Implemented Stop on Zero Step

2024-09-25 19:46:52 +02:00
parent e97472c2a3
commit 1ad6c75788
4 changed files with 54 additions and 17 deletions
--- a/motor-control/firmware/src/tmc2209/pulser.pio
+++ b/motor-control/firmware/src/tmc2209/pulser.pio
@@ -18,7 +18,8 @@ counter:
    ; SM 3 + 2 -> IRQ 1
    PULL
    MOV X, OSR
-    IRQ WAIT 2 REL
+    JMP !X l1_end
+    JMP X-- l1
 l1:
    PULL NOBLOCK
    IRQ WAIT 2 REL
@@ -29,6 +30,7 @@ l1:
    MOV X, OSR
    JMP X-- l1

+l1_end:
    IRQ SET 0 REL
    ; SM 2 + 0 -> IRQ 2
    ; SM 3 + 0 -> IRQ 3