jeka/MyOwnEtherCATDevice
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Solution was to NOT do the steps in the IRQ. Set a flag and do pulses outside of the irq.

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This commit is contained in:
Hakan Bastedt
2024-01-05 19:33:13 +01:00
parent ed168df64e
commit 37d3ea6567
2 changed files with 10 additions and 5 deletions
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2
Firmware/platformio.ini
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@@ -17,7 +17,7 @@ debug_tool = stlink
debug_build_flags = -O0 -g -ggdb debug_build_flags = -O0 -g -ggdb
monitor_port = COM7 monitor_port = COM7
monitor_speed = 115200 monitor_speed = 115200
build_flags = -O0 -Wl,--no-warn-rwx-segment build_flags = -O0 -g -Wl,--no-warn-rwx-segment
lib_deps = lib_deps =
SPI SPI
rlogiacco/CircularBuffer@^1.3.3 rlogiacco/CircularBuffer@^1.3.3

13
Firmware/src/main.cpp
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@@ -60,7 +60,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
byte forwardDirection = 0; // 1 if going forward byte forwardDirection = 0; // 1 if going forward
int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition); int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition);
if (pulsesToGo != 0) if (pulsesToGo != 0)
makePulses(500, 1); // Make the pulses using hardware timer makePulses(900, abs(pulsesToGo)); // Make the pulses using hardware timer
// digitalWrite(STEPPER_DIR_PIN, HIGH); // I think one should really wait a bit when changed // digitalWrite(STEPPER_DIR_PIN, HIGH); // I think one should really wait a bit when changed
@@ -166,10 +166,16 @@ void setup(void)
ecat_slv_init(&config); ecat_slv_init(&config);
} }
volatile byte serveIRQ=0;
void loop(void) void loop(void)
{ {
ESCvar.PrevTime = ESCvar.Time; ESCvar.PrevTime = ESCvar.Time;
if (serveIRQ)
{
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0;
}
ecat_slv_poll(); ecat_slv_poll();
} }
@@ -206,8 +212,7 @@ void indexPulse(void)
void sync0Handler(void) void sync0Handler(void)
{ {
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG | serveIRQ=1;
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
} }
void handleStepper(void) void handleStepper(void)