jeka/MyOwnEtherCATDevice
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Added max irq time and jitter time measurement

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This commit is contained in:
Hakan Bastedt
2024-04-03 21:17:15 +02:00
parent 5c128f49b5
commit 294831465b
2 changed files with 24 additions and 8 deletions
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2
Firmware/platformio.ini
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@@ -16,10 +16,10 @@ upload_protocol = stlink
debug_tool = stlink debug_tool = stlink
debug_build_flags = -O0 -g -ggdb debug_build_flags = -O0 -g -ggdb
monitor_port = COM7 monitor_port = COM7
;monitor_port = /dev/ttyUSB0
monitor_filters = send_on_enter, time, colorize, log2file monitor_filters = send_on_enter, time, colorize, log2file
monitor_speed = 115200 monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment build_flags = -Wl,--no-warn-rwx-segment
lib_deps = lib_deps =
SPI SPI
rlogiacco/CircularBuffer rlogiacco/CircularBuffer
robtillaart/RunningAverage

30
Firmware/src/main.cpp
View File

@@ -20,6 +20,8 @@ void indexPulseEncoderCB1(void)
{ {
Encoder1.indexPulse(); Encoder1.indexPulse();
} }
#include <RunningAverage.h>
RunningAverage cycleTimes(1000); // To have a running average of the cycletime over the last second
#include "StepGen3.h" #include "StepGen3.h"
StepGen3 *Step = 0; StepGen3 *Step = 0;
@@ -27,9 +29,10 @@ StepGen3 *Step = 0;
#include "extend32to64.h" #include "extend32to64.h"
CircularBuffer<uint64_t, 200> Tim; CircularBuffer<uint64_t, 200> Tim;
volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0, irqCnt = 0, prevSyncTime = 0, syncTime = 0, deltaSyncTime; volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0, irqCnt = 0, prevSyncTime = 0, syncTime = 0, deltaSyncTime;
extend32to64 longTime; extend32to64 longTime;
volatile uint16_t isrTime = 0, isr2Time = 0; volatile uint16_t isrTime = 0;
void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs); void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs);
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
@@ -81,14 +84,28 @@ uint16_t nLoops;
uint64_t reallyNowTime = 0, reallyThenTime = 0; // Times in microseconds uint64_t reallyNowTime = 0, reallyThenTime = 0; // Times in microseconds
uint64_t timeDiff; // Timediff in microseconds uint64_t timeDiff; // Timediff in microseconds
int32_t delayT; int32_t delayT;
uint16_t avgCycleTime, thisCycleTime; // In usecs
int16_t jitterThisCycle = 0, maxCycleTime = 0;
volatile uint64_t oldIrqTime = 0;
void handleStepper(void) void handleStepper(void)
{ {
uint32_t t = micros(); if (oldIrqTime != 0)
reallyNowTime = longTime.extendTime(t); {
timeDiff = reallyNowTime - reallyThenTime; // Time-diff in microseconds thisCycleTime = irqTime - oldIrqTime;
nLoops = round(double(timeDiff) / 1000.0); cycleTimes.add(thisCycleTime);
reallyThenTime = reallyNowTime; }
oldIrqTime = irqTime;
if (cycleTimes.bufferIsFull()) // Do max and jitter calcs, just waiting a second
{
avgCycleTime = cycleTimes.getFastAverage();
jitterThisCycle = irqTime - avgCycleTime;
uint16_t maxInBuffer = cycleTimes.getMaxInBuffer();
if (maxCycleTime < maxInBuffer)
maxCycleTime = maxInBuffer;
}
pos_cmd1 = Obj.CommandedPosition1; pos_cmd1 = Obj.CommandedPosition1;
pos_cmd2 = Obj.CommandedPosition2; pos_cmd2 = Obj.CommandedPosition2;
@@ -112,7 +129,6 @@ void handleStepper(void)
{ {
syncWithLCNC(); syncWithLCNC();
} }
isr2Time = micros() - t;
} }
uint16_t oldCnt = 0; uint16_t oldCnt = 0;
uint64_t startTime = 0; uint64_t startTime = 0;