jeka/MyOwnEtherCATDevice
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Two encoders and two steppers declared. Encoder is 64-bit again

Browse Source
This commit is contained in:
Hakan Bastedt
2024-01-11 21:10:27 +01:00
parent 6176166b3a
commit 7a63d27303
3 changed files with 23 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
Firmware/src/MyEncoder.cpp
View File

@@ -5,12 +5,13 @@ MyEncoder::MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void))
tim_base = _tim_base;
indexPin = _indexPin;
attachInterrupt(digitalPinToInterrupt(indexPin), irq, RISING); // When Index triggered
EncoderInit.SetCount(0);
}
#define ONE_PERIOD 65536
#define HALF_PERIOD 32768
int32_t MyEncoder::unwrapEncoder(uint16_t in)
int64_t MyEncoder::unwrapEncoder(uint16_t in)
{
int32_t c32 = (int32_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
int32_t dif = (c32 - previousEncoderCounterValue); // core concept: prev + (current - prev) = current
@@ -20,7 +21,7 @@ int32_t MyEncoder::unwrapEncoder(uint16_t in)
if (dif < -HALF_PERIOD)
mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
int32_t unwrapped = previousEncoderCounterValue + mod_dif;
int64_t unwrapped = previousEncoderCounterValue + mod_dif;
previousEncoderCounterValue = unwrapped; // load previous value
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
@@ -37,11 +38,6 @@ void MyEncoder::indexPulse(void)
pleaseZeroTheCounter = 0;
}
}
void MyEncoder::init()
{
// Set starting count value
EncoderInit.SetCount(0);
}
uint8_t MyEncoder::indexHappened()
{
@@ -96,4 +92,3 @@ void MyEncoder::setLatch(uint8_t latchEnable)
}
oldLatchCEnable = latchEnable;
}