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Works in TwinCAT. Prepare for test in machine.

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This commit is contained in:
Hakan Bastedt
2025-02-14 20:06:27 +01:00
parent 310a08cc67
commit e40d81e71c
11 changed files with 221 additions and 136 deletions
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113
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/main.cpp
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@@ -19,8 +19,9 @@ uint8_t outputPin[] = {PE10, PE9, PE8, PE7};
#include "Wire.h"
TwoWire Wire2(PB11, PB10);
#include "ADS1X15.h"
ADS1115 ADS(0x48, &Wire2);
#include "MyMCP3221.h"
MyMCP3221 mcp3221_0(0x48, &Wire2);
MyMCP3221 mcp3221_7(0x4f, &Wire2);
#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
@@ -38,15 +39,27 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
static float validData0 = 0.0, validVoltage0 = 0.0;
for (int i = 0; i < sizeof(inputPin); i++)
Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i);
float scale = Obj.VoltageScale;
float scale = Obj.Scale;
if (scale == 0.0)
scale = 1.0;
float ADCvoltage = ADS.toVoltage(ADS.getValue());
Obj.ArcVoltage = scale * ADCvoltage; // * ADCvoltage; // Scaled voltage, to give Plasma arc voltage
Obj.Voltage = ADCvoltage; // Raw voltage, read by ADC
int data0 = mcp3221_0.getData();
if ((Obj.Status = mcp3221_0.ping()) == 0)
{ // Read good value
Obj.CalculatedVoltage = scale * data0 + Obj.Offset; //
Obj.RawData = data0; // Raw voltage, read by ADC
validVoltage0 = Obj.CalculatedVoltage;
validData0 = data0;
}
else
{ // Didn't read a good value. Return a hopefully useful value and restart the I2C bus
Obj.CalculatedVoltage = validVoltage0; // Use value from previous call
Obj.RawData = validData0;
// Reset wire here
}
}
void ESC_interrupt_enable(uint32_t mask);
@@ -98,33 +111,10 @@ void setup(void)
digitalWrite(PB6, HIGH);
digitalWrite(PB7, HIGH);
#endif
#if 1
// SPDX-FileCopyrightText: 2023 Carter Nelson for Adafruit Industries
//
// SPDX-License-Identifier: MIT
// --------------------------------------
// i2c_scanner
//
// Modified from https://playground.arduino.cc/Main/I2cScanner/
// --------------------------------------
Wire2.begin();
Wire2.setClock(400000);
Serial1.begin(115200);
while (!Serial)
delay(10);
Serial1.println("\nI2C Scanner");
#else
Wire2.begin();
ADS.begin();
ADS.setGain(0); // 0 = 6.144 volt, 1 = 4.096 V
ADS.setDataRate(7); // 0 = slow 4 = medium 7 = fast
ADS.setMode(0); // continuous mode
ADS.setWireClock(400000UL); // 400 kHz
ADS.readADC(0); // first read to trigger settings
#endif
#ifdef ECAT
ecat_slv_init(&config);
#endif
@@ -146,63 +136,16 @@ void loop(void)
if (dTime > 5000) // Not doing interrupts - handle free-run
ecat_slv();
#else
#if 1
byte error, address;
int nDevices;
Serial1.println("Scanning...");
nDevices = 0;
for (address = 1; address < 127; address++)
{
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
Wire2.beginTransmission(address);
error = Wire2.endTransmission();
if (error == 0)
{
Serial1.print("I2C device found at address 0x");
if (address < 16)
Serial1.print("0");
Serial1.print(address, HEX);
Serial1.println(" !");
nDevices++;
}
else if (error == 4)
{
Serial1.print("Unknown error at address 0x");
if (address < 16)
Serial1.print("0");
Serial1.println(address, HEX);
}
}
if (nDevices == 0)
Serial1.println("No I2C devices found\n");
else
Serial1.println("done\n");
delay(5000); // wait 5 seconds for next scan
#else
Serial1.print("TIC ");
int tot = 0;
uint32_t before = millis();
for (int i = 0; i < 10000; i++)
{
int16_t raw = ADS.getValue();
tot += raw;
}
uint32_t after = millis();
int16_t value = ADS.getValue();
float fval = ADS.toVoltage(value);
Serial1.printf("Time för 10000=%d värdet=", after - before);
Serial1.println(fval);
#endif
Serial1.println("\nI2C Scanner");
Serial1.printf("Ping0=%d\n", mcp3221_0.ping());
Serial1.printf("Ping7=%d\n", mcp3221_7.ping());
int16_t res0 = mcp3221_0.getData();
int16_t v0 = (res0 * 5027 * 39) / 4096;
Serial1.printf("Voltage_0: %d Voltage_7: %d\n", v0, res0);
delay(1000);
#endif
}
void sync0Handler(void)