jeka/MyOwnEtherCATDevice
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definitely works better now with SM2 sync. handleStepper is back.

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This commit is contained in:
Hakan Bastedt
2024-01-05 21:37:55 +01:00
parent 7e06b0ce68
commit ccde6ef15e
1 changed files with 10 additions and 8 deletions
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18
Firmware/src/main.cpp
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@@ -56,13 +56,6 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
PosScaleRes = 1.0 / double(CurPosScale); PosScaleRes = 1.0 / double(CurPosScale);
} }
requestedPosition = Obj.StepGenIn1.CommandedPosition; requestedPosition = Obj.StepGenIn1.CommandedPosition;
byte forwardDirection = 0; // 1 if going forward
int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition);
if (pulsesToGo != 0)
makePulses(900, pulsesToGo); // Make the pulses using hardware timer
actualPosition = requestedPosition;
} }
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -112,7 +105,7 @@ static esc_cfg_t config =
.set_defaults_hook = NULL, .set_defaults_hook = NULL,
.pre_state_change_hook = NULL, .pre_state_change_hook = NULL,
.post_state_change_hook = NULL, .post_state_change_hook = NULL,
.application_hook = NULL, // StepGen, .application_hook = handleStepper, // StepGen,
.safeoutput_override = NULL, .safeoutput_override = NULL,
.pre_object_download_hook = NULL, .pre_object_download_hook = NULL,
.post_object_download_hook = NULL, .post_object_download_hook = NULL,
@@ -215,6 +208,15 @@ void sync0Handler(void)
serveIRQ = 1; serveIRQ = 1;
} }
void handleStepper(void)
{
byte forwardDirection = 0; // 1 if going forward
int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition);
if (pulsesToGo != 0)
makePulses(900, pulsesToGo); // Make the pulses using hardware timer
actualPosition = requestedPosition;
}
void ESC_interrupt_enable(uint32_t mask) void ESC_interrupt_enable(uint32_t mask)
{ {
// Enable interrupt for SYNC0 or SM2 or SM3 // Enable interrupt for SYNC0 or SM2 or SM3