jeka/MyOwnEtherCATDevice
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ooops it was set to use DC sync, not the intention, SM2 sync was intended. Switch to SM2 sync

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Hakan Bastedt
2024-01-05 21:33:06 +01:00
parent 37d3ea6567
commit 7e06b0ce68
2 changed files with 10 additions and 24 deletions
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2
Firmware/platformio.ini
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@@ -17,7 +17,7 @@ debug_tool = stlink
debug_build_flags = -O0 -g -ggdb debug_build_flags = -O0 -g -ggdb
monitor_port = COM7 monitor_port = COM7
monitor_speed = 115200 monitor_speed = 115200
build_flags = -O0 -g -Wl,--no-warn-rwx-segment build_flags = -Wl,--no-warn-rwx-segment
lib_deps = lib_deps =
SPI SPI
rlogiacco/CircularBuffer@^1.3.3 rlogiacco/CircularBuffer@^1.3.3

32
Firmware/src/main.cpp
View File

@@ -60,9 +60,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
byte forwardDirection = 0; // 1 if going forward byte forwardDirection = 0; // 1 if going forward
int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition); int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition);
if (pulsesToGo != 0) if (pulsesToGo != 0)
makePulses(900, abs(pulsesToGo)); // Make the pulses using hardware timer makePulses(900, pulsesToGo); // Make the pulses using hardware timer
// digitalWrite(STEPPER_DIR_PIN, HIGH); // I think one should really wait a bit when changed
actualPosition = requestedPosition; actualPosition = requestedPosition;
} }
@@ -114,7 +112,7 @@ static esc_cfg_t config =
.set_defaults_hook = NULL, .set_defaults_hook = NULL,
.pre_state_change_hook = NULL, .pre_state_change_hook = NULL,
.post_state_change_hook = NULL, .post_state_change_hook = NULL,
.application_hook = handleStepper, // StepGen, .application_hook = NULL, // StepGen,
.safeoutput_override = NULL, .safeoutput_override = NULL,
.pre_object_download_hook = NULL, .pre_object_download_hook = NULL,
.post_object_download_hook = NULL, .post_object_download_hook = NULL,
@@ -137,11 +135,13 @@ void TimerStep_CB(void)
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/) void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/)
{ {
byte sgn = pulses > 0 ? HIGH : LOW;
digitalWrite(STEPPER_DIR_PIN, sgn); // I think one should really wait a bit when changed
uint32_t puls = abs(pulses); uint32_t puls = abs(pulses);
MyTim->setOverflow(puls * 1000000 / period, HERTZ_FORMAT); MyTim->setOverflow(abs(pulses) * 1000000 / period, HERTZ_FORMAT);
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 % MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
stepCount = 0; stepCount = 0;
stepPulses = puls; stepPulses = abs(pulses);
MyTim->resume(); MyTim->resume();
} }
@@ -166,7 +166,7 @@ void setup(void)
ecat_slv_init(&config); ecat_slv_init(&config);
} }
volatile byte serveIRQ=0; volatile byte serveIRQ = 0;
void loop(void) void loop(void)
{ {
ESCvar.PrevTime = ESCvar.Time; ESCvar.PrevTime = ESCvar.Time;
@@ -212,21 +212,7 @@ void indexPulse(void)
void sync0Handler(void) void sync0Handler(void)
{ {
serveIRQ=1; serveIRQ = 1;
}
void handleStepper(void)
{
#if 0
byte forwardDirection = 0; // 1 if going forward
int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition);
if (pulsesToGo != 0)
makePulses(500, 1); // Make the pulses using hardware timer
// digitalWrite(STEPPER_DIR_PIN, HIGH); // I think one should really wait a bit when changed
actualPosition = requestedPosition;
#endif
} }
void ESC_interrupt_enable(uint32_t mask) void ESC_interrupt_enable(uint32_t mask)
@@ -273,7 +259,7 @@ extern "C" uint32_t ESC_SYNC0cycletime(void);
uint16_t dc_checker(void) uint16_t dc_checker(void)
{ {
// Indicate we run DC // Indicate we run DC
ESCvar.dcsync = 1; ESCvar.dcsync = 0;
sync0CycleTime = ESC_SYNC0cycletime(); sync0CycleTime = ESC_SYNC0cycletime();
return 0; return 0;
} }