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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
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@@ -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;