jeka/MyOwnEtherCATDevice
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Working test-program using user LEDs and delays

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This commit is contained in:
Hakan Bastedt
2024-03-22 21:20:31 +01:00
parent 7bff3f3789
commit 6383d6de89
3 changed files with 118 additions and 103 deletions
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9
Firmware/src/StepGen3.cpp
View File

@@ -1100,7 +1100,7 @@ StepGen3::StepGen3(void)
step->pos_scale = JOINT_0_SCALE;
step->maxaccel = JOINT_0_STEPGEN_MAXACCEL;
for (int servo_thread = 0; servo_thread < 00; servo_thread++)
for (int servo_thread = 0; servo_thread < 100; servo_thread++)
{
step->pos_cmd = servo_thread * 1;
update_pos(step, SERVO_PERIOD);
@@ -1108,10 +1108,13 @@ StepGen3::StepGen3(void)
for (int base_thread = 0; base_thread < 20; base_thread++)
{
make_pulses(stepgen_array, BASE_PERIOD);
digitalWrite(PA6, step->phase[DIR_PIN] ? LOW : HIGH);
digitalWrite(PA7, step->phase[STEP_PIN] ? LOW : HIGH);
delay(50);
// printf("pos_cmd=%f\n", step->pos_cmd);
// printf("pos_fb=%f\n", step->pos_fb);
printf("pickoff=%d accum=%lld addval=%d ", 1 << 28, step->accum, step->addval);
printf("dir=%d step=%d\n", step->phase[DIR_PIN], step->phase[STEP_PIN]);
// printf("pickoff=%d accum=%lld addval=%d ", 1 << 28, step->accum, step->addval);
// printf("dir=%d step=%d\n", step->phase[DIR_PIN], step->phase[STEP_PIN]);
}
}
}

26
Firmware/src/main.cpp
View File

@@ -8,6 +8,10 @@ extern "C"
_Objects Obj;
HardwareSerial Serial1(PA10, PA9);
// STG = StepGenTest
#define SGT 0
#if SGT
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
#define DEBUG_TIM8 1
#include "MyEncoder.h"
@@ -17,8 +21,9 @@ void indexPulseEncoderCB1(void)
{
Encoder1.indexPulse();
}
#endif
#include "StepGen3.h"
#if SGT
#include "extend32to64.h"
CircularBuffer<uint64_t, 200> Tim;
@@ -40,7 +45,6 @@ uint64_t reallyNowTime = 0, reallyThenTime = 0;
uint64_t timeDiff; // Timediff in nanoseconds
void handleStepper(void)
{
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -66,7 +70,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
}
thenTime = irqTime;
Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.D1 =0;
Obj.D1 = 0;
Obj.D2 = 0;
Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D4 = 0;
@@ -98,16 +102,25 @@ static esc_cfg_t config =
};
volatile byte serveIRQ = 0;
#endif
void setup(void)
{
Serial1.begin(115200);
#if SGT
rcc_config(); // probably breaks some timers.
ecat_slv_init(&config);
#endif
pinMode(PA6, OUTPUT);
pinMode(PA7, OUTPUT);
digitalWrite(PA6, HIGH);
digitalWrite(PA7, HIGH);
}
void loop(void)
{
StepGen3 Step;
#if SGT
uint64_t dTime;
if (serveIRQ)
{
@@ -124,16 +137,19 @@ void loop(void)
dTime = longTime.extendTime(micros()) - irqTime;
if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll();
#endif
}
void sync0Handler(void)
{
#if SGT
ALEventIRQ = ESC_ALeventread();
// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{
serveIRQ = 1;
irqTime = longTime.extendTime(micros());
}
#endif
}
// Enable SM2 interrupts
@@ -183,6 +199,6 @@ uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 1;
//StepGen3::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
// StepGen3::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
return 0;
}