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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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2
Firmware/include/StepGen.h
View File

@@ -14,6 +14,7 @@ public:
volatile uint32_t timerNewCycleTime; volatile uint32_t timerNewCycleTime;
volatile double_t actualPosition; volatile double_t actualPosition;
volatile double_t requestedPosition; volatile double_t requestedPosition;
volatile uint8_t enabled;
HardwareTimer *MyTim; HardwareTimer *MyTim;
uint16_t stepsPerMM; uint16_t stepsPerMM;
static uint32_t sync0CycleTime; static uint32_t sync0CycleTime;
@@ -32,6 +33,7 @@ public:
void handleStepper(void); void handleStepper(void);
void timerCB(); void timerCB();
void setScale(int16_t spm); void setScale(int16_t spm);
void enable(uint8_t yes);
}; };
#endif #endif

114
Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
View File

@@ -191,6 +191,40 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT1604</Name>
<BitSize>144</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>Enable1</Name>
<Type>ULINT</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Padding 1</Name>
<Type>ULINT</Type>
<BitSize>64</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>DT1A00</Name> <Name>DT1A00</Name>
<BitSize>80</BitSize> <BitSize>80</BitSize>
@@ -394,15 +428,15 @@
<DataType> <DataType>
<Name>DT1C12ARR</Name> <Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType> <BaseType>UINT</BaseType>
<BitSize>64</BitSize> <BitSize>80</BitSize>
<ArrayInfo> <ArrayInfo>
<LBound>1</LBound> <LBound>1</LBound>
<Elements>4</Elements> <Elements>5</Elements>
</ArrayInfo> </ArrayInfo>
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1C12</Name> <Name>DT1C12</Name>
<BitSize>80</BitSize> <BitSize>96</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -416,7 +450,7 @@
<SubItem> <SubItem>
<Name>Elements</Name> <Name>Elements</Name>
<Type>DT1C12ARR</Type> <Type>DT1C12ARR</Type>
<BitSize>64</BitSize> <BitSize>80</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -613,6 +647,10 @@
<Name>INT</Name> <Name>INT</Name>
<BitSize>16</BitSize> <BitSize>16</BitSize>
</DataType> </DataType>
<DataType>
<Name>BOOL</Name>
<BitSize>1</BitSize>
</DataType>
</DataTypes> </DataTypes>
<Objects> <Objects>
<Object> <Object>
@@ -810,6 +848,35 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x1604</Index>
<Name>Enable1</Name>
<Type>DT1604</Type>
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Enable1</Name>
<Info>
<DefaultValue>#x70040001</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Padding 1</Name>
<Info>
<DefaultValue>#x00000007</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object> <Object>
<Index>#x1A00</Index> <Index>#x1A00</Index>
<Name>EncPos</Name> <Name>EncPos</Name>
@@ -1016,12 +1083,12 @@
<Index>#x1C12</Index> <Index>#x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name> <Name>Sync Manager 2 PDO Assignment</Name>
<Type>DT1C12</Type> <Type>DT1C12</Type>
<BitSize>80</BitSize> <BitSize>96</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>4</DefaultValue> <DefaultValue>5</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -1048,6 +1115,12 @@
<DefaultValue>#x1603</DefaultValue> <DefaultValue>#x1603</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1604</DefaultValue>
</Info>
</SubItem>
</Info> </Info>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -1307,6 +1380,19 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x7004</Index>
<Name>Enable1</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
</Objects> </Objects>
</Dictionary> </Dictionary>
</Profile> </Profile>
@@ -1375,6 +1461,22 @@
<DataType>INT</DataType> <DataType>INT</DataType>
</Entry> </Entry>
</RxPdo> </RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1604</Index>
<Name>Enable1</Name>
<Entry>
<Index>#x7004</Index>
<SubIndex>#x0</SubIndex>
<BitLen>1</BitLen>
<Name>Enable1</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>0</Index>
<SubIndex>0</SubIndex>
<BitLen>7</BitLen>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3"> <TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index> <Index>#x1A00</Index>
<Name>EncPos</Name> <Name>EncPos</Name>

2
Firmware/lib/soes/ecat_options.h
View File

@@ -33,7 +33,7 @@
#define SM3_smc 0x20 #define SM3_smc 0x20
#define SM3_act 1 #define SM3_act 1
#define MAX_MAPPINGS_SM2 6 #define MAX_MAPPINGS_SM2 8
#define MAX_MAPPINGS_SM3 7 #define MAX_MAPPINGS_SM3 7
#define MAX_RXPDO_SIZE 512 #define MAX_RXPDO_SIZE 512

11
Firmware/lib/soes/esi.json
View File

@@ -223,6 +223,17 @@
"rxpdo" "rxpdo"
] ]
}, },
"7004": {
"otype": "VAR",
"name": "Enable1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "BOOLEAN",
"value": "0",
"data": "&Obj.Enable1"
},
"60664": { "60664": {
"otype": "VAR", "otype": "VAR",
"name": "ActualPosition", "name": "ActualPosition",

23
Firmware/lib/soes/objectlist.c
View File

@@ -27,6 +27,10 @@ static const char acName1603[] = "StepGenIn2";
static const char acName1603_00[] = "Max SubIndex"; static const char acName1603_00[] = "Max SubIndex";
static const char acName1603_01[] = "CommandedPosition"; static const char acName1603_01[] = "CommandedPosition";
static const char acName1603_02[] = "StepsPerMM"; static const char acName1603_02[] = "StepsPerMM";
static const char acName1604[] = "Enable1";
static const char acName1604_00[] = "Max SubIndex";
static const char acName1604_01[] = "Enable1";
static const char acName1604_02[] = "Padding 1";
static const char acName1A00[] = "EncPos"; static const char acName1A00[] = "EncPos";
static const char acName1A00_00[] = "Max SubIndex"; static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "EncPos"; static const char acName1A00_01[] = "EncPos";
@@ -60,6 +64,7 @@ static const char acName1C12_01[] = "PDO Mapping";
static const char acName1C12_02[] = "PDO Mapping"; static const char acName1C12_02[] = "PDO Mapping";
static const char acName1C12_03[] = "PDO Mapping"; static const char acName1C12_03[] = "PDO Mapping";
static const char acName1C12_04[] = "PDO Mapping"; static const char acName1C12_04[] = "PDO Mapping";
static const char acName1C12_05[] = "PDO Mapping";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment"; static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex"; static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping"; static const char acName1C13_01[] = "PDO Mapping";
@@ -90,6 +95,7 @@ static const char acName7003[] = "StepGenIn2";
static const char acName7003_00[] = "Max SubIndex"; static const char acName7003_00[] = "Max SubIndex";
static const char acName7003_01[] = "CommandedPosition"; static const char acName7003_01[] = "CommandedPosition";
static const char acName7003_02[] = "StepsPerMM"; static const char acName7003_02[] = "StepsPerMM";
static const char acName7004[] = "Enable1";
const _objd SDO1000[] = const _objd SDO1000[] =
{ {
@@ -137,6 +143,12 @@ const _objd SDO1603[] =
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_01, 0x70030140, NULL}, {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_01, 0x70030140, NULL},
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_02, 0x70030210, NULL}, {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_02, 0x70030210, NULL},
}; };
const _objd SDO1604[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 2, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1604_01, 0x70040001, NULL},
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1604_02, 0x00000007, NULL},
};
const _objd SDO1A00[] = const _objd SDO1A00[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
@@ -182,11 +194,12 @@ const _objd SDO1C00[] =
}; };
const _objd SDO1C12[] = const _objd SDO1C12[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 4, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL}, {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL}, {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL}, {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL}, {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
}; };
const _objd SDO1C13[] = const _objd SDO1C13[] =
{ {
@@ -249,6 +262,10 @@ const _objd SDO7003[] =
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7003_01, 0, &Obj.StepGenIn2.CommandedPosition}, {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7003_01, 0, &Obj.StepGenIn2.CommandedPosition},
{0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7003_02, 0, &Obj.StepGenIn2.StepsPerMM}, {0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7003_02, 0, &Obj.StepGenIn2.StepsPerMM},
}; };
const _objd SDO7004[] =
{
{0x0, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.Enable1},
};
const _objectlist SDOobjects[] = const _objectlist SDOobjects[] =
{ {
@@ -261,6 +278,7 @@ const _objectlist SDOobjects[] =
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601}, {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602}, {0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 2, 0, acName1603, SDO1603}, {0x1603, OTYPE_RECORD, 2, 0, acName1603, SDO1603},
{0x1604, OTYPE_RECORD, 2, 0, acName1604, SDO1604},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00}, {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01}, {0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02}, {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
@@ -269,7 +287,7 @@ const _objectlist SDOobjects[] =
{0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05}, {0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
{0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06}, {0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 4, 0, acName1C12, SDO1C12}, {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13}, {0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000}, {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001}, {0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
@@ -282,5 +300,6 @@ const _objectlist SDOobjects[] =
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001}, {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002}, {0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
{0x7003, OTYPE_RECORD, 2, 0, acName7003, SDO7003}, {0x7003, OTYPE_RECORD, 2, 0, acName7003, SDO7003},
{0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL} {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
}; };

1
Firmware/lib/soes/utypes.h
View File

@@ -41,6 +41,7 @@ typedef struct
double CommandedPosition; double CommandedPosition;
int16_t StepsPerMM; int16_t StepsPerMM;
} StepGenIn2; } StepGenIn2;
uint8_t Enable1;
} _Objects; } _Objects;

9
Firmware/src/StepGen.cpp
View File

@@ -12,6 +12,7 @@ StepGen::StepGen(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, u
actualPosition = 0; actualPosition = 0;
requestedPosition = 0; requestedPosition = 0;
stepsPerMM = 0; stepsPerMM = 0;
enabled = 0;
dirPin = _dirPin; dirPin = _dirPin;
stepPin = _stepPin; stepPin = _stepPin;
@@ -37,8 +38,16 @@ double StepGen::actPos()
return actualPosition; return actualPosition;
} }
void StepGen::enable(uint8_t yes)
{
enabled = yes;
}
void StepGen::handleStepper(void) void StepGen::handleStepper(void)
{ {
if (!enabled)
return;
actPos(timerStepPosition / double(stepsPerMM)); actPos(timerStepPosition / double(stepsPerMM));
double diffPosition = reqPos() - actPos(); 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.reqPos(Obj.StepGenIn1.CommandedPosition);
Step1.setScale(Obj.StepGenIn1.StepsPerMM); Step1.setScale(Obj.StepGenIn1.StepsPerMM);
Step1.enable(Obj.Enable1);
Step2.reqPos(Obj.StepGenIn2.CommandedPosition); Step2.reqPos(Obj.StepGenIn2.CommandedPosition);
Step2.setScale(Obj.StepGenIn2.StepsPerMM); Step2.setScale(Obj.StepGenIn2.StepsPerMM);
Step2.enable(Obj.Enable1);
} }
void handleStepper(void) void handleStepper(void)
@@ -123,9 +125,8 @@ void sync0Handler(void)
void ESC_interrupt_enable(uint32_t mask) void ESC_interrupt_enable(uint32_t mask)
{ {
// Enable interrupt for SYNC0 or SM2 or SM3 // Enable interrupt for SYNC0 or SM2 or SM3
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
ESCREG_ALEVENT_SM2 | uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
ESCREG_ALEVENT_SM3;
if (mask & user_int_mask) if (mask & user_int_mask)
{ {
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (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) void ESC_interrupt_disable(uint32_t mask)
{ {
// Enable interrupt for SYNC0 or SM2 or SM3 // Enable interrupt for SYNC0 or SM2 or SM3
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
ESCREG_ALEVENT_SM2 | uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
ESCREG_ALEVENT_SM3;
if (mask & user_int_mask) if (mask & user_int_mask)
{ {
@@ -160,11 +160,12 @@ void ESC_interrupt_disable(uint32_t mask)
} }
extern "C" uint32_t ESC_SYNC0cycletime(void); extern "C" uint32_t ESC_SYNC0cycletime(void);
// Setup of DC // Setup of DC
uint16_t dc_checker(void) uint16_t dc_checker(void)
{ {
// Indicate we run DC // Indicate we run DC
ESCvar.dcsync = 0; ESCvar.dcsync = 1;
StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000; StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000;
return 0; return 0;
} }