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

wip stepgen

Browse Source
This commit is contained in:
Hakan Bastedt
2023-12-31 08:57:37 +01:00
parent 0929d23207
commit ab034e93f8
7 changed files with 364 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
Pcb-1-lan9252/Firmware/src/main.cpp
View File

@@ -17,13 +17,11 @@ int64_t unwrap_encoder(uint16_t in, int64_t *prev);
Encoder EncoderInit;
Encoder *encP = &EncoderInit;
// #include "Stepper.h"
#include "Stepper.h"
#define INDEX_PIN PA2
HardwareSerial Serial1(PA10, PA9);
_Objects Obj;
volatile uint32_t sync0s = 0;
void indexPulse(void);
double PosScaleRes = 1.0;
uint32_t CurPosScale = 1;
@@ -32,6 +30,8 @@ volatile uint8_t indexPulseFired = 0;
uint32_t nFires = 0;
volatile uint8_t pleaseZeroTheCounter = 0;
uint32_t sync0CycleTime = 0;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
if (Obj.IndexLatchEnable && !OldLatchCEnable) // Should only happen first time IndexCEnable is set
@@ -57,7 +57,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
nFires++;
PreviousEncoderCounterValue = 0;
}
Obj.DiffT = sync0s;
Obj.DiffT = sync0CycleTime;
int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
double CurPos = pos * PosScaleRes;
@@ -81,7 +81,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
void ESC_interrupt_enable(uint32_t mask);
void ESC_interrupt_disable(uint32_t mask);
uint16_t dc_checker (void);
uint16_t dc_checker(void);
static esc_cfg_t config =
{
@@ -108,6 +108,7 @@ void setup(void)
Serial1.begin(115200);
rcc_config();
StepperSetup();
// Set starting count value
EncoderInit.SetCount(Tim2, 0);
// EncoderInit.SetCount(Tim3, 0);
@@ -155,9 +156,27 @@ void indexPulse(void)
}
}
void countSync0(void)
volatile int32_t actualPosition = 0;
volatile int32_t requestedPosition;
volatile uint32_t pulsesToGo = 0;
volatile byte forwardDirection = 0; // 1 if going forward
#define STEPPER_DIR PA12
//#define STEPPER_STEP PA11 // Set in StepperSetup
void sync0Handler(void)
{
sync0s++;
// Update the actual position
actualPosition += pulsesToGo;
Obj.StepgenOut1.ActualPosition = actualPosition;
// Get new end position
requestedPosition = Obj.StepGenIn1.CommandedPosition;
// Get the diff and the direction
pulsesToGo = requestedPosition - actualPosition;
forwardDirection = pulsesToGo > 0 ? 1 : 0;
// Set direction pin
digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed
// Make the pulses using hardware timer
makePulses(sync0CycleTime/1000, pulsesToGo);
}
void ESC_interrupt_enable(uint32_t mask)
@@ -170,7 +189,7 @@ void ESC_interrupt_enable(uint32_t mask)
{
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
attachInterrupt(digitalPinToInterrupt(PC3), countSync0, RISING);
attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
// Set LAN9252 interrupt pin driver as push-pull active high
uint32_t bits = 0x00000111;
@@ -200,10 +219,12 @@ void ESC_interrupt_disable(uint32_t mask)
}
}
// Setup of DC
uint16_t dc_checker (void)
extern "C" uint32_t ESC_SYNC0cycletime(void);
// Setup of DC
uint16_t dc_checker(void)
{
// Indicate we run DC
// Indicate we run DC
ESCvar.dcsync = 1;
sync0CycleTime = ESC_SYNC0cycletime();
return 0;
}