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New enable input. Add dc ability. Set only SM2 synchronization. Various to make lathe work

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This commit is contained in:
Hakan Bastedt
2024-01-18 14:26:51 +01:00
parent 38825bbaf3
commit 9ab4afabe4
8 changed files with 161 additions and 16 deletions
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9
Firmware/src/StepGen.cpp
View File

@@ -12,6 +12,7 @@ StepGen::StepGen(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, u
actualPosition = 0;
requestedPosition = 0;
stepsPerMM = 0;
enabled = 0;
dirPin = _dirPin;
stepPin = _stepPin;
@@ -37,8 +38,16 @@ double StepGen::actPos()
return actualPosition;
}
void StepGen::enable(uint8_t yes)
{
enabled = yes;
}
void StepGen::handleStepper(void)
{
if (!enabled)
return;
actPos(timerStepPosition / double(stepsPerMM));
double diffPosition = reqPos() - actPos();

15
Firmware/src/main.cpp
View File

@@ -46,8 +46,10 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
Step1.reqPos(Obj.StepGenIn1.CommandedPosition);
Step1.setScale(Obj.StepGenIn1.StepsPerMM);
Step1.enable(Obj.Enable1);
Step2.reqPos(Obj.StepGenIn2.CommandedPosition);
Step2.setScale(Obj.StepGenIn2.StepsPerMM);
Step2.enable(Obj.Enable1);
}
void handleStepper(void)
@@ -123,9 +125,8 @@ void sync0Handler(void)
void ESC_interrupt_enable(uint32_t mask)
{
// Enable interrupt for SYNC0 or SM2 or SM3
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
ESCREG_ALEVENT_SM2 |
ESCREG_ALEVENT_SM3;
// uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
if (mask & user_int_mask)
{
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
@@ -144,9 +145,8 @@ void ESC_interrupt_enable(uint32_t mask)
void ESC_interrupt_disable(uint32_t mask)
{
// Enable interrupt for SYNC0 or SM2 or SM3
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
ESCREG_ALEVENT_SM2 |
ESCREG_ALEVENT_SM3;
// uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
if (mask & user_int_mask)
{
@@ -160,11 +160,12 @@ void ESC_interrupt_disable(uint32_t mask)
}
extern "C" uint32_t ESC_SYNC0cycletime(void);
// Setup of DC
uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 0;
ESCvar.dcsync = 1;
StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000;
return 0;
}