jeka/MyOwnEtherCATDevice
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Further cleanup and modularization

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This commit is contained in:
Hakan Bastedt
2024-01-10 22:27:04 +01:00
parent 3bbf089d01
commit 6f29a0d492
3 changed files with 38 additions and 28 deletions
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25
Firmware/src/MyEncoder.cpp
View File

@@ -36,8 +36,9 @@ void MyEncoder::indexPulse(void)
pleaseZeroTheCounter = 0;
}
}
void MyEncoder::init(enum EncTimer timer)
void MyEncoder::init(enum EncTimer timer, TIM_TypeDef *_tim_base)
{
tim_base = _tim_base;
// Set starting count value
EncoderInit.SetCount(timer, 0);
// EncoderInit.SetCount(Tim3, 0);
@@ -56,9 +57,9 @@ uint8_t MyEncoder::indexHappened()
return 0;
}
double MyEncoder::currentPos()
double MyEncoder::currentPos(volatile uint32_t cnt)
{
curPos = unwrapEncoder(TIM2->CNT) * PosScaleRes;
curPos = unwrapEncoder(tim_base->CNT) * PosScaleRes;
return curPos;
}
@@ -80,3 +81,21 @@ uint8_t MyEncoder::getIndexState()
{
return digitalRead(indexPin);
}
void MyEncoder::setScale(double scale)
{
if (CurPosScale != scale && scale != 0)
{
CurPosScale = scale;
PosScaleRes = 1.0 / double(scale);
}
}
void MyEncoder::setLatch(uint8_t latchEnable)
{
if (latchEnable && !oldLatchCEnable) // Should only happen first time IndexCEnable is set
{
pleaseZeroTheCounter = 1;
}
oldLatchCEnable = latchEnable;
}

25
Firmware/src/main.cpp
View File

@@ -1,15 +1,13 @@
#include <Arduino.h>
#include <stdio.h>
extern "C"
{
#include "ecat_slv.h"
#include "utypes.h"
};
_Objects Obj;
HardwareSerial Serial1(PA10, PA9);
_Objects Obj;
#include "MyEncoder.h"
#define INDEX_PIN PA2
@@ -30,27 +28,18 @@ void timerCallbackStep1(void)
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
if (Obj.IndexLatchEnable && !Encoder1.OldLatchCEnable) // Should only happen first time IndexCEnable is set
{
Encoder1.pleaseZeroTheCounter = 1;
}
Encoder1.OldLatchCEnable = Obj.IndexLatchEnable;
if (Encoder1.CurPosScale != Obj.EncPosScale && Obj.EncPosScale != 0)
{
Encoder1.CurPosScale = Obj.EncPosScale;
Encoder1.PosScaleRes = 1.0 / double(Encoder1.CurPosScale);
}
Encoder1.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(Obj.EncPosScale);
Step1.cmdPos(Obj.StepGenIn1.CommandedPosition);
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPos = Encoder1.currentPos();
Obj.EncPos = Encoder1.currentPos(TIM2->CNT);
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState();
if (Obj.IndexByte)
if (Obj.IndexByte)
Serial1.printf("IS 1\n");
Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.DiffT = 10000 * Step1.reqPos();
@@ -61,7 +50,6 @@ void ESC_interrupt_disable(uint32_t mask);
uint16_t dc_checker(void);
void sync0Handler(void);
void handleStepper(void);
void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* nr of pulses to do*/);
static esc_cfg_t config =
{
@@ -91,8 +79,7 @@ void setup(void)
rcc_config();
Step1.setScale(500);
Encoder1.init(Tim2);
Encoder1.init(Tim2, TIM2);
ecat_slv_init(&config);
}