The circuit uses an ATXmega256A3U microcontroller and a TMC262 step gate-driver, with STI STL40C30H3ll P/N Pair Half Bridges to do the business. Between the driver and microcontroller are an SPI bus, to configure the driver, a diagnosis line, and step, direction, and enable lines.
@@ -4,4 +4,11 @@ Firmware for the board follows the [automatakit](https://gitlab.cba.mit.edu/jake
Communication is handled asynchronously: bytes received on the UART are loaded into a ringbuffer, where they are later parsed in to packets. Parsing happens as oven as possible.
Two hardware timers run step timing, one fires every time a step is to be taken, and another fires when acceleration needs to happen, the 2nd timer changes the period of the 1st.
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Two hardware timers run step timing, one fires every time a step is to be taken, and another fires when acceleration needs to happen, the 2nd timer changes the period of the 1st.
## Step Timing
I'm interested in doing this well... need to find a good step train solution and figure out what a good networked solution is?
