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

Removed debug-ish compiler directive NEEDED

Browse Source
This commit is contained in:
Hakan Bastedt
2024-04-07 22:15:37 +02:00
parent 084e6891b6
commit b164040829
1 changed files with 8 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
Firmware/src/main.cpp
View File

@@ -7,15 +7,13 @@ extern "C"
}; };
_Objects Obj; _Objects Obj;
#define NEEDED 1
HardwareSerial Serial1(PA10, PA9); HardwareSerial Serial1(PA10, PA9);
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
HardwareTimer *baseTimer; // The base period timer HardwareTimer *baseTimer; // The base period timer
HardwareTimer *syncTimer; // The timer that syncs "with linuxcnc cycle" HardwareTimer *syncTimer; // The timer that syncs "with linuxcnc cycle"
uint16_t sync0CycleTime; // usecs uint16_t sync0CycleTime; // usecs
#if NEEDED
#include "MyEncoder.h" #include "MyEncoder.h"
void indexPulseEncoderCB1(void); void indexPulseEncoderCB1(void);
MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1); MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
@@ -30,7 +28,7 @@ RunningAverage cycleTimes(1000); // To have a running average of the cycletime o
StepGen3 *Step = 0; StepGen3 *Step = 0;
CircularBuffer<uint64_t, 200> Tim; CircularBuffer<uint64_t, 200> Tim;
#endif
#include "extend32to64.h" #include "extend32to64.h"
volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0, irqCnt = 0, prevSyncTime = 0, syncTime = 0, deltaSyncTime; volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0, irqCnt = 0, prevSyncTime = 0, syncTime = 0, deltaSyncTime;
@@ -51,7 +49,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
volatile uint16_t basePeriodCnt; volatile uint16_t basePeriodCnt;
volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0; volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0;
volatile uint16_t deltaMakePulsesCnt; volatile uint16_t deltaMakePulsesCnt;
#if NEEDED
volatile double pos_cmd1, pos_cmd2; volatile double pos_cmd1, pos_cmd2;
void syncWithLCNC() void syncWithLCNC()
{ {
@@ -77,7 +75,7 @@ void basePeriodCB(void)
else else
baseTimer->pause(); baseTimer->pause();
} }
#endif
uint64_t timeDiff; // Timediff in microseconds uint64_t timeDiff; // Timediff in microseconds
int32_t delayT; int32_t delayT;
uint16_t avgCycleTime, thisCycleTime; // In usecs uint16_t avgCycleTime, thisCycleTime; // In usecs
@@ -91,13 +89,11 @@ void handleStepper(void)
if (oldIrqTime != 0) if (oldIrqTime != 0)
{ {
thisCycleTime = irqTime - oldIrqTime; thisCycleTime = irqTime - oldIrqTime;
#if NEEDED
cycleTimes.add(thisCycleTime); cycleTimes.add(thisCycleTime);
#endif
nLoops = round(float(thisCycleTime) / float(sync0CycleTime)); nLoops = round(float(thisCycleTime) / float(sync0CycleTime));
} }
oldIrqTime = irqTime; oldIrqTime = irqTime;
#if NEEDED
if (cycleTimes.bufferIsFull()) // Do max calcs, just waiting a second if (cycleTimes.bufferIsFull()) // Do max calcs, just waiting a second
{ {
avgCycleTime = cycleTimes.getFastAverage(); avgCycleTime = cycleTimes.getFastAverage();
@@ -108,10 +104,10 @@ void handleStepper(void)
pos_cmd1 = Obj.CommandedPosition1; pos_cmd1 = Obj.CommandedPosition1;
pos_cmd2 = Obj.CommandedPosition2; pos_cmd2 = Obj.CommandedPosition2;
#endif
Obj.ActualPosition1 = Obj.CommandedPosition1; Obj.ActualPosition1 = Obj.CommandedPosition1;
Obj.ActualPosition2 = Obj.CommandedPosition2; Obj.ActualPosition2 = Obj.CommandedPosition2;
#if NEEDED
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1; Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2; Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
@@ -130,7 +126,6 @@ void handleStepper(void)
{ {
syncWithLCNC(); syncWithLCNC();
} }
#endif
} }
uint16_t oldCnt = 0; uint16_t oldCnt = 0;
uint64_t startTime = 0; uint64_t startTime = 0;
@@ -214,7 +209,7 @@ void setup(void)
pinMode(PA12, OUTPUT); // Dir X pinMode(PA12, OUTPUT); // Dir X
pinMode(PC9, OUTPUT); // Step Z pinMode(PC9, OUTPUT); // Step Z
pinMode(PC10, OUTPUT); // Dir Z pinMode(PC10, OUTPUT); // Dir Z
#if NEEDED
Step = new StepGen3; Step = new StepGen3;
baseTimer = new HardwareTimer(TIM11); // The base period timer baseTimer = new HardwareTimer(TIM11); // The base period timer
@@ -225,7 +220,6 @@ void setup(void)
syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
syncTimer->attachInterrupt(syncWithLCNC); syncTimer->attachInterrupt(syncWithLCNC);
#endif
} }
void loop(void) void loop(void)