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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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
}
}