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

Added frequency-calibration to base-thread timer

Browse Source
This commit is contained in:
Hakan Bastedt
2024-04-03 20:33:57 +02:00
parent 1d14e1f295
commit 9e00caf7c5
4 changed files with 158 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
Firmware/include/StepGen3.h
View File

@@ -36,16 +36,17 @@ typedef struct
unsigned int step_space; /* parameter: min step pulse spacing */
double old_pos_cmd; /* previous position command (counts) */
int count; /* pin: captured feedback in counts */
double pos_scale; /* param: steps per position unit */
double old_scale; /* stored scale value */
double scale_recip; /* reciprocal value used for scaling */
double vel_cmd; /* pin: velocity command (pos units/sec) */
double pos_cmd; /* pin: position command (position units) */
double pos_fb; /* pin: position feedback (position units) */
double freq; /* param: frequency command */
double maxvel; /* param: max velocity, (pos units/sec) */
double maxaccel; /* param: max accel (pos units/sec^2) */
unsigned int old_step_len; /* used to detect parameter changes */
#define double float
double pos_scale; /* param: steps per position unit */
double old_scale; /* stored scale value */
double scale_recip; /* reciprocal value used for scaling */
double vel_cmd; /* pin: velocity command (pos units/sec) */
double pos_cmd; /* pin: position command (position units) */
double pos_fb; /* pin: position feedback (position units) */
double freq; /* param: frequency command */
double maxvel; /* param: max velocity, (pos units/sec) */
double maxaccel; /* param: max accel (pos units/sec^2) */
unsigned int old_step_len; /* used to detect parameter changes */
unsigned int old_step_space;
unsigned int old_dir_hold_dly;
unsigned int old_dir_setup;
@@ -89,9 +90,10 @@ public:
double dt; // update_freq period in seconds */
double recip_dt; // recprocal of period, avoids divides */
volatile uint64_t cnt = 0; // Debug counter
#undef double
StepGen3(void);
void updateStepGen(double pos_cmd1, double pos_cmd2);
void makeAllPulses(void);
int rtapi_app_main();
int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
void make_pulses(void *arg, long period);
@@ -144,11 +146,11 @@ private:
};
// For the example
#define BASE_PERIOD 50000 // 12 is max
#define BASE_PERIOD 40000 // 40000 is max
#define SERVO_PERIOD 1000000
#define JOINT_X_STEPGEN_MAXACCEL (1.2 * 520.0)
#define JOINT_X_STEPGEN_MAXACCEL (52000.0)
#define JOINT_Z_STEPGEN_MAXACCEL (52000.0)
#define JOINT_X_SCALE -200
#define JOINT_Z_STEPGEN_MAXACCEL (1.2 * 520.0)
#define JOINT_Z_SCALE -80
#endif