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Encoder works also for threading cycle. non-optmized.

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This commit is contained in:
Hakan Bastedt
2023-12-26 18:16:04 +01:00
parent d878101c62
commit 890a81952b
7 changed files with 388 additions and 37 deletions
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8
Pcb-1-lan9252/Firmware/.vscode/settings.json vendored
View File

@@ -2,6 +2,12 @@
"files.associations": {
"ecat_slv.h": "c",
"compare": "cpp",
"*.tpp": "cpp"
"*.tpp": "cpp",
"*.tcc": "cpp",
"deque": "cpp",
"string": "cpp",
"unordered_map": "cpp",
"vector": "cpp",
"system_error": "cpp"
}
}

255
Pcb-1-lan9252/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
View File

@@ -114,7 +114,7 @@
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
@@ -171,6 +171,78 @@
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A02</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>DiffT</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A03</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>IndexByte</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A04</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>IndexStatus</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType>
@@ -238,15 +310,15 @@
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>32</BitSize>
<BitSize>80</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
<Elements>5</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>48</BitSize>
<BitSize>96</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -260,7 +332,7 @@
<SubItem>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>32</BitSize>
<BitSize>80</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
@@ -413,7 +485,7 @@
</Object>
<Object>
<Index>#x1601</Index>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Type>DT1601</Type>
<BitSize>48</BitSize>
<Info>
@@ -424,7 +496,7 @@
</Info>
</SubItem>
<SubItem>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Info>
<DefaultValue>#x70010020</DefaultValue>
</Info>
@@ -480,6 +552,75 @@
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A02</Index>
<Name>DiffT</Name>
<Type>DT1A02</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>DiffT</Name>
<Info>
<DefaultValue>#x60020020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A03</Index>
<Name>IndexByte</Name>
<Type>DT1A03</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>IndexByte</Name>
<Info>
<DefaultValue>#x60030020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A04</Index>
<Name>IndexStatus</Name>
<Type>DT1A04</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>IndexStatus</Name>
<Info>
<DefaultValue>#x60040020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1C00</Index>
<Name>Sync Manager Communication Type</Name>
@@ -554,12 +695,12 @@
<Index>#x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<Type>DT1C13</Type>
<BitSize>48</BitSize>
<BitSize>96</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>2</DefaultValue>
<DefaultValue>5</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -574,6 +715,24 @@
<DefaultValue>#x1A01</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A02</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A03</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A04</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -605,6 +764,45 @@
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6002</Index>
<Name>DiffT</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6003</Index>
<Name>IndexByte</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6004</Index>
<Name>IndexStatus</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7000</Index>
<Name>EncPosScale</Name>
@@ -620,7 +818,7 @@
</Object>
<Object>
<Index>#x7001</Index>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
@@ -654,12 +852,12 @@
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1601</Index>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Entry>
<Index>#x7001</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<DataType>UDINT</DataType>
</Entry>
</RxPdo>
@@ -685,6 +883,39 @@
<DataType>REAL</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A02</Index>
<Name>DiffT</Name>
<Entry>
<Index>#x6002</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>DiffT</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A03</Index>
<Name>IndexByte</Name>
<Entry>
<Index>#x6003</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>IndexByte</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A04</Index>
<Name>IndexStatus</Name>
<Entry>
<Index>#x6004</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>IndexStatus</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
</Mailbox>

2
Pcb-1-lan9252/Firmware/lib/soes/ecat_options.h
View File

@@ -34,7 +34,7 @@
#define SM3_act 1
#define MAX_MAPPINGS_SM2 2
#define MAX_MAPPINGS_SM3 2
#define MAX_MAPPINGS_SM3 5
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512

37
Pcb-1-lan9252/Firmware/lib/soes/esi.json
View File

@@ -71,6 +71,39 @@
"dtype": "REAL32",
"value": "0",
"data": "&Obj.EncFrequency"
},
"6002": {
"otype": "VAR",
"name": "DiffT",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.DiffT"
},
"6003": {
"otype": "VAR",
"name": "IndexByte",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.IndexByte"
},
"6004": {
"otype": "VAR",
"name": "IndexStatus",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.IndexStatus"
}
},
"rxpdo": {
@@ -87,14 +120,14 @@
},
"7001": {
"otype": "VAR",
"name": "EncIndexCEnable",
"name": "IndexLatchEnable",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.EncIndexCEnable"
"data": "&Obj.IndexLatchEnable"
},
"60664": {
"otype": "VAR",

63
Pcb-1-lan9252/Firmware/lib/soes/objectlist.c
View File

@@ -16,15 +16,24 @@ static const char acName1018_04[] = "Serial Number";
static const char acName1600[] = "EncPosScale";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "EncPosScale";
static const char acName1601[] = "EncIndexCEnable";
static const char acName1601[] = "IndexLatchEnable";
static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "EncIndexCEnable";
static const char acName1601_01[] = "IndexLatchEnable";
static const char acName1A00[] = "EncPos";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "EncPos";
static const char acName1A01[] = "EncFrequency";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "EncFrequency";
static const char acName1A02[] = "DiffT";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "DiffT";
static const char acName1A03[] = "IndexByte";
static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "IndexByte";
static const char acName1A04[] = "IndexStatus";
static const char acName1A04_00[] = "Max SubIndex";
static const char acName1A04_01[] = "IndexStatus";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
@@ -39,10 +48,16 @@ static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping";
static const char acName1C13_04[] = "PDO Mapping";
static const char acName1C13_05[] = "PDO Mapping";
static const char acName6000[] = "EncPos";
static const char acName6001[] = "EncFrequency";
static const char acName6002[] = "DiffT";
static const char acName6003[] = "IndexByte";
static const char acName6004[] = "IndexStatus";
static const char acName7000[] = "EncPosScale";
static const char acName7001[] = "EncIndexCEnable";
static const char acName7001[] = "IndexLatchEnable";
const _objd SDO1000[] =
{
@@ -88,6 +103,21 @@ const _objd SDO1A01[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
};
const _objd SDO1A02[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
};
const _objd SDO1A03[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
};
const _objd SDO1A04[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
};
const _objd SDO1C00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -104,9 +134,12 @@ const _objd SDO1C12[] =
};
const _objd SDO1C13[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 2, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
};
const _objd SDO6000[] =
{
@@ -116,13 +149,25 @@ const _objd SDO6001[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
};
const _objd SDO6002[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
};
const _objd SDO6003[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6003, 0, &Obj.IndexByte},
};
const _objd SDO6004[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus},
};
const _objd SDO7000[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
};
const _objd SDO7001[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.EncIndexCEnable},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
};
const _objectlist SDOobjects[] =
@@ -136,11 +181,17 @@ const _objectlist SDOobjects[] =
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 2, 0, acName1C13, SDO1C13},
{0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}

5
Pcb-1-lan9252/Firmware/lib/soes/utypes.h
View File

@@ -15,11 +15,14 @@ typedef struct
float EncPos;
float EncFrequency;
uint32_t DiffT;
uint32_t IndexByte;
uint32_t IndexStatus;
/* Outputs */
int32_t EncPosScale;
uint32_t EncIndexCEnable;
uint32_t IndexLatchEnable;
} _Objects;

55
Pcb-1-lan9252/Firmware/src/main.cpp
View File

@@ -15,24 +15,28 @@ int64_t PreviousEncoderCounterValue = 0;
int64_t unwrap_encoder(uint16_t in, int64_t *prev);
#include <Stm32F4_Encoder.h>
Encoder EncoderInit;
Encoder *encP = &EncoderInit;
// #include "Stepper.h"
#define INDEX_PIN PA2
HardwareSerial Serial1(PA10, PA9);
_Objects Obj;
void indexPulse(void);
double PosScaleRes = 1.0;
uint32_t CurPosScale = 1;
uint8_t OldIndexCEnable = 0;
uint8_t OldLatchCEnable = 0;
volatile uint8_t indexPulseFired = 0;
uint32_t nFires = 0;
volatile uint8_t pleaseZeroTheCounter=0;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
if (Obj.EncIndexCEnable && !OldIndexCEnable) // Should only happen first time IndexCEnable is set
if (Obj.IndexLatchEnable && !OldLatchCEnable) // Should only happen first time IndexCEnable is set
{
attachInterrupt(digitalPinToInterrupt(PA2), indexPulse, RISING); // PA2 = Index pulse
pleaseZeroTheCounter=1;
}
OldIndexCEnable = Obj.EncIndexCEnable;
OldLatchCEnable = Obj.IndexLatchEnable;
if (CurPosScale != Obj.EncPosScale && Obj.EncPosScale != 0)
{
@@ -43,6 +47,16 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = 0;
if (indexPulseFired)
{
Obj.IndexStatus = 1;
indexPulseFired = 0;
nFires++;
PreviousEncoderCounterValue = 0;
}
Obj.DiffT = nFires;
int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
double CurPos = pos * PosScaleRes;
Obj.EncPos = CurPos;
@@ -57,6 +71,19 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
diffPos = fabs(Pos.last() - Pos.first());
}
Obj.EncFrequency = diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
Obj.IndexStatus = 0;
if (indexPulseFired)
{
Obj.IndexStatus = 1;
indexPulseFired = 0;
nFires++;
PreviousEncoderCounterValue = 0;
}
Obj.DiffT = nFires;
Obj.IndexByte = digitalRead(INDEX_PIN);
if (Obj.IndexByte)
Serial1.printf("IS 1\n");
}
static esc_cfg_t config =
@@ -81,7 +108,6 @@ static esc_cfg_t config =
void setup(void)
{
uint64_t ff = F_CPU;
Serial1.begin(115200);
rcc_config();
@@ -91,11 +117,8 @@ void setup(void)
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);
// delay(5000); // To give serial port monitor time to receive
Serial1.printf("Before Ecat config\n");
ecat_slv_init(&config);
Serial1.printf("Started\n");
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
}
void loop(void)
@@ -125,8 +148,12 @@ int64_t unwrap_encoder(uint16_t in, int64_t *prev)
void indexPulse(void)
{
detachInterrupt(digitalPinToInterrupt(PA2)); // PA2 = Index pulse;
EncoderInit.SetCount(Tim2, 0);
Pos.clear();
TDelta.clear();
if (pleaseZeroTheCounter)
{
TIM2->CNT = 0;
indexPulseFired = 1;
Pos.clear();
TDelta.clear();
pleaseZeroTheCounter = 0;
}
}