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After testing, seems to work. Not tested: encoder,frequency,dac

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This commit is contained in:
Hakan Bastedt
2025-08-17 21:24:47 +02:00
parent 430eedd77d
commit dcce7b5375
10 changed files with 459 additions and 620 deletions
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21
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp
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@@ -1,3 +1,4 @@
// EaserCAT 3000
#include <Arduino.h>
#include <stdio.h>
extern "C"
@@ -16,7 +17,7 @@ HardwareSerial Serial1(PA10, PA9);
////// Digital IO
const byte INPUTS[8] = {PE8, PE9, PE10, PE11, PE12, PE13, PE14, PE15};
const byte OUTPUTS[4] = {PC5, PB0, PB1, PE7};
//const byte THCAD_PIN = PA2; // CAN BE PA0, should be PA0
#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
@@ -82,9 +83,9 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{
for (int i = 0; i < 4; i++)
digitalWrite(OUTPUTS[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
// analogWrite(DAC1_pin, Obj.Voltage);
Encoder1.setLatch(Obj.EncIndexLatchEnable);
Encoder1.setScale(Obj.EncScale);
analogWrite(DAC1_pin, Obj.Voltage);
Encoder1.setLatch(Obj.EncoderOut.IndexLatchEnable);
Encoder1.setScale(Obj.EncoderOut.Scale);
posScale1 = Obj.StepsPerMM1; // Scale perhaps changed
posScale2 = Obj.StepsPerMM2;
@@ -109,8 +110,8 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
float scale = 1;
if (Obj.EncScale != 0.0)
scale = Obj.EncScale;
if (Obj.EncoderOut.Scale != 0.0)
scale = Obj.EncoderOut.Scale;
for (int i = 0; i < 8; i++)
if (digitalRead(INPUTS[i]) == HIGH)
@@ -118,10 +119,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
else
bitClear(Obj.Input8, i);
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPosition = Encoder1.currentPos();
Obj.IndexByte = Encoder1.getIndexState();
Obj.EncVelocity = Obj.EncScale * Encoder1.frequency(longTime.extendTime(micros()));
Obj.EncoderIn.IndexStatus = Encoder1.indexHappened();
Obj.EncoderIn.Position = Encoder1.currentPos();
Obj.EncoderIn.IndexByte = Encoder1.getIndexState();
Obj.EncoderIn.Velocity = Obj.EncoderOut.Scale * Encoder1.frequency(longTime.extendTime(micros()));
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;