56 lines
1.8 KiB
C++
Executable File
56 lines
1.8 KiB
C++
Executable File
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#ifndef STEPGEN
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#define STEPGEN
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#include <HardwareTimer.h>
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class StepGen2
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{
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private:
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volatile uint8_t timerIsRunning;
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volatile int32_t timerStepPosition;
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volatile int32_t timerStepDirection;
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volatile int32_t timerStepPositionAtEnd;
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volatile int32_t timerNewEndStepPosition;
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volatile uint32_t timerNewCycleTime;
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volatile double_t actualPosition;
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volatile double_t requestedPosition;
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volatile double_t oldPosition;
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volatile int32_t oldStepPosition;
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volatile uint8_t enabled;
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HardwareTimer *MyTim;
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HardwareTimer *MyTim2;
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int16_t stepsPerMM;
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uint8_t dirPin;
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PinName stepPin;
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uint32_t timerChan;
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const uint32_t maxFreq = 100000;
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volatile uint32_t prevFreq1 = 0;
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volatile uint32_t prevFreq2 = 0;
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const float Tjitter = 50.0; // Time unit is microseconds
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uint32_t err = 0;
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public:
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static uint32_t sync0CycleTime;
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volatile uint32_t lcncCycleTime; // Linuxcnc nominal cycle time (1 ms often)
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StepGen2(TIM_TypeDef *Timer, TIM_TypeDef *Timer2, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void));
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uint32_t handleStepper(void);
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void timerCB();
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void enable(uint8_t yes);
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void reqPos(double_t pos) { requestedPosition = pos; };
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double reqPos() { return requestedPosition; };
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void oldPos(double_t pos) { oldPosition = pos; };
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double oldPos() { return oldPosition; };
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void oldStepPos(int32_t pos) { oldStepPosition = pos; }
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int32_t oldStepPos() { return oldStepPosition; }
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void actPos(double_t pos) { actualPosition = pos; };
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double actPos() { return actualPosition; };
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void setScale(int16_t spm) { stepsPerMM = spm; }
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int16_t getScale() { return stepsPerMM; }
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uint32_t updatePosAndReturn(int32_t stepPosStop, uint32_t i);
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};
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#endif |