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Factored Stepgen2, StepGen3 is a copy of Stepgen2

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This commit is contained in:
Hakan Bastedt
2024-03-21 16:45:46 +01:00
parent 30a9f10c7b
commit fa34d81e41
3 changed files with 8 additions and 31 deletions
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11
Firmware/src/main.cpp
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@@ -18,18 +18,19 @@ void indexPulseEncoderCB1(void)
Encoder1.indexPulse();
}
#include "StepGen2.h"
#include "StepGen3.h"
#include "extend32to64.h"
// Stepper 1
void pulseTimerCallback1(void);
void startTimerCallback1(void);
StepGen2 Step1(TIM1, 4, PA_11, PA12, pulseTimerCallback1, TIM10, startTimerCallback1);
StepGen3 Step1(TIM1, 4, PA_11, PA12, pulseTimerCallback1, TIM10, startTimerCallback1);
void pulseTimerCallback1(void) { Step1.pulseTimerCB(); }
void startTimerCallback1(void) { Step1.startTimerCB(); }
// Stepper 2
void pulseTimerCallback2(void);
void startTimerCallback2(void);
StepGen2 Step2(TIM3, 4, PC_9, PC10, pulseTimerCallback2, TIM11, startTimerCallback2);
StepGen3 Step2(TIM3, 4, PC_9, PC10, pulseTimerCallback2, TIM11, startTimerCallback2);
void pulseTimerCallback2(void) { Step2.pulseTimerCB(); }
void startTimerCallback2(void) { Step2.startTimerCB(); }
@@ -56,7 +57,7 @@ void handleStepper(void)
uint32_t t = micros();
reallyNowTime = longTime.extendTime(t);
timeDiff = 1000 * (reallyNowTime - reallyThenTime);
nLoops = round(double(timeDiff) / double(StepGen2::sync0CycleTime));
nLoops = round(double(timeDiff) / double(StepGen3::sync0CycleTime));
reallyThenTime = reallyNowTime;
nLoops=1;
Step1.enabled = true;
@@ -210,6 +211,6 @@ uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 1;
StepGen2::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
StepGen3::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
return 0;
}