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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6
Firmware/include/MyEncoder.h
View File

@@ -7,12 +7,12 @@
class MyEncoder class MyEncoder
{ {
public: public:
MyEncoder(uint8_t _indexPin, void irq(void)); MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void));
int32_t unwrapEncoder(uint16_t in); int32_t unwrapEncoder(uint16_t in);
void indexPulse(void); void indexPulse(void);
void init(TIM_TypeDef *_tim_base); void init();
uint8_t indexHappened(); uint8_t indexHappened();
double currentPos(volatile uint32_t cnt); double currentPos();
double frequency(uint64_t time); double frequency(uint64_t time);
uint8_t getIndexState(); uint8_t getIndexState();
void setScale(double scale); void setScale(double scale);

13
Firmware/src/MyEncoder.cpp
View File

@@ -1,7 +1,8 @@
#include "MyENcoder.h" #include "MyENcoder.h"
MyEncoder::MyEncoder(uint8_t _indexPin, void irq(void)) MyEncoder::MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void))
{ {
tim_base = _tim_base;
indexPin = _indexPin; indexPin = _indexPin;
attachInterrupt(digitalPinToInterrupt(indexPin), irq, RISING); // When Index triggered attachInterrupt(digitalPinToInterrupt(indexPin), irq, RISING); // When Index triggered
} }
@@ -29,21 +30,17 @@ void MyEncoder::indexPulse(void)
{ {
if (pleaseZeroTheCounter) if (pleaseZeroTheCounter)
{ {
TIM2->CNT = 0; tim_base->CNT = 0;
indexPulseFired = 1; indexPulseFired = 1;
Pos.clear(); Pos.clear();
TDelta.clear(); TDelta.clear();
pleaseZeroTheCounter = 0; pleaseZeroTheCounter = 0;
} }
} }
void MyEncoder::init(TIM_TypeDef *_tim_base) void MyEncoder::init()
{ {
EncoderInit.tim_base = _tim_base;
// Set starting count value // Set starting count value
EncoderInit.SetCount(0); EncoderInit.SetCount(0);
// EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);
} }
uint8_t MyEncoder::indexHappened() uint8_t MyEncoder::indexHappened()
@@ -57,7 +54,7 @@ uint8_t MyEncoder::indexHappened()
return 0; return 0;
} }
double MyEncoder::currentPos(volatile uint32_t cnt) double MyEncoder::currentPos()
{ {
curPos = unwrapEncoder(tim_base->CNT) * PosScaleRes; curPos = unwrapEncoder(tim_base->CNT) * PosScaleRes;
return curPos; return curPos;

8
Firmware/src/main.cpp
View File

@@ -12,7 +12,7 @@ HardwareSerial Serial1(PA10, PA9);
#include "MyEncoder.h" #include "MyEncoder.h"
#define INDEX_PIN PA2 #define INDEX_PIN PA2
void indexPulseEncoderCB1(void); void indexPulseEncoderCB1(void);
MyEncoder Encoder1(INDEX_PIN, indexPulseEncoderCB1); MyEncoder Encoder1(TIM2, INDEX_PIN, indexPulseEncoderCB1);
void indexPulseEncoderCB1(void) void indexPulseEncoderCB1(void)
{ {
Encoder1.indexPulse(); Encoder1.indexPulse();
@@ -30,6 +30,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
{ {
Encoder1.setLatch(Obj.IndexLatchEnable); Encoder1.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(Obj.EncPosScale); Encoder1.setScale(Obj.EncPosScale);
Step1.cmdPos(Obj.StepGenIn1.CommandedPosition); Step1.cmdPos(Obj.StepGenIn1.CommandedPosition);
} }
@@ -41,11 +42,12 @@ void handleStepper(void)
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();
Obj.EncPos = Encoder1.currentPos(TIM2->CNT); Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time); Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState(); Obj.IndexByte = Encoder1.getIndexState();
if (Obj.IndexByte) if (Obj.IndexByte)
Serial1.printf("IS 1\n"); Serial1.printf("IS 1\n");
Obj.StepGenOut1.ActualPosition = Step1.actPos(); Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.DiffT = 10000 * Step1.reqPos(); Obj.DiffT = 10000 * Step1.reqPos();
} }
@@ -83,7 +85,7 @@ void setup(void)
rcc_config(); rcc_config();
Step1.setScale(500); Step1.setScale(500);
Encoder1.init(TIM2); Encoder1.init();
ecat_slv_init(&config); ecat_slv_init(&config);
} }