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Test in lathe coming.

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This commit is contained in:
Hakan Bastedt
2024-03-03 17:02:04 +01:00
parent cbc45bc80b
commit e8ef618fcc
13 changed files with 472 additions and 671 deletions
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4
Firmware/src/StepGen2.cpp
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@@ -39,7 +39,7 @@ uint32_t StepGen2::handleStepper(uint64_t irqTime)
nSteps = commandedStepPosition - initialStepPosition;
if (abs(nSteps) < 1000) // Some small number
if (abs(nSteps) < 2) // Some small number
{
frequency = (abs(nSteps) + 1) / lcncCycleTime;
Tpulses = abs(nSteps) / frequency;
@@ -73,7 +73,7 @@ void StepGen2::startTimerCB()
digitalWrite(dirPin, nSteps > 0 ? HIGH : LOW);
// There will be a short break here for t2 usecs, in the future.
timerPulseSteps = abs(nSteps);
pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM1, stepPin);
pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
pulseTimer->setCaptureCompare(pulseTimerChan, 5, MICROSEC_COMPARE_FORMAT); // 5 usecs
pulseTimer->resume();