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Closer to final version

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This commit is contained in:
Hakan Bastedt
2025-01-14 10:41:19 +01:00
parent 3e76263177
commit 040ea4ab61
9 changed files with 218 additions and 740 deletions
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37
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/src/main.cpp
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@@ -32,23 +32,29 @@ HardwareTimer *EncoderTimer;
void InputCapture_IT_callback(void);
void Rollover_IT_callback(void);
#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
#define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{
// Update digital pins
for (int i = 0; i < sizeof(outputPin); i++)
{
digitalWrite(outputPin[i], Obj.Output[i]);
}
digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
for (int i = 0; i < sizeof(inputPin); i++)
Obj.Input[i] = digitalRead(inputPin[i]);
Obj.Velocity = Obj.VelocityScale * FrequencyMeasured;
Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i);
float scale = Obj.VelocityScale;
if (scale == 0.0)
scale = 1.0;
Obj.Velocity = scale * FrequencyMeasured;
Obj.Frequency = FrequencyMeasured;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -95,6 +101,14 @@ void setup(void)
pinMode(outputPin[i], OUTPUT);
digitalWrite(outputPin[i], LOW);
}
pinMode(PB4, OUTPUT);
pinMode(PB5, OUTPUT);
pinMode(PB6, OUTPUT);
pinMode(PB7, OUTPUT);
digitalWrite(PB4, HIGH);
digitalWrite(PB5, HIGH);
digitalWrite(PB6, HIGH);
digitalWrite(PB7, HIGH);
// Automatically retrieve TIM instance and channel associated to pin
// This is used to be compatible with all STM32 series automatically.
@@ -112,6 +126,8 @@ void setup(void)
// To reduce minimum frequency, it is possible to increase prescaler. But this is at a cost of precision.
// The maximum frequency depends on processing of the interruption and thus depend on board used
// Example on Nucleo_L476RG with systemClock at 80MHz the interruption processing is around 4,5 microseconds and thus Max frequency is around 220kHz
// A 16 bit timer is ok (but I use a 32-bit). Can measure down to 2.8 kHz, which is lower than 0 Volt on my card (3.8 kHz)
uint32_t PrescalerFactor = 1;
EncoderTimer->setPrescaleFactor(PrescalerFactor);
EncoderTimer->setOverflow(0xFFFFFFF0); // Max Period value to have the largest possible time to detect rising edge and avoid timer rollover
@@ -128,7 +144,6 @@ void setup(void)
void loop(void)
{
#if 0 // Sync 0 mode
uint64_t dTime;
if (serveIRQ)
{
@@ -139,12 +154,8 @@ void loop(void)
ecat_slv_poll();
}
dTime = longTime.extendTime(micros()) - irqTime;
if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll();
#else // Freerun mode
ecat_slv();
#endif
if (dTime > 5000) // Not doing interrupts - handle free-run
ecat_slv();
}
void sync0Handler(void)