jeka/MyOwnEtherCATDevice
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Tests for growling. That 10xcycle time seems to do it, but it's not right.

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This commit is contained in:
Hakan Bastedt
2024-01-19 21:31:15 +01:00
parent 8f05f33e58
commit e6bfe4f880
1 changed files with 18 additions and 3 deletions
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21
Firmware/src/main.cpp
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@@ -34,6 +34,8 @@ void timerCallbackStep2(void)
Step2.timerCB();
}
CircularBuffer<uint32_t, 200> Tim;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
Encoder1.setLatch(Obj.IndexLatchEnable);
@@ -45,7 +47,6 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
Step2.reqPos(Obj.StepGenIn2.CommandedPosition);
Step2.setScale(Obj.StepGenIn2.StepsPerMM);
Step2.enable(Obj.Enable1);
#
}
void handleStepper(void)
@@ -54,6 +55,7 @@ void handleStepper(void)
Step2.handleStepper();
}
uint32_t prevTim = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = Encoder1.indexHappened();
@@ -63,7 +65,20 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.StepGenOut2.ActualPosition = Step2.actPos();
Obj.DiffT = 10000 * Step1.reqPos(); // Debug
uint32_t dTim = ESCvar.Time - prevTim;
if (dTim > 1000)
Tim.push(dTim);
uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
{
uint32_t aTim = Tim[i];
if (aTim > max_Tim)
max_Tim = aTim;
if (aTim < min_Tim)
min_Tim = aTim;
}
prevTim = ESCvar.Time;
Obj.DiffT = max_Tim - min_Tim; // Debug
}
void ESC_interrupt_enable(uint32_t mask);
@@ -161,6 +176,6 @@ uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 1;
StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000;
StepGen::sync0CycleTime = 10*ESC_SYNC0cycletime() / 1000;
return 0;
}