jeka/MyOwnEtherCATDevice
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Don't run ecat_slv_poll() when expecting to serve interrupt

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This commit is contained in:
Hakan Bastedt
2024-01-23 11:00:47 +01:00
parent ca3ceac5c6
commit d93adac4a2
1 changed files with 9 additions and 5 deletions
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14
Firmware/src/main.cpp
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@@ -35,6 +35,7 @@ void timerCallbackStep2(void)
}
CircularBuffer<uint32_t, 200> Tim;
volatile uint64_t nowTime = 0, thenTime = 0;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
@@ -65,9 +66,9 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.StepGenOut2.ActualPosition = Step2.actPos();
uint32_t dTim = ESCvar.Time - prevTim;
if (dTim > 1000)
Tim.push(dTim);
uint32_t dTim = nowTime - thenTime;
Tim.push(dTim);
uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
{
@@ -77,7 +78,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
if (aTim < min_Tim)
min_Tim = aTim;
}
prevTim = ESCvar.Time;
thenTime = nowTime;
Obj.DiffT = max_Tim - min_Tim; // Debug
}
@@ -117,6 +118,7 @@ void setup(void)
void loop(void)
{
ESCvar.PrevTime = ESCvar.Time;
if (serveIRQ)
{
@@ -124,11 +126,13 @@ void loop(void)
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0;
}
ecat_slv_poll();
if (nowTime < 500 || nowTime > 1500)
ecat_slv_poll();
}
void sync0Handler(void)
{
nowTime = micros();
serveIRQ = 1;
}