jeka/MyOwnEtherCATDevice
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syncTimer can be on flawed time units

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This commit is contained in:
Hakan Bastedt
2024-04-03 20:40:58 +02:00
parent 9e00caf7c5
commit 5c128f49b5
1 changed files with 5 additions and 6 deletions
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11
Firmware/src/main.cpp
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@@ -104,7 +104,7 @@ void handleStepper(void)
delayT = 500 - diffT; delayT = 500 - diffT;
if (delayT > 0 && delayT < 900) if (delayT > 0 && delayT < 900)
{ {
setFrequencyAdjustedMicrosSeconds(syncTimer, delayT); syncTimer->setOverflow(delayT, MICROSEC_FORMAT);
syncTimer->refresh(); syncTimer->refresh();
syncTimer->resume(); syncTimer->resume();
} }
@@ -177,6 +177,7 @@ static esc_cfg_t config =
.esc_hw_eep_handler = NULL, .esc_hw_eep_handler = NULL,
.esc_check_dc_handler = dc_checker, .esc_check_dc_handler = dc_checker,
}; };
void measureCrystalFrequency(void); void measureCrystalFrequency(void);
volatile byte serveIRQ = 0; volatile byte serveIRQ = 0;
@@ -184,8 +185,6 @@ volatile byte serveIRQ = 0;
void setup(void) void setup(void)
{ {
Serial1.begin(115200); Serial1.begin(115200);
delay(2000);
Serial1.printf("Hello world\n");
#if 0 #if 0
measureCrystalFrequency(); // Calibrate crystal frequency measureCrystalFrequency(); // Calibrate crystal frequency
#endif #endif
@@ -200,7 +199,7 @@ void setup(void)
Step = new StepGen3; Step = new StepGen3;
baseTimer = new HardwareTimer(TIM1); // The base period timer baseTimer = new HardwareTimer(TIM1); // The base period timer
uint32_t usecs = BASE_PERIOD/1000; uint32_t usecs = BASE_PERIOD / 1000;
setFrequencyAdjustedMicrosSeconds(baseTimer, usecs); setFrequencyAdjustedMicrosSeconds(baseTimer, usecs);
baseTimer->attachInterrupt(basePeriodCB); baseTimer->attachInterrupt(basePeriodCB);
@@ -309,13 +308,13 @@ void CB(void)
void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs) void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs)
{ {
const uint16_t calibrated1000 = 1042; // <- This is the factor to adjust to make 1 sec = 1 sec const uint16_t calibrated1000 = 1042; // <- This is the factor to adjust to make 1 sec = 1 sec
uint32_t period_cyc = (usecs * (timer->getTimerClkFreq() / 1000)) / calibrated1000; // Avoid overflow during math uint32_t period_cyc = (usecs * (timer->getTimerClkFreq() / 1000)) / calibrated1000; // Avoid overflow during math
uint32_t Prescalerfactor = (period_cyc / 0x10000) + 1; uint32_t Prescalerfactor = (period_cyc / 0x10000) + 1;
uint32_t PeriodTicks = period_cyc / Prescalerfactor; uint32_t PeriodTicks = period_cyc / Prescalerfactor;
timer->setPrescaleFactor(Prescalerfactor); timer->setPrescaleFactor(Prescalerfactor);
timer->setOverflow(PeriodTicks, TICK_FORMAT); timer->setOverflow(PeriodTicks, TICK_FORMAT);
// Serial1.printf("Period_cyc=%u Prescalefactor =%u ticks = %u\n", period_cyc, Prescalerfactor, PeriodTicks); // Serial1.printf("Period_cyc=%u Prescalefactor =%u ticks = %u\n", period_cyc, Prescalerfactor, PeriodTicks);
} }
void measureCrystalFrequency(void) void measureCrystalFrequency(void)