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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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3
EEPROM_generator/index.html
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@@ -55,7 +55,8 @@
<option value="INTEGER64">INTEGER64</option> <option value="INTEGER64">INTEGER64</option>
<option value="UNSIGNED8">UNSIGNED8</option> <option value="UNSIGNED8">UNSIGNED8</option>
<option value="UNSIGNED16">UNSIGNED16</option> <option value="UNSIGNED16">UNSIGNED16</option>
<option value="UNSIGNED32">UNSIGNED64</option> <option value="UNSIGNED32">UNSIGNED32</option>
<option value="UNSIGNED64">UNSIGNED64</option>
<option value="REAL32">REAL32</option> <option value="REAL32">REAL32</option>
<option value="REAL64">REAL64</option> <option value="REAL64">REAL64</option>
<option value="VISIBLE_STRING">VISIBLE STRING</option> <option value="VISIBLE_STRING">VISIBLE STRING</option>

4
EEPROM_generator/src/constants.js
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@@ -28,11 +28,11 @@ const DTYPE = {
INTEGER8 : 'INTEGER8', INTEGER8 : 'INTEGER8',
INTEGER16 : 'INTEGER16', INTEGER16 : 'INTEGER16',
INTEGER32 : 'INTEGER32', INTEGER32 : 'INTEGER32',
INTEGER32 : 'INTEGER64', INTEGER64 : 'INTEGER64',
UNSIGNED8 : 'UNSIGNED8', UNSIGNED8 : 'UNSIGNED8',
UNSIGNED16 : 'UNSIGNED16', UNSIGNED16 : 'UNSIGNED16',
UNSIGNED32 : 'UNSIGNED32', UNSIGNED32 : 'UNSIGNED32',
UNSIGNED32 : 'UNSIGNED64', UNSIGNED64 : 'UNSIGNED64',
REAL32 : 'REAL32', REAL32 : 'REAL32',
REAL64 : 'REAL64', REAL64 : 'REAL64',
VISIBLE_STRING : 'VISIBLE_STRING', VISIBLE_STRING : 'VISIBLE_STRING',

739
Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
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File diff suppressed because it is too large Load Diff

2
Firmware/lib/soes/ecat_options.h
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@@ -33,7 +33,7 @@
#define SM3_smc 0x20 #define SM3_smc 0x20
#define SM3_act 1 #define SM3_act 1
#define MAX_MAPPINGS_SM2 6 #define MAX_MAPPINGS_SM2 5
#define MAX_MAPPINGS_SM3 11 #define MAX_MAPPINGS_SM3 11
#define MAX_RXPDO_SIZE 512 #define MAX_RXPDO_SIZE 512

8
Firmware/lib/soes/ecat_slv.c
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@@ -191,7 +191,7 @@ void APP_setwatchdog (int watchdogcnt)
* write ethercat inputs. Implement watch-dog counter to count-out if we have * write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state. * made state change affecting the App.state.
*/ */
void DIG_process (uint16_t ALEvent, uint8_t flags) void DIG_process (uint8_t flags)
{ {
/* Handle watchdog */ /* Handle watchdog */
if((flags & DIG_PROCESS_WD_FLAG) > 0) if((flags & DIG_PROCESS_WD_FLAG) > 0)
@@ -217,14 +217,14 @@ void DIG_process (uint16_t ALEvent, uint8_t flags)
if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0) if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
{ {
if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) && if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ALEvent & ESCREG_ALEVENT_SM2)) (ESCvar.ALevent & ESCREG_ALEVENT_SM2))
{ {
RXPDO_update(); RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt); CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
/* Set outputs */ /* Set outputs */
cb_set_outputs(); cb_set_outputs();
} }
else if (ALEvent & ESCREG_ALEVENT_SM2) else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{ {
RXPDO_update(); RXPDO_update();
} }
@@ -339,7 +339,7 @@ void ecat_slv_poll (void)
void ecat_slv (void) void ecat_slv (void)
{ {
ecat_slv_poll(); ecat_slv_poll();
DIG_process(ESCvar.ALevent, 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);
} }

2
Firmware/lib/soes/ecat_slv.h
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@@ -36,7 +36,7 @@ void APP_setwatchdog (int watchdogcnt);
* *
* @param[in] flags = User input what to execute * @param[in] flags = User input what to execute
*/ */
void DIG_process (uint16_t ALEvent, uint8_t flags); void DIG_process (uint8_t flags);
/** /**
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application

BIN
Firmware/lib/soes/eeprom.bin
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Binary file not shown.

2
Firmware/lib/soes/eeprom.hex
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@@ -1,4 +1,4 @@
:200000008006034C64000000000000000000EC00AA0A0000CCBCBB000200000001000000C1 :2000000080060344640000000000000000001400AA0A0000CCBCBB000200000001000000A1
:20002000000000000000000000000000000000000010000200120002040000000000000096 :20002000000000000000000000000000000000000010000200120002040000000000000096
:200040000000000000000000000000000000000000000000000000000000000000000000A0 :200040000000000000000000000000000000000000000000000000000000000000000000A0
:20006000000000000000000000000000000000000000000000000000000000000F00010070 :20006000000000000000000000000000000000000000000000000000000000000F00010070

147
Firmware/lib/soes/esi.json
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@@ -57,7 +57,7 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "REAL64", "dtype": "REAL32",
"value": "0", "value": "0",
"data": "&Obj.EncPos" "data": "&Obj.EncPos"
}, },
@@ -68,7 +68,7 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "REAL64", "dtype": "REAL32",
"value": "0", "value": "0",
"data": "&Obj.EncFrequency" "data": "&Obj.EncFrequency"
}, },
@@ -79,7 +79,7 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "UNSIGNED32", "dtype": "UNSIGNED16",
"value": "0", "value": "0",
"data": "&Obj.DiffT" "data": "&Obj.DiffT"
}, },
@@ -106,44 +106,26 @@
"data": "&Obj.IndexStatus" "data": "&Obj.IndexStatus"
}, },
"6005": { "6005": {
"otype": "RECORD", "otype": "VAR",
"name": "StepGenOut1", "name": "ActualPosition1",
"access": "RO", "access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "ActualPosition",
"dtype": "REAL64",
"data": "&Obj.StepGenOut1.ActualPosition",
"value": "0",
"access": "RO"
}
],
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
] ],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition1"
}, },
"6006": { "6006": {
"otype": "RECORD", "otype": "VAR",
"name": "StepGenOut2", "name": "ActualPosition2",
"access": "RO", "access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "ActualPosition",
"dtype": "REAL64",
"data": "&Obj.StepGenOut2.ActualPosition",
"value": "0",
"access": "RO"
}
],
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
] ],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition2"
}, },
"6007": { "6007": {
"otype": "VAR", "otype": "VAR",
@@ -152,7 +134,7 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "INTEGER32", "dtype": "INTEGER16",
"value": "0", "value": "0",
"data": "&Obj.D1" "data": "&Obj.D1"
}, },
@@ -163,7 +145,7 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "INTEGER32", "dtype": "INTEGER16",
"value": "0", "value": "0",
"data": "&Obj.D2" "data": "&Obj.D2"
}, },
@@ -174,7 +156,7 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "INTEGER32", "dtype": "INTEGER16",
"value": "0", "value": "0",
"data": "&Obj.D3" "data": "&Obj.D3"
}, },
@@ -185,24 +167,13 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "INTEGER32", "dtype": "INTEGER16",
"value": "0", "value": "0",
"data": "&Obj.D4" "data": "&Obj.D4"
} }
}, },
"rxpdo": { "rxpdo": {
"7000": { "7000": {
"otype": "VAR",
"name": "EncPosScale",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.EncPosScale"
},
"7001": {
"otype": "VAR", "otype": "VAR",
"name": "IndexLatchEnable", "name": "IndexLatchEnable",
"access": "RO", "access": "RO",
@@ -213,59 +184,49 @@
"value": "0", "value": "0",
"data": "&Obj.IndexLatchEnable" "data": "&Obj.IndexLatchEnable"
}, },
"7002": { "7001": {
"otype": "RECORD", "otype": "VAR",
"name": "StepGenIn1", "name": "CommandedPosition1",
"access": "RO", "access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "CommandedPosition",
"dtype": "REAL64",
"data": "&Obj.StepGenIn1.CommandedPosition",
"value": "0",
"access": "RO"
},
{
"name": "StepsPerMM",
"dtype": "INTEGER16",
"value": "0",
"access": "RO",
"data": "&Obj.StepGenIn1.StepsPerMM"
}
],
"pdo_mappings": [ "pdo_mappings": [
"rxpdo" "rxpdo"
] ],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition1"
},
"7002": {
"otype": "VAR",
"name": "CommandedPosition2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition2"
}, },
"7003": { "7003": {
"otype": "RECORD", "otype": "VAR",
"name": "StepGenIn2", "name": "StepsPerMM1",
"access": "RO", "access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "CommandedPosition",
"dtype": "REAL64",
"data": "&Obj.StepGenIn2.CommandedPosition",
"value": "0",
"access": "RO"
},
{
"name": "StepsPerMM",
"dtype": "INTEGER16",
"value": "0",
"access": "RO",
"data": "&Obj.StepGenIn2.StepsPerMM"
}
],
"pdo_mappings": [ "pdo_mappings": [
"rxpdo" "rxpdo"
] ],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.StepsPerMM1"
},
"7004": {
"otype": "VAR",
"name": "StepsPerMM2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.StepsPerMM2"
}, },
"60664": { "60664": {
"otype": "VAR", "otype": "VAR",

159
Firmware/lib/soes/objectlist.c
View File

@@ -13,20 +13,21 @@ static const char acName1018_01[] = "Vendor ID";
static const char acName1018_02[] = "Product Code"; static const char acName1018_02[] = "Product Code";
static const char acName1018_03[] = "Revision Number"; static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number"; static const char acName1018_04[] = "Serial Number";
static const char acName1600[] = "EncPosScale"; static const char acName1600[] = "IndexLatchEnable";
static const char acName1600_00[] = "Max SubIndex"; static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "EncPosScale"; static const char acName1600_01[] = "IndexLatchEnable";
static const char acName1601[] = "IndexLatchEnable"; static const char acName1601[] = "CommandedPosition1";
static const char acName1601_00[] = "Max SubIndex"; static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "IndexLatchEnable"; static const char acName1601_01[] = "CommandedPosition1";
static const char acName1602[] = "StepGenIn1"; static const char acName1602[] = "CommandedPosition2";
static const char acName1602_00[] = "Max SubIndex"; static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "CommandedPosition"; static const char acName1602_01[] = "CommandedPosition2";
static const char acName1602_02[] = "StepsPerMM"; static const char acName1603[] = "StepsPerMM1";
static const char acName1603[] = "StepGenIn2";
static const char acName1603_00[] = "Max SubIndex"; static const char acName1603_00[] = "Max SubIndex";
static const char acName1603_01[] = "CommandedPosition"; static const char acName1603_01[] = "StepsPerMM1";
static const char acName1603_02[] = "StepsPerMM"; static const char acName1604[] = "StepsPerMM2";
static const char acName1604_00[] = "Max SubIndex";
static const char acName1604_01[] = "StepsPerMM2";
static const char acName1A00[] = "EncPos"; static const char acName1A00[] = "EncPos";
static const char acName1A00_00[] = "Max SubIndex"; static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "EncPos"; static const char acName1A00_01[] = "EncPos";
@@ -42,12 +43,12 @@ static const char acName1A03_01[] = "IndexByte";
static const char acName1A04[] = "IndexStatus"; static const char acName1A04[] = "IndexStatus";
static const char acName1A04_00[] = "Max SubIndex"; static const char acName1A04_00[] = "Max SubIndex";
static const char acName1A04_01[] = "IndexStatus"; static const char acName1A04_01[] = "IndexStatus";
static const char acName1A05[] = "StepGenOut1"; static const char acName1A05[] = "ActualPosition1";
static const char acName1A05_00[] = "Max SubIndex"; static const char acName1A05_00[] = "Max SubIndex";
static const char acName1A05_01[] = "ActualPosition"; static const char acName1A05_01[] = "ActualPosition1";
static const char acName1A06[] = "StepGenOut2"; static const char acName1A06[] = "ActualPosition2";
static const char acName1A06_00[] = "Max SubIndex"; static const char acName1A06_00[] = "Max SubIndex";
static const char acName1A06_01[] = "ActualPosition"; static const char acName1A06_01[] = "ActualPosition2";
static const char acName1A07[] = "D1"; static const char acName1A07[] = "D1";
static const char acName1A07_00[] = "Max SubIndex"; static const char acName1A07_00[] = "Max SubIndex";
static const char acName1A07_01[] = "D1"; static const char acName1A07_01[] = "D1";
@@ -72,6 +73,7 @@ static const char acName1C12_01[] = "PDO Mapping";
static const char acName1C12_02[] = "PDO Mapping"; static const char acName1C12_02[] = "PDO Mapping";
static const char acName1C12_03[] = "PDO Mapping"; static const char acName1C12_03[] = "PDO Mapping";
static const char acName1C12_04[] = "PDO Mapping"; static const char acName1C12_04[] = "PDO Mapping";
static const char acName1C12_05[] = "PDO Mapping";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment"; static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex"; static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping"; static const char acName1C13_01[] = "PDO Mapping";
@@ -90,30 +92,21 @@ static const char acName6001[] = "EncFrequency";
static const char acName6002[] = "DiffT"; static const char acName6002[] = "DiffT";
static const char acName6003[] = "IndexByte"; static const char acName6003[] = "IndexByte";
static const char acName6004[] = "IndexStatus"; static const char acName6004[] = "IndexStatus";
static const char acName6005[] = "StepGenOut1"; static const char acName6005[] = "ActualPosition1";
static const char acName6005_00[] = "Max SubIndex"; static const char acName6006[] = "ActualPosition2";
static const char acName6005_01[] = "ActualPosition";
static const char acName6006[] = "StepGenOut2";
static const char acName6006_00[] = "Max SubIndex";
static const char acName6006_01[] = "ActualPosition";
static const char acName6007[] = "D1"; static const char acName6007[] = "D1";
static const char acName6008[] = "D2"; static const char acName6008[] = "D2";
static const char acName6009[] = "D3"; static const char acName6009[] = "D3";
static const char acName600A[] = "D4"; static const char acName600A[] = "D4";
static const char acName7000[] = "EncPosScale"; static const char acName7000[] = "IndexLatchEnable";
static const char acName7001[] = "IndexLatchEnable"; static const char acName7001[] = "CommandedPosition1";
static const char acName7002[] = "StepGenIn1"; static const char acName7002[] = "CommandedPosition2";
static const char acName7002_00[] = "Max SubIndex"; static const char acName7003[] = "StepsPerMM1";
static const char acName7002_01[] = "CommandedPosition"; static const char acName7004[] = "StepsPerMM2";
static const char acName7002_02[] = "StepsPerMM";
static const char acName7003[] = "StepGenIn2";
static const char acName7003_00[] = "Max SubIndex";
static const char acName7003_01[] = "CommandedPosition";
static const char acName7003_02[] = "StepsPerMM";
const _objd SDO1000[] = const _objd SDO1000[] =
{ {
{0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL}, {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
}; };
const _objd SDO1008[] = const _objd SDO1008[] =
{ {
@@ -130,87 +123,90 @@ const _objd SDO100A[] =
const _objd SDO1018[] = const _objd SDO1018[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_01, 2730, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_02, 12303564, NULL}, {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 12303564, NULL},
{0x03, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_03, 2, NULL}, {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
{0x04, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_04, 1, &Obj.serial}, {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
}; };
const _objd SDO1600[] = const _objd SDO1600[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1600_01, 0x70000020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
}; };
const _objd SDO1601[] = const _objd SDO1601[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1601_01, 0x70010020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
}; };
const _objd SDO1602[] = const _objd SDO1602[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 2, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020020, NULL},
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020210, NULL},
}; };
const _objd SDO1603[] = const _objd SDO1603[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 2, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_01, 0x70030140, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x70030010, NULL},
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_02, 0x70030210, NULL}, };
const _objd SDO1604[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70040010, NULL},
}; };
const _objd SDO1A00[] = const _objd SDO1A00[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000040, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
}; };
const _objd SDO1A01[] = const _objd SDO1A01[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010040, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
}; };
const _objd SDO1A02[] = const _objd SDO1A02[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A02_01, 0x60020020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020010, NULL},
}; };
const _objd SDO1A03[] = const _objd SDO1A03[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
}; };
const _objd SDO1A04[] = const _objd SDO1A04[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A04_01, 0x60040020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
}; };
const _objd SDO1A05[] = const _objd SDO1A05[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050140, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050020, NULL},
}; };
const _objd SDO1A06[] = const _objd SDO1A06[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A06_01, 0x60060140, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A06_01, 0x60060020, NULL},
}; };
const _objd SDO1A07[] = const _objd SDO1A07[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A07_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A07_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A07_01, 0x60070020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A07_01, 0x60070010, NULL},
}; };
const _objd SDO1A08[] = const _objd SDO1A08[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A08_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A08_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A08_01, 0x60080020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A08_01, 0x60080010, NULL},
}; };
const _objd SDO1A09[] = const _objd SDO1A09[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A09_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A09_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A09_01, 0x60090020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A09_01, 0x60090010, NULL},
}; };
const _objd SDO1A0A[] = const _objd SDO1A0A[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A0A_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A0A_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A0A_01, 0x600A0020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A0A_01, 0x600A0010, NULL},
}; };
const _objd SDO1C00[] = const _objd SDO1C00[] =
{ {
@@ -222,11 +218,12 @@ const _objd SDO1C00[] =
}; };
const _objd SDO1C12[] = const _objd SDO1C12[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 4, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL}, {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL}, {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL}, {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL}, {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
}; };
const _objd SDO1C13[] = const _objd SDO1C13[] =
{ {
@@ -245,15 +242,15 @@ const _objd SDO1C13[] =
}; };
const _objd SDO6000[] = const _objd SDO6000[] =
{ {
{0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos}, {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos},
}; };
const _objd SDO6001[] = const _objd SDO6001[] =
{ {
{0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.EncFrequency}, {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
}; };
const _objd SDO6002[] = const _objd SDO6002[] =
{ {
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT}, {0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
}; };
const _objd SDO6003[] = const _objd SDO6003[] =
{ {
@@ -265,49 +262,47 @@ const _objd SDO6004[] =
}; };
const _objd SDO6005[] = const _objd SDO6005[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL}, {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6005, 0x00000000, &Obj.ActualPosition1},
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
}; };
const _objd SDO6006[] = const _objd SDO6006[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6006_00, 1, NULL}, {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition2},
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6006_01, 0, &Obj.StepGenOut2.ActualPosition},
}; };
const _objd SDO6007[] = const _objd SDO6007[] =
{ {
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.D1}, {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.D1},
}; };
const _objd SDO6008[] = const _objd SDO6008[] =
{ {
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.D2}, {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.D2},
}; };
const _objd SDO6009[] = const _objd SDO6009[] =
{ {
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6009, 0, &Obj.D3}, {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6009, 0, &Obj.D3},
}; };
const _objd SDO600A[] = const _objd SDO600A[] =
{ {
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName600A, 0, &Obj.D4}, {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName600A, 0, &Obj.D4},
}; };
const _objd SDO7000[] = const _objd SDO7000[] =
{ {
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale}, {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.IndexLatchEnable},
}; };
const _objd SDO7001[] = const _objd SDO7001[] =
{ {
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable}, {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0x00000000, &Obj.CommandedPosition1},
}; };
const _objd SDO7002[] = const _objd SDO7002[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 2, NULL}, {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.CommandedPosition2},
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
{0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.StepsPerMM},
}; };
const _objd SDO7003[] = const _objd SDO7003[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7003_00, 2, NULL}, {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7003, 0, &Obj.StepsPerMM1},
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7003_01, 0, &Obj.StepGenIn2.CommandedPosition}, };
{0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7003_02, 0, &Obj.StepGenIn2.StepsPerMM}, const _objd SDO7004[] =
{
{0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.StepsPerMM2},
}; };
const _objectlist SDOobjects[] = const _objectlist SDOobjects[] =
@@ -319,8 +314,9 @@ const _objectlist SDOobjects[] =
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018}, {0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600}, {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601}, {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602}, {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 2, 0, acName1603, SDO1603}, {0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
{0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00}, {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01}, {0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02}, {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
@@ -333,22 +329,23 @@ const _objectlist SDOobjects[] =
{0x1A09, OTYPE_RECORD, 1, 0, acName1A09, SDO1A09}, {0x1A09, OTYPE_RECORD, 1, 0, acName1A09, SDO1A09},
{0x1A0A, OTYPE_RECORD, 1, 0, acName1A0A, SDO1A0A}, {0x1A0A, OTYPE_RECORD, 1, 0, acName1A0A, SDO1A0A},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 4, 0, acName1C12, SDO1C12}, {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 11, 0, acName1C13, SDO1C13}, {0x1C13, OTYPE_ARRAY, 11, 0, acName1C13, SDO1C13},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000}, {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001}, {0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002}, {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003}, {0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004}, {0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
{0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005}, {0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005},
{0x6006, OTYPE_RECORD, 1, 0, acName6006, SDO6006}, {0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006},
{0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007}, {0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007},
{0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008}, {0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008},
{0x6009, OTYPE_VAR, 0, 0, acName6009, SDO6009}, {0x6009, OTYPE_VAR, 0, 0, acName6009, SDO6009},
{0x600A, OTYPE_VAR, 0, 0, acName600A, SDO600A}, {0x600A, OTYPE_VAR, 0, 0, acName600A, SDO600A},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000}, {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001}, {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002}, {0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
{0x7003, OTYPE_RECORD, 2, 0, acName7003, SDO7003}, {0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
{0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL} {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
}; };

39
Firmware/lib/soes/utypes.h
View File

@@ -13,38 +13,25 @@ typedef struct
/* Inputs */ /* Inputs */
double EncPos; float EncPos;
double EncFrequency; float EncFrequency;
uint32_t DiffT; uint16_t DiffT;
uint32_t IndexByte; uint32_t IndexByte;
uint32_t IndexStatus; uint32_t IndexStatus;
struct float ActualPosition1;
{ float ActualPosition2;
double ActualPosition; int16_t D1;
} StepGenOut1; int16_t D2;
struct int16_t D3;
{ int16_t D4;
double ActualPosition;
} StepGenOut2;
int32_t D1;
int32_t D2;
int32_t D3;
int32_t D4;
/* Outputs */ /* Outputs */
int32_t EncPosScale;
uint32_t IndexLatchEnable; uint32_t IndexLatchEnable;
struct float CommandedPosition1;
{ float CommandedPosition2;
double CommandedPosition; int16_t StepsPerMM1;
int16_t StepsPerMM; int16_t StepsPerMM2;
} StepGenIn1;
struct
{
double CommandedPosition;
int16_t StepsPerMM;
} StepGenIn2;
} _Objects; } _Objects;

4
Firmware/src/StepGen2.cpp
View File

@@ -39,7 +39,7 @@ uint32_t StepGen2::handleStepper(uint64_t irqTime)
nSteps = commandedStepPosition - initialStepPosition; nSteps = commandedStepPosition - initialStepPosition;
if (abs(nSteps) < 1000) // Some small number if (abs(nSteps) < 2) // Some small number
{ {
frequency = (abs(nSteps) + 1) / lcncCycleTime; frequency = (abs(nSteps) + 1) / lcncCycleTime;
Tpulses = abs(nSteps) / frequency; Tpulses = abs(nSteps) / frequency;
@@ -73,7 +73,7 @@ void StepGen2::startTimerCB()
digitalWrite(dirPin, nSteps > 0 ? HIGH : LOW); digitalWrite(dirPin, nSteps > 0 ? HIGH : LOW);
// There will be a short break here for t2 usecs, in the future. // There will be a short break here for t2 usecs, in the future.
timerPulseSteps = abs(nSteps); timerPulseSteps = abs(nSteps);
pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin); pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM1, stepPin);
pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT); pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
pulseTimer->setCaptureCompare(pulseTimerChan, 5, MICROSEC_COMPARE_FORMAT); // 5 usecs pulseTimer->setCaptureCompare(pulseTimerChan, 5, MICROSEC_COMPARE_FORMAT); // 5 usecs
pulseTimer->resume(); pulseTimer->resume();

34
Firmware/src/main.cpp
View File

@@ -25,27 +25,31 @@ StepGen2 Step(TIM1, 4, PA_11, PA12, pulseTimerCallback, TIM10, startTimerCallbac
void pulseTimerCallback(void) { Step.pulseTimerCB(); } void pulseTimerCallback(void) { Step.pulseTimerCB(); }
void startTimerCallback(void) { Step.startTimerCB(); } void startTimerCallback(void) { Step.startTimerCB(); }
CircularBuffer<uint32_t, 200> Tim; 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; volatile uint32_t ccnnt = 0;
extend32to64 longTime; extend32to64 longTime;
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
{ {
Encoder1.setLatch(Obj.IndexLatchEnable); 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; volatile uint32_t cmt;
void handleStepper(void) void handleStepper(void)
{ {
digitalWrite(Step.dirPin, cmt++ % 2); //digitalWrite(Step.dirPin, cmt++ % 2);
Step.enabled = true; Step.enabled = true;
Step.commandedPosition = Obj.StepGenIn1.CommandedPosition; Step.commandedPosition = Obj.CommandedPosition1;
Obj.StepGenOut1.ActualPosition = Step.commandedPosition; Step.stepsPerMM = Obj.StepsPerMM1;
Step.stepsPerMM = Obj.StepGenIn1.StepsPerMM;
Step.stepsPerMM = 400;
Step.handleStepper(irqTime); 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 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.EncFrequency = Encoder1.frequency(ESCvar.Time);
Obj.IndexByte = Encoder1.getIndexState(); 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); 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++)
@@ -72,7 +76,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.D1 = Step.Tjitter; Obj.D1 = Step.Tjitter;
Obj.D2 = Step.Tstartf * 1e6; Obj.D2 = Step.Tstartf * 1e6;
Obj.D3 = Step.dbg; 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); void ESC_interrupt_enable(uint32_t mask);
@@ -114,9 +118,12 @@ void loop(void)
uint32_t dTime; uint32_t dTime;
if (serveIRQ) if (serveIRQ)
{ {
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread()); nowTime = micros();
DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG | /* Read local time from ESC*/
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG); 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; serveIRQ = 0;
ESCvar.PrevTime = ESCvar.Time; ESCvar.PrevTime = ESCvar.Time;
} }
@@ -131,7 +138,6 @@ void sync0Handler(void)
ALEventIRQ = ESC_ALeventread(); ALEventIRQ = ESC_ALeventread();
serveIRQ = 1; serveIRQ = 1;
irqTime = longTime.extendTime(micros()); irqTime = longTime.extendTime(micros());
digitalWrite(Step.dirPin, cnt++ % 2);
} }
// Enable SM2 interrupts // Enable SM2 interrupts