jeka/MyOwnEtherCATDevice
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Basic function using SM2 sync inteerupt. Stepgen half functional

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This commit is contained in:
Hakan Bastedt
2024-01-04 21:38:40 +01:00
parent e6cd5356c9
commit 484c984e49
1 changed files with 11 additions and 6 deletions
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17
Firmware/src/main.cpp
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@@ -32,6 +32,8 @@ volatile uint8_t pleaseZeroTheCounter = 0;
uint32_t sync0CycleTime = 0; uint32_t sync0CycleTime = 0;
void handleStepper(void);
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
@@ -91,7 +93,7 @@ static esc_cfg_t config =
.set_defaults_hook = NULL, .set_defaults_hook = NULL,
.pre_state_change_hook = NULL, .pre_state_change_hook = NULL,
.post_state_change_hook = NULL, .post_state_change_hook = NULL,
.application_hook = NULL, // StepGen, .application_hook = handleStepper, // StepGen,
.safeoutput_override = NULL, .safeoutput_override = NULL,
.pre_object_download_hook = NULL, .pre_object_download_hook = NULL,
.post_object_download_hook = NULL, .post_object_download_hook = NULL,
@@ -138,24 +140,23 @@ void setup(void)
TIM_TypeDef *Instance = TIM1; TIM_TypeDef *Instance = TIM1;
MyTim = new HardwareTimer(Instance); MyTim = new HardwareTimer(Instance);
MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN); MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
MyTim->attachInterrupt(TimerStep_CB); MyTim->attachInterrupt(TimerStep_CB);
pinMode(STEPPER_DIR_PIN, OUTPUT); pinMode(STEPPER_DIR_PIN, OUTPUT);
// Set starting count value // Set starting count value
EncoderInit.SetCount(Tim2, 0); EncoderInit.SetCount(Tim2, 0);
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
// EncoderInit.SetCount(Tim3, 0); // EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0); // EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0); // EncoderInit.SetCount(Tim8, 0);
ecat_slv_init(&config); ecat_slv_init(&config);
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
} }
void loop(void) void loop(void)
{ {
ESCvar.PrevTime = ESCvar.Time; ESCvar.PrevTime = ESCvar.Time;
ecat_slv(); ecat_slv_poll();
} }
#define ONE_PERIOD 65536 #define ONE_PERIOD 65536
@@ -192,6 +193,11 @@ void indexPulse(void)
uint64_t now = 0, back_then = 0; uint64_t now = 0, back_then = 0;
uint32_t deltaT; uint32_t deltaT;
void sync0Handler(void) void sync0Handler(void)
{
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}
void handleStepper(void)
{ {
now = micros(); now = micros();
const int32_t stepsPerMM = 1000; const int32_t stepsPerMM = 1000;
@@ -206,7 +212,7 @@ void sync0Handler(void)
if (pulsesToGo != 0) if (pulsesToGo != 0)
{ {
digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed
makePulses(deltaT-20, abs((int)pulsesToGo)); // Make the pulses using hardware timer makePulses(1000, abs((int)pulsesToGo)); // Make the pulses using hardware timer
} }
actualPosition = Obj.StepGenIn1.CommandedPosition; actualPosition = Obj.StepGenIn1.CommandedPosition;
back_then = now; back_then = now;
@@ -221,7 +227,6 @@ void ESC_interrupt_enable(uint32_t mask)
if (mask & user_int_mask) if (mask & user_int_mask)
{ {
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask)); ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING); attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
// Set LAN9252 interrupt pin driver as push-pull active high // Set LAN9252 interrupt pin driver as push-pull active high