jeka/MyOwnEtherCATDevice
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Mods to make encoder work again, and a possible 2nd iteration of encoder config

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This commit is contained in:
Hakan Bastedt
2024-04-09 08:25:59 +02:00
parent ec1c8fc70f
commit 939470a0c6
6 changed files with 94 additions and 14 deletions
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12
Firmware/src/main.cpp
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@@ -15,10 +15,12 @@ HardwareTimer *syncTimer; // The timer that syncs "with linuxcnc cycle"
uint16_t sync0CycleTime; // usecs
#include "MyEncoder.h"
volatile uint16_t encCnt = 0;
void indexPulseEncoderCB1(void);
MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
void indexPulseEncoderCB1(void)
{
encCnt++;
Encoder1.indexPulse();
}
#include <RunningAverage.h>
@@ -120,13 +122,13 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.EncFrequency = Encoder1.frequency(longTime.extendTime(micros()));
Obj.IndexByte = Encoder1.getIndexState();
Obj.DiffT = nLoops;
Obj.D1 = 1000 * Obj.CommandedPosition2; // 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.D3 = irqCnt % 256; // Step->stepgen_array[1].freq;
Obj.D3 = encCnt % 256; // Step->stepgen_array[1].freq;
Obj.D4 = 1000 * (Obj.CommandedPosition2 - oldCommandedPosition); // deltaMakePulsesCnt; // Step->stepgen_array[1].rawcount % UINT16_MAX;
oldCommandedPosition = Obj.CommandedPosition2;
}
@@ -166,7 +168,9 @@ void setup(void)
#if 0
measureCrystalFrequency(); // Calibrate crystal frequency
#endif
rcc_config(); // Needed by encoder, probably breaks some timers.
Step = new StepGen3;
encoder_config(); // Needed by encoder, probably breaks some timers.
ecat_slv_init(&config);
pinMode(PA11, OUTPUT); // Step X
@@ -174,7 +178,7 @@ void setup(void)
pinMode(PC9, OUTPUT); // Step Z
pinMode(PC10, OUTPUT); // Dir Z
Step = new StepGen3;
baseTimer = new HardwareTimer(TIM11); // The base period timer
setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000);