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Going for test in the lathe

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This commit is contained in:
Hakan Bastedt
2024-02-13 10:49:57 +01:00
parent cbae816bd9
commit 2b2be4f63d
3 changed files with 58 additions and 49 deletions
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36
Firmware/src/main.cpp
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@@ -27,7 +27,7 @@ void startTimerCallback(void) { Step.startTimerCB(); }
CircularBuffer<uint32_t, 200> Tim;
volatile uint64_t irqTime = 0, thenTime = 0;
volatile uint32_t ccnnt = 0;
int64_t extendTime(uint32_t in); // Extend from 32-bit to 64-bit precision
extend32to64 longTime;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
@@ -42,7 +42,7 @@ void handleStepper(void)
Step.commandedPosition = Obj.StepGenIn1.CommandedPosition;
Obj.StepGenOut1.ActualPosition = Step.commandedPosition;
Step.stepsPerMM = Obj.StepGenIn1.StepsPerMM;
Step.stepsPerMM = 4000;
Step.stepsPerMM = 400;
Step.handleStepper(irqTime);
Obj.StepGenOut2.ActualPosition = Obj.StepGenIn2.CommandedPosition;
@@ -55,7 +55,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState();
uint32_t dTim = extendTime(micros()) - irqTime; // thenTime; // Debug. Getting jitter over the last 200 milliseconds
uint32_t dTim = longTime.extendTime(micros()) - irqTime; // thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim);
uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
@@ -68,8 +68,11 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
}
thenTime = irqTime;
Obj.DiffT = max_Tim - min_Tim; // Debug
Obj.DiffT = ccnnt--;
// Obj.DiffT = Step.frequency;
Obj.DiffT = abs(Step.nSteps);
Obj.D1 = Step.Tjitter;
Obj.D2 = Step.Tstartf * 1e6;
Obj.D3 = Step.dbg;
Obj.D4 = Obj.D1+Obj.D2-Obj.D3;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -127,7 +130,7 @@ void sync0Handler(void)
ccnnt++;
ALEventIRQ = ESC_ALeventread();
serveIRQ = 1;
irqTime = extendTime(micros());
irqTime = longTime.extendTime(micros());
digitalWrite(Step.dirPin, cnt++ % 2);
}
@@ -181,24 +184,3 @@ uint16_t dc_checker(void)
StepGen2::sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
return 0;
}
#define ONE_PERIOD UINT32_MAX
#define HALF_PERIOD (UINT32_MAX >> 1)
static int64_t previousTimeValue = 0;
// Extend from 32-bit to 64-bit precision
int64_t extendTime(uint32_t in)
{
int64_t c64 = (int64_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
int64_t dif = (c64 - previousTimeValue); // core concept: prev + (current - prev) = current
// wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
if (dif < -HALF_PERIOD)
mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
int64_t unwrapped = previousTimeValue + mod_dif;
previousTimeValue = unwrapped; // load previous value
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
}