jeka/MyOwnEtherCATDevice
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More encapsulation of timer info.

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This commit is contained in:
Hakan Bastedt
2024-01-11 16:44:28 +01:00
parent 5df911296c
commit 6176166b3a
3 changed files with 13 additions and 14 deletions
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8
Firmware/src/main.cpp
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@@ -12,7 +12,7 @@ HardwareSerial Serial1(PA10, PA9);
#include "MyEncoder.h"
#define INDEX_PIN PA2
void indexPulseEncoderCB1(void);
MyEncoder Encoder1(INDEX_PIN, indexPulseEncoderCB1);
MyEncoder Encoder1(TIM2, INDEX_PIN, indexPulseEncoderCB1);
void indexPulseEncoderCB1(void)
{
Encoder1.indexPulse();
@@ -30,6 +30,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
{
Encoder1.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(Obj.EncPosScale);
Step1.cmdPos(Obj.StepGenIn1.CommandedPosition);
}
@@ -41,11 +42,12 @@ void handleStepper(void)
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPos = Encoder1.currentPos(TIM2->CNT);
Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState();
if (Obj.IndexByte)
Serial1.printf("IS 1\n");
Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.DiffT = 10000 * Step1.reqPos();
}
@@ -83,7 +85,7 @@ void setup(void)
rcc_config();
Step1.setScale(500);
Encoder1.init(TIM2);
Encoder1.init();
ecat_slv_init(&config);
}