46 lines
1.5 KiB
C++
Executable File
46 lines
1.5 KiB
C++
Executable File
|
|
#ifndef STEPGEN
|
|
#define STEPGEN
|
|
#include <HardwareTimer.h>
|
|
|
|
class StepGen2
|
|
{
|
|
private:
|
|
volatile double_t actualPosition;
|
|
volatile int32_t nSteps;
|
|
volatile uint32_t timerPulseSteps;
|
|
|
|
public:
|
|
volatile float Tstartf; // Starting delay in secs
|
|
volatile uint32_t Tstartu; // Starting delay in usecs
|
|
private:
|
|
public:
|
|
const float maxAllowedFrequency = 100000; // 100 kHz for now
|
|
HardwareTimer *pulseTimer;
|
|
uint32_t pulseTimerChan;
|
|
HardwareTimer *startTimer; // 10,11,13,14
|
|
uint8_t dirPin;
|
|
PinName stepPin;
|
|
const float Tjitter = 5.0; // Time unit is microseconds
|
|
|
|
public:
|
|
volatile double_t commandedPosition; // End position when this cycle is completed
|
|
volatile int32_t commandedStepPosition; // End step position when this cycle is completed
|
|
volatile double_t initialPosition; // From previous cycle
|
|
volatile int32_t initialStepPosition; // From previous cycle
|
|
int16_t stepsPerMM; // This many steps per mm
|
|
volatile uint8_t enabled; // Enabled step generator
|
|
volatile float frequency;
|
|
|
|
static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time
|
|
volatile float lcncCycleTime; // Linuxcnc nominal cycle time in sec (1 ms often)
|
|
|
|
StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
|
|
|
|
uint32_t handleStepper(void);
|
|
void startTimerCB();
|
|
void pulseTimerCB();
|
|
uint32_t updatePos(uint32_t i);
|
|
};
|
|
|
|
#endif |