jeka/MyOwnEtherCATDevice
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This commit is contained in:
Hakan Bastedt
2024-03-23 18:02:38 +01:00
parent 2df0a0980c
commit 369a795ce5
3 changed files with 86 additions and 55 deletions
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90
Firmware/src/main.cpp
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@@ -9,11 +9,11 @@ _Objects Obj;
HardwareSerial Serial1(PA10, PA9);
// STG = StepGenTest
#define SGT 0
// SGT = StepGenTest
#define SGT 1
#if SGT
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
#define DEBUG_TIM8 1
#include "MyEncoder.h"
void indexPulseEncoderCB1(void);
MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
@@ -22,7 +22,10 @@ void indexPulseEncoderCB1(void)
Encoder1.indexPulse();
}
#endif
#include "StepGen3.h"
StepGen3 *Step = 0;
#if SGT
#include "extend32to64.h"
@@ -32,8 +35,8 @@ extend32to64 longTime;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
Encoder1.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(2000);
// Encoder1.setLatch(Obj.IndexLatchEnable);
// Encoder1.setScale(2000);
// Step2.reqPos(Obj.CommandedPosition2);
// Step2.setScale(Obj.StepsPerMM2);
@@ -45,18 +48,27 @@ uint64_t reallyNowTime = 0, reallyThenTime = 0;
uint64_t timeDiff; // Timediff in nanoseconds
void handleStepper(void)
{
double pos[MAX_CHAN];
pos[0] = Obj.CommandedPosition1;
pos[1] = Obj.CommandedPosition2;
if (Step)
{
Step->updateStepGen(pos);
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition1 = Step->stepgen_array[1].pos_fb;
}
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState();
// Obj.IndexStatus = Encoder1.indexHappened();
// Obj.EncPos = Encoder1.currentPos();
// Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
// Obj.IndexByte = Encoder1.getIndexState();
float_t ap2 = Obj.ActualPosition2;
Obj.ActualPosition1 = Obj.CommandedPosition1; // Step1.actPos();
Obj.ActualPosition2 = Obj.CommandedPosition2; // Step2.actPos();
#if 0
uint64_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim);
uint64_t max_Tim = 0, min_Tim = UINT64_MAX;
@@ -69,6 +81,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
min_Tim = aTim;
}
thenTime = irqTime;
#endif
Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.D1 = 0;
Obj.D2 = 0;
@@ -104,46 +117,54 @@ 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);
for (int i = 0; i < Step->num_chan; i++)
{
step = &(Step->stepgen_array[i]);
digitalWrite(Step->dirPin[i], step->phase[DIR_PIN] ? LOW : HIGH);
digitalWrite(Step->stepPin[i], step->phase[STEP_PIN] ? LOW : HIGH);
}
}
}
void setup(void)
{
Serial1.begin(115200);
#if SGT
rcc_config(); // probably breaks some timers.
ecat_slv_init(&config);
#endif
pinMode(PA6, OUTPUT);
pinMode(PA7, OUTPUT);
digitalWrite(PA6, HIGH);
digitalWrite(PA7, HIGH);
Step = new StepGen3;
HardwareTimer *MyTim = new HardwareTimer(TIM3);
MyTim->setOverflow(BASE_PERIOD, MICROSEC_FORMAT);
Serial1.begin(115200);
rcc_config(); // Needed by encoder, probably breaks some timers.
ecat_slv_init(&config);
pinMode(PA11, OUTPUT);
pinMode(PA12, OUTPUT);
digitalWrite(PA11, HIGH);
digitalWrite(PA12, HIGH);
pinMode(PC9, OUTPUT);
pinMode(PC10, OUTPUT);
digitalWrite(PC9, HIGH);
digitalWrite(PC10, HIGH);
// Step = new StepGen3;
HardwareTimer *MyTim = new HardwareTimer(TIM1); // The base period timer
MyTim->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT);
MyTim->attachInterrupt(basePeriodCB);
MyTim->resume();
// MyTim->resume();
}
double pos = 0;
void loop(void)
{
Step->test(pos);
pos += 1;
delay(1000);
#if SGT
pinMode(PC9, OUTPUT);
digitalWrite(PC9, LOW);
delay(50);
digitalWrite(PC9, HIGH);
delay(50);
uint64_t dTime;
if (serveIRQ)
{
@@ -158,9 +179,8 @@ void loop(void)
ecat_slv_poll();
}
dTime = longTime.extendTime(micros()) - irqTime;
if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll();
#endif
// if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll();
}
void sync0Handler(void)