jeka/MyOwnEtherCATDevice
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Removed all real work, now just echo

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This commit is contained in:
Hakan Bastedt
2024-04-05 10:53:12 +02:00
parent 63fafb4936
commit 511e6442e9
2 changed files with 32 additions and 26 deletions
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2
Firmware/include/StepGen3.h
View File

@@ -146,7 +146,7 @@ private:
};
// For the example
#define BASE_PERIOD 40000 // 40000 is max
#define BASE_PERIOD 40000
#define SERVO_PERIOD 1000000
#define JOINT_X_STEPGEN_MAXACCEL 0.0
#define JOINT_Z_STEPGEN_MAXACCEL 0.0

56
Firmware/src/main.cpp
View File

@@ -7,12 +7,15 @@ extern "C"
};
_Objects Obj;
#define NEEDED 0
HardwareSerial Serial1(PA10, PA9);
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
HardwareTimer *baseTimer; // The base period timer
HardwareTimer *syncTimer; // The timer that syncs "with linuxcnc cycle"
uint16_t sync0CycleTime; // usecs
#if NEEDED
#include "MyEncoder.h"
void indexPulseEncoderCB1(void);
MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
@@ -26,13 +29,13 @@ RunningAverage cycleTimes(1000); // To have a running average of the cycletime o
#include "StepGen3.h"
StepGen3 *Step = 0;
#include "extend32to64.h"
CircularBuffer<uint64_t, 200> Tim;
#endif
#include "extend32to64.h"
volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0, irqCnt = 0, prevSyncTime = 0, syncTime = 0, deltaSyncTime;
extend32to64 longTime;
volatile uint16_t isrTime = 0;
void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs);
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
@@ -48,7 +51,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
volatile uint16_t basePeriodCnt;
volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0;
volatile uint16_t deltaMakePulsesCnt;
#if NEEDED
volatile double pos_cmd1, pos_cmd2;
void syncWithLCNC()
{
@@ -74,7 +77,7 @@ void basePeriodCB(void)
else
baseTimer->pause();
}
#endif
uint64_t timeDiff; // Timediff in microseconds
int32_t delayT;
uint16_t avgCycleTime, thisCycleTime; // In usecs
@@ -88,11 +91,13 @@ void handleStepper(void)
if (oldIrqTime != 0)
{
thisCycleTime = irqTime - oldIrqTime;
#if NEEDED
cycleTimes.add(thisCycleTime);
nLoops = 1 + (irqTime - oldIrqTime) / 960;
#endif
nLoops = round(float(thisCycleTime) / float(sync0CycleTime));
}
oldIrqTime = irqTime;
#if NEEDED
if (cycleTimes.bufferIsFull()) // Do max calcs, just waiting a second
{
avgCycleTime = cycleTimes.getFastAverage();
@@ -103,9 +108,10 @@ void handleStepper(void)
pos_cmd1 = Obj.CommandedPosition1;
pos_cmd2 = Obj.CommandedPosition2;
#endif
Obj.ActualPosition1 = Obj.CommandedPosition1;
Obj.ActualPosition2 = Obj.CommandedPosition2;
#if NEEDED
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
@@ -123,18 +129,20 @@ void handleStepper(void)
{
syncWithLCNC();
}
#endif
}
uint16_t oldCnt = 0;
uint64_t startTime = 0;
uint16_t avgTime = 0;
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();
float_t ap2 = Obj.ActualPosition2;
// Obj.IndexStatus = Encoder1.indexHappened();
// Obj.EncPos = Encoder1.currentPos();
// Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
// Obj.IndexByte = Encoder1.getIndexState();
#if 0
float_t ap2 = Obj.ActualPosition2;
uint64_t dTim = irqTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim);
uint64_t max_Tim = 0, min_Tim = UINT64_MAX;
@@ -153,15 +161,12 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
if (irqCnt == 11000)
avgTime = (irqTime - startTime) / 1000;
Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
uint16_t newCnt = isrTime;
// Obj.D1 = newCnt - oldCnt;
oldCnt = newCnt;
// Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.DiffT = nLoops;
Obj.D1 = 1000 * Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D2 = 1000 * Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX; // Step->stepgen_array[1].freq;
Obj.D3 = Step->stepgen_array[1].freq;
Obj.D4 = deltaMakePulsesCnt; // Step->stepgen_array[1].rawcount % UINT16_MAX;
Obj.D1 = 1000 * Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D2 = 1000 * Obj.ActualPosition2; // Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX; // Step->stepgen_array[1].freq;
Obj.D3 = nLoops; // Step->stepgen_array[1].freq;
Obj.D4 = 0; // deltaMakePulsesCnt; // Step->stepgen_array[1].rawcount % UINT16_MAX;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -206,17 +211,18 @@ void setup(void)
pinMode(PA12, OUTPUT); // Dir X
pinMode(PC9, OUTPUT); // Step Z
pinMode(PC10, OUTPUT); // Dir Z
#if NEEDED
Step = new StepGen3;
baseTimer = new HardwareTimer(TIM11); // The base period timer
uint32_t usecs = BASE_PERIOD / 1000;
uint32_t usecs = BASE_PERIOD / sync0CycleTime;
// setFrequencyAdjustedMicrosSeconds(baseTimer, usecs);
baseTimer->setOverflow(20, MICROSEC_FORMAT);
baseTimer->attachInterrupt(basePeriodCB);
syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
syncTimer->attachInterrupt(syncWithLCNC);
#endif
}
void loop(void)
@@ -297,7 +303,7 @@ uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 1;
// StepGen3::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
return 0;
}