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Max step-rate introduced - solves initial step storm

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This commit is contained in:
Hakan Bastedt
2024-01-10 20:08:30 +01:00
parent f6abd73c58
commit f8fc5fccd6
3 changed files with 17 additions and 23 deletions
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14
Firmware/src/StepGen.cpp
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@@ -12,6 +12,7 @@ StepGen::StepGen(TIM_TypeDef *Timer, uint8_t _timerChannel, uint8_t _stepPin, ui
timerNewCycleTime = 0;
actualPosition = 0;
requestedPosition = 0;
stepsPerMM = 0;
dirPin = _dirPin;
stepPin = _stepPin;
@@ -46,9 +47,12 @@ void StepGen::handleStepper(void)
{
actualPosition = timerStepPosition / double(stepsPerMM);
double diffPosition = requestedPosition - actualPosition;
if (abs(diffPosition) * stepsPerMM > 10000)
uint64_t fre = abs(diffPosition) * stepsPerMM * 1000000 / double(sync0CycleTime); // Frequency needed
if (fre > maxFreq) // Only do maxFre
{
requestedPosition = actualPosition + 10.0 * (diffPosition > 0 ? 1 : -1);
double maxDist = maxFreq/stepsPerMM * sync0CycleTime / 1000000.0 * (diffPosition > 0 ? 1 : -1);
requestedPosition = actualPosition + maxDist;
}
int32_t pulsesAtEndOfCycle = stepsPerMM * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm
makePulses(sync0CycleTime, pulsesAtEndOfCycle); // Make the pulses using hardware timer
@@ -60,7 +64,6 @@ void StepGen::setCycleTime(uint32_t cycleTime)
void StepGen::makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/)
{
uint32_t now = micros();
if (timerIsRunning)
{
// Set variables, they will be picked up by the timer_CB and the timer is reloaded.
@@ -126,3 +129,8 @@ void StepGen::timerCB()
MyTim->pause();
}
}
void StepGen::setScale(int32_t spm)
{
stepsPerMM = spm;
}