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THCLIP released

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This commit is contained in:
Hakan Bastedt
2025-06-02 14:45:01 +02:00
parent eb1d76ad3f
commit e4c3f14809
12 changed files with 2104 additions and 321 deletions
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15
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp
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@@ -34,7 +34,7 @@ volatile double posCmd1, posCmd2, posCmd3, posCmd4;
volatile float posScale1, posScale2, posScale3, posScale4;
volatile float maxAcc1, maxAcc2, maxAcc3, maxAcc4;
volatile uint8_t enable1, enable2, enable3, enable4;
volatile uint32_t basePeriod;
volatile uint32_t basePeriod, newBasePeriod;
volatile uint16_t basePeriodCnt;
volatile uint16_t deltaMakePulsesCnt;
volatile uint64_t makePulsesCnt = 0;
@@ -103,7 +103,7 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
enable3 = Obj.Enable3;
enable4 = Obj.Enable4;
if (Obj.BasePeriod != 0) // Use default value from setup() if not set by SDO.
basePeriod = Obj.BasePeriod;
newBasePeriod = Obj.BasePeriod;
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -197,7 +197,7 @@ void setup(void)
pinMode(PE5, OUTPUT); // Step 4
pinMode(PE4, OUTPUT); // Dir 4
basePeriod = BASE_PERIOD; // Random-ish number, but it should work
basePeriod = newBasePeriod = BASE_PERIOD; // Random-ish number, but it should work. Change through sdos
baseTimer = new HardwareTimer(TIM11); // The base period timer
baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated
@@ -345,8 +345,13 @@ void updateStepperGenerators(void)
posScale1, posScale2, posScale3, posScale4,
maxAcc1, maxAcc2, maxAcc3, maxAcc4,
enable1, enable2, enable3, enable4,
sync0CycleTime); // Update positions
Step->makeAllPulses(); // Make first step right here
sync0CycleTime); // Update positions
Step->makeAllPulses(); // Make first step right here
if (newBasePeriod != basePeriod) // Changed via sdos
{
basePeriod = newBasePeriod;
baseTimer->setOverflow(basePeriod / 1000, MICROSEC_FORMAT); // update timer frequency
}
basePeriodCnt = sync0CycleTime / basePeriod; //
baseTimer->refresh(); //
baseTimer->resume();