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

Two stepgens active pending lathe test

Browse Source
This commit is contained in:
Hakan Bastedt
2024-01-13 22:44:08 +01:00
parent 25c2aa7b3c
commit deadd488dd
6 changed files with 312 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
Firmware/src/main.cpp
View File

@@ -32,14 +32,12 @@ void timerCallbackStep1(void)
{
Step1.timerCB();
}
#if 0
void timerCallbackStep2(void);
StepGen Step2(TIM8, 4, PC9, PC10, timerCallbackStep2);
void timerCallbackStep2(void)
{
Step2.timerCB();
}
#endif
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
@@ -47,11 +45,13 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
Encoder1.setScale(Obj.EncPosScale);
Step1.cmdPos(Obj.StepGenIn1.CommandedPosition);
Step2.cmdPos(Obj.StepGenIn2.CommandedPosition);
}
void handleStepper(void)
{
Step1.handleStepper();
Step2.handleStepper();
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -62,6 +62,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.IndexByte = Encoder1.getIndexState();
Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.StepGenOut2.ActualPosition = Step2.actPos();
Obj.DiffT = 10000 * Step1.reqPos(); // Debug
}
@@ -97,7 +98,8 @@ void setup(void)
Serial1.begin(115200);
rcc_config();
Step1.setScale(500);
Step1.setScale(1250); // 2000 /rev 4 mm/rev x 2.5 gear => 1250 /mm
Step2.setScale(500); // 2000 /rev 4 mm/rev => 500 /mm
ecat_slv_init(&config);
}
@@ -164,7 +166,6 @@ uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 0;
//Step1.setCycleTime(ESC_SYNC0cycletime() / 1000); // nsec to usec
StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000;
return 0;
}