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Test version, test OS and nic. Added counters to detect work/no work

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Hakan Bastedt
2024-04-14 13:07:43 +02:00
parent a4ca1f641a
commit 855553bed7
1 changed files with 11 additions and 7 deletions
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18
Firmware/src/main.cpp
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@@ -47,7 +47,7 @@ volatile uint16_t basePeriodCnt;
volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0; volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0;
volatile uint16_t deltaMakePulsesCnt; volatile uint16_t deltaMakePulsesCnt;
double posCmd1, posCmd2; volatile double posCmd1, posCmd2;
double oldPosCmd1, oldPosCmd2; double oldPosCmd1, oldPosCmd2;
double deltaPosCmd1, deltaPosCmd2; double deltaPosCmd1, deltaPosCmd2;
@@ -78,13 +78,16 @@ int16_t maxIrqServeTime = 0;
uint64_t oldIrqTime = 0; uint64_t oldIrqTime = 0;
uint16_t nLoops; uint16_t nLoops;
uint16_t failedSM2s = 0; uint16_t failedSM2s = 0;
uint16_t totalFailedSM2s = 0;
uint16_t nLoopsAboveNorm = 0;
void handleStepper(void) void handleStepper(void)
{ {
if (oldIrqTime != 0) // See if there is a delay in data, normally it *should* be nLoops=1, but sometimes it is more if (oldIrqTime != 0) // See if there is a delay in data, normally it *should* be nLoops=1, but sometimes it is more
{ {
thisCycleTime = irqTime - oldIrqTime; thisCycleTime = irqTime - oldIrqTime;
nLoops = round(float(thisCycleTime) / float(sync0CycleTime)); nLoops = round(float(thisCycleTime) / float(sync0CycleTime / 1000));
nLoopsAboveNorm += nLoops - 1;
} }
oldIrqTime = irqTime; oldIrqTime = irqTime;
@@ -114,11 +117,12 @@ void handleStepper(void)
} }
else else
{ // Not normal, we didn't get a position update. Extrapolate from previous updates { // Not normal, we didn't get a position update. Extrapolate from previous updates
if (failedSM2s++ < 10) // Do max 10 such extrapolations, should be plenty if (failedSM2s++ < 100) // Do max 10 such extrapolations, should be plenty
{ // { //
posCmd1 += deltaPosCmd1; // Continue with the same speed posCmd1 += deltaPosCmd1; // Continue with the same speed
posCmd2 += deltaPosCmd2; posCmd2 += deltaPosCmd2;
} }
totalFailedSM2s++;
} }
oldPosCmd1 = posCmd1; oldPosCmd1 = posCmd1;
oldPosCmd2 = posCmd2; oldPosCmd2 = posCmd2;
@@ -154,10 +158,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.IndexByte = Encoder1.getIndexState(); Obj.IndexByte = Encoder1.getIndexState();
Obj.DiffT = nLoops; Obj.DiffT = nLoops;
Obj.D1 = 1000 * Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos(); Obj.D1 = 1000 * deltaPosCmd2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D2 = 1000 * Obj.ActualPosition2; // Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX; // Step->stepgen_array[1].freq; Obj.D2 = totalFailedSM2s; // Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX; // Step->stepgen_array[1].freq;
Obj.D3 = encCnt % 256; // Step->stepgen_array[1].freq; Obj.D3 = 1000 * Obj.CommandedPosition2; // Step->stepgen_array[1].freq;
Obj.D4 = 1000 * (Obj.CommandedPosition2 - oldCommandedPosition); // deltaMakePulsesCnt; // Step->stepgen_array[1].rawcount % UINT16_MAX; Obj.D4 = 1000 * posCmd2; // Step->stepgen_array[1].rawcount % UINT16_MAX;
oldCommandedPosition = Obj.CommandedPosition2; oldCommandedPosition = Obj.CommandedPosition2;
} }