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Cleanup pending release

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This commit is contained in:
Hakan Bastedt
2025-02-02 09:43:58 +01:00
parent 040ea4ab61
commit 0c5551663d
1 changed files with 10 additions and 10 deletions
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20
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/src/main.cpp
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@@ -17,9 +17,12 @@ uint8_t inputPin[] = {PD15, PD14, PD13, PD12, PD11, PD10, PD9, PD8, PB15, PB14,
uint8_t outputPin[] = {PE10, PE9, PE8, PE7};
#include "HardwareTimer.h"
// NOTE This mod in the beginning of HardwareTimer.cpp for 32-bit precision
// NOTE 1. Optional optional, not needed. This mod in the beginning of HardwareTimer.cpp for 32-bit precision
////// //#define MAX_RELOAD ((1 << 16) - 1) // Currently even 32b timers are used as 16b to have generic behavior
////// #define MAX_RELOAD 0xFFFFFFFF
// Note 2. This is optional. A 16-bit timer is enough to capture the THCAD frequency.
// Lowest freq on my THCAD card is 3.8 kHz at 0 V and then faster for higher voltage
// Lowest freq possible with 16-bit timer is 168000000/65535 = 2.5 kHz.
#define THCAD_PIN PA0
// PA0 is connected to Timer 2, a 32-bit timer
@@ -41,7 +44,7 @@ volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{
// Update digital pins
// Update digital output pins
for (int i = 0; i < sizeof(outputPin); i++)
digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
}
@@ -84,12 +87,6 @@ static esc_cfg_t config =
volatile byte serveIRQ = 0;
volatile uint32_t globalIRQ = 0;
void globalInt(void)
{
globalIRQ++;
}
void setup(void)
{
Serial1.begin(115200);
@@ -101,6 +98,8 @@ void setup(void)
pinMode(outputPin[i], OUTPUT);
digitalWrite(outputPin[i], LOW);
}
#if 0
// Debug leds
pinMode(PB4, OUTPUT);
pinMode(PB5, OUTPUT);
pinMode(PB6, OUTPUT);
@@ -109,6 +108,7 @@ void setup(void)
digitalWrite(PB5, HIGH);
digitalWrite(PB6, HIGH);
digitalWrite(PB7, HIGH);
#endif
// Automatically retrieve TIM instance and channel associated to pin
// This is used to be compatible with all STM32 series automatically.
@@ -127,7 +127,8 @@ void setup(void)
// 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)
// A 16 bit timer is ok. Can measure down to 2.6 kHz, which is lower than 0 Volt on my card (3.8 kHz)
// But I have 32-bit timer for historical reasons
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
@@ -139,7 +140,6 @@ void setup(void)
input_freq = EncoderTimer->getTimerClkFreq() / EncoderTimer->getPrescaleFactor();
ecat_slv_init(&config);
attachInterrupt(digitalPinToInterrupt(PC0), globalInt, RISING);
}
void loop(void)