diff --git a/embedded/mkstepper-v011/mkstepper-v011/main.c b/embedded/mkstepper-v011/mkstepper-v011/main.c index 7e6c79b9b448104961f6b96629f479179a4cdf99..9edbe8f66d74e6100ac867da6b64a09475ccb137 100644 --- a/embedded/mkstepper-v011/mkstepper-v011/main.c +++ b/embedded/mkstepper-v011/mkstepper-v011/main.c @@ -204,10 +204,6 @@ int main(void) MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM4; uart_init(&up0, 7, SERCOM4_GCLK_ID_CORE, 62675); // baud: 45402 for 921600, 63018 for 115200 - // CURRENTLY: you dismantled this to unfuck the serial port. result: UP0 broken for reasons not worth investigating - - /* - up1 = uart_new(SERCOM5, &PORT->Group[1], &up1_rbrx, &up1_rbtx, 3, 2, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D); MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5; uart_init(&up1, 7, SERCOM5_GCLK_ID_CORE, 62675); @@ -215,8 +211,6 @@ int main(void) ups[0] = &up0; ups[1] = &up1; - /* - up0_stlr = pin_new(&PORT->Group[0], 19); pin_output(&up0_stlr); pin_set(&up0_stlr); @@ -284,7 +278,12 @@ int main(void) { apaport_scan(&apap0, 2); apaport_scan(&apap1, 2); + + /* + now: step timer should not accumulate error ! + */ + /* if(stepper.position_ticks_target == stepper.position_ticks){ stpcnt ++; //pin_clear(&stlr); @@ -294,8 +293,8 @@ int main(void) } else { //pin_set(&stlr); } + */ } - */ } /* @@ -314,7 +313,7 @@ minors: void SysTick_Handler(void){ // slow ticker - //pin_toggle(&stlb); + pin_toggle(&stlb); //pin_toggle(&stlr); //uart_sendchar_buffered(&up0, 120);