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Test case for HardwareTime frequency discrepancy + doc

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This commit is contained in:
Hakan Bastedt
2024-03-27 22:03:10 +01:00
parent ea5a39d300
commit e6ae2ad3c7
3 changed files with 29 additions and 16 deletions
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Firmware/doc/Stepgen.odp
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2
Firmware/include/StepGen3.h
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@@ -144,7 +144,7 @@ private:
}; };
// For the example // For the example
#define BASE_PERIOD 20000 // 12 is max #define BASE_PERIOD 12000 // 12 is max
#define SERVO_PERIOD 1000000 #define SERVO_PERIOD 1000000
#define JOINT_X_STEPGEN_MAXACCEL (1.2 * 520.0) #define JOINT_X_STEPGEN_MAXACCEL (1.2 * 520.0)
#define JOINT_X_SCALE -200 #define JOINT_X_SCALE -200

43
Firmware/src/main.cpp
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@@ -29,6 +29,7 @@ StepGen3 *Step = 0;
CircularBuffer<uint64_t, 200> Tim; CircularBuffer<uint64_t, 200> Tim;
volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0; volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0;
extend32to64 longTime; extend32to64 longTime;
volatile uint16_t isrTime = 0;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{ {
@@ -41,7 +42,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
} }
volatile double pos_cmd1, pos_cmd2; volatile double pos_cmd1, pos_cmd2;
volatile uint64_t syncTime=0, oldSyncTime = 0; volatile uint64_t syncTime = 0, oldSyncTime = 0;
void syncWithLCNC() void syncWithLCNC()
{ {
if (Step) if (Step)
@@ -52,7 +53,7 @@ void syncWithLCNC()
uint16_t nLoops; uint16_t nLoops;
uint64_t reallyNowTime = 0, reallyThenTime = 0; // Times in microseconds uint64_t reallyNowTime = 0, reallyThenTime = 0; // Times in microseconds
uint64_t timeDiff; // Timediff in microseconds uint64_t timeDiff; // Timediff in microseconds
int32_t delayT; int32_t delayT;
void handleStepper(void) void handleStepper(void)
@@ -65,8 +66,9 @@ void handleStepper(void)
pos_cmd1 = Obj.CommandedPosition1; pos_cmd1 = Obj.CommandedPosition1;
pos_cmd2 = Obj.CommandedPosition2; pos_cmd2 = Obj.CommandedPosition2;
// Obj.ActualPosition1 = Obj.CommandedPosition1; Obj.ActualPosition1 = Obj.CommandedPosition1;
// Obj.ActualPosition2 = Obj.CommandedPosition2; Obj.ActualPosition2 = Obj.CommandedPosition2;
#if 0
if (Step) if (Step)
{ {
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1; Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
@@ -87,8 +89,9 @@ void handleStepper(void)
{ {
syncWithLCNC(); syncWithLCNC();
} }
#endif
} }
uint16_t oldCnt = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{ {
// Obj.IndexStatus = Encoder1.indexHappened(); // Obj.IndexStatus = Encoder1.indexHappened();
@@ -111,10 +114,13 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
thenTime = irqTime; thenTime = irqTime;
#endif #endif
Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.D1 = Step->cnt % INT16_MAX; //nLoops; Obj.D1 = nLoops;
Obj.D2 = Step->stepgen_array[1].freq; uint16_t newCnt = isrTime;
Obj.D3 = 100*Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos(); Obj.D1 = newCnt - oldCnt;
Obj.D4 = 100*Obj.ActualPosition2; oldCnt = newCnt;
Obj.D2 = isrTime; // Step->stepgen_array[1].freq;
Obj.D3 = 100 * Obj.CommandedPosition2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D4 = 100 * Obj.ActualPosition2;
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
@@ -143,9 +149,10 @@ static esc_cfg_t config =
}; };
volatile byte serveIRQ = 0; volatile byte serveIRQ = 0;
void basePeriodCB(void) void basePeriodCB(void)
{ {
isrTime++;
#if 0
if (Step && Step->stepgen_array) if (Step && Step->stepgen_array)
{ {
Step->make_pulses(Step->stepgen_array, BASE_PERIOD); Step->make_pulses(Step->stepgen_array, BASE_PERIOD);
@@ -157,6 +164,7 @@ void basePeriodCB(void)
digitalWrite(Step->stepPin[i], step->phase[STEP_PIN] ? HIGH : LOW); digitalWrite(Step->stepPin[i], step->phase[STEP_PIN] ? HIGH : LOW);
} }
} }
#endif
} }
void setup(void) void setup(void)
@@ -164,7 +172,7 @@ void setup(void)
Serial1.begin(115200); Serial1.begin(115200);
rcc_config(); // Needed by encoder, probably breaks some timers. // rcc_config(); // Needed by encoder, probably breaks some timers.
ecat_slv_init(&config); ecat_slv_init(&config);
pinMode(PA11, OUTPUT); pinMode(PA11, OUTPUT);
@@ -173,13 +181,18 @@ void setup(void)
pinMode(PC10, OUTPUT); pinMode(PC10, OUTPUT);
Step = new StepGen3; Step = new StepGen3;
myTim = new HardwareTimer(TIM1); // The base period timer myTim = new HardwareTimer(TIM11); // The base period timer
myTim->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // myTim->setPrescaleFactor(168); // 1 MHz
// myTim->setPreloadEnable(true);
// myTim->setOverflow(100); // 100 usecs
myTim->setOverflow(1000, HERTZ_FORMAT);
myTim->attachInterrupt(basePeriodCB); myTim->attachInterrupt(basePeriodCB);
myTim->refresh();
myTim->resume(); myTim->resume();
#if 0
syncTimer = new HardwareTimer(TIM2); // The base period timer syncTimer = new HardwareTimer(TIM2); // The base period timer
syncTimer->attachInterrupt(syncWithLCNC); syncTimer->attachInterrupt(syncWithLCNC);
#endif
} }
void loop(void) void loop(void)
@@ -205,7 +218,7 @@ void loop(void)
void sync0Handler(void) void sync0Handler(void)
{ {
ALEventIRQ = ESC_ALeventread(); ALEventIRQ = ESC_ALeventread();
//if (ALEventIRQ & ESCREG_ALEVENT_SM2) // if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{ {
serveIRQ = 1; serveIRQ = 1;
irqTime = longTime.extendTime(micros()); irqTime = longTime.extendTime(micros());