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Clear ALevents for DC_sync0 and SM3 might have solved the uneven pulse train. Looking better now.

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This commit is contained in:
Hakan Bastedt
2024-02-09 17:28:18 +01:00
parent d0433b29cf
commit 6d18c2cb3f
3 changed files with 70 additions and 30 deletions
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9
Firmware/include/StepGen2.h
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@@ -9,7 +9,12 @@ private:
volatile double_t actualPosition;
volatile int32_t nSteps;
volatile uint32_t timerPulseSteps;
volatile float Tstart;
public:
volatile float Tstartf; // Starting delay in secs
volatile uint32_t Tstartu; // Starting delay in usecs
private:
public:
const float maxAllowedFrequency = 100000; // 100 kHz for now
HardwareTimer *pulseTimer;
uint32_t pulseTimerChan;
@@ -28,7 +33,7 @@ public:
volatile float frequency;
static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time
volatile uint32_t lcncCycleTime; // Linuxcnc nominal cycle time (1 ms often)
volatile float lcncCycleTime; // Linuxcnc nominal cycle time in sec (1 ms often)
StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));

31
Firmware/src/StepGen2.cpp
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@@ -21,49 +21,52 @@ StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin,
startTimer = new HardwareTimer(Timer2);
startTimer->attachInterrupt(irq2);
}
uint32_t cnt = 0;
uint32_t StepGen2::handleStepper(void)
{
if (!enabled)
return updatePos(0);
lcncCycleTime = StepGen2::sync0CycleTime;
lcncCycleTime = StepGen2::sync0CycleTime * 1.0e-6; // was usec, became sec
commandedStepPosition = floor(commandedPosition * stepsPerMM); // Scale position to steps
if (initialStepPosition == commandedStepPosition) // No movement
return updatePos(1);
float approximateFrequency = fabs(initialStepPosition - commandedStepPosition) // We must take at least one step
/ (float)lcncCycleTime; // from here on
if (approximateFrequency > maxAllowedFrequency) // Stay on this position
return 1;
// digitalWrite(dirPin, cnt++ % 2);
float approximateFrequency = fabs(initialStepPosition - commandedStepPosition) // We must take at least one step
/ lcncCycleTime; // from here on
// if (approximateFrequency > maxAllowedFrequency) // Stay on this position
// return 1;
float kTRAJ = (commandedPosition - initialPosition) / float(lcncCycleTime); // Straight line equation
float kTRAJ = (commandedPosition - initialPosition) / lcncCycleTime; // Straight line equation
float mTRAJ = initialPosition; // position = kTRAJ x time + mTRAJ
// Operating on incoming positions (not steps)
if (fabs(kTRAJ * lcncCycleTime * stepsPerMM) < 0.01) // Very flat slope
{ //
Tstart = 0.5 * lcncCycleTime; // Just take a step in the middle of the cycle
Tstartf = 0.5 * lcncCycleTime; // Just take a step in the middle of the cycle
frequency = 10000; // At some suitable frequency
nSteps = kTRAJ > 0 ? 1 : -1; // Take only one step
}
else // Regular step train, up or down
{
if (kTRAJ > 0)
Tstart = (ceil(initialPosition * stepsPerMM) - mTRAJ) / kTRAJ;
Tstartf = (ceil(initialPosition * stepsPerMM) / stepsPerMM - mTRAJ) / kTRAJ;
else
Tstart = (floor(initialPosition * stepsPerMM) - mTRAJ) / kTRAJ;
frequency = kTRAJ * stepsPerMM;
Tstartf = (floor(initialPosition * stepsPerMM) / stepsPerMM - mTRAJ) / kTRAJ;
frequency = fabs(kTRAJ * stepsPerMM);
nSteps = commandedStepPosition - initialStepPosition; // sign(nSteps) = direction.
}
updatePos(5);
Tstartu = Tstartf * 1e6; // Was secs, now usecs
startTimer->setOverflow(Tstart + Tjitter, MICROSEC_FORMAT); // All handled by irqs
startTimer->setOverflow(Tstartu + Tjitter, MICROSEC_FORMAT); // All handled by irqs
startTimer->resume();
return 1;
}
void StepGen2::startTimerCB()
{
startTimer->pause(); // Once is enough.
digitalWrite(dirPin, nSteps > 0 ? 1 : -1);
// digitalWrite(dirPin, nSteps > 0 ? 1 : -1);
timerPulseSteps = abs(nSteps);
pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
pulseTimer->setOverflow(uint32_t(frequency), HERTZ_FORMAT);

46
Firmware/src/main.cpp
View File

@@ -25,7 +25,8 @@ StepGen2 Step(TIM1, 4, PA_11, PA12, pulseTimerCallback, TIM10, startTimerCallbac
void pulseTimerCallback(void) { Step.pulseTimerCB(); }
void startTimerCallback(void) { Step.startTimerCB(); }
CircularBuffer<uint32_t, 200> Tim;
volatile uint64_t nowTime = 0, thenTime = 0;
volatile uint64_t irqTime = 0, thenTime = 0;
int64_t extendTime(uint32_t in); // Extend from 32-bit to 64-bit precision
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
@@ -38,8 +39,11 @@ void handleStepper(void)
Step.enabled = true;
Step.commandedPosition = Obj.StepGenIn1.CommandedPosition;
Obj.StepGenOut1.ActualPosition = Step.commandedPosition;
Step.stepsPerMM = Obj.StepGenIn1.StepsPerMM;
Step.stepsPerMM = 4000;
Step.handleStepper();
Obj.StepGenOut2.ActualPosition = Obj.StepGenIn2.CommandedPosition;
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -49,7 +53,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState();
uint32_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
uint32_t dTim = irqTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim);
uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
@@ -60,8 +64,9 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
if (aTim < min_Tim)
min_Tim = aTim;
}
thenTime = nowTime;
thenTime = irqTime;
Obj.DiffT = max_Tim - min_Tim; // Debug
Obj.DiffT = ESCvar.ALevent;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -100,22 +105,27 @@ void setup(void)
void loop(void)
{
uint32_t dTime;
if (serveIRQ)
{
nowTime = micros();
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0;
ESCvar.PrevTime = ESCvar.Time;
}
uint32_t dTime = micros() - nowTime;
dTime = micros() - irqTime;
if ((dTime > 200 && dTime < 500) || dTime > 1500) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll();
}
volatile uint32_t cmt;
void sync0Handler(void)
{
uint32_t lTime;
irqTime = micros();
serveIRQ = 1;
ESC_read(ESCREG_LOCALTIME, (void *)&lTime, sizeof(lTime)); // Careful! Reads and writes update ALevent also.
digitalWrite(Step.dirPin, cmt++ % 2);
}
void ESC_interrupt_enable(uint32_t mask)
@@ -125,6 +135,8 @@ void ESC_interrupt_enable(uint32_t mask)
uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
if (mask & user_int_mask)
{
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
@@ -165,3 +177,23 @@ uint16_t dc_checker(void)
StepGen2::sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
return 0;
}
#define ONE_PERIOD UINT32_MAX
#define HALF_PERIOD (UINT32_MAX >> 1)
static int64_t previousTimeValue = 0;
int64_t extendTime(uint32_t in) // Extend from 32-bit to 64-bit precision
{
int64_t c64 = (int64_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
int64_t dif = (c64 - previousTimeValue); // core concept: prev + (current - prev) = current
// wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
if (dif < -HALF_PERIOD)
mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
int64_t unwrapped = previousTimeValue + mod_dif;
previousTimeValue = unwrapped; // load previous value
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
}