jeka/MyOwnEtherCATDevice
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Consistently get SM2 event now. Must check directly in irq. DIG_PROCESS modified to check this ALevent copy

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This commit is contained in:
Hakan Bastedt
2024-02-09 22:58:28 +01:00
parent 6d18c2cb3f
commit c04ac0e74b
4 changed files with 14 additions and 14 deletions
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2
Firmware/include/StepGen2.h
View File

@@ -21,7 +21,7 @@ public:
HardwareTimer *startTimer; // 10,11,13,14
uint8_t dirPin;
PinName stepPin;
const float Tjitter = 50.0; // Time unit is microseconds
const float Tjitter = 5.0; // Time unit is microseconds
public:
volatile double_t commandedPosition; // End position when this cycle is completed

8
Firmware/lib/soes/ecat_slv.c
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@@ -191,7 +191,7 @@ void APP_setwatchdog (int watchdogcnt)
* write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state.
*/
void DIG_process (uint8_t flags)
void DIG_process (uint16_t ALEvent, uint8_t flags)
{
/* Handle watchdog */
if((flags & DIG_PROCESS_WD_FLAG) > 0)
@@ -217,14 +217,14 @@ void DIG_process (uint8_t flags)
if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
{
if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ESCvar.ALevent & ESCREG_ALEVENT_SM2))
(ALEvent & ESCREG_ALEVENT_SM2))
{
RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
/* Set outputs */
cb_set_outputs();
}
else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
else if (ALEvent & ESCREG_ALEVENT_SM2)
{
RXPDO_update();
}
@@ -339,7 +339,7 @@ void ecat_slv_poll (void)
void ecat_slv (void)
{
ecat_slv_poll();
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_process(ESCvar.ALevent, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}

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

@@ -36,7 +36,7 @@ void APP_setwatchdog (int watchdogcnt);
*
* @param[in] flags = User input what to execute
*/
void DIG_process (uint8_t flags);
void DIG_process (uint16_t ALEvent, uint8_t flags);
/**
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application

16
Firmware/src/main.cpp
View File

@@ -8,7 +8,7 @@ extern "C"
_Objects Obj;
HardwareSerial Serial1(PA10, PA9);
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
#define DEBUG_TIM8 1
#include "MyEncoder.h"
void indexPulseEncoderCB1(void);
@@ -33,9 +33,10 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
Encoder1.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(Obj.EncPosScale);
}
volatile uint32_t cmt;
void handleStepper(void)
{
digitalWrite(Step.dirPin, cmt++ % 2);
Step.enabled = true;
Step.commandedPosition = Obj.StepGenIn1.CommandedPosition;
Obj.StepGenOut1.ActualPosition = Step.commandedPosition;
@@ -66,7 +67,8 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
}
thenTime = irqTime;
Obj.DiffT = max_Tim - min_Tim; // Debug
Obj.DiffT = ESCvar.ALevent;
Obj.DiffT = ALEventIRQ;
//Obj.DiffT = Step.frequency;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -109,7 +111,7 @@ void loop(void)
if (serveIRQ)
{
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0;
ESCvar.PrevTime = ESCvar.Time;
@@ -118,14 +120,12 @@ void loop(void)
if ((dTime > 200 && dTime < 500) || dTime > 1500) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll();
}
volatile uint32_t cmt;
void sync0Handler(void)
{
uint32_t lTime;
irqTime = micros();
serveIRQ = 1;
ESC_read(ESCREG_LOCALTIME, (void *)&lTime, sizeof(lTime)); // Careful! Reads and writes update ALevent also.
digitalWrite(Step.dirPin, cmt++ % 2);
ALEventIRQ = ESC_ALeventread();
}
void ESC_interrupt_enable(uint32_t mask)