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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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4
Firmware/include/StepGen.h
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@@ -15,11 +15,12 @@ public:
volatile double_t actualPosition; volatile double_t actualPosition;
volatile double_t requestedPosition; volatile double_t requestedPosition;
HardwareTimer *MyTim; HardwareTimer *MyTim;
const uint32_t stepsPerMM = 1000; uint32_t stepsPerMM;
uint32_t sync0CycleTime; uint32_t sync0CycleTime;
uint8_t dirPin; uint8_t dirPin;
uint8_t stepPin; uint8_t stepPin;
uint8_t timerChan; uint8_t timerChan;
const uint32_t maxFreq = 100000;
StepGen(TIM_TypeDef *Timer, uint8_t timerChannel, uint8_t stepPin, uint8_t dirPin, void irq(void)); StepGen(TIM_TypeDef *Timer, uint8_t timerChannel, uint8_t stepPin, uint8_t dirPin, void irq(void));
void cmdPos(double_t pos); void cmdPos(double_t pos);
@@ -29,6 +30,7 @@ public:
void setCycleTime(uint32_t cycleTime); void setCycleTime(uint32_t cycleTime);
void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/); void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/);
void timerCB(); void timerCB();
void setScale(int32_t spm);
}; };
#endif #endif

14
Firmware/src/StepGen.cpp
View File

@@ -12,6 +12,7 @@ StepGen::StepGen(TIM_TypeDef *Timer, uint8_t _timerChannel, uint8_t _stepPin, ui
timerNewCycleTime = 0; timerNewCycleTime = 0;
actualPosition = 0; actualPosition = 0;
requestedPosition = 0; requestedPosition = 0;
stepsPerMM = 0;
dirPin = _dirPin; dirPin = _dirPin;
stepPin = _stepPin; stepPin = _stepPin;
@@ -46,9 +47,12 @@ void StepGen::handleStepper(void)
{ {
actualPosition = timerStepPosition / double(stepsPerMM); actualPosition = timerStepPosition / double(stepsPerMM);
double diffPosition = requestedPosition - actualPosition; 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 int32_t pulsesAtEndOfCycle = stepsPerMM * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm
makePulses(sync0CycleTime, pulsesAtEndOfCycle); // Make the pulses using hardware timer 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*/) void StepGen::makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/)
{ {
uint32_t now = micros();
if (timerIsRunning) if (timerIsRunning)
{ {
// Set variables, they will be picked up by the timer_CB and the timer is reloaded. // 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(); MyTim->pause();
} }
} }
void StepGen::setScale(int32_t spm)
{
stepsPerMM = spm;
}

22
Firmware/src/main.cpp
View File

@@ -125,13 +125,9 @@ void setup(void)
{ {
Serial1.begin(115200); Serial1.begin(115200);
rcc_config(); rcc_config();
#if 0
TIM_TypeDef *Instance = TIM1; Step1.setScale(100);
MyTim = new HardwareTimer(Instance);
MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
MyTim->attachInterrupt(TimerStep_CB);
pinMode(STEPPER_DIR_PIN, OUTPUT);
#endif
// Set starting count value // Set starting count value
EncoderInit.SetCount(Tim2, 0); EncoderInit.SetCount(Tim2, 0);
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // When Index triggered attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // When Index triggered
@@ -174,18 +170,6 @@ void sync0Handler(void)
void handleStepper(void) void handleStepper(void)
{ {
Step1.handleStepper(); 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) void ESC_interrupt_enable(uint32_t mask)