jeka/MyOwnEtherCATDevice
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Now it is occasionally updating correct 1 ms. wip.

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This commit is contained in:
Hakan Bastedt
2024-01-04 23:00:09 +01:00
parent 93405efd63
commit 1168f7e5ad
1 changed files with 8 additions and 4 deletions
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12
Firmware/src/main.cpp
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@@ -50,6 +50,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
Obj.StepGenOut1.ActualPosition = Obj.StepGenIn1.CommandedPosition;
}
uint32_t posD2 = 0, posD3 = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = 0;
@@ -80,6 +81,12 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.IndexByte = digitalRead(INDEX_PIN);
if (Obj.IndexByte)
Serial1.printf("IS 1\n");
Obj.IndexByte = posD2;
Obj.IndexStatus = posD3;
posD3 = posD2;
posD2 = 1000*Obj.StepGenIn1.CommandedPosition;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -205,11 +212,9 @@ void handleStepper(void)
deltaT = now - back_then;
Obj.DiffT = deltaT;
back_then = now;
#if 0
const int32_t stepsPerMM = 1000;
// Update the actual position
pulsesToGo = stepsPerMM * (Obj.StepGenIn1.CommandedPosition - actualPosition);
Obj.StepGenOut1.ActualPosition = actualPosition;
// Get new end position
forwardDirection = pulsesToGo > 1 ? 1 : 0;
// Set direction pin
@@ -217,11 +222,10 @@ void handleStepper(void)
if (pulsesToGo != 0)
{
digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed
makePulses(900, abs((int)pulsesToGo)); // Make the pulses using hardware timer
makePulses(700, abs((int)pulsesToGo)); // Make the pulses using hardware timer
}
actualPosition = Obj.StepGenIn1.CommandedPosition;
Obj.StepGenOut1.ActualPosition = Obj.StepGenIn1.CommandedPosition;
#endif
}
void ESC_interrupt_enable(uint32_t mask)