jeka/MyOwnEtherCATDevice
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

11
Firmware/include/StepGen2.h
View File

@@ -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);
};