I have been studying the stepgen.c code.
I intend to implement it for the orange pi arisc especially, but rpi and
bpi and bbb and ilk not so specificly.
Anyway I see some interesting things in the code.
It allows for the steplen and stepspace and dirhold and dirsetup to change.
"""
if ( stepgen->step_len != stepgen->old_step_len ) {
...
if ( stepgen->step_space != stepgen->old_step_space ) {
...
if ( stepgen->dir_setup != stepgen->old_dir_setup ) {
...
if ( stepgen->dir_hold_dly != stepgen->old_dir_hold_dly ) {
"""
Has that ever been tested?
How? I suppose in a halcmd scenario...
I didnt think those elements were r/w..
just checked, yes they are r/w!
Even the scale can be changed,
"""
if (stepgen->pos_scale != stepgen->old_scale) {
"""
Was there thought of gear shifting transmissions for stepper motors?
And the thread period can be changed
"""
if (periodns != old_periodns) {
"""
Was the r/w attribute for these params used in some tuning software? All
these tests are performed every thread period.
Leave in or strip out?
tomp
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