Runs great _until_ I attempt to change the frequency.
When I call "MyTimx->setPWM(channelx, pins[x], ..." to set a new frequency, the first and third timers change frequency perfectly, but the second timer simply stops.
When I run the code below, initially, all three stepper motors run perfectly at the initially assigned speeds, 200, 100, and 80 Hz.
When I then toggle the Hauler switch OFF, the first and third steppers speed up, and the second one simply stops.
The first and third steppers revert to their default speeds when I toggle the Hauler switch back ON, and the second stepper remains stopped.
Does anyone have any clues, hints, or tips? (I have been scratching my head over this for a week.)
Thank you so much, in advance,
Bill D.
Here is my code:
Code: Select all
// Three pulse timer outputs
// Nucleo 64 FR446RE
#define VER 4
#include <Bounce2.h> // Used to debounce switches. Seems to work quite well indeed.
Bounce HaulerSwitch = Bounce();
#define ENABLE_HAULER PB4
// Define Stepper pins
#define STEP0 PC6 // Stepper Pulse #0 signal (white with black stripe) Spool stepper pulse
#define DIR0 PC5 // Stepper Direction #0 (yellow)
#define ENA0 PA11 // Stepper Enable #0 (white)
#define STEP1 PB1 // Stepper Pulse #1 signal (white with gray stripe) Roller stepper pulse
#define DIR1 PB15 // Stepper Direction #1 (yellow)
#define ENA1 PB14 // Stepper Enable #1 (white)
#define STEP2 PB2 // Stepper Pulse #2 signal (white with brown stripe) Guide stepper pulse
#define DIR2 PC7 // Stepper Direction #2 (yellow)
#define ENA2 PA9 // Stepper Enable #2 (white)
unsigned int FreqFourValue;
// Set up parameters for F446RE timers to run stepper pulses
#define NUM_OF_PINS 3 // ( sizeof(pins) / sizeof(uint32_t) )
uint32_t pins[NUM_OF_PINS] = { STEP0, STEP1, STEP2 }; // These pins seem to work for timers
// 50% and 50% 50%
uint32_t dutyCycle[NUM_OF_PINS] = { 50, 50, 50 }; // Set duty Cycle for STEP0, STEP2, STEP2
// Set to MinPPS, to start with
uint32_t freq[NUM_OF_PINS] = { 200, 100, 80 }; // Set Starting Frequency for STEP0, STEP2, STEP2
// Set up hardware timers to make stepper pulses for MyTim0, MyTim1, MyTim2 on pins STEP0, STEP1, and STEP2
// Use "MyTimx->setPWM(channelx, pins[x], ..." Substitute new integer freq in Hz for "freq[x]" and the pin will make that freq
TIM_TypeDef *Instance0 = (TIM_TypeDef *)pinmap_peripheral(digitalPinToPinName(pins[0]), PinMap_PWM);
uint32_t channel0 = STM_PIN_CHANNEL(pinmap_function(digitalPinToPinName(pins[0]), PinMap_PWM));
HardwareTimer *MyTim0 = new HardwareTimer(Instance0);
TIM_TypeDef *Instance1 = (TIM_TypeDef *)pinmap_peripheral(digitalPinToPinName(pins[1]), PinMap_PWM);
uint32_t channel1 = STM_PIN_CHANNEL(pinmap_function(digitalPinToPinName(pins[1]), PinMap_PWM));
HardwareTimer *MyTim1 = new HardwareTimer(Instance1);
TIM_TypeDef *Instance2 = (TIM_TypeDef *)pinmap_peripheral(digitalPinToPinName(pins[2]), PinMap_PWM);
uint32_t channel2 = STM_PIN_CHANNEL(pinmap_function(digitalPinToPinName(pins[2]), PinMap_PWM));
HardwareTimer *MyTim2 = new HardwareTimer(Instance2);
void setup()
{
// Set the timer parameters
MyTim0->setPWM(channel0, pins[0], freq[0], dutyCycle[0]);
MyTim1->setPWM(channel1, pins[1], freq[1], dutyCycle[1]);
MyTim2->setPWM(channel2, pins[2], freq[2], dutyCycle[2]);
// Set up pins for SpoolA STEP0 Direction and Enable
pinMode(DIR0,OUTPUT);
digitalWrite(DIR0, LOW); // Set to cw
pinMode(ENA0,OUTPUT);
digitalWrite(ENA0,LOW); // enable pin is inverted, HIGH = OFF
// Set up pins for Roller STEP1 Direction and Enable
pinMode(DIR1,OUTPUT);
digitalWrite(DIR1, LOW); // Set to CW
pinMode(ENA1,OUTPUT);
digitalWrite(ENA1,LOW); // enable pin is inverted, LOW = enabled
// Set up pins for Guide STEP2 Direction and Enable
pinMode(DIR2,OUTPUT);
digitalWrite(DIR2, LOW); // Set to cc
pinMode(ENA2, OUTPUT);
digitalWrite(ENA2,LOW); // enable pin is inverted
HaulerSwitch.attach(ENABLE_HAULER, INPUT_PULLUP ); // Debounce setup for ENABLE_HAULER
HaulerSwitch.interval(50); // HaulerSwitch sampling interval in ms
HaulerSwitch.update( );
delay(100);
} // end setup()
void loop()
{
if (HaulerSwitch.fell()) { //The "run" switch has transitioned OFF
digitalWrite(ENA0, LOW); // enable pin is inverted, LOW = Enabled
digitalWrite(ENA1,LOW); // enable pin is inverted, LOW = Enabled
digitalWrite(ENA2,LOW); // enable pin is inverted, LOW = Enabled
FreqFourValue = 4*freq[0]; // Set all freq to 3 x the freq[0] starting value
MyTim0->setPWM(channel0, pins[0], FreqFourValue, dutyCycle[0]);
MyTim1->setPWM(channel1, pins[1], FreqFourValue, dutyCycle[1]);
MyTim2->setPWM(channel2, pins[2], FreqFourValue, dutyCycle[2]);
}
if (HaulerSwitch.rose()) { // The "run" switch has transitioned ON
digitalWrite(ENA0, LOW); // enable pin is inverted, LOW = Enabled
digitalWrite(ENA1,LOW); // enable pin is inverted, LOW = Enabled
digitalWrite(ENA2,LOW); // enable pin is inverted, LOW = Enabled
// Restore the freq to their starting values
MyTim0->setPWM(channel0, pins[0], freq[0], dutyCycle[0]);
MyTim1->setPWM(channel1, pins[1], freq[1], dutyCycle[1]);
MyTim2->setPWM(channel2, pins[2], freq[2], dutyCycle[2]);
}
HaulerSwitch.update( );
} // end loop()
I code primarily in C and try not to stray too much into C++.