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

Encoder works also for threading cycle. non-optmized.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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;
}
}