Implement PIO-Pulser as Class for two channels Channel

2024-09-25 18:12:19 +02:00
parent 9640a5b747
commit bba35c9622
5 changed files with 269 additions and 3 deletions
--- a/motor-control/firmware/src/tmc2209/pulser.pio
+++ b/motor-control/firmware/src/tmc2209/pulser.pio
@@ -20,11 +20,17 @@ counter:
    MOV X, OSR
    IRQ WAIT 2 REL
 l1:
-    IRQ WAIT 2 REL  [1]
+    PULL NOBLOCK
+    IRQ WAIT 2 REL
    SET PINS, 1
+
    IRQ WAIT 2 REL
    SET PINS, 0
+    MOV X, OSR
    JMP X-- l1

+    IRQ SET 0 REL
+    ; SM 2 + 0 -> IRQ 2
+    ; SM 3 + 0 -> IRQ 3
    JMP counter