jeka/MyOwnEtherCATDevice
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Test in lathe coming.

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This commit is contained in:
Hakan Bastedt
2024-03-03 17:02:04 +01:00
parent cbc45bc80b
commit e8ef618fcc
13 changed files with 472 additions and 671 deletions
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34
Firmware/src/main.cpp
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@@ -25,27 +25,31 @@ StepGen2 Step(TIM1, 4, PA_11, PA12, pulseTimerCallback, TIM10, startTimerCallbac
void pulseTimerCallback(void) { Step.pulseTimerCB(); }
void startTimerCallback(void) { Step.startTimerCB(); }
CircularBuffer<uint32_t, 200> Tim;
volatile uint64_t irqTime = 0, thenTime = 0;
volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0;
volatile uint32_t ccnnt = 0;
extend32to64 longTime;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
Encoder1.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(Obj.EncPosScale);
Encoder1.setScale(500);
// Step2.reqPos(Obj.CommandedPosition2);
// Step2.setScale(Obj.StepsPerMM2);
// Step2.enable(1);
Obj.ActualPosition1 = Obj.CommandedPosition1; // Step1.actPos();
Obj.ActualPosition2 = Obj.CommandedPosition2; // Step2.actPos();
}
volatile uint32_t cmt;
void handleStepper(void)
{
digitalWrite(Step.dirPin, cmt++ % 2);
//digitalWrite(Step.dirPin, cmt++ % 2);
Step.enabled = true;
Step.commandedPosition = Obj.StepGenIn1.CommandedPosition;
Obj.StepGenOut1.ActualPosition = Step.commandedPosition;
Step.stepsPerMM = Obj.StepGenIn1.StepsPerMM;
Step.stepsPerMM = 400;
Step.commandedPosition = Obj.CommandedPosition1;
Step.stepsPerMM = Obj.StepsPerMM1;
Step.handleStepper(irqTime);
Obj.StepGenOut2.ActualPosition = Obj.StepGenIn2.CommandedPosition;
Obj.ActualPosition1 = Obj.CommandedPosition1;
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -55,7 +59,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState();
uint32_t dTim = longTime.extendTime(micros()) - irqTime; // thenTime; // Debug. Getting jitter over the last 200 milliseconds
uint32_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim);
uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
@@ -72,7 +76,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.D1 = Step.Tjitter;
Obj.D2 = Step.Tstartf * 1e6;
Obj.D3 = Step.dbg;
Obj.D4 = Obj.D1+Obj.D2-Obj.D3;
Obj.D4 = Obj.D1 + Obj.D2 - Obj.D3;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -114,9 +118,12 @@ void loop(void)
uint32_t dTime;
if (serveIRQ)
{
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
nowTime = micros();
/* Read local time from ESC*/
ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
ESCvar.Time = etohl(ESCvar.Time);
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0;
ESCvar.PrevTime = ESCvar.Time;
}
@@ -131,7 +138,6 @@ void sync0Handler(void)
ALEventIRQ = ESC_ALeventread();
serveIRQ = 1;
irqTime = longTime.extendTime(micros());
digitalWrite(Step.dirPin, cnt++ % 2);
}
// Enable SM2 interrupts