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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19
Firmware/src/main.cpp
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@@ -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());