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wip now the 50 kHz timer is only 40 kHz. How come?

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This commit is contained in:
Hakan Bastedt
2024-03-26 22:59:41 +01:00
parent 88bd1ead78
commit ea5a39d300
3 changed files with 72 additions and 36 deletions
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27
Firmware/include/StepGen3.h
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@@ -79,18 +79,19 @@ public:
stepgen_t *stepgen_array = 0;
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 */
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 */
volatile uint64_t cnt = 0; // Debug counter
StepGen3(void);
void updateStepGen(double *pos_cmd);
void updateStepGen(double pos_cmd1, double pos_cmd2);
int rtapi_app_main();
int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
void make_pulses(void *arg, long period);
@@ -143,11 +144,11 @@ private:
};
// For the example
#define BASE_PERIOD 12000 // 12 is max
#define BASE_PERIOD 20000 // 12 is max
#define SERVO_PERIOD 1000000
#define JOINT_X_STEPGEN_MAXACCEL 520.0
#define JOINT_X_STEPGEN_MAXACCEL (1.2 * 520.0)
#define JOINT_X_SCALE -200
#define JOINT_Z_STEPGEN_MAXACCEL 520.0
#define JOINT_Z_STEPGEN_MAXACCEL (1.2 * 520.0)
#define JOINT_Z_SCALE -80
#endif