Trikarus/firmware_smartstepper_trikarus/stepper_nano_zero/fet_driver.cpp

1686 lines
38 KiB
C++

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Written by Trampas Stern for MisfitTech.
Misfit Tech invests time and resources providing this open source code,
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*********************************************************************/
#include "fet_driver.h"
#include "wiring_private.h"
#include "syslog.h"
#include "angle.h"
#include "Arduino.h"
#include "sine.h"
#include "nonvolatile.h"
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
#ifdef NEMA_23_10A_HW
#define FET_DRIVER_FREQ (46875UL) //FET PWM pin driver frequency
FetDriver *FetDriver::ptrInstance=0;
// Wait for synchronization of registers between the clock domains
static __inline__ void syncDAC() __attribute__((always_inline, unused));
static void syncDAC() {
while (DAC->STATUS.bit.SYNCBUSY == 1)
;
}
volatile uint32_t coilA_Value=0;
/*
* The discrete FETs on the NEMA 23 10A board are configured such that each H-bridge has:
* IN1 - Input 1
* IN2 - Input 2
* Enable - Enable driver
* Isense - current sense
*
* The truth table for the H-Bridge is:
* Enable IN1 IN2 Bridge State
* 0 x x floating (FETs off)
* 1 0 0 coil shorted to Gnd
* 1 0 1 forward
* 1 1 0 reverse
* 1 1 1 coil shorted to VCC
*
* For peak current control there is two state (fast decay, and slow decay)
*
* Fast Decay
* When driving coil in forward direction and current peak is reached the fast decay turns
* The bridge in the reverse direction. This cause the reverse EMF from coil to charge
* capacitors back up and the current on the coil to drop very quickly
*
* Slow Decay
* During this mode the current decay is slower by shorting the coil leads to ground.
* This in effect shorts the coil leads and reverse EMF is converted to heat.
*
* In the Fast Decay mode we reverse the motor, this in effect is trying to drive coil
* current in the reverse direction. This in effect reduces current faster than just
* shorting the coil out.
*
* see www.misfittech.net's blog for more information on this subject
*
*/
/* driver code's logic
*
* This driver code needs not only to control the FETs but also handle the current limits.
*
* The way the code handles limiting current is by using two comparators internal to
* the microprocessor.
*
* We first use two PWM signals to generate reference voltage for each comparator.
* Then when the current sense voltage exceeds this reference voltage an interrupt is
* generated. In the interrupt handler we will then set the decay mode as needed.
*
* It will have to be determined if we will use a fixed time decay mode like the A4954,
* or use current as the threshold. There is a lot to do here to maintain quite operation,
* that is we need this current control to be running at more than 20khz to be quite.
*
* Additionally we can use ADC on the current sense for detecting the flyback and
* get some idea of the inductance. This can be used for stall dection as well as
* auto tuning of some of the driver parameters.
*/
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
#define WAIT_TC16_REGS_SYNC(x) while(x->COUNT16.STATUS.bit.SYNCBUSY);
typedef enum {
CURRENT_ON = 0,
CURRENT_FAST_DECAY = 1,
CURRENT_SLOW_DECAY = 2,
} CurrentMode_t;
typedef enum {
COIL_FORWARD =0,
COIL_REVERSE =1,
COIL_BRAKE =2
} CoilState_t;
typedef struct {
bool currentIncreasing; //true when we are increasing current
CurrentMode_t currentState; //how is bridge driven
} BridgeState_t;
volatile BridgeState_t BridgeA, BridgeB;
#define DAC_MAX (0x01FFL)
// Wait for synchronization of registers between the clock domains
static __inline__ void syncTCC(Tcc* TCCx) __attribute__((always_inline, unused));
static void syncTCC(Tcc* TCCx) {
//int32_t t0=1000;
while (TCCx->SYNCBUSY.reg & TCC_SYNCBUSY_MASK)
{
// t0--;
// if (t0==0)
// {
// break;
// }
}
}
static inline void coilA(CoilState_t state)
{
PIN_GPIO_OUTPUT(PIN_FET_IN1);
PIN_GPIO_OUTPUT(PIN_FET_IN2);
switch(state){
case COIL_FORWARD:
GPIO_HIGH(PIN_FET_IN1);
GPIO_LOW(PIN_FET_IN2);
break;
case COIL_REVERSE:
GPIO_HIGH(PIN_FET_IN2);
GPIO_LOW(PIN_FET_IN1);
break;
case COIL_BRAKE:
GPIO_LOW(PIN_FET_IN2);
GPIO_LOW(PIN_FET_IN1);
break;
default:
ERROR("Not a known state");
break;
}
}
static inline void coilB(CoilState_t state)
{
PIN_GPIO_OUTPUT(PIN_FET_IN3);
PIN_GPIO_OUTPUT(PIN_FET_IN4);
switch(state){
case COIL_FORWARD:
GPIO_HIGH(PIN_FET_IN3);
GPIO_LOW(PIN_FET_IN4);
break;
case COIL_REVERSE:
GPIO_HIGH(PIN_FET_IN4);
GPIO_LOW(PIN_FET_IN3);
break;
case COIL_BRAKE:
GPIO_LOW(PIN_FET_IN3);
GPIO_LOW(PIN_FET_IN4);
break;
default:
ERROR("Not a known state");
break;
}
}
int FetDriver::coilA_PWM(int32_t value)
{
int32_t x;
// PIN_FET_IN1 (PA15) (5) (TCC0 WO[5], aka ch1)
//PIN_FET_IN2 (PA20) (6) (TCC0 WO[6], aka ch2)
Tcc* TCCx = TCC0 ;
//
// if (value==0)
// {
// GPIO_LOW(PIN_FET_IN1);
// GPIO_LOW(PIN_FET_IN2);
// PIN_GPIO(PIN_FET_IN1);
// PIN_GPIO(PIN_FET_IN2);
// return;
// }
if (value<0)
{
GPIO_LOW(PIN_FET_IN1);
PIN_GPIO(PIN_FET_IN1);
PIN_PERIPH(PIN_FET_IN2);
//pinPeripheral(PIN_FET_IN2, PIO_TIMER_ALT); //TCC0 WO[7]
value=-value;
}else
{
GPIO_LOW(PIN_FET_IN2);
PIN_GPIO(PIN_FET_IN2);
PIN_PERIPH(PIN_FET_IN1);
//pinPeripheral(PIN_FET_IN1, PIO_TIMER_ALT);
}
#if (F_CPU/FET_DRIVER_FREQ)==1024
x=value & 0x3FF;
#else
x=MIN(value, (int32_t)(F_CPU/FET_DRIVER_FREQ));
#endif
syncTCC(TCCx);
TCCx->CC[1].reg = (uint32_t)x; //ch1 == ch5 //IN3
//syncTCC(TCCx);
TCCx->CC[2].reg = (uint32_t)x; //ch2 == ch6 //IN4
if (x!=value)
{
return 1;
}
return 0;
}
void FetDriver::coilB_PWM(int32_t value)
{
//PIN_FET_IN3 (PA21) (7) (TCC0 WO[7], aka ch3)
//PIN_FET_IN4 (PA14) (2) (TCC0 WO[4], aka ch0)
Tcc* TCCx = TCC0 ;
//
// if (value==0)
// {
// GPIO_LOW(PIN_FET_IN3);
// GPIO_LOW(PIN_FET_IN4);
// PIN_GPIO(PIN_FET_IN3);
// PIN_GPIO(PIN_FET_IN4);
// return;
// }
if (value<=0)
{
GPIO_LOW(PIN_FET_IN3);
PIN_GPIO(PIN_FET_IN3);
PIN_PERIPH(PIN_FET_IN4);
//SET_PIN_PERHERIAL(PIN_FET_IN4, PIO_TIMER_ALT); //TCC0 WO[7]
value=-value;
}else
{
GPIO_LOW(PIN_FET_IN4);
PIN_GPIO(PIN_FET_IN4);
PIN_PERIPH(PIN_FET_IN3);
//SET_PIN_PERHERIAL(PIN_FET_IN3, PIO_TIMER_ALT);
}
#if (F_CPU/FET_DRIVER_FREQ)==1024
value=value & 0x3FF;
#else
value=MIN(value, (int32_t)(F_CPU/FET_DRIVER_FREQ));
#endif
//LOG("value is %d",value);
// if (value> 300) //(F_CPU/FET_DRIVER_FREQ))
// {
// value= 300; //F_CPU/FET_DRIVER_FREQ;
// }
syncTCC(TCCx);
TCCx->CC[0].reg = (uint32_t)value; //ch0 == ch4 //IN4
//syncTCC(TCCx);
TCCx->CC[3].reg = (uint32_t)value; //ch3 == ch7 //IN3
}
static void enableTCC0(void)
{
Tcc* TCCx = TCC0 ;
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
//ERROR("Setting TCC %d %d",ulValue,ulPin);
TCCx->CTRLA.reg &= ~TCC_CTRLA_ENABLE;
syncTCC(TCCx);
// Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
syncTCC(TCCx);
// Set PER to maximum counter value (resolution : 0xFF)
TCCx->PER.reg = F_CPU/FET_DRIVER_FREQ; //set frequency to 100Khz
syncTCC(TCCx);
// Enable TCCx
TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ;
syncTCC(TCCx);
//ERROR("Enable TCC0 DONE");
}
static void setDAC(uint32_t DAC1, uint32_t DAC2)
{
TCC1->CC[1].reg = (uint32_t)DAC1; //D9 PA07 - VREF12
syncTCC(TCC1);
TCC1->CC[0].reg = (uint32_t)DAC2; //D4 - VREF34
syncTCC(TCC1);
}
static void setupDAC(void)
{
Tcc* TCCx = TCC1 ;
pinPeripheral(PIN_FET_VREF1, PIO_TIMER_ALT);
pinPeripheral(PIN_FET_VREF2, PIO_TIMER_ALT);
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
//ERROR("Setting TCC %d %d",ulValue,ulPin);
TCCx->CTRLA.reg &= ~TCC_CTRLA_ENABLE;
syncTCC(TCCx);
// Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
syncTCC(TCCx);
// Set TCx in waveform mode Normal PWM
TCCx->CC[1].reg = (uint32_t)0;
syncTCC(TCCx);
TCCx->CC[0].reg = (uint32_t)0;
syncTCC(TCCx);
// Set PER to maximum counter value (resolution : 0xFFF = 12 bits)
// =48e6/2^12=11kHz frequency
TCCx->PER.reg = DAC_MAX;
syncTCC(TCCx);
// Enable TCCx
TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ;
syncTCC(TCCx);
}
/*
* The SAMD21 has two analog comparators
* COMP_FET_A(A4/PA05) and COMP_FET_B(D9/PA07) are the reference voltages
*
* ISENSE_FET_A(A3/PA04) and ISENSE_FET_B(D8/PA06) are the current sense
*
*/
/*
static void setupComparators(void)
{
//setup the pins as analog inputs
pinPeripheral(COMP_FET_A, PIO_ANALOG); //AIN[1]
pinPeripheral(COMP_FET_B, PIO_ANALOG); //AIN[3]
pinPeripheral(ISENSE_FET_A, PIO_ANALOG); //AIN[0]
pinPeripheral(ISENSE_FET_B, PIO_ANALOG); //AIN[2]
//enable the clock for the Analog comparator
PM->APBCMASK.reg |= PM_APBCMASK_AC; //enable clock in the power manager
//setup the GCLK for the analog and digital clock to the AC
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_AC_ANA )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_AC_DIG )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
//we will drive the CMP0 and CMP1 high when our current is exceeded.
// To do this we will set ISense Pins as the non-inverting input
AC->CTRLA.reg=0x01; //disable AC_COMPCTRL_ENABLE and reset
while ( AC->STATUSB.bit.SYNCBUSY == 1 ) ;
AC->CTRLB.reg=0x0; // set start bits low (will not be used)
while ( AC->STATUSB.bit.SYNCBUSY == 1 ) ;
AC->COMPCTRL[0].reg = AC_COMPCTRL_FLEN_MAJ3_Val | //add a 3 bit majority digital filter
AC_COMPCTRL_HYST | //enable hysterisis
AC_COMPCTRL_MUXPOS_PIN0 | //non-inverting is AIN[0]
AC_COMPCTRL_MUXNEG_PIN1 | //inverting pin is AIN[1]
AC_COMPCTRL_INTSEL_RISING | //interrupt on the rising edge (TODO we might want on both edges)
AC_COMPCTRL_SPEED_HIGH |
AC_COMPCTRL_ENABLE; //set to high speed mode, we don't care about power consumption
while ( AC->STATUSB.bit.SYNCBUSY == 1 ) ;
AC->COMPCTRL[1].reg = //AC_COMPCTRL_FLEN_MAJ3_Val | //add a 3 bit majority digital filter
//AC_COMPCTRL_HYST | //enable hysterisis
AC_COMPCTRL_MUXPOS_PIN2 | //non-inverting is AIN[2]
AC_COMPCTRL_MUXNEG_PIN3 | //inverting pin is AIN[3]
AC_COMPCTRL_INTSEL_RISING | //interrupt on the rising edge (TODO we might want on both edges)
AC_COMPCTRL_SPEED_HIGH |
//AC_COMPCTRL_SWAP |
AC_COMPCTRL_ENABLE; //set to high speed mode, we don't care about power consumption
while ( AC->STATUSB.bit.SYNCBUSY == 1 ) ;
//enable the comparator
AC->CTRLA.reg=AC_CTRLA_ENABLE;
while ( AC->STATUSB.bit.SYNCBUSY == 1 );
AC->INTENSET.bit.COMP0=1;
AC->INTENSET.bit.COMP1=1;
NVIC_EnableIRQ(AC_IRQn); //enable the comparator interrupt
}
*/
static __inline__ void syncADC() __attribute__((always_inline, unused));
static void syncADC() {
volatile int32_t t0=100;
while ((ADC->STATUS.bit.SYNCBUSY == 1))// && t0>0)
{
t0--;
if (t0>0)
{
break;
}
}
if (t0<=0)
{
ERROR("sync ADC timeout");
}
}
static uint32_t ADCRead(uint32_t ulPin)
{
uint32_t valueRead = 0;
uint32_t gainValue=0;
if ( ulPin <= 5 ) // turn '0' -> 'A0'
{
ulPin += A0 ;
}
if (ulPin == 6) ulPin = PIN_A6;
if (ulPin == 7) ulPin = PIN_A7;
pinPeripheral(PIN_A4, PIO_ANALOG);
pinPeripheral(ulPin, PIO_ANALOG);
syncADC();
ADC->CTRLB.reg = ADC_CTRLB_PRESCALER_DIV32 | // Divide Clock by 512.
ADC_CTRLB_RESSEL_12BIT; // 10 bits resolution as default
// syncADC();
// ADC->INPUTCTRL.reg = 0;
// syncADC();
// ADC->INPUTCTRL.bit.MUXNEG= ADC_INPUTCTRL_MUXNEG_GND;//g_APinDescription[ulPin].ulADCChannelNumber; //ADC_INPUTCTRL_MUXNEG_GND;
//ADC_INPUTCTRL_MUXNEG_IOGND; //ADC_INPUTCTRL_MUXNEG_PIN5; // No Negative input (Internal Ground)
syncADC();
ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[ulPin].ulADCChannelNumber;//ADC_INPUTCTRL_MUXPOS_DAC;// g_APinDescription[ulPin].ulADCChannelNumber; // Selection for the positive ADC input
syncADC();
ADC->INPUTCTRL.bit.GAIN = 0xF; //0x0F == gain of 1/2
syncADC();
ADC->REFCTRL.reg=ADC_REFCTRL_REFSEL_INTVCC1; //set the ADC reference to 1/2VDDANA
syncADC();
ADC->SAMPCTRL.reg=0x02;
/*
* Bit 1 ENABLE: Enable
* 0: The ADC is disabled.
* 1: The ADC is enabled.
* Due to synchronization, there is a delay from writing CTRLA.ENABLE until the peripheral is enabled/disabled. The
* value written to CTRL.ENABLE will read back immediately and the Synchronization Busy bit in the Status register
* (STATUS.SYNCBUSY) will be set. STATUS.SYNCBUSY will be cleared when the operation is complete.
*
* Before enabling the ADC, the asynchronous clock source must be selected and enabled, and the ADC reference must be
* configured. The first conversion after the reference is changed must not be used.
*/
syncADC();
ADC->CTRLA.bit.ENABLE = 0x01; // Enable ADC
// Clear the Data Ready flag
syncADC();
ADC->INTFLAG.bit.RESRDY = 1;
// Start conversion
syncADC();
ADC->SWTRIG.bit.START = 1;
// wait for conversion to be done
while ( ADC->INTFLAG.bit.RESRDY == 0 ); // Waiting for conversion to complete
// Clear the Data Ready flag
syncADC();
ADC->INTFLAG.bit.RESRDY = 1;
// Start conversion again, since The first conversion after the reference is changed must not be used.
syncADC();
ADC->SWTRIG.bit.START = 1;
while ( ADC->INTFLAG.bit.RESRDY == 0 ); // Waiting for conversion to complete
valueRead = ADC->RESULT.reg;
// syncADC();
// ADC->CTRLA.bit.ENABLE = 0x00; // Disable ADC
// syncADC();
return valueRead; //mapResolution(valueRead, _ADCResolution, _readResolution);
}
int32_t fastADCRead(uint32_t ulPin)
{
int32_t valueRead;
if ( ulPin <= 5 ) // turn '0' -> 'A0'
{
ulPin += A0 ;
}
if (ulPin == 6) ulPin = PIN_A6;
if (ulPin == 7) ulPin = PIN_A7;
syncADC();
ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[ulPin].ulADCChannelNumber;//ADC_INPUTCTRL_MUXPOS_DAC;// g_APinDescription[ulPin].ulADCChannelNumber; // Selection for the positive ADC input
// Clear the Data Ready flag
syncADC();
ADC->INTFLAG.bit.RESRDY = 1;
// Start conversion again, since The first conversion after the reference is changed must not be used.
syncADC();
ADC->SWTRIG.bit.START = 1;
while ( ADC->INTFLAG.bit.RESRDY == 0 ); // Waiting for conversion to complete
valueRead = ADC->RESULT.reg;
return valueRead;
}
int32_t GetMeanAdc(uint16_t pin, uint16_t samples)
{
int32_t i=0;
int32_t mean=0;
int32_t adc;
while (i<samples)
{
adc=ADCRead(pin);
mean+=adc;
i++;
}
return mean/i;
}
static uint32_t ADCStart(uint32_t ulPin)
{
uint32_t valueRead = 0;
uint32_t gainValue=0;
if ( ulPin <= 5 ) // turn '0' -> 'A0'
{
ulPin += A0 ;
}
if (ulPin == 6) ulPin = PIN_A6;
if (ulPin == 7) ulPin = PIN_A7;
pinPeripheral(PIN_A4, PIO_ANALOG);
pinPeripheral(ulPin, PIO_ANALOG);
syncADC();
ADC->CTRLB.reg = ADC_CTRLB_PRESCALER_DIV64 | // Divide Clock by 512.
ADC_CTRLB_RESSEL_12BIT; // 10 bits resolution as default
// syncADC();
// ADC->INPUTCTRL.reg = 0;
// syncADC();
// ADC->INPUTCTRL.bit.MUXNEG= ADC_INPUTCTRL_MUXNEG_GND;//g_APinDescription[ulPin].ulADCChannelNumber; //ADC_INPUTCTRL_MUXNEG_GND;
//ADC_INPUTCTRL_MUXNEG_IOGND; //ADC_INPUTCTRL_MUXNEG_PIN5; // No Negative input (Internal Ground)
syncADC();
ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[ulPin].ulADCChannelNumber;//ADC_INPUTCTRL_MUXPOS_DAC;// g_APinDescription[ulPin].ulADCChannelNumber; // Selection for the positive ADC input
syncADC();
ADC->INPUTCTRL.bit.INPUTSCAN=0;
//
// switch (gain)
// {
// case 1:
// gainValue=ADC_INPUTCTRL_GAIN_1X_Val;
// break;
// case 2:
// gainValue=ADC_INPUTCTRL_GAIN_2X_Val;
// break;
// case 4:
// gainValue=ADC_INPUTCTRL_GAIN_4X_Val;
// break;
// case 8:
// gainValue=ADC_INPUTCTRL_GAIN_8X_Val;
// break;
// case 16:
// gainValue=ADC_INPUTCTRL_GAIN_16X_Val;
// break;
// default:
// gainValue=ADC_INPUTCTRL_GAIN_1X_Val;
// break;
// }
// syncADC();
// ADC->CTRLB.bit.DIFFMODE = 0; //set to differential mode
syncADC();
ADC->INPUTCTRL.bit.GAIN = 0xF; //0x0F == gain of 1/2
// syncADC();
// ADC->AVGCTRL.reg=5;
syncADC();
ADC->REFCTRL.reg=ADC_REFCTRL_REFSEL_INTVCC1; //set the ADC reference to 1/2VDDANA
syncADC();
ADC->SAMPCTRL.reg=0x0F;
/*
* Bit 1 ENABLE: Enable
* 0: The ADC is disabled.
* 1: The ADC is enabled.
* Due to synchronization, there is a delay from writing CTRLA.ENABLE until the peripheral is enabled/disabled. The
* value written to CTRL.ENABLE will read back immediately and the Synchronization Busy bit in the Status register
* (STATUS.SYNCBUSY) will be set. STATUS.SYNCBUSY will be cleared when the operation is complete.
*
* Before enabling the ADC, the asynchronous clock source must be selected and enabled, and the ADC reference must be
* configured. The first conversion after the reference is changed must not be used.
*/
syncADC();
ADC->CTRLA.bit.ENABLE = 0x01; // Enable ADC
//Setup up for ISR
ADC->INTENCLR.reg=0x0F;
ADC->INTENSET.bit.RESRDY=1;
NVIC_SetPriority(ADC_IRQn, 3);
// Clear the Data Ready flag
ADC->INTFLAG.bit.RESRDY = 1;
// Start conversion
syncADC();
ADC->SWTRIG.bit.START = 1;
// Start conversion again, since The first conversion after the reference is changed must not be used.
//syncADC();
//ADC->SWTRIG.bit.START = 1;
//ADC->INTENSET.bit.RESRDY=1;
// // Store the value
while ( ADC->INTFLAG.bit.RESRDY == 0 ); // Waiting for conversion to complete
// valueRead = ADC->RESULT.reg;
//
// syncADC();
// ADC->CTRLA.bit.ENABLE = 0x00; // Disable ADC
// syncADC();
uint32_t reg;
syncADC();
reg=ADC->CTRLA.reg;
LOG("ADC CTRLA 0x%04X",reg);
syncADC();
reg=ADC->REFCTRL.reg;
LOG("ADC REFCTRL 0x%04X",reg);
syncADC();
reg=ADC->AVGCTRL.reg;
LOG("ADC AVGCTRL 0x%04X",reg);
syncADC();
reg=ADC->SAMPCTRL.reg;
LOG("ADC SAMPCTRL 0x%04X",reg);
syncADC();
reg=ADC->CTRLB.reg;
LOG("ADC CTRLB 0x%04X",reg);
syncADC();
reg=ADC->INPUTCTRL.reg;
LOG("ADC INPUTCTRL 0x%04X",reg);
syncADC();
reg=ADC->GAINCORR.reg;
LOG("ADC GAINCORR 0x%04X",reg);
syncADC();
reg=ADC->OFFSETCORR.reg;
LOG("ADC OFFSETCORR 0x%04X",reg);
syncADC();
reg=ADC->CALIB.reg;
LOG("ADC CALIB 0x%04X",reg);
// Enable InterruptVector
NVIC_EnableIRQ(ADC_IRQn);
// Clear the Data Ready flag
ADC->INTFLAG.bit.RESRDY = 1;
// Start conversion
syncADC();
ADC->SWTRIG.bit.START = 1;
return 0;//valueRead; //mapResolution(valueRead, _ADCResolution, _readResolution);
}
void ADC_Handler(void)
{
uint16_t channel;
uint16_t value;
static uint16_t lastChannel=0;
//static int state=0;
YELLOW_LED(1);
//state=(state+1)&0x01;
value=ADC->RESULT.reg;
channel=ADC->INPUTCTRL.bit.MUXPOS;// + ADC->INPUTCTRL.bit.INPUTOFFSET;
//LOG("channel is %d %d", lastChannel,value);
FetDriver::ADC_Callback(lastChannel,value);
lastChannel=channel;
if (channel == g_APinDescription[ISENSE_FET_B].ulADCChannelNumber)
{
syncADC();
ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[ISENSE_FET_A].ulADCChannelNumber;
} else
{
syncADC();
ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[ISENSE_FET_B].ulADCChannelNumber;
}
//LOG("channel is %d %d", ADC->INPUTCTRL.bit.MUXPOS ,value);
//syncADC();
ADC->INTFLAG.bit.RESRDY = 1;
//syncADC();
ADC->SWTRIG.bit.START = 1;
YELLOW_LED(0);
//state=(state+1)&0x01;
}
void FetDriver::ADC_Callback(uint16_t channel, uint16_t value)
{
//ptrInstance->begin();
if (ptrInstance==NULL)
{
return;
}
ptrInstance->ctrl_update(channel,value);
}
void FetDriver::ctrl_update(uint16_t channel, uint16_t value)
{
int32_t x,error;
if (channel == g_APinDescription[ISENSE_FET_A].ulADCChannelNumber)
{
static int32_t iterm;
x=value-coilA_Zero;
error=coilA_SetPoint-x;
coilA_error=x;
iterm+=error;
x=error*15;//+iterm/10;
x=x/1024;
coilA_value+=x;
// if (error>0)
// coilA_value++;
// else
// coilA_value--;
//
// coilA_value+= iterm/1024;
coilA_PWM(coilA_value);
// if (error>0)
// {
// coilA(COIL_FORWARD);
// }else
// {
// coilA(COIL_BRAKE);
// }
}
if (channel == g_APinDescription[ISENSE_FET_B].ulADCChannelNumber)
{
static int32_t itermB;
x=value-coilB_Zero;
error=coilB_SetPoint-x;
coilB_error=error;
x=error*15+itermB/10;
x=x/1024;
coilB_value+=x;
//coilB_PWM(coilB_value);
// if (error>0)
// {
// coilB(COIL_FORWARD);
// }else
// {
// coilB(COIL_BRAKE);
// }
}
return;
//LOG("channel is %d %d", channel,value);
if (channel == g_APinDescription[ISENSE_FET_B].ulADCChannelNumber)
{
static int32_t ib=0;
static int32_t meanb=0;
int32_t error,u,de;
static int32_t itermb=0;;
static int32_t lastErrorb=0;
adc=value;
x=value-coilB_Zero;
if (coilB_Zero==-1)
{
if(ib<FET_DRIVER_NUM_ZERO_AVG)
{
meanb=meanb+x;
ib++;
}else
{
coilB_Zero=meanb/ib;
}
return;
}
error=coilB_SetPoint-x;
// if (error>0)
// u=1;
// else
// u=-1;
de=error-lastErrorb;
lastErrorb=error;
if (ABS(error)<50)
{
itermb=itermb+1*error;
}else
{
itermb=0;
}
u=error*320 + itermb +100*de;
u=u/16382;
if (u>10) u=10;
if (u<-10) u=-10;
coilB_value+=u;;
//LOG("coil value %d, %d",coilB_value,u);
coilB_value=MIN(coilB_value,(int32_t)(F_CPU/FET_DRIVER_FREQ));
coilB_value=MAX(coilB_value,(int32_t)(-(F_CPU/FET_DRIVER_FREQ)));
coilB_PWM(coilB_value);
return;
}
if (channel == g_APinDescription[ISENSE_FET_A].ulADCChannelNumber)
{
static int32_t i=0;
static int32_t mean=0;
int32_t error,u,de;
static int32_t iterm=0;;
static int32_t lastError=0;
x=value-coilA_Zero;
if (coilA_Zero==-1)
{
if(i<FET_DRIVER_NUM_ZERO_AVG)
{
mean=mean+x;
i++;
}else
{
coilA_Zero=mean/i;
}
return;
}
error=coilA_SetPoint-x;
de=error-lastError;
lastError=error;
if (ABS(error)<50)
{
iterm=iterm+1*error;
}else
{
iterm=0;
}
u=error*320 + iterm +100*de;
u=u/16382;
if (u>10) u=10;
if (u<-10) u=-10;
coilA_value+=u;
//LOG("coil value %d, %d",coilB_value,u);
coilA_value=MIN(coilA_value,(int32_t)(F_CPU/FET_DRIVER_FREQ));
coilA_value=MAX(coilA_value,(int32_t)(-(F_CPU/FET_DRIVER_FREQ)));
coilA_PWM(coilA_value);
return;
}
}
void FetDriver::measureCoilB_zero(void)
{
coilB_Zero=GetMeanAdc(ISENSE_FET_B,FET_DRIVER_NUM_ZERO_AVG);
LOG("Coil B Zero is %d",coilB_Zero);
return;
}
void FetDriver::measureCoilA_zero(void)
{
coilA_Zero=GetMeanAdc(ISENSE_FET_A,FET_DRIVER_NUM_ZERO_AVG);
LOG("Coil A Zero is %d",coilA_Zero);
return;
}
void FetDriver::CalTableA(int32_t maxMA)
{
int16_t table2[512]={0};
int32_t pwm=0;
int32_t mA=0;
int i;
while (mA>-maxMA)
{
int32_t adc;
//LOG("Running %d",pwm);
adc=GetMeanAdc(ISENSE_FET_A,10)-coilA_Zero;
//LOG("ADC is %d",adc);
mA=FET_ADC_TO_MA(adc);
//LOG("mA is %d, ADC %d",mA,ADC);
pwm=pwm-1;
if (coilA_PWM(pwm)==1)
{
ERROR("CoilA PWM maxed");
break;
}
//delay(5);
}
//LOG("First PWM is %d %d",pwm, mA);
PWM_Table_A[0]=pwm;
table2[0]=mA;
i=1;
while (i<512)
{
int32_t adc;
adc=GetMeanAdc(ISENSE_FET_A,10)-coilA_Zero;
mA=FET_ADC_TO_MA(adc);
//LOG("PWM %d, %d %d",i,mA,pwm);
if (mA>((i-255)*maxMA/256))
{
PWM_Table_A[i]=pwm;
table2[i]=mA;
i++;
}else
{
pwm=pwm+1;
coilA_PWM(pwm);
//delay(5);
}
}
coilA_PWM(0);
Serial.print("\n\r TABLE A \n\r");;
for (i=0; i<512; i++)
{
Serial.print(PWM_Table_A[i]);
Serial.print(",");
}
Serial.print("\n\r");
Serial.print("\n\r");
for (i=0; i<512; i++)
{
Serial.print(table2[i]);
Serial.print(",");
}
Serial.print("\n\r");
}
void FetDriver::CalTableB(int32_t maxMA)
{
int16_t table2[512]={0};
int32_t pwm=0;
int32_t mA=0;
int i;
while (mA>-maxMA)
{
int32_t adc;
adc=GetMeanAdc(ISENSE_FET_B,10)-coilB_Zero;
mA=FET_ADC_TO_MA(adc);
pwm=pwm-1;
coilB_PWM(pwm);
//delay(5);
}
//LOG("First PWM is %d %d",pwm, mA);
PWM_Table_B[0]=pwm;
table2[0]=mA;
i=1;
while (i<512)
{
int32_t adc;
adc=GetMeanAdc(ISENSE_FET_B,10)-coilB_Zero;
mA=FET_ADC_TO_MA(adc);
//LOG("PWM %d, %d %d",i,mA,pwm);
if (mA>((i-255)*maxMA/256))
{
PWM_Table_B[i]=pwm;
table2[i]=mA;
i++;
}else
{
pwm=pwm+1;
coilB_PWM(pwm);
//delay(5);
}
}
coilB_PWM(0);
Serial.print("\n\r TABLE B \n\r");
for (i=0; i<512; i++)
{
Serial.print(PWM_Table_B[i]);
Serial.print(",");
}
Serial.print("\n\r");
Serial.print("\n\r");
for (i=0; i<512; i++)
{
Serial.print(table2[i]);
Serial.print(",");
}
Serial.print("\n\r");
}
void FetDriver::begin()
{
int16_t i;
uint32_t t0;
int32_t i0=0;
uint32_t zero,x,k;
int32_t max_mA;
ptrInstance=(FetDriver *)this;
//enable 1V reference
SYSCTRL->VREF.reg |= SYSCTRL_VREF_BGOUTEN;
ADCRead(ISENSE_FET_A); //setup the adc with fast timing
//nt32_t min,max,avg;
//Setup the FET inputs
GPIO_OUTPUT(PIN_FET_IN1);
GPIO_OUTPUT(PIN_FET_IN2);
GPIO_OUTPUT(PIN_FET_IN3);
GPIO_OUTPUT(PIN_FET_IN4);
GPIO_OUTPUT(PIN_FET_ENABLE);
GPIO_HIGH(PIN_FET_ENABLE);
//setup the Pin peripheral setting correct
pinPeripheral(PIN_FET_IN2, PIO_TIMER_ALT); //TCC0 WO[7]
pinPeripheral(PIN_FET_IN1, PIO_TIMER_ALT);
SET_PIN_PERHERIAL(PIN_FET_IN4, PIO_TIMER_ALT); //TCC0 WO[7]
SET_PIN_PERHERIAL(PIN_FET_IN3, PIO_TIMER_ALT);
pinPeripheral(ISENSE_FET_A, PIO_ANALOG); //AIN[0]
pinPeripheral(ISENSE_FET_B, PIO_ANALOG); //AIN[2]
enableTCC0();
coilB_PWM(0);
coilA_PWM(0);
delay(100);
measureCoilA_zero();
measureCoilB_zero();
// ADCStart(ISENSE_FET_A);
//return;
// while(1)
// {
// LOG("tick %d %d", TCC0->CC[1].reg,TCC0->CC[0].reg);
// LOG("%d %d",coilA_error,coilB_error);
// }
// uint16_t data[1000];
// ADCRead(ISENSE_FET_A);
//
// t0=micros();
// GPIO_LOW(PIN_FET_IN2);
// GPIO_GPIO_OUTPUT(PIN_FET_IN2);
// GPIO_HIGH(PIN_FET_IN1);
// GPIO_GPIO_OUTPUT(PIN_FET_IN1);
//
// for (i=0; i<1000; i++)
// {
// data[i]=fastADCRead(ISENSE_FET_A);
// }
// coilA_PWM(0);
//
// t0=micros()-t0;
//
// Serial.print("\n\r Step response \n\r");
// Serial.print(t0);
//
// Serial.print("\n\r Step response \n\r");
// for (i=0; i<1000; i++)
// {
// Serial.print(data[i]);
// Serial.print(",");
// }
// Serial.print("\n\r");
//
// while(1)
// {
//
// }
max_mA=NVM->motorParams.currentMa;
WARNING("Maximum current is %d",max_mA);
if (NVM->motorParams.parametersVaild && max_mA!=0)
{
CalTableA(max_mA);
CalTableB(max_mA);
}else
{
WARNING("NVM is not correct default to 1500mA");
max_mA=1500;
WARNING("calibrating phase A %dmA",max_mA);
CalTableA(max_mA);
WARNING("calibrating phase B %dmA",max_mA);
CalTableB(max_mA);
}
return;
//coilA_PWM(100);
x=0;
while(1)
{
//LOG("Trying to move motor %d",x);
delay(1);
move(x, 1000);
x=x+256;
}
return; // all done
// //set DAC to mid level
// syncDAC();
// DAC->DATA.reg = 0x2FF; // DAC on 10 bits.
// syncDAC();
// DAC->CTRLA.bit.ENABLE = 0x01; // Enable DAC
// syncDAC();
// WARNING("Running ADC ISR test");
// ADCRead(3);
//LOG("coil value %d %d",coilB_value,coilB_Zero);
i=47;
x=0;
while(1)
{
int32_t adc,value;
int32_t mA;
if (0)
{
coilB_PWM(i);
delayMicroseconds(1000);
//LOG("%d",i);
//if (i==47 ) delay(50);
if (x==0)
{
i=i+1;
if (i>200)
{
x=1;
//i=47;
}
}
if (x == 1)
{
i=i-1;
if (i<47)
{
x=2;
i=-47;
}
}
if (x == 2)
{
i=i-1;
if (i<-200)
{
x=3;
}
}
if (x == 3)
{
i=i+1;
if (i>-47)
{
x=0;
i=47;
}
}
}else
{
adc=ADCRead(ISENSE_FET_A);
value=adc-coilA_Zero;
mA=(value*2206)/1000;
//
//delay(500);
//NVIC_DisableIRQ(ADC_IRQn);
LOG("coil A %d %d, %d ",coilA_Zero, value, mA );
}
// NVIC_DisableIRQ(ADC_IRQn);
//
// NVIC_EnableIRQ(ADC_IRQn);
}
x=0;
for (k=0; k<128; k++)
{
x=x+ADCRead(8);
}
zero=x/32;
//setupDAC();
//setDAC(5,5);
enableTCC0();
//setupComparators();
ERROR("Enable PWM");
pinPeripheral(PIN_FET_IN4, PIO_TIMER_ALT); //TCC0 WO[7]
//
// for (i=40; i<55; i++)
// {
// coilB_PWM(i);
// delay(200);
// ADCRead(8,16);
// LOG("COMP is 0x%04X ", AC->STATUSA.reg);
// LOG("%d ADC is %d ",i, ADCRead(8,16));
// YELLOW_LED(0);
// }
//ADCRead(8,16);
//AC->INTENCLR.bit.COMP1=1;
//coilA_Value=0;
coilB_PWM(0);
i=47;
coilB_PWM(i);
while(1)
{
int32_t x=0,k;
coilB_PWM(i);
delay(3000);
for (k=0; k<128; k++)
{
x=x+ADCRead(8);
}
x=x/32;
LOG("%d %d %d",i,x-zero,(x*3300)/(4096*4));
LOG("%d",((x-zero)*5517)/10000);
i=i+20;
if (i>140)
{
i=47;
}
}
/* AC->INTENSET.bit.COMP1=1;
while(1)
{
AC->INTENCLR.bit.COMP1=1;
YELLOW_LED(0);
AC->INTENSET.bit.COMP1=1;
if ((millis()-t0)>10000)
{
int j;
min=0xFFFFFF;
max=(int16_t)ADCRead(8,16);
avg=0;
j=0;
t0=micros();
while( (micros()-t0)<1000)
{
int16_t valueRead;
valueRead = ADCRead(8,16);
if (valueRead<min)
{
min=valueRead;
}
if (valueRead>max)
{
max=valueRead;
}
avg+=valueRead;
j++;
}
int32_t ma,x,duty;
duty=i-45;
duty=(1000*duty)/(F_CPU/FET_DRIVER_FREQ);
LOG("min %d max %d, avg %d j %d, %d", min, max, (avg*10)/j, j,(avg*10)/j*(1000-duty)/1000);
x=(avg*10)/j*(1000-duty)/1000;
x=(x*600)/1000+200;
LOG("mA %d\n\r",x);
if (i<150)
{
i=100;
}else
{
i=45;
}
LOG("COMP is 0x%04X ", AC->STATUSA.reg);
LOG("%d ADC is %d %d",i, ADCRead(8,16),coilA_Value);
t0=millis();
AC->INTENCLR.bit.COMP1=1;
coilA_Value=0;
coilB_PWM(i);
AC->INTENSET.bit.COMP1=1;
}
}
*/
return;
//setup the PWM for current on the A4954, set for low current
digitalWrite(PIN_A4954_VREF12,LOW);
digitalWrite(PIN_A4954_VREF34,LOW);
pinMode(PIN_A4954_VREF34, OUTPUT);
pinMode(PIN_A4954_VREF12, OUTPUT);
enabled=true;
lastStepMicros=0;
forwardRotation=true;
enableTCC0();
setupDAC();
//
// WARNING("Setting DAC for 500mA output");
// setDAC((int32_t)((int64_t)1000*(DAC_MAX))/3300,(int32_t)((int64_t)1000*(DAC_MAX))/3300);
// bridge1(0);
// bridge2(0);
// while(1)
// {
//
// }
return;
}
int32_t FetDriver::getCoilB_mA(void)
{
int32_t adc,ret;
//fastADCRead(ISENSE_FET_B);
adc=(int32_t)fastADCRead(ISENSE_FET_B);
ret=FET_ADC_TO_MA(adc-coilB_Zero);
//LOG("coilb %d %d",adc,ret);
return ret;
}
int32_t FetDriver::getCoilA_mA(void)
{
int32_t adc,ret;
//fastADCRead(ISENSE_FET_A);
adc=(int32_t)fastADCRead(ISENSE_FET_A);
ret=FET_ADC_TO_MA(adc-coilA_Zero);
//LOG("coila %d %d",adc,ret);
return ret;
}
//this is precise move and modulo of A4954_NUM_MICROSTEPS is a full step.
// stepAngle is in A4954_NUM_MICROSTEPS units..
// The A4954 has no idea where the motor is, so the calling function has to
// to tell the A4954 what phase to drive motor coils.
// A4954_NUM_MICROSTEPS is 256 by default so stepAngle of 1024 is 360 degrees
// Note you can only move up to +/-A4954_NUM_MICROSTEPS from where you
// currently are.
int32_t FetDriver::move(int32_t stepAngle, uint32_t mA)
{
uint16_t angle;
int32_t cos,sin;
int32_t dacSin,dacCos;
int32_t dacSin_mA,dacCos_mA;
int32_t maxMa;
static int32_t last_dacSin_mA=0,last_dacCos_mA=0;;
if (enabled == false)
{
WARNING("FET Driver disabled");
//turn the current off to FETs
coilA_PWM(0);
coilB_PWM(0);
//float the FET outputs by disabling FET driver.
GPIO_LOW(PIN_FET_ENABLE);
return stepAngle;
}
GPIO_HIGH(PIN_FET_ENABLE);
maxMa=NVM->motorParams.currentMa;
if (maxMa==0)
{
maxMa=2200;
}
//WARNING("move %d %d",stepAngle,mA);
//handle roll overs, could do with modulo operator
//stepAngle=stepAngle%SINE_STEPS;
// while (stepAngle<0)
// {
// stepAngle=stepAngle+SINE_STEPS;
// }
// while (stepAngle>=SINE_STEPS)
// {
// stepAngle=stepAngle-SINE_STEPS;
// }
//figure out our sine Angle
// note our SINE_STEPS is 4x of microsteps for a reason
//angle=(stepAngle+(SINE_STEPS/8)) % SINE_STEPS;
angle=(stepAngle) % SINE_STEPS;
//calculate the sine and cosine of our angle
sin=sine(angle);
cos=cosine(angle);
//if we are reverse swap the sign of one of the angels
if (false == forwardRotation)
{
cos=-cos;
}
//LOG("sin/cos %d %d %d", sin,cos,angle);
//scale sine result by current(mA)
dacSin_mA=((int32_t)mA*(int32_t)(sin))/SINE_MAX;
//scale cosine result by current(mA)
dacCos_mA=((int32_t)mA*(int32_t)(cos))/SINE_MAX;
coilA_SetPoint=FET_MA_TO_ADC(dacSin_mA);
coilB_SetPoint=FET_MA_TO_ADC(dacCos_mA);
//LOG("sin/cos %d %d", dacSin,dacCos);
//convert value into 12bit DAC scaled to 3300mA max
dacSin=(int32_t)((int64_t)dacSin_mA*(255))/maxMa;
//convert value into 12bit DAC scaled to 3300mA max
dacCos=(int32_t)((int64_t)dacCos_mA*(255))/maxMa;
//LOG("sin/cos %d %d", dacSin,dacCos);
//limit the table index to +/-255
dacCos=MIN(dacCos,(int32_t)255);
dacCos=MAX(dacCos,(int32_t)-255);
dacSin=MIN(dacSin,(int32_t)255);
dacSin=MAX(dacSin,(int32_t)-255);
if ((dacSin_mA-last_dacSin_mA)>200)
{
GPIO_LOW(PIN_FET_IN2);
PIN_GPIO_OUTPUT(PIN_FET_IN2);
GPIO_HIGH(PIN_FET_IN1);
PIN_GPIO_OUTPUT(PIN_FET_IN1);
}else if ((dacSin_mA-last_dacSin_mA)<-200)
{
GPIO_HIGH(PIN_FET_IN2);
PIN_GPIO_OUTPUT(PIN_FET_IN2);
GPIO_LOW(PIN_FET_IN1);
PIN_GPIO_OUTPUT(PIN_FET_IN1);
}
if ((dacCos_mA-last_dacCos_mA)>200)
{
GPIO_LOW(PIN_FET_IN4);
PIN_GPIO_OUTPUT(PIN_FET_IN4);
GPIO_HIGH(PIN_FET_IN3);
PIN_GPIO_OUTPUT(PIN_FET_IN3);
}else if ((dacCos_mA-last_dacCos_mA)<-200)
{
GPIO_HIGH(PIN_FET_IN4);
PIN_GPIO_OUTPUT(PIN_FET_IN4);
GPIO_LOW(PIN_FET_IN3);
PIN_GPIO_OUTPUT(PIN_FET_IN3);
}
delayMicroseconds(20);
last_dacSin_mA=dacSin_mA;
last_dacCos_mA=dacCos_mA;
// YELLOW_LED(1);
// uint32_t t0=micros();
// int done=0;
// int32_t a,b;
// a=FET_MA_TO_ADC(dacSin_mA);
// b=FET_MA_TO_ADC(dacCos_mA);
// while ((micros()-t0)<20 && done!=0x03)
// {
// if ( (fastADCRead(ISENSE_FET_A)-a)<FET_MA_TO_ADC(200))
// {
// GPIO_LOW(PIN_FET_IN2);
// PIN_GPIO_OUTPUT(PIN_FET_IN2);
// GPIO_HIGH(PIN_FET_IN1);
// PIN_GPIO_OUTPUT(PIN_FET_IN1);
// //coilA_PWM(PWM_Table_A[dacSin+255]);
// done |=0x01;
// }
//
// if ((fastADCRead(ISENSE_FET_A)-a)>FET_MA_TO_ADC(200))
// {
// GPIO_HIGH(PIN_FET_IN2);
// PIN_GPIO_OUTPUT(PIN_FET_IN2);
// GPIO_LOW(PIN_FET_IN1);
// PIN_GPIO_OUTPUT(PIN_FET_IN1);
// done |=0x01;
// }
// if ((fastADCRead(ISENSE_FET_B)-b)<FET_MA_TO_ADC(200))
// {
// GPIO_LOW(PIN_FET_IN4);
// PIN_GPIO_OUTPUT(PIN_FET_IN4);
// GPIO_HIGH(PIN_FET_IN3);
// PIN_GPIO_OUTPUT(PIN_FET_IN3);
// done |=0x02;
// }
// if ((fastADCRead(ISENSE_FET_B)-b)>FET_MA_TO_ADC(200))
// {
// GPIO_HIGH(PIN_FET_IN4);
// PIN_GPIO_OUTPUT(PIN_FET_IN4);
// GPIO_LOW(PIN_FET_IN3);
// PIN_GPIO_OUTPUT(PIN_FET_IN3);
// done |=0x02;
// }
//
// }
//
// YELLOW_LED(0);
//LOG("sin/cos %d %d", dacSin,dacCos);
//loop up the current from table and set the PWM
coilA_PWM(PWM_Table_A[dacSin+255]);
coilB_PWM(PWM_Table_B[dacCos+255]);
lastStepMicros=micros();
return stepAngle;
}
#pragma GCC pop_options //fast optimization
#endif //NEMA_23_10A_HW
#pragma GCC pop_options