jeka/MyOwnEtherCATDevice
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Seems to actually work, but I have seen that before, so testing time

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This commit is contained in:
Hakan Bastedt
2024-03-14 10:15:23 +01:00
parent 71ae242fc4
commit 27475eaecd
1 changed files with 17 additions and 15 deletions
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28
Firmware/src/main.cpp
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@@ -33,7 +33,7 @@ StepGen2 Step2(TIM3, 4, PC_9, PC10, pulseTimerCallback2, TIM11, startTimerCallba
void pulseTimerCallback2(void) { Step2.pulseTimerCB(); } void pulseTimerCallback2(void) { Step2.pulseTimerCB(); }
void startTimerCallback2(void) { Step2.startTimerCB(); } void startTimerCallback2(void) { Step2.startTimerCB(); }
CircularBuffer<uint32_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;
@@ -54,13 +54,11 @@ uint64_t reallyNowTime = 0, reallyThenTime = 0;
uint64_t timeDiff; // Timediff in nanoseconds uint64_t timeDiff; // Timediff in nanoseconds
void handleStepper(void) void handleStepper(void)
{ {
if (!(ALEventIRQ & ESCREG_ALEVENT_SM2))
return;
// Catch the case when we miss a loop for some reason // Catch the case when we miss a loop for some reason
uint32_t t = micros(); uint32_t t = micros();
reallyNowTime = longTime.extendTime(t); reallyNowTime = longTime.extendTime(t);
timeDiff = 1000 * (reallyNowTime - reallyThenTime); timeDiff = 1000 * (reallyNowTime - reallyThenTime);
nLoops = round(timeDiff / double(StepGen2::sync0CycleTime)); nLoops = round(double(timeDiff) / double(StepGen2::sync0CycleTime));
reallyThenTime = reallyNowTime; reallyThenTime = reallyNowTime;
Step1.enabled = true; Step1.enabled = true;
@@ -81,9 +79,9 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time); Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState(); Obj.IndexByte = Encoder1.getIndexState();
uint32_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds uint64_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim); Tim.push(dTim);
uint32_t max_Tim = 0, min_Tim = UINT32_MAX; uint64_t max_Tim = 0, min_Tim = UINT64_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++) for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
{ {
uint32_t aTim = Tim[i]; uint32_t aTim = Tim[i];
@@ -96,8 +94,8 @@ 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 = Step2.frequency; Obj.D1 = Step2.frequency;
Obj.D2 = nLoops; Obj.D2 = nLoops;
Obj.D3 = Step2.Tstartu; Obj.D3 = max_Tim - min_Tim;
Obj.D4 = Obj.D1 + Obj.D2 - Obj.D3; Obj.D4 = ALEventIRQ;
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
@@ -136,10 +134,10 @@ void setup(void)
void loop(void) void loop(void)
{ {
uint32_t dTime; uint64_t dTime;
if (serveIRQ) if (serveIRQ)
{ {
nowTime = micros(); nowTime = longTime.extendTime(micros());
/* Read local time from ESC*/ /* Read local time from ESC*/
ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time)); ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
ESCvar.Time = etohl(ESCvar.Time); ESCvar.Time = etohl(ESCvar.Time);
@@ -147,17 +145,21 @@ void loop(void)
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG); DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0; serveIRQ = 0;
ESCvar.PrevTime = ESCvar.Time; ESCvar.PrevTime = ESCvar.Time;
ecat_slv_poll();
} }
dTime = micros() - irqTime; dTime = longTime.extendTime(micros()) - irqTime;
if ((dTime > 200 && dTime < 500) || dTime > 1500) // Don't run ecat_slv_poll when expecting to serve interrupt if ((dTime > 500 && dTime < 800) || dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll(); ecat_slv_poll();
} }
volatile uint32_t cnt = 0;
void sync0Handler(void) void sync0Handler(void)
{ {
ALEventIRQ = ESC_ALeventread(); ALEventIRQ = ESC_ALeventread();
if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{
serveIRQ = 1; serveIRQ = 1;
irqTime = longTime.extendTime(micros()); irqTime = longTime.extendTime(micros());
}
} }
// Enable SM2 interrupts // Enable SM2 interrupts