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Remove frequency counter on encoder pins (THCAD test)

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This commit is contained in:
Hakan Bastedt
2025-08-06 21:20:56 +02:00
parent 44a15a21f8
commit 15d25ab06d
1 changed files with 2 additions and 20 deletions
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22
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp
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@@ -16,7 +16,7 @@ HardwareSerial Serial1(PA10, PA9);
////// Digital IO
const byte INPUTS[8] = {PE8, PE9, PE10, PE11, PE12, PE13, PE14, PE15};
const byte OUTPUTS[4] = {PC5, PB0, PB1, PE7};
const byte THCAD_PIN = PA2; // CAN BE PA0, should be PA0
//const byte THCAD_PIN = PA2; // CAN BE PA0, should be PA0
#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
@@ -121,7 +121,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPosition = Encoder1.currentPos();
Obj.IndexByte = Encoder1.getIndexState();
Obj.EncVelocity = Obj.EncScale * FrequencyMeasured;
Obj.EncVelocity = Obj.EncScale * Encoder1.frequency(longTime.extendTime(micros()));
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
@@ -199,24 +199,6 @@ void setup(void)
baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated
baseTimer->attachInterrupt(basePeriodCB);
// Automatically retrieve TIM instance and channel associated to pin
// This is used to be compatible with all STM32 series automatically.
TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(digitalPinToPinName(THCAD_PIN), PinMap_PWM);
channel = STM_PIN_CHANNEL(pinmap_function(digitalPinToPinName(THCAD_PIN), PinMap_PWM));
// FrequencyTimer = new HardwareTimer(Instance); // TIM2
FrequencyTimer = new HardwareTimer(TIM5); // TIM5
uint32_t PrescalerFactor = 1;
FrequencyTimer->setMode(channel, TIMER_INPUT_CAPTURE_RISING, THCAD_PIN);
FrequencyTimer->setPrescaleFactor(PrescalerFactor);
FrequencyTimer->setOverflow(0xFFFFFFF0); // Max Period value to have the largest possible time to detect rising edge and avoid timer rollover
FrequencyTimer->attachInterrupt(channel, InputCapture_IT_callback);
FrequencyTimer->attachInterrupt(Rollover_IT_callback);
FrequencyTimer->resume();
// Compute this scale factor only once
input_freq = FrequencyTimer->getTimerClkFreq() / FrequencyTimer->getPrescaleFactor();
encoder_config(); // Needed by encoder, possibly breaks some timers.
ecat_slv_init(&config);