jeka/MyOwnEtherCATDevice
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At least it keeps nLoops at one, always

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This commit is contained in:
Hakan Bastedt
2024-03-28 10:09:12 +01:00
parent 5d90765920
commit 1d14e1f295
2 changed files with 19 additions and 15 deletions
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2
Firmware/include/StepGen3.h
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@@ -144,7 +144,7 @@ private:
}; };
// For the example // For the example
#define BASE_PERIOD 12000 // 12 is max #define BASE_PERIOD 50000 // 12 is max
#define SERVO_PERIOD 1000000 #define SERVO_PERIOD 1000000
#define JOINT_X_STEPGEN_MAXACCEL (1.2 * 520.0) #define JOINT_X_STEPGEN_MAXACCEL (1.2 * 520.0)
#define JOINT_X_SCALE -200 #define JOINT_X_SCALE -200

32
Firmware/src/main.cpp
View File

@@ -29,7 +29,7 @@ StepGen3 *Step = 0;
CircularBuffer<uint64_t, 200> Tim; CircularBuffer<uint64_t, 200> Tim;
volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0; volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0;
extend32to64 longTime; extend32to64 longTime;
volatile uint16_t isrTime = 0; volatile uint16_t isrTime = 0, isr2Time = 0;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{ {
@@ -68,7 +68,7 @@ void handleStepper(void)
pos_cmd2 = Obj.CommandedPosition2; pos_cmd2 = Obj.CommandedPosition2;
Obj.ActualPosition1 = Obj.CommandedPosition1; Obj.ActualPosition1 = Obj.CommandedPosition1;
Obj.ActualPosition2 = Obj.CommandedPosition2; Obj.ActualPosition2 = Obj.CommandedPosition2;
#if 0
if (Step) if (Step)
{ {
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1; Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
@@ -77,6 +77,7 @@ void handleStepper(void)
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb; Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb; Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
} }
#if 0
uint32_t diffT = longTime.extendTime(micros()) - irqTime; uint32_t diffT = longTime.extendTime(micros()) - irqTime;
delayT = 700 - diffT; delayT = 700 - diffT;
if (delayT > 0 && delayT < 900) if (delayT > 0 && delayT < 900)
@@ -86,10 +87,11 @@ void handleStepper(void)
syncTimer->resume(); syncTimer->resume();
} }
else else
#endif
{ {
syncWithLCNC(); syncWithLCNC();
} }
#endif isr2Time = micros() - t;
} }
uint16_t oldCnt = 0; uint16_t oldCnt = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -116,10 +118,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.D1 = nLoops; Obj.D1 = nLoops;
uint16_t newCnt = isrTime; uint16_t newCnt = isrTime;
Obj.D1 = newCnt - oldCnt; // Obj.D1 = newCnt - oldCnt;
oldCnt = newCnt; oldCnt = newCnt;
Obj.D2 = isrTime; // Step->stepgen_array[1].freq; Obj.D2 = isrTime; // Step->stepgen_array[1].freq;
Obj.D3 = 100 * Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos(); Obj.D3 = isr2Time;//100 * Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D4 = 100 * Obj.ActualPosition2; Obj.D4 = 100 * Obj.ActualPosition2;
} }
@@ -151,20 +153,22 @@ static esc_cfg_t config =
volatile byte serveIRQ = 0; volatile byte serveIRQ = 0;
void basePeriodCB(void) void basePeriodCB(void)
{ {
isrTime++; uint32_t one = micros();
#if 0
#if 1
if (Step && Step->stepgen_array) if (Step && Step->stepgen_array)
{ {
Step->make_pulses(Step->stepgen_array, BASE_PERIOD); Step->make_pulses(Step->stepgen_array, BASE_PERIOD);
stepgen_t *step; #if 1
for (int i = 0; i < Step->num_chan; i++) for (int i = 0; i < Step->num_chan; i++)
{ {
step = &(Step->stepgen_array[i]); digitalWrite(Step->dirPin[i], Step->stepgen_array[i].phase[DIR_PIN] ? LOW : HIGH);
digitalWrite(Step->dirPin[i], step->phase[DIR_PIN] ? LOW : HIGH); digitalWrite(Step->stepPin[i], Step->stepgen_array[i].phase[STEP_PIN] ? HIGH : LOW);
digitalWrite(Step->stepPin[i], step->phase[STEP_PIN] ? HIGH : LOW);
} }
#endif
} }
#endif #endif
isrTime = micros() - one;
} }
void setup(void) void setup(void)
@@ -181,10 +185,10 @@ void setup(void)
pinMode(PC10, OUTPUT); pinMode(PC10, OUTPUT);
Step = new StepGen3; Step = new StepGen3;
myTim = new HardwareTimer(TIM11); // The base period timer myTim = new HardwareTimer(TIM11); // The base period timer
myTim->setPrescaleFactor(168); // 1 MHz myTim->setPrescaleFactor(168 / 8); // 1 MHz
myTim->setPreloadEnable(true); myTim->setPreloadEnable(true);
myTim->setOverflow(10); // 100 usecs myTim->setOverflow(8 * BASE_PERIOD / 1200); // usecs 6 usec period is min with no load
// myTim->setOverflow(1000, HERTZ_FORMAT); // myTim->setOverflow(1000, HERTZ_FORMAT);
myTim->attachInterrupt(basePeriodCB); myTim->attachInterrupt(basePeriodCB);
myTim->refresh(); myTim->refresh();