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Use 4.19-rt kernel
Ethernet Intel I210 controller
ethtool -C enp1s0 rx-usecs 0 tx-usecs 0
2 ms loop time in linuxcnc .ini and .xml and code
baseTimer period can be adjusted
startTime for baseTimer can also be adjusted.
This commit is contained in:
Hakan Bastedt
2024-04-05 18:30:33 +02:00
parent 511e6442e9
commit 544dd5ed85
2 changed files with 14 additions and 11 deletions
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2
Firmware/include/StepGen3.h
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@@ -147,7 +147,7 @@ private:
// For the example
#define BASE_PERIOD 40000
#define SERVO_PERIOD 1000000
#define SERVO_PERIOD 2000000
#define JOINT_X_STEPGEN_MAXACCEL 0.0
#define JOINT_Z_STEPGEN_MAXACCEL 0.0
#define JOINT_X_SCALE -200

23
Firmware/src/main.cpp
View File

@@ -7,7 +7,7 @@ extern "C"
};
_Objects Obj;
#define NEEDED 0
#define NEEDED 1
HardwareSerial Serial1(PA10, PA9);
@@ -64,7 +64,7 @@ void syncWithLCNC()
prevMakePulsesCnt = makePulsesCnt;
Step->updateStepGen(pos_cmd1, pos_cmd2); // Update positions
Step->makeAllPulses(); // Make first step right here
basePeriodCnt = 1000000 / BASE_PERIOD; //
basePeriodCnt = SERVO_PERIOD / BASE_PERIOD; //
baseTimer->refresh(); //
baseTimer->resume(); // Make the other steps in ISR
// baseTimer->isRunning();
@@ -115,9 +115,10 @@ void handleStepper(void)
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
// Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
// Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
uint32_t diffT = longTime.extendTime(micros()) - irqTime;
maxCycleTime = 600;
delayT = maxCycleTime + 50 - diffT; // Add 50 as some saftey margin
if (delayT > 0 && delayT < 900)
{
@@ -134,6 +135,7 @@ void handleStepper(void)
uint16_t oldCnt = 0;
uint64_t startTime = 0;
uint16_t avgTime = 0;
float_t oldCommandedPosition = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
// Obj.IndexStatus = Encoder1.indexHappened();
@@ -163,10 +165,11 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
// 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 * 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;
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 = irqCnt % 256; // Step->stepgen_array[1].freq;
Obj.D4 = 1000 * (Obj.CommandedPosition2 - oldCommandedPosition); // deltaMakePulsesCnt; // Step->stepgen_array[1].rawcount % UINT16_MAX;
oldCommandedPosition = Obj.CommandedPosition2;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -217,7 +220,7 @@ void setup(void)
baseTimer = new HardwareTimer(TIM11); // The base period timer
uint32_t usecs = BASE_PERIOD / sync0CycleTime;
// setFrequencyAdjustedMicrosSeconds(baseTimer, usecs);
baseTimer->setOverflow(20, MICROSEC_FORMAT);
baseTimer->setOverflow(35, MICROSEC_FORMAT);
baseTimer->attachInterrupt(basePeriodCB);
syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
@@ -248,7 +251,7 @@ void loop(void)
void sync0Handler(void)
{
ALEventIRQ = ESC_ALeventread();
if (ALEventIRQ & ESCREG_ALEVENT_SM2)
// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{
irqTime = longTime.extendTime(micros());
serveIRQ = 1;