jeka/MyOwnEtherCATDevice
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Some cleanup.

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This commit is contained in:
Hakan Bastedt
2024-01-12 14:37:25 +01:00
parent 7a63d27303
commit 25c2aa7b3c
1 changed files with 3 additions and 5 deletions
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8
Firmware/src/main.cpp
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@@ -16,7 +16,7 @@ void indexPulseEncoderCB1(void)
{ {
Encoder1.indexPulse(); Encoder1.indexPulse();
} }
#if 1 #if 0
void indexPulseEncoderCB2(void); void indexPulseEncoderCB2(void);
MyEncoder Encoder2(TIM3, PB6, indexPulseEncoderCB2); MyEncoder Encoder2(TIM3, PB6, indexPulseEncoderCB2);
void indexPulseEncoderCB2(void) void indexPulseEncoderCB2(void)
@@ -32,7 +32,7 @@ void timerCallbackStep1(void)
{ {
Step1.timerCB(); Step1.timerCB();
} }
#if 1 #if 0
void timerCallbackStep2(void); void timerCallbackStep2(void);
StepGen Step2(TIM8, 4, PC9, PC10, timerCallbackStep2); StepGen Step2(TIM8, 4, PC9, PC10, timerCallbackStep2);
void timerCallbackStep2(void) void timerCallbackStep2(void)
@@ -60,11 +60,9 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.EncPos = Encoder1.currentPos(); Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time); Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState(); Obj.IndexByte = Encoder1.getIndexState();
if (Obj.IndexByte)
Serial1.printf("IS 1\n");
Obj.StepGenOut1.ActualPosition = Step1.actPos(); Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.DiffT = 10000 * Step1.reqPos(); Obj.DiffT = 10000 * Step1.reqPos(); // Debug
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);