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micros() in irq is suspicous. Some optomization of stepper parameters. Comments.

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This commit is contained in:
Hakan Bastedt
2024-01-23 22:40:15 +01:00
parent f8cec1ac69
commit e7fc20fec5
2 changed files with 25 additions and 13 deletions
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28
Firmware/src/StepGen.cpp
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@@ -51,12 +51,25 @@ void StepGen::handleStepper(void)
actPos(timerStepPosition / double(stepsPerMM)); actPos(timerStepPosition / double(stepsPerMM));
double diffPosition = reqPos() - actPos(); double diffPosition = reqPos() - actPos();
// Wild "tone" kludge #if 1
if (abs(diffPosition) > 0.0005) // 60 mm/min = 0.001 mm/ms // Wild "tone" kludge. map() function
#define SPEED_MIN 0.00005
#define SPEED_MAX 0.0005
#define FACT_LOW 1.0
#define FACT_HIGH 20.0
if (abs(diffPosition) < SPEED_MIN) // 60 mm/min = 0.001 mm/ms
{ {
pwmCycleTime = 10 * StepGen::sync0CycleTime; pwmCycleTime = FACT_LOW * StepGen::sync0CycleTime;
} }
else if (abs(diffPosition) > SPEED_MAX) // 60 mm/min = 0.001 mm/ms
{
pwmCycleTime = FACT_HIGH * StepGen::sync0CycleTime;
}
else
{
pwmCycleTime = (FACT_LOW + (FACT_HIGH - FACT_LOW) * (abs(diffPosition) - SPEED_MIN) / (SPEED_MAX - SPEED_MIN)) * StepGen::sync0CycleTime;
}
#endif
uint64_t fre = abs(diffPosition) * stepsPerMM * 1000000 / double(pwmCycleTime); // Frequency needed uint64_t fre = abs(diffPosition) * stepsPerMM * 1000000 / double(pwmCycleTime); // Frequency needed
if (fre > maxFreq) // Only do maxFre if (fre > maxFreq) // Only do maxFre
{ {
@@ -68,9 +81,8 @@ void StepGen::handleStepper(void)
// Will be picked up by the timer_CB and the timer is reloaded. // Will be picked up by the timer_CB and the timer is reloaded.
timerNewEndStepPosition = pulsesAtEndOfCycle; timerNewEndStepPosition = pulsesAtEndOfCycle;
if (!timerIsRunning) // no timer isn't running. start it here if (!timerIsRunning) // Timer isn't running. Start it here
{ {
// Start the timer
int32_t steps = pulsesAtEndOfCycle - timerStepPosition; // Pulses to go + or - int32_t steps = pulsesAtEndOfCycle - timerStepPosition; // Pulses to go + or -
if (steps != 0) if (steps != 0)
{ {
@@ -93,8 +105,8 @@ void StepGen::timerCB()
timerStepPosition += timerStepDirection; // The step that was just completed timerStepPosition += timerStepDirection; // The step that was just completed
if (timerNewEndStepPosition != 0) // Are we going to reload? if (timerNewEndStepPosition != 0) // Are we going to reload?
{ {
// Input for reload is timerNewEndStepPosition and timerNewEndTime // Input for reload is timerNewEndStepPosition
// The timer has current position and current time and from this // The timer has current position and from this
// can set new frequency and new endtarget for steps // can set new frequency and new endtarget for steps
MyTim->pause(); // We are not at stop, let's stop it MyTim->pause(); // We are not at stop, let's stop it
int32_t steps = timerNewEndStepPosition - timerStepPosition; int32_t steps = timerNewEndStepPosition - timerStepPosition;

6
Firmware/src/main.cpp
View File

@@ -66,7 +66,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.StepGenOut1.ActualPosition = Step1.actPos(); Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.StepGenOut2.ActualPosition = Step2.actPos(); Obj.StepGenOut2.ActualPosition = Step2.actPos();
uint32_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 microseconds uint32_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim); Tim.push(dTim);
uint32_t max_Tim = 0, min_Tim = UINT32_MAX; uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++) for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
@@ -119,19 +119,19 @@ void loop(void)
{ {
if (serveIRQ) if (serveIRQ)
{ {
nowTime = micros();
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG | DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG); DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0; serveIRQ = 0;
ESCvar.PrevTime = ESCvar.Time; ESCvar.PrevTime = ESCvar.Time;
} }
uint32_t dTime = micros() - nowTime; uint32_t dTime = micros() - nowTime;
if ((dTime > 100 && dTime < 800) || dTime > 1500) // Don't run ecat_slv_poll when expecting to server interrupt if ((dTime > 200 && dTime < 500) || dTime > 1500) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll(); ecat_slv_poll();
} }
void sync0Handler(void) void sync0Handler(void)
{ {
nowTime = micros();
serveIRQ = 1; serveIRQ = 1;
} }