jeka/MyOwnEtherCATDevice
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Yesss software stepping works now.

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This commit is contained in:
Hakan Bastedt
2024-03-23 19:51:26 +01:00
parent 369a795ce5
commit 8710a547fe
1 changed files with 14 additions and 16 deletions
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30
Firmware/src/main.cpp
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@@ -9,9 +9,6 @@ _Objects Obj;
HardwareSerial Serial1(PA10, PA9); HardwareSerial Serial1(PA10, PA9);
// SGT = StepGenTest
#define SGT 1
#if SGT
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
#include "MyEncoder.h" #include "MyEncoder.h"
@@ -21,12 +18,10 @@ void indexPulseEncoderCB1(void)
{ {
Encoder1.indexPulse(); Encoder1.indexPulse();
} }
#endif
#include "StepGen3.h" #include "StepGen3.h"
StepGen3 *Step = 0; StepGen3 *Step = 0;
#if SGT
#include "extend32to64.h" #include "extend32to64.h"
CircularBuffer<uint64_t, 200> Tim; CircularBuffer<uint64_t, 200> Tim;
@@ -48,6 +43,7 @@ uint64_t reallyNowTime = 0, reallyThenTime = 0;
uint64_t timeDiff; // Timediff in nanoseconds uint64_t timeDiff; // Timediff in nanoseconds
void handleStepper(void) void handleStepper(void)
{ {
#if 1
double pos[MAX_CHAN]; double pos[MAX_CHAN];
pos[0] = Obj.CommandedPosition1; pos[0] = Obj.CommandedPosition1;
pos[1] = Obj.CommandedPosition2; pos[1] = Obj.CommandedPosition2;
@@ -57,10 +53,12 @@ void handleStepper(void)
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb; Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition1 = Step->stepgen_array[1].pos_fb; Obj.ActualPosition1 = Step->stepgen_array[1].pos_fb;
} }
#endif
} }
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{ {
#if 1
// Obj.IndexStatus = Encoder1.indexHappened(); // Obj.IndexStatus = Encoder1.indexHappened();
// Obj.EncPos = Encoder1.currentPos(); // Obj.EncPos = Encoder1.currentPos();
// Obj.EncFrequency = Encoder1.frequency(ESCvar.Time); // Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
@@ -87,6 +85,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.D2 = 0; Obj.D2 = 0;
Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos(); Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D4 = 0; Obj.D4 = 0;
#endif
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
@@ -115,7 +114,6 @@ static esc_cfg_t config =
}; };
volatile byte serveIRQ = 0; volatile byte serveIRQ = 0;
#endif
void basePeriodCB(void) void basePeriodCB(void)
{ {
@@ -148,23 +146,25 @@ void setup(void)
pinMode(PC10, OUTPUT); pinMode(PC10, OUTPUT);
digitalWrite(PC9, HIGH); digitalWrite(PC9, HIGH);
digitalWrite(PC10, HIGH); digitalWrite(PC10, HIGH);
// Step = new StepGen3; Step = new StepGen3;
HardwareTimer *MyTim = new HardwareTimer(TIM1); // The base period timer HardwareTimer *MyTim = new HardwareTimer(TIM1); // The base period timer
MyTim->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); MyTim->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT);
MyTim->attachInterrupt(basePeriodCB); MyTim->attachInterrupt(basePeriodCB);
// MyTim->resume(); MyTim->resume();
} }
double pos = 0; double pos = 0;
void loop(void) void loop(void)
{ {
#if 0
pinMode(PC9, OUTPUT); pinMode(PC9, OUTPUT);
digitalWrite(PC9, LOW);
delay(50);
digitalWrite(PC9, HIGH);
delay(50);
digitalWrite(PC9, LOW);
delay(10);
digitalWrite(PC9, HIGH);
delay(10);
#endif
uint64_t dTime; uint64_t dTime;
if (serveIRQ) if (serveIRQ)
{ {
@@ -179,20 +179,18 @@ void loop(void)
ecat_slv_poll(); ecat_slv_poll();
} }
dTime = longTime.extendTime(micros()) - irqTime; dTime = longTime.extendTime(micros()) - irqTime;
// if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll(); ecat_slv_poll();
} }
void sync0Handler(void) void sync0Handler(void)
{ {
#if SGT
ALEventIRQ = ESC_ALeventread(); ALEventIRQ = ESC_ALeventread();
// if (ALEventIRQ & ESCREG_ALEVENT_SM2) // if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{ {
serveIRQ = 1; serveIRQ = 1;
irqTime = longTime.extendTime(micros()); irqTime = longTime.extendTime(micros());
} }
#endif
} }
// Enable SM2 interrupts // Enable SM2 interrupts