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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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22
Firmware/src/main.cpp
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@@ -125,13 +125,9 @@ void setup(void)
{
Serial1.begin(115200);
rcc_config();
#if 0
TIM_TypeDef *Instance = TIM1;
MyTim = new HardwareTimer(Instance);
MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
MyTim->attachInterrupt(TimerStep_CB);
pinMode(STEPPER_DIR_PIN, OUTPUT);
#endif
Step1.setScale(100);
// Set starting count value
EncoderInit.SetCount(Tim2, 0);
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // When Index triggered
@@ -174,18 +170,6 @@ void sync0Handler(void)
void handleStepper(void)
{
Step1.handleStepper();
#if 0
const uint32_t steps_per_mm = 1000;
actualPosition = timerStepPosition / double(steps_per_mm);
double diffPosition = requestedPosition - actualPosition;
if (abs(diffPosition) * steps_per_mm > 10000)
{
requestedPosition = actualPosition + 10.0 * (diffPosition > 0 ? 1 : -1);
}
int32_t pulsesAtEndOfCycle = steps_per_mm * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm
makePulses(sync0CycleTime, pulsesAtEndOfCycle); // Make the pulses using hardware timer
#endif
}
void ESC_interrupt_enable(uint32_t mask)