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FIx 1c13 index manually, nLoops is back

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This commit is contained in:
Hakan Bastedt
2024-04-05 09:54:43 +02:00
parent efa03e3095
commit 63fafb4936
4 changed files with 26 additions and 26 deletions
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4
Firmware/include/StepGen3.h
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@@ -148,8 +148,8 @@ private:
// For the example // For the example
#define BASE_PERIOD 40000 // 40000 is max #define BASE_PERIOD 40000 // 40000 is max
#define SERVO_PERIOD 1000000 #define SERVO_PERIOD 1000000
#define JOINT_X_STEPGEN_MAXACCEL (52000.0) #define JOINT_X_STEPGEN_MAXACCEL 0.0
#define JOINT_Z_STEPGEN_MAXACCEL (52000.0) #define JOINT_Z_STEPGEN_MAXACCEL 0.0
#define JOINT_X_SCALE -200 #define JOINT_X_SCALE -200
#define JOINT_Z_SCALE -80 #define JOINT_Z_SCALE -80

4
Firmware/lib/soes/objectlist.c
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@@ -237,8 +237,8 @@ const _objd SDO1C13[] =
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL}, {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_08, 0x1A07, NULL}, {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_08, 0x1A07, NULL},
{0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_09, 0x1A08, NULL}, {0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_09, 0x1A08, NULL},
{0x10, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_10, 0x1A09, NULL}, {0x0a, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_10, 0x1A09, NULL},
{0x11, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_11, 0x1A0A, NULL}, {0x0b, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_11, 0x1A0A, NULL},
}; };
const _objd SDO6000[] = const _objd SDO6000[] =
{ {

4
Firmware/src/StepGen3.cpp
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@@ -1096,9 +1096,9 @@ StepGen3::StepGen3(void)
rtapi_app_main(); rtapi_app_main();
stepgen_array[0].enable = 1; stepgen_array[0].enable = 1;
stepgen_array[0].pos_scale = JOINT_X_SCALE; stepgen_array[0].pos_scale = JOINT_X_SCALE;
//stepgen_array[0].maxaccel = JOINT_X_STEPGEN_MAXACCEL; stepgen_array[0].maxaccel = JOINT_X_STEPGEN_MAXACCEL;
stepgen_array[1].pos_scale = JOINT_Z_SCALE; stepgen_array[1].pos_scale = JOINT_Z_SCALE;
//stepgen_array[1].maxaccel = JOINT_Z_STEPGEN_MAXACCEL; stepgen_array[1].maxaccel = JOINT_Z_STEPGEN_MAXACCEL;
stepgen_array[0].enable = stepgen_array[1].enable = 1; stepgen_array[0].enable = stepgen_array[1].enable = 1;
} }

40
Firmware/src/main.cpp
View File

@@ -53,6 +53,7 @@ volatile double pos_cmd1, pos_cmd2;
void syncWithLCNC() void syncWithLCNC()
{ {
syncTimer->pause(); syncTimer->pause();
baseTimer->pause();
prevSyncTime = syncTime; prevSyncTime = syncTime;
syncTime = longTime.extendTime(micros()); syncTime = longTime.extendTime(micros());
deltaSyncTime = syncTime - prevSyncTime; deltaSyncTime = syncTime - prevSyncTime;
@@ -61,40 +62,34 @@ void syncWithLCNC()
Step->updateStepGen(pos_cmd1, pos_cmd2); // Update positions Step->updateStepGen(pos_cmd1, pos_cmd2); // Update positions
Step->makeAllPulses(); // Make first step right here Step->makeAllPulses(); // Make first step right here
basePeriodCnt = 1000000 / BASE_PERIOD; // basePeriodCnt = 1000000 / BASE_PERIOD; //
baseTimer->setCount(0); baseTimer->refresh(); //
baseTimer->refresh(); // baseTimer->resume(); // Make the other steps in ISR
baseTimer->resume(); // Make the other steps in ISR
// baseTimer->isRunning(); // baseTimer->isRunning();
} }
void basePeriodCB(void) void basePeriodCB(void)
{ {
uint32_t one = micros(); if (--basePeriodCnt > 0) // Stop
Step->makeAllPulses();
Step->makeAllPulses(); else
isrTime = micros() - one;
if (--basePeriodCnt <= 0) // Stop
{
baseTimer->pause(); baseTimer->pause();
}
} }
uint16_t nLoops; uint64_t timeDiff; // Timediff in microseconds
uint64_t reallyNowTime = 0, reallyThenTime = 0; // Times in microseconds
uint64_t timeDiff; // Timediff in microseconds
int32_t delayT; int32_t delayT;
uint16_t avgCycleTime, thisCycleTime; // In usecs uint16_t avgCycleTime, thisCycleTime; // In usecs
int16_t maxCycleTime = 0; int16_t maxCycleTime = 0;
volatile uint64_t oldIrqTime = 0; volatile uint64_t oldIrqTime = 0;
uint16_t nLoops;
void handleStepper(void) void handleStepper(void)
{ {
if (oldIrqTime != 0) if (oldIrqTime != 0)
{ {
thisCycleTime = irqTime - oldIrqTime; thisCycleTime = irqTime - oldIrqTime;
cycleTimes.add(thisCycleTime); cycleTimes.add(thisCycleTime);
nLoops = 1 + (irqTime - oldIrqTime) / 960;
} }
oldIrqTime = irqTime; oldIrqTime = irqTime;
@@ -162,10 +157,11 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
uint16_t newCnt = isrTime; uint16_t newCnt = isrTime;
// Obj.D1 = newCnt - oldCnt; // Obj.D1 = newCnt - oldCnt;
oldCnt = newCnt; oldCnt = newCnt;
Obj.DiffT = nLoops;
Obj.D1 = 1000 * Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos(); Obj.D1 = 1000 * Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D2 = 1000 * Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX; // Step->stepgen_array[1].freq; Obj.D2 = 1000 * Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX; // Step->stepgen_array[1].freq;
Obj.D3 = Step->stepgen_array[1].freq; Obj.D3 = Step->stepgen_array[1].freq;
Obj.D4 = Step->stepgen_array[1].rawcount % UINT16_MAX; Obj.D4 = deltaMakePulsesCnt; // Step->stepgen_array[1].rawcount % UINT16_MAX;
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
@@ -213,9 +209,10 @@ void setup(void)
Step = new StepGen3; Step = new StepGen3;
baseTimer = new HardwareTimer(TIM1); // The base period timer baseTimer = new HardwareTimer(TIM11); // The base period timer
uint32_t usecs = BASE_PERIOD / 1000; uint32_t usecs = BASE_PERIOD / 1000;
setFrequencyAdjustedMicrosSeconds(baseTimer, usecs); // setFrequencyAdjustedMicrosSeconds(baseTimer, usecs);
baseTimer->setOverflow(20, MICROSEC_FORMAT);
baseTimer->attachInterrupt(basePeriodCB); baseTimer->attachInterrupt(basePeriodCB);
syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
@@ -244,9 +241,12 @@ void loop(void)
void sync0Handler(void) void sync0Handler(void)
{ {
irqTime = longTime.extendTime(micros());
ALEventIRQ = ESC_ALeventread(); ALEventIRQ = ESC_ALeventread();
serveIRQ = 1; if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{
irqTime = longTime.extendTime(micros());
serveIRQ = 1;
}
irqCnt++; irqCnt++;
} }