jeka/MyOwnEtherCATDevice
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Yes it works now. Made another implementation of the pulse IRQ and all that. We'll see if I keep this or go back to the older. It is IMPORTANT, REQUIRED to use a 4.9 linux kernel for it to work. There are obviously bugs in the RealTek network drivers R8168/R8169 in 5+ kernels. All this work could have been avoided with a 4.9 kernel.

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This commit is contained in:
Hakan Bastedt
2024-03-17 22:04:52 +01:00
parent 27475eaecd
commit d4fed6cfe8
3 changed files with 40 additions and 24 deletions
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11
Firmware/include/StepGen2.h
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@@ -8,8 +8,9 @@ class StepGen2
public:
volatile double_t actualPosition;
volatile int32_t nSteps;
volatile uint32_t timerPulseSteps;
volatile uint32_t timerFrequency;
volatile int32_t timerPosition = 0;
volatile int32_t timerEndPosition = 0;
public:
volatile float Tstartf; // Starting delay in secs
@@ -21,7 +22,7 @@ public:
HardwareTimer *startTimer; // Use timers 10,11,13,14
uint8_t dirPin;
PinName stepPin;
uint32_t Tjitter = 400; // Longest time from IRQ to handling in handleStepper, unit is microseconds
uint32_t Tjitter = 350; // Longest time from IRQ to handling in handleStepper, unit is microseconds
uint64_t dbg;
const uint16_t t2 = 5; // DIR is ahead of PUL with at least 5 usecs
const uint16_t t3 = 3; // Pulse width at least 2.5 usecs
@@ -37,8 +38,8 @@ public:
volatile uint8_t enabled; // Enabled step generator
volatile float frequency;
static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time nanoseconds
volatile float lcncCycleTime; // Linuxcnc nominal cycle time in sec (1 ms often)
static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time nanoseconds
volatile float lcncCycleTime; // Linuxcnc nominal cycle time in sec (1 ms often)
StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
@@ -52,7 +53,7 @@ class extend32to64
{
public:
int64_t previousTimeValue = 0;
const uint64_t ONE_PERIOD = 4294967296; // almost UINT32_MAX;
const uint64_t ONE_PERIOD = 4294967296; // almost UINT32_MAX;
const uint64_t HALF_PERIOD = 2147483648; // Half of that
int64_t extendTime(uint32_t in);
};

34
Firmware/src/StepGen2.cpp
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@@ -63,11 +63,14 @@ uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
Tpulses = abs(nSteps) / frequency;
}
updatePos(5);
return 1;
uint32_t timeSinceISR = (longTime.extendTime(micros()) - irqTime); // Diff time from ISR (usecs)
dbg = timeSinceISR; //
Tstartu = Tjitter + uint32_t(Tstartf * 1e6) - timeSinceISR; // Have already wasted some time since the irq.
if (nSteps == 0) // Can do this much earlier, but want some calculated data for debugging
return updatePos(1);
timerFrequency = uint32_t(ceil(frequency));
startTimer->setOverflow(Tstartu, MICROSEC_FORMAT); // All handled by irqs
startTimer->refresh();
@@ -77,13 +80,13 @@ uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
void StepGen2::startTimerCB()
{
startTimer->pause(); // Once is enough.
digitalWrite(dirPin, nSteps < 0 ? HIGH : LOW);
// There will be a short break here for t2 usecs, in the future.
timerPulseSteps = abs(nSteps);
pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
startTimer->pause(); // Once is enough.
digitalWriteFast(digitalPinToPinName(dirPin), nSteps < 0 ? HIGH : LOW); // nSteps negative => decrease, HIGH
// There will be a short break here for t2 usecs, in the future.
timerEndPosition += nSteps;
pulseTimer->pause();
pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM1, stepPin);
pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
// pulseTimer->setCaptureCompare(pulseTimerChan, t3, MICROSEC_COMPARE_FORMAT);
pulseTimer->setCaptureCompare(pulseTimerChan, 50, PERCENT_COMPARE_FORMAT);
pulseTimer->refresh();
pulseTimer->resume();
@@ -91,10 +94,21 @@ void StepGen2::startTimerCB()
void StepGen2::pulseTimerCB()
{
--timerPulseSteps;
if (timerPulseSteps == 0)
{
int16_t dir = digitalReadFast(digitalPinToPinName(dirPin));
if (dir == HIGH)
timerPosition--;
else
timerPosition++;
int32_t diffPosition = timerEndPosition - timerPosition; // Same "polarity" as nSteps
if (diffPosition == 0)
pulseTimer->pause();
else
{
if (diffPosition < 0 && dir == LOW) // Change direction. Should not end up here, but alas
digitalWriteFast(digitalPinToPinName(dirPin), HIGH); // Normal is to be HIGH when decreasing
if (diffPosition > 0 && dir == HIGH) // Change direction. Should not end up here, but alas
digitalWriteFast(digitalPinToPinName(dirPin), LOW); // Normal is to be LOW when increasing
// Normally nothing is needed
}
}

19
Firmware/src/main.cpp
View File

@@ -45,8 +45,6 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
// Step2.reqPos(Obj.CommandedPosition2);
// Step2.setScale(Obj.StepsPerMM2);
// Step2.enable(1);
Obj.ActualPosition1 = Obj.CommandedPosition1; // Step1.actPos();
Obj.ActualPosition2 = Obj.CommandedPosition2; // Step2.actPos();
}
uint16_t nLoops;
@@ -78,6 +76,9 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState();
float_t ap2 = Obj.ActualPosition2;
Obj.ActualPosition1 = Obj.CommandedPosition1; // Step1.actPos();
Obj.ActualPosition2 = Obj.CommandedPosition2; // Step2.actPos();
uint64_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim);
@@ -93,9 +94,9 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
thenTime = irqTime;
Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.D1 = Step2.frequency;
Obj.D2 = nLoops;
Obj.D3 = max_Tim - min_Tim;
Obj.D4 = ALEventIRQ;
Obj.D2 = Step2.nSteps;
Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D4 = Step2.Tstartu;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -139,8 +140,8 @@ void loop(void)
{
nowTime = longTime.extendTime(micros());
/* Read local time from ESC*/
ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
ESCvar.Time = etohl(ESCvar.Time);
// ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
// ESCvar.Time = etohl(ESCvar.Time);
DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0;
@@ -148,14 +149,14 @@ void loop(void)
ecat_slv_poll();
}
dTime = longTime.extendTime(micros()) - irqTime;
if ((dTime > 500 && dTime < 800) || dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll();
}
void sync0Handler(void)
{
ALEventIRQ = ESC_ALeventread();
if (ALEventIRQ & ESCREG_ALEVENT_SM2)
// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{
serveIRQ = 1;
irqTime = longTime.extendTime(micros());