Branch mess fix
This commit is contained in:
Hakan Bastedt
18
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/extend32to64.cpp
Executable file
18
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/extend32to64.cpp
Executable file
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#include "extend32to64.h"
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// Extend from 32-bit to 64-bit precision
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int64_t extend32to64::extendTime(uint32_t in)
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{
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int64_t c64 = (int64_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
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int64_t dif = (c64 - previousTimeValue); // core concept: prev + (current - prev) = current
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// wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
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int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
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if (dif < int64_t(-HALF_PERIOD))
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mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
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int64_t unwrapped = previousTimeValue + mod_dif;
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previousTimeValue = unwrapped; // load previous value
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return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
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}
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206
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/main.cpp
Executable file
206
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/main.cpp
Executable file
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#include <Arduino.h>
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#include <stdio.h>
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extern "C"
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{
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#include "ecat_slv.h"
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#include "utypes.h"
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};
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_Objects Obj;
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#include "extend32to64.h"
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extend32to64 longTime;
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volatile uint64_t irqTime = 0;
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HardwareSerial Serial1(PA10, PA9);
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uint8_t inputPin[] = {PD15, PD14, PD13, PD12, PD11, PD10, PD9, PD8, PB15, PB14, PB13, PB12};
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uint8_t outputPin[] = {PE10, PE9, PE8, PE7};
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#include "Wire.h"
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TwoWire Wire2(PB11, PB10);
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#include "ADS1X15.h"
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ADS1115 ADS(0x48, &Wire2);
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#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
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#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
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#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
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#define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
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volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
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void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
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{
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// Update digital output pins
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for (int i = 0; i < sizeof(outputPin); i++)
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digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
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}
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void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
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{
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for (int i = 0; i < sizeof(inputPin); i++)
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Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i);
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float scale = Obj.VoltageScale;
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if (scale == 0.0)
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scale = 1.0;
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float ADCvoltage = ADS.toVoltage(ADS.getValue());
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Obj.ArcVoltage = scale * ADCvoltage; // * ADCvoltage; // Scaled voltage, to give Plasma arc voltage
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Obj.Voltage = ADCvoltage; // Raw voltage, read by ADC
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}
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void ESC_interrupt_enable(uint32_t mask);
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void ESC_interrupt_disable(uint32_t mask);
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uint16_t dc_checker(void);
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void sync0Handler(void);
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static esc_cfg_t config =
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{
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.user_arg = NULL,
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.use_interrupt = 1,
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.watchdog_cnt = 150,
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.set_defaults_hook = NULL,
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.pre_state_change_hook = NULL,
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.post_state_change_hook = NULL,
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.application_hook = NULL,
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.safeoutput_override = NULL,
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.pre_object_download_hook = NULL,
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.post_object_download_hook = NULL,
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.rxpdo_override = NULL,
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.txpdo_override = NULL,
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.esc_hw_interrupt_enable = ESC_interrupt_enable,
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.esc_hw_interrupt_disable = ESC_interrupt_disable,
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.esc_hw_eep_handler = NULL,
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.esc_check_dc_handler = dc_checker,
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};
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volatile byte serveIRQ = 0;
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void setup(void)
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{
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Serial1.begin(115200);
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for (int i = 0; i < sizeof(inputPin); i++)
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pinMode(inputPin[i], INPUT_PULLDOWN);
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for (int i = 0; i < sizeof(outputPin); i++)
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{
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pinMode(outputPin[i], OUTPUT);
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digitalWrite(outputPin[i], LOW);
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}
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#if 0
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// Debug leds
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pinMode(PB4, OUTPUT);
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pinMode(PB5, OUTPUT);
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pinMode(PB6, OUTPUT);
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pinMode(PB7, OUTPUT);
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digitalWrite(PB4, HIGH);
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digitalWrite(PB5, HIGH);
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digitalWrite(PB6, HIGH);
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digitalWrite(PB7, HIGH);
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#endif
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Wire2.begin();
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ADS.begin();
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ADS.setGain(0); // 0 = 6.144 volt, 1 = 4.096 V
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ADS.setDataRate(7); // 0 = slow 4 = medium 7 = fast
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ADS.setMode(0); // continuous mode
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ADS.setWireClock(400000UL); // 400 kHz
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ADS.readADC(0); // first read to trigger settings
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#ifdef ECAT
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ecat_slv_init(&config);
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#endif
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}
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void loop(void)
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{
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#ifdef ECAT
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uint64_t dTime;
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if (serveIRQ)
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{
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DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
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DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
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serveIRQ = 0;
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ESCvar.PrevTime = ESCvar.Time;
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ecat_slv_poll();
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}
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dTime = longTime.extendTime(micros()) - irqTime;
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if (dTime > 5000) // Not doing interrupts - handle free-run
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ecat_slv();
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#else
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Serial1.print("TIC ");
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int tot = 0;
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uint32_t before = millis();
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for (int i = 0; i < 10000; i++)
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{
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int16_t raw = ADS.getValue();
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tot += raw;
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}
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uint32_t after = millis();
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int16_t value = ADS.getValue();
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float fval = ADS.toVoltage(value);
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Serial1.printf("Time för 10000=%d värdet=", after - before);
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Serial1.println(fval);
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#endif
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}
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void sync0Handler(void)
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{
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ALEventIRQ = ESC_ALeventread();
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// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
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{
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irqTime = longTime.extendTime(micros());
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serveIRQ = 1;
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}
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}
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// Enable SM2 interrupts
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void ESC_interrupt_enable(uint32_t mask)
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{
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// Enable interrupt for SYNC0 or SM2 or SM3
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uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
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if (mask & user_int_mask)
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{
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ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
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ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
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attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
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// Set LAN9252 interrupt pin driver as push-pull active high
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uint32_t bits = 0x00000111;
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ESC_write(0x54, &bits, 4);
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// Enable LAN9252 interrupt
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bits = 0x00000001;
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ESC_write(0x5c, &bits, 4);
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}
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}
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// Disable SM2 interrupts
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void ESC_interrupt_disable(uint32_t mask)
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{
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// Enable interrupt for SYNC0 or SM2 or SM3
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// uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
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uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
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if (mask & user_int_mask)
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{
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// Disable interrupt from SYNC0
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ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
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detachInterrupt(digitalPinToInterrupt(PC3));
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// Disable LAN9252 interrupt
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uint32_t bits = 0x00000000;
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ESC_write(0x5c, &bits, 4);
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}
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}
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extern "C" uint32_t ESC_SYNC0cycletime(void);
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// Setup of DC
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uint16_t dc_checker(void)
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{
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// Indicate we run DC
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ESCvar.dcsync = 1;
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return 0;
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}
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