jeka/MyOwnEtherCATDevice
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Tested in the lathe. Works, of course

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This commit is contained in:
Hakan Bastedt
2023-12-24 23:28:10 +01:00
parent c972fef18f
commit 49c804516d
13 changed files with 874 additions and 1883 deletions
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77
Pcb-1-lan9252/Firmware/src/main.cpp
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@@ -6,44 +6,59 @@ extern "C"
#include "ecat_slv.h"
#include "utypes.h"
};
#include <CircularBuffer.h>
#define RINGBUFFERLEN 101
CircularBuffer<double_t, RINGBUFFERLEN> Pos;
CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
int64_t PreviousEncoderCounterValue = 0;
int64_t unwrap_encoder(uint16_t in, int64_t *prev);
#include <Stm32F4_Encoder.h>
Encoder EncoderInit;
#include "Stepper.h"
// #include "Stepper.h"
HardwareSerial Serial1(PA10, PA9);
_Objects Obj;
void StepGen(void);
void indexPulse(void);
double PosScaleRes = 1.0;
uint32_t CurPosScale = 1;
uint8_t OldIndexCEnable = 0;
volatile uint8_t IndexEnable = 1;
volatile uint8_t IndexTriggered = 0;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
IndexEnable = Obj.EncoderIn.IndexEnable;
if (!IndexEnable)
IndexTriggered = 0;
if (Obj.EncIndexCEnable && !OldIndexCEnable) // Should only happen first time IndexCEnable is set
{
attachInterrupt(digitalPinToInterrupt(PA2), indexPulse, RISING); // PA2 = Index pulse
}
OldIndexCEnable = Obj.EncIndexCEnable;
if (CurPosScale != Obj.EncPosScale && Obj.EncPosScale != 0)
{
CurPosScale = Obj.EncPosScale;
PosScaleRes = 1.0 / double(CurPosScale);
}
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
// Obj.EncoderOut.ECount = TIM2->CNT;
Obj.EncoderOut.ECount = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
Obj.EncoderOut.IndexTriggered = IndexTriggered;
uint32_t diffT = ESCvar.Time - ESCvar.PrevTime;
int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
double CurPos = pos * PosScaleRes;
Obj.EncPos = CurPos;
double diffT = 0;
double diffPos = 0;
TDelta.push(ESCvar.Time); // Too bad resolution to measure over 1 ms. The length of the circular buffers
Pos.push(CurPos); // tells over how long time the position is measured.
if (Pos.size() >= 2)
{
diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds
diffPos = fabs(Pos.last() - Pos.first());
}
Obj.EncFrequency = diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
}
void indexPulse(void)
{
if (IndexEnable && !IndexTriggered)
{
TIM2->CNT = 0;
IndexTriggered = 1;
}
}
static esc_cfg_t config =
{
.user_arg = NULL,
@@ -52,7 +67,7 @@ static esc_cfg_t config =
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = StepGen,
.application_hook = NULL, // StepGen,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
@@ -71,14 +86,12 @@ void setup(void)
rcc_config();
// Set starting count value
// EncoderInit.SetCount(Tim2, 0);
EncoderInit.SetCount(Tim2, 0);
// EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);
attachInterrupt(digitalPinToInterrupt(PA2), indexPulse, RISING); // PA2 = Index pulse
StepperSetup();
// delay(5000); // To give serial port monitor time to receive
// delay(5000); // To give serial port monitor time to receive
Serial1.printf("Before Ecat config\n");
ecat_slv_init(&config);
@@ -110,16 +123,10 @@ int64_t unwrap_encoder(uint16_t in, int64_t *prev)
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
}
void StepGen(void)
void indexPulse(void)
{
uint16_t Period = Obj.StepperData.Period; // Period in microseconds, so 1000 is 1 ms.
float StepperResolution = Obj.StepperData.Resolution; // 2.5 pulses/um
int32_t TargetPosition = Obj.TargetPosition; // um
int32_t ActualPosition = 0; // um
int32_t DistanceToGo = TargetPosition - ActualPosition; // um
int32_t PulsesToMake = DistanceToGo * StepperResolution;
int32_t Frequency = PulsesToMake * 1000000 / Period;
// Check if timer done.
detachInterrupt(digitalPinToInterrupt(PA2)); // PA2 = Index pulse;
EncoderInit.SetCount(Tim2, 0);
Pos.clear();
TDelta.clear();
}