ax58100-stm32-ethercat/STM32F4.kicad_sch
View File

@@ -2264,7 +2264,7 @@
(effects (font (size 1.27 1.27)) (justify left) hide)
)
)
(global_label "STEP3_STEP" (shape input) (at 96.52 62.23 180) (fields_autoplaced)
(global_label "STEP4_STEP" (shape input) (at 96.52 62.23 180) (fields_autoplaced)
(effects (font (size 1.27 1.27)) (justify right))
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(property "Intersheetrefs" "${INTERSHEET_REFS}" (at 82.1655 62.23 0)
@@ -2348,7 +2348,7 @@
(effects (font (size 1.27 1.27)) (justify right) hide)
)
)
(global_label "STEP3_DIR" (shape input) (at 96.52 59.69 180) (fields_autoplaced)
(global_label "STEP4_DIR" (shape input) (at 96.52 59.69 180) (fields_autoplaced)
(effects (font (size 1.27 1.27)) (justify right))
(uuid af9138f3-e9a2-4ab3-a190-c216043e97a3)
(property "Intersheetrefs" "${INTERSHEET_REFS}" (at 83.6168 59.69 0)
@@ -2467,7 +2467,7 @@
(effects (font (size 1.27 1.27)) (justify left) hide)
)
)
(global_label "STEP3_STEP" (shape input) (at 64.77 62.23 0) (fields_autoplaced)
(global_label "STEP4_STEP" (shape input) (at 64.77 62.23 0) (fields_autoplaced)
(effects (font (size 1.27 1.27)) (justify left))
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(property "Intersheetrefs" "${INTERSHEET_REFS}" (at 79.1245 62.23 0)

38
Kicad/Ax58100-stm32-ethercat/Steppers.kicad_sch
View File

@@ -937,7 +937,7 @@
(no_connect (at 170.18 60.96) (uuid b55a0831-1f80-4e60-afe5-fbeb09b31fb3))
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@@ -1101,7 +1101,7 @@
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@@ -1169,7 +1169,7 @@
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@@ -1361,7 +1361,7 @@
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@@ -1784,19 +1784,19 @@
)
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(symbol (lib_id "Connector_Generic:Conn_01x04") (at 212.09 57.15 0) (mirror x) (unit 1)
(in_bom yes) (on_board yes) (dnp no)
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(property "Reference" "J17" (at 212.09 65.1043 0)
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(property "Footprint" "TerminalBlock:TerminalBlock_bornier-4_P5.08mm" (at 212.09 54.61 0)
(property "Footprint" "TerminalBlock:TerminalBlock_bornier-4_P5.08mm" (at 212.09 57.15 0)
(effects (font (size 1.27 1.27)) hide)
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(property "Datasheet" "~" (at 212.09 54.61 0)
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(effects (font (size 1.27 1.27)) hide)
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@@ -1977,19 +1977,19 @@
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(symbol (lib_id "power:+5V") (at 204.47 64.77 0) (mirror x) (unit 1)
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(uuid 7ff2a75b-e859-4c56-89de-d740aa32b48c)
(property "Reference" "#PWR?" (at 204.47 50.8 0)
(property "Reference" "#PWR?" (at 204.47 60.96 0)
(effects (font (size 1.27 1.27)) hide)
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(property "Value" "+5V" (at 204.47 42.8569 0)
(property "Value" "+5V" (at 204.47 68.9031 0)
(effects (font (size 1.27 1.27)))
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(property "Footprint" "" (at 204.47 46.99 0)
(property "Footprint" "" (at 204.47 64.77 0)
(effects (font (size 1.27 1.27)) hide)
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(property "Datasheet" "" (at 204.47 46.99 0)
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(effects (font (size 1.27 1.27)) hide)
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(pin "1" (uuid 18a2b5fe-86d4-41ec-b99f-cacabef55421))
@@ -2251,19 +2251,19 @@
)
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(symbol (lib_id "power:GND") (at 204.47 46.99 0) (mirror x) (unit 1)
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(property "Reference" "#PWR?" (at 204.47 71.12 0)
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(effects (font (size 1.27 1.27)) hide)
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(property "Value" "GND" (at 204.47 67.31 90)
(property "Value" "GND" (at 204.47 44.45 90)
(effects (font (size 1.27 1.27)) (justify right))
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(effects (font (size 1.27 1.27)) hide)
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(pin "1" (uuid 43c0c09f-b186-4193-9a45-a9efae286c8f))

554
Kicad/Ax58100-stm32-ethercat/peripherals.kicad_sch
View File

@@ -867,14 +867,26 @@
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@@ -885,11 +897,17 @@
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