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Updates to encoder

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This commit is contained in:
Hakan Bastedt
2023-12-28 18:46:13 +01:00
parent d9b088687f
commit 2a1111c537
3 changed files with 13 additions and 20 deletions
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15
Pcb-1-lan9252/Firmware/src/main.cpp
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@@ -28,13 +28,14 @@ uint32_t CurPosScale = 1;
uint8_t OldLatchCEnable = 0; uint8_t OldLatchCEnable = 0;
volatile uint8_t indexPulseFired = 0; volatile uint8_t indexPulseFired = 0;
uint32_t nFires = 0; uint32_t nFires = 0;
volatile uint8_t pleaseZeroTheCounter=0; volatile uint8_t pleaseZeroTheCounter = 0;
uint32_t PrevTime = 0, Prev2Time = 0;
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
{ {
if (Obj.IndexLatchEnable && !OldLatchCEnable) // Should only happen first time IndexCEnable is set if (Obj.IndexLatchEnable && !OldLatchCEnable) // Should only happen first time IndexCEnable is set
{ {
pleaseZeroTheCounter=1; pleaseZeroTheCounter = 1;
} }
OldLatchCEnable = Obj.IndexLatchEnable; OldLatchCEnable = Obj.IndexLatchEnable;
@@ -55,7 +56,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
nFires++; nFires++;
PreviousEncoderCounterValue = 0; PreviousEncoderCounterValue = 0;
} }
Obj.DiffT = nFires; uint64_t now = micros();
Obj.DiffT = now - Prev2Time;
Prev2Time = PrevTime;
PrevTime = now;
int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue); int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
double CurPos = pos * PosScaleRes; double CurPos = pos * PosScaleRes;
@@ -63,8 +67,8 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
double diffT = 0; double diffT = 0;
double diffPos = 0; double diffPos = 0;
TDelta.push(ESCvar.Time); // Too bad resolution to measure over 1 ms. The length of the circular buffers TDelta.push(ESCvar.Time); // Running average over the length of the circular buffer
Pos.push(CurPos); // tells over how long time the position is measured. Pos.push(CurPos);
if (Pos.size() >= 2) if (Pos.size() >= 2)
{ {
diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds
@@ -80,7 +84,6 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
nFires++; nFires++;
PreviousEncoderCounterValue = 0; PreviousEncoderCounterValue = 0;
} }
Obj.DiffT = nFires;
Obj.IndexByte = digitalRead(INDEX_PIN); Obj.IndexByte = digitalRead(INDEX_PIN);
if (Obj.IndexByte) if (Obj.IndexByte)
Serial1.printf("IS 1\n"); Serial1.printf("IS 1\n");

8
Pcb-1-lan9252/linuxcnc/Turner.hal
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@@ -97,10 +97,10 @@ net z-drv-target-velo cia402.1.drv-target-velocity => lcec.0.5.target-veloci
setp iocontrol.0.emc-enable-in 1 setp iocontrol.0.emc-enable-in 1
#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0 #net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
#setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
setp lcec.0.6.enc-pos-scale [SPINDLE_9]ENCODER_SCALE setp lcec.0.6.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
#net spindle-revs <= lcec.0.3.enc-pos net spindle-revs <= lcec.0.3.enc-pos
net spindle-revs <= lcec.0.6.enc-position net spindle-revs <= lcec.0.6.enc-position
loadrt invert loadrt invert
loadrt mult2 names=mult2.rps,mult2.rpm loadrt mult2 names=mult2.rps,mult2.rpm
@@ -112,10 +112,10 @@ setp invert.0.in [SPINDLE_9]ENCODER_SCALE
setp mult2.rpm.in0 -60.0 setp mult2.rpm.in0 -60.0
setp mult2.rpm.in0 60.0 setp mult2.rpm.in0 60.0
#net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out #net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out
#net enc-get-freq-rps mult2.rps.in1 <= lcec.0.3.enc-frequency net enc-get-freq-rps mult2.rps.in1 <= lcec.0.3.enc-frequency
#net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out #net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out
#net spindle-vel-fb-rpm mult2.rpm.out #net spindle-vel-fb-rpm mult2.rpm.out
#net spindle-index-enable lcec.0.3.enc-index-c-enable net spindle-index-enable lcec.0.3.enc-index-c-enable
net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.6.enc-frequency net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.6.enc-frequency
net spindle-vel-fb-rpm mult2.rpm.out net spindle-vel-fb-rpm mult2.rpm.out

10
Pcb-1-lan9252/linuxcnc/metalmusings_encoder.comp
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@@ -7,16 +7,6 @@ function _;
license "GPL"; license "GPL";
;; ;;
// general pin set true function
void set(hal_bit_t *p){
*p = 1;
}
// general pin set false function
void unset(hal_bit_t *p){
*p = 0;
}
//main function //main function
FUNCTION(_) { FUNCTION(_) {
index_latch_enable = index_c_enable; index_latch_enable = index_c_enable;