jeka/MyOwnEtherCATDevice
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wip, local testing to start

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This commit is contained in:
Hakan Bastedt
2024-01-02 23:32:47 +01:00
parent b57bd740ab
commit cc1ca73219
1 changed files with 8 additions and 41 deletions
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49
Firmware/src/main.cpp
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@@ -111,15 +111,9 @@ volatile double_t requestedPosition;
volatile uint32_t pulsesToGo = 0; volatile uint32_t pulsesToGo = 0;
volatile byte forwardDirection = 0; // 1 if going forward volatile byte forwardDirection = 0; // 1 if going forward
volatile uint32_t syncCounts = 0;
void TimerStep_CB(void) void TimerStep_CB(void)
{ {
if (forwardDirection) stepCount++;
stepCount++;
else
stepCount--;
// digitalWrite(STEPPER_STEP_PIN, !digitalRead(STEPPER_STEP_PIN));
if (stepCount == stepPulses) if (stepCount == stepPulses)
{ {
MyTim->pause(); MyTim->pause();
@@ -142,36 +136,9 @@ void setup(void)
TIM_TypeDef *Instance = TIM1; TIM_TypeDef *Instance = TIM1;
MyTim = new HardwareTimer(Instance); MyTim = new HardwareTimer(Instance);
MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN); MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
MyTim->setCaptureCompare(4, 5, MICROSEC_COMPARE_FORMAT); // 5 usec is needed MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
MyTim->attachInterrupt(TimerStep_CB); MyTim->attachInterrupt(TimerStep_CB);
stepCount = 0;
pinMode(STEPPER_DIR_PIN, OUTPUT); pinMode(STEPPER_DIR_PIN, OUTPUT);
#if 0
while (1)
{
// Update the actual position
actualPosition += pulsesToGo;
Obj.StepGenOut1.ActualPosition = actualPosition;
// Get new end position
// requestedPosition = Obj.StepGenIn1.CommandedPosition;
requestedPosition = syncCounts % 2 ? 4 : -4;
// Get the diff and the direction
pulsesToGo = requestedPosition - actualPosition;
syncCounts++;
forwardDirection = pulsesToGo > 0 ? 1 : 0;
forwardDirection = syncCounts % 2 ? 1 : 0;
// Set direction pin
Obj.DiffT = forwardDirection;
digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed
makePulses(1000, syncCounts % 2 ? 2 : 4);
// Make the pulses using hardware timer
// if (pulsesToGo != 0)
// makePulses(sync0CycleTime / 1000, pulsesToGo);
delayMicroseconds(1000);
}
#endif
// Set starting count value // Set starting count value
EncoderInit.SetCount(Tim2, 0); EncoderInit.SetCount(Tim2, 0);
@@ -181,7 +148,6 @@ void setup(void)
ecat_slv_init(&config); ecat_slv_init(&config);
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
pinMode(STEPPER_DIR_PIN, OUTPUT);
} }
void loop(void) void loop(void)
@@ -223,19 +189,20 @@ void indexPulse(void)
void sync0Handler(void) void sync0Handler(void)
{ {
const int32_t stepsPerMM = 100; const int32_t stepsPerMM = 1;
// Update the actual position // Update the actual position
pulsesToGo = stepsPerMM * (Obj.StepGenIn1.CommandedPosition - Obj.StepGenOut1.ActualPosition); pulsesToGo = stepsPerMM * Obj.StepGenIn1.CommandedPosition; // Wrong, but test
Obj.StepGenOut1.ActualPosition = Obj.StepGenIn1.CommandedPosition; // Cheat Obj.StepGenOut1.ActualPosition = actualPosition;
// Get new end position // Get new end position
syncCounts++;
forwardDirection = pulsesToGo > 1 ? 1 : 0; forwardDirection = pulsesToGo > 1 ? 1 : 0;
// Set direction pin // Set direction pin
Obj.DiffT = forwardDirection; Obj.DiffT = forwardDirection;
digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed
// Make the pulses using hardware timer // Make the pulses using hardware timer
makePulses(sync0CycleTime / 1000, abs((int)pulsesToGo)); if (pulsesToGo != 0)
makePulses(sync0CycleTime / 1000, abs((int)pulsesToGo));
actualPosition = Obj.StepGenIn1.CommandedPosition;
} }
void ESC_interrupt_enable(uint32_t mask) void ESC_interrupt_enable(uint32_t mask)