jeka/MyOwnEtherCATDevice
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Cleaning of code.

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This commit is contained in:
Hakan Bastedt
2025-10-13 23:34:14 +02:00
parent f253ce8482
commit 08915ef4bb
1 changed files with 78 additions and 92 deletions
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24
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
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@@ -8,7 +8,6 @@ _Objects Obj;
#include "extend32to64.h"
extend32to64 longTime;
volatile uint64_t irqTime = 0;
HardwareSerial Serial1(PA10, PA9);
@@ -44,7 +43,7 @@ void ads1014_reset(ADS1014 *ads) {
#include <queue>
class OhmicSensing {
public:
public:
void handle(uint8_t voltageState, float inVoltage, float limitVoltage,
float voltageDropLimit, uint32_t setupTime, uint8_t enabled,
uint8_t &sensed);
@@ -66,9 +65,6 @@ public:
OhmicSensing Ohm1;
OhmicSensing Ohm2;
// DEBUG
volatile int saveALEvent;
void handleVoltageReader(float scale_in, float offset, float &outVoltage,
int32_t &outRaw, float &oldVoltage, float &oldRaw,
uint8_t devType, int8_t &old_devType,
@@ -87,7 +83,6 @@ void lowpassFilter(float &oldLowPassGain,
#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
#define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
extern "C" uint32_t ESC_SYNC0cycletime(void);
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
@@ -149,10 +144,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.In_Unit2.EnableOhmicSensing, Obj.Out_Unit2.OhmicSensingSensed);
}
void ESC_interrupt_enable(uint32_t mask);
void ESC_interrupt_disable(uint32_t mask);
uint16_t dc_checker(void);
void sync0Handler(void);
static esc_cfg_t config = {
.user_arg = NULL,
@@ -173,8 +165,6 @@ static esc_cfg_t config = {
.esc_check_dc_handler = dc_checker,
};
volatile byte serveIRQ = 0;
void setup(void) {
Serial1.begin(115200);
@@ -275,8 +265,7 @@ void handleVoltageReader(float scale_in, float offset, float &outVoltage,
MyMCP3221 *&mcp, uint8_t I2C_address,
uint32_t &I2C_restarts) {
float scale = scale_in;
if (scale == 0.0)
scale = 1.0;
if (scale == 0.0) scale = 1.0;
int stat = 1, data0;
switch (devType) {
@@ -350,8 +339,7 @@ void handleVoltageReader(float scale_in, float offset, float &outVoltage,
Wire2.begin();
Wire2.setClock(I2C_BUS_SPEED);
I2C_restarts++;
if (devType == ADS1014_TYPE && ads != nullptr)
ads1014_reset(ads);
if (devType == ADS1014_TYPE && ads != nullptr) ads1014_reset(ads);
// mcp3221 has no reset, reset the I2C bus is the best we can do
}
readStat = stat;
@@ -394,8 +382,7 @@ void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
if (ohmicState == OHMIC_IDLE && inVoltage > limitVoltage) {
ohmicState = OHMIC_SETUP;
startTime = longTime.extendTime(micros());
while (!voltages.empty())
voltages.pop(); // Remove history
while (!voltages.empty()) voltages.pop(); // Remove history
return;
}
if (ohmicState == OHMIC_SETUP) {
@@ -413,8 +400,7 @@ void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
dTime = longTime.extendTime(micros()) - startTime;
Obj.Out_Unit2.RawData = dTime;
voltages.push(inVoltage);
while (voltages.size() > N_VOLTAGES)
voltages.pop(); // Only N_VOLTAGES
while (voltages.size() > N_VOLTAGES) voltages.pop(); // Only N_VOLTAGES
if (dTime > 30000000) { // Go to IDLE after 30 seconds
ohmicState = OHMIC_IDLE;
return;