jeka/MyOwnEtherCATDevice
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Pending video release

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This commit is contained in:
Hakan Bastedt
2023-12-29 15:05:23 +01:00
parent 2a1111c537
commit 5abaf4ace7
2 changed files with 5 additions and 13 deletions
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10
Pcb-1-lan9252/Firmware/src/main.cpp
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@@ -56,7 +56,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
nFires++; nFires++;
PreviousEncoderCounterValue = 0; PreviousEncoderCounterValue = 0;
} }
uint64_t now = micros(); uint64_t now = micros(); // Exploring the cycle times
Obj.DiffT = now - Prev2Time; Obj.DiffT = now - Prev2Time;
Prev2Time = PrevTime; Prev2Time = PrevTime;
PrevTime = now; PrevTime = now;
@@ -76,14 +76,6 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
} }
Obj.EncFrequency = diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second Obj.EncFrequency = diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
Obj.IndexStatus = 0;
if (indexPulseFired)
{
Obj.IndexStatus = 1;
indexPulseFired = 0;
nFires++;
PreviousEncoderCounterValue = 0;
}
Obj.IndexByte = digitalRead(INDEX_PIN); Obj.IndexByte = digitalRead(INDEX_PIN);
if (Obj.IndexByte) if (Obj.IndexByte)
Serial1.printf("IS 1\n"); Serial1.printf("IS 1\n");

8
Pcb-1-lan9252/linuxcnc/ethercat-conf.xml
View File

@@ -1,9 +1,9 @@
<masters> <masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5"> <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
# <slave idx="0" type="EK1100"/> <slave idx="0" type="EK1100"/>
# <slave idx="1" type="EL1008"/> <slave idx="1" type="EL1008"/>
# <slave idx="2" type="EL2008"/> <slave idx="2" type="EL2008"/>
# <slave idx="3" type="EL5101"/> <slave idx="3" type="EL5101"/>
<slave idx="4" type="generic" vid="00000a88" pid="0a880002" configPdos="true"> <slave idx="4" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/> <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="b8 0b"/></sdoConfig> <!-- Max motor current (3.0A) --> <sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="b8 0b"/></sdoConfig> <!-- Max motor current (3.0A) -->