jeka/MyOwnEtherCATDevice
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WIP, non-functional

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This commit is contained in:
Hakan Bastedt
2023-12-31 20:09:55 +01:00
parent bf8fccd0d6
commit 28f01a9919
6 changed files with 92 additions and 85 deletions
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17
Firmware/src/main.cpp
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@@ -86,7 +86,7 @@ uint16_t dc_checker(void);
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 1,
.use_interrupt = 0,
.watchdog_cnt = 150,
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
@@ -97,10 +97,13 @@ static esc_cfg_t config =
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = ESC_interrupt_enable,
.esc_hw_interrupt_disable = ESC_interrupt_disable,
//.esc_hw_interrupt_enable = ESC_interrupt_enable,
//.esc_hw_interrupt_disable = ESC_interrupt_disable,
.esc_hw_interrupt_enable = NULL,
.esc_hw_interrupt_disable = NULL,
.esc_hw_eep_handler = NULL,
.esc_check_dc_handler = dc_checker,
// .esc_check_dc_handler = dc_checker,
.esc_check_dc_handler = NULL,
};
void setup(void)
@@ -161,13 +164,13 @@ volatile int32_t requestedPosition;
volatile uint32_t pulsesToGo = 0;
volatile byte forwardDirection = 0; // 1 if going forward
#define STEPPER_DIR PA12
//#define STEPPER_STEP PA11 // Set in StepperSetup
// #define STEPPER_STEP PA11 // Set in StepperSetup
void sync0Handler(void)
{
// Update the actual position
actualPosition += pulsesToGo;
Obj.StepgenOut1.ActualPosition = actualPosition;
Obj.StepGenOut1.ActualPosition = actualPosition;
// Get new end position
requestedPosition = Obj.StepGenIn1.CommandedPosition;
// Get the diff and the direction
@@ -176,7 +179,7 @@ void sync0Handler(void)
// Set direction pin
digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed
// Make the pulses using hardware timer
makePulses(sync0CycleTime/1000, pulsesToGo);
makePulses(sync0CycleTime / 1000, pulsesToGo);
}
void ESC_interrupt_enable(uint32_t mask)