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
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@@ -21,7 +21,7 @@ public:
HardwareTimer *startTimer; // 10,11,13,14 HardwareTimer *startTimer; // 10,11,13,14
uint8_t dirPin; uint8_t dirPin;
PinName stepPin; PinName stepPin;
const float Tjitter = 50.0; // Time unit is microseconds const float Tjitter = 5.0; // Time unit is microseconds
public: public:
volatile double_t commandedPosition; // End position when this cycle is completed 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 * write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state. * made state change affecting the App.state.
*/ */
void DIG_process (uint8_t flags) void DIG_process (uint16_t ALEvent, uint8_t flags)
{ {
/* Handle watchdog */ /* Handle watchdog */
if((flags & DIG_PROCESS_WD_FLAG) > 0) 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 ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
{ {
if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) && if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ESCvar.ALevent & ESCREG_ALEVENT_SM2)) (ALEvent & ESCREG_ALEVENT_SM2))
{ {
RXPDO_update(); RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt); CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
/* Set outputs */ /* Set outputs */
cb_set_outputs(); cb_set_outputs();
} }
else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) else if (ALEvent & ESCREG_ALEVENT_SM2)
{ {
RXPDO_update(); RXPDO_update();
} }
@@ -339,7 +339,7 @@ void ecat_slv_poll (void)
void ecat_slv (void) void ecat_slv (void)
{ {
ecat_slv_poll(); 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); 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 * @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 * 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; _Objects Obj;
HardwareSerial Serial1(PA10, PA9); HardwareSerial Serial1(PA10, PA9);
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
#define DEBUG_TIM8 1 #define DEBUG_TIM8 1
#include "MyEncoder.h" #include "MyEncoder.h"
void indexPulseEncoderCB1(void); 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.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(Obj.EncPosScale); Encoder1.setScale(Obj.EncPosScale);
} }
volatile uint32_t cmt;
void handleStepper(void) void handleStepper(void)
{ {
digitalWrite(Step.dirPin, cmt++ % 2);
Step.enabled = true; Step.enabled = true;
Step.commandedPosition = Obj.StepGenIn1.CommandedPosition; Step.commandedPosition = Obj.StepGenIn1.CommandedPosition;
Obj.StepGenOut1.ActualPosition = Step.commandedPosition; Obj.StepGenOut1.ActualPosition = Step.commandedPosition;
@@ -66,7 +67,8 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
} }
thenTime = irqTime; thenTime = irqTime;
Obj.DiffT = max_Tim - min_Tim; // Debug 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); void ESC_interrupt_enable(uint32_t mask);
@@ -109,7 +111,7 @@ void loop(void)
if (serveIRQ) if (serveIRQ)
{ {
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread()); 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); DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0; serveIRQ = 0;
ESCvar.PrevTime = ESCvar.Time; 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 if ((dTime > 200 && dTime < 500) || dTime > 1500) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll(); ecat_slv_poll();
} }
volatile uint32_t cmt;
void sync0Handler(void) void sync0Handler(void)
{ {
uint32_t lTime;
irqTime = micros(); irqTime = micros();
serveIRQ = 1; serveIRQ = 1;
ESC_read(ESCREG_LOCALTIME, (void *)&lTime, sizeof(lTime)); // Careful! Reads and writes update ALevent also. ALEventIRQ = ESC_ALeventread();
digitalWrite(Step.dirPin, cmt++ % 2);
} }
void ESC_interrupt_enable(uint32_t mask) void ESC_interrupt_enable(uint32_t mask)