ejung/parafraktor-stm32
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working 16 bit position

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only one motor
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Eggert Jung
2025-05-27 23:17:54 +02:00
parent 5253648cfb
commit 27550dbfd4
1 changed files with 4 additions and 1 deletions
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5
Src/stepper.c
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@@ -128,7 +128,10 @@ void do_steps(){
if(steppers[i].homed){ if(steppers[i].homed){
static uint16_t old_ramp_to_speed; static uint16_t old_ramp_to_speed;
old_ramp_to_speed = steppers[i].ramp_to_speed; old_ramp_to_speed = steppers[i].ramp_to_speed;
steppers[i].ramp_to_speed = rxBuffer[i+1] - steppers[i].pos;
uint16_t *p = (uint16_t*)&rxBuffer[1];
steppers[i].ramp_to_speed = __builtin_bswap16(*p) - steppers[i].pos;
if(old_ramp_to_speed == 0 && steppers[i].ramp_to_speed != 0) if(old_ramp_to_speed == 0 && steppers[i].ramp_to_speed != 0)
steppers[i].trigger_step = 1; steppers[i].trigger_step = 1;