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Stepgen3 is driven by HardwareTimer, in a way that resembles EtherCAT setup. Seems to actually work.

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This commit is contained in:
Hakan Bastedt
2024-03-22 22:38:16 +01:00
parent 6383d6de89
commit 2df0a0980c
3 changed files with 41 additions and 24 deletions
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9
Firmware/include/StepGen3.h
View File

@@ -75,7 +75,7 @@ public:
char *ctrl_type[MAX_CHAN] = {0}; // control type ("p"pos or "v"vel) for up to 16 channels
volatile int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
stepgen_t *stepgen_array;
stepgen_t *stepgen_array = 0;
volatile int num_chan = 0; // number of step generators configured */
volatile long periodns; // makepulses function period in nanosec */
@@ -88,6 +88,7 @@ public:
volatile double recip_dt; // recprocal of period, avoids divides */
StepGen3(void);
void test(double pos_cmd);
int rtapi_app_main();
int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
void make_pulses(void *arg, long period);
@@ -139,4 +140,10 @@ private:
};
};
// For the example
#define BASE_PERIOD 50000
#define SERVO_PERIOD 1000000
#define JOINT_0_STEPGEN_MAXACCEL 520.0
#define JOINT_0_SCALE 200
#endif

29
Firmware/src/StepGen3.cpp
View File

@@ -1080,10 +1080,6 @@ CONTROL StepGen3::parse_ctrl_type(const char *ctrl)
return INVALID;
}
#define BASE_PERIOD 50000
#define SERVO_PERIOD 1000000
#define JOINT_0_STEPGEN_MAXACCEL 520.0
#define JOINT_0_SCALE 200
StepGen3::StepGen3(void)
{
@@ -1099,24 +1095,15 @@ StepGen3::StepGen3(void)
step->enable = 1;
step->pos_scale = JOINT_0_SCALE;
step->maxaccel = JOINT_0_STEPGEN_MAXACCEL;
}
for (int servo_thread = 0; servo_thread < 100; servo_thread++)
{
step->pos_cmd = servo_thread * 1;
update_pos(step, SERVO_PERIOD);
update_freq(step, SERVO_PERIOD);
for (int base_thread = 0; base_thread < 20; base_thread++)
{
make_pulses(stepgen_array, BASE_PERIOD);
digitalWrite(PA6, step->phase[DIR_PIN] ? LOW : HIGH);
digitalWrite(PA7, step->phase[STEP_PIN] ? LOW : HIGH);
delay(50);
// printf("pos_cmd=%f\n", step->pos_cmd);
// printf("pos_fb=%f\n", step->pos_fb);
// printf("pickoff=%d accum=%lld addval=%d ", 1 << 28, step->accum, step->addval);
// printf("dir=%d step=%d\n", step->phase[DIR_PIN], step->phase[STEP_PIN]);
}
}
void StepGen3::test(double pos_cmd)
{
stepgen_t *step;
step = &(stepgen_array[0]);
step->pos_cmd = pos_cmd;
update_pos(step, SERVO_PERIOD);
update_freq(step, SERVO_PERIOD);
}
int StepGen3::rtapi_app_main()

27
Firmware/src/main.cpp
View File

@@ -103,6 +103,21 @@ static esc_cfg_t config =
volatile byte serveIRQ = 0;
#endif
StepGen3 *Step = 0;
void basePeriodCB(void)
{
if (Step && Step->stepgen_array)
{
Step->make_pulses(Step->stepgen_array, BASE_PERIOD);
stepgen_t *step;
step = &(Step->stepgen_array[0]);
digitalWrite(PA6, step->phase[DIR_PIN] ? LOW : HIGH);
digitalWrite(PA7, step->phase[STEP_PIN] ? LOW : HIGH);
}
}
void setup(void)
{
Serial1.begin(115200);
@@ -114,12 +129,20 @@ void setup(void)
pinMode(PA7, OUTPUT);
digitalWrite(PA6, HIGH);
digitalWrite(PA7, HIGH);
Step = new StepGen3;
HardwareTimer *MyTim = new HardwareTimer(TIM3);
MyTim->setOverflow(BASE_PERIOD, MICROSEC_FORMAT);
MyTim->attachInterrupt(basePeriodCB);
MyTim->resume();
}
double pos = 0;
void loop(void)
{
StepGen3 Step;
Step->test(pos);
pos += 1;
delay(1000);
#if SGT
uint64_t dTime;
if (serveIRQ)