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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
View File

@@ -147,7 +147,7 @@ private:
// For the example // For the example
#define BASE_PERIOD 40000 #define BASE_PERIOD 40000
#define SERVO_PERIOD 1000000 #define SERVO_PERIOD 2000000
#define JOINT_X_STEPGEN_MAXACCEL 0.0 #define JOINT_X_STEPGEN_MAXACCEL 0.0
#define JOINT_Z_STEPGEN_MAXACCEL 0.0 #define JOINT_Z_STEPGEN_MAXACCEL 0.0
#define JOINT_X_SCALE -200 #define JOINT_X_SCALE -200

23
Firmware/src/main.cpp
View File

@@ -7,7 +7,7 @@ extern "C"
}; };
_Objects Obj; _Objects Obj;
#define NEEDED 0 #define NEEDED 1
HardwareSerial Serial1(PA10, PA9); HardwareSerial Serial1(PA10, PA9);
@@ -64,7 +64,7 @@ void syncWithLCNC()
prevMakePulsesCnt = makePulsesCnt; prevMakePulsesCnt = makePulsesCnt;
Step->updateStepGen(pos_cmd1, pos_cmd2); // Update positions Step->updateStepGen(pos_cmd1, pos_cmd2); // Update positions
Step->makeAllPulses(); // Make first step right here Step->makeAllPulses(); // Make first step right here
basePeriodCnt = 1000000 / BASE_PERIOD; // basePeriodCnt = SERVO_PERIOD / BASE_PERIOD; //
baseTimer->refresh(); // baseTimer->refresh(); //
baseTimer->resume(); // Make the other steps in ISR baseTimer->resume(); // Make the other steps in ISR
// baseTimer->isRunning(); // baseTimer->isRunning();
@@ -115,9 +115,10 @@ void handleStepper(void)
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1; Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2; Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb; // Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb; // Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
uint32_t diffT = longTime.extendTime(micros()) - irqTime; uint32_t diffT = longTime.extendTime(micros()) - irqTime;
maxCycleTime = 600;
delayT = maxCycleTime + 50 - diffT; // Add 50 as some saftey margin delayT = maxCycleTime + 50 - diffT; // Add 50 as some saftey margin
if (delayT > 0 && delayT < 900) if (delayT > 0 && delayT < 900)
{ {
@@ -134,6 +135,7 @@ void handleStepper(void)
uint16_t oldCnt = 0; uint16_t oldCnt = 0;
uint64_t startTime = 0; uint64_t startTime = 0;
uint16_t avgTime = 0; uint16_t avgTime = 0;
float_t oldCommandedPosition = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{ {
// Obj.IndexStatus = Encoder1.indexHappened(); // 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 = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.DiffT = nLoops; Obj.DiffT = nLoops;
Obj.D1 = 1000 * Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos(); 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.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.D3 = irqCnt % 256; // Step->stepgen_array[1].freq;
Obj.D4 = 0; // deltaMakePulsesCnt; // Step->stepgen_array[1].rawcount % UINT16_MAX; Obj.D4 = 1000 * (Obj.CommandedPosition2 - oldCommandedPosition); // deltaMakePulsesCnt; // Step->stepgen_array[1].rawcount % UINT16_MAX;
oldCommandedPosition = Obj.CommandedPosition2;
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
@@ -217,7 +220,7 @@ void setup(void)
baseTimer = new HardwareTimer(TIM11); // The base period timer baseTimer = new HardwareTimer(TIM11); // The base period timer
uint32_t usecs = BASE_PERIOD / sync0CycleTime; uint32_t usecs = BASE_PERIOD / sync0CycleTime;
// setFrequencyAdjustedMicrosSeconds(baseTimer, usecs); // setFrequencyAdjustedMicrosSeconds(baseTimer, usecs);
baseTimer->setOverflow(20, MICROSEC_FORMAT); baseTimer->setOverflow(35, MICROSEC_FORMAT);
baseTimer->attachInterrupt(basePeriodCB); baseTimer->attachInterrupt(basePeriodCB);
syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
@@ -248,7 +251,7 @@ void loop(void)
void sync0Handler(void) void sync0Handler(void)
{ {
ALEventIRQ = ESC_ALeventread(); ALEventIRQ = ESC_ALeventread();
if (ALEventIRQ & ESCREG_ALEVENT_SM2) // if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{ {
irqTime = longTime.extendTime(micros()); irqTime = longTime.extendTime(micros());
serveIRQ = 1; serveIRQ = 1;