jeka/MyOwnEtherCATDevice
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wip now the 50 kHz timer is only 40 kHz. How come?

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This commit is contained in:
Hakan Bastedt
2024-03-26 22:59:41 +01:00
parent 88bd1ead78
commit ea5a39d300
3 changed files with 72 additions and 36 deletions
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75
Firmware/src/main.cpp
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@@ -10,6 +10,8 @@ _Objects Obj;
HardwareSerial Serial1(PA10, PA9);
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
HardwareTimer *myTim; // The base period timer
HardwareTimer *syncTimer; // The timer that syncs "with linuxcnc cycle"
#include "MyEncoder.h"
void indexPulseEncoderCB1(void);
@@ -38,24 +40,53 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
// Step2.enable(1);
}
volatile double pos_cmd1, pos_cmd2;
volatile uint64_t syncTime=0, oldSyncTime = 0;
void syncWithLCNC()
{
if (Step)
Step->updateStepGen(pos_cmd1, pos_cmd2);
syncTimer->pause();
syncTime = longTime.extendTime(micros());
}
uint16_t nLoops;
uint64_t reallyNowTime = 0, reallyThenTime = 0;
uint64_t timeDiff; // Timediff in nanoseconds
uint64_t reallyNowTime = 0, reallyThenTime = 0; // Times in microseconds
uint64_t timeDiff; // Timediff in microseconds
int32_t delayT;
void handleStepper(void)
{
#if 1
double pos[MAX_CHAN];
pos[0] = Obj.CommandedPosition1;
pos[1] = Obj.CommandedPosition2;
uint32_t t = micros();
reallyNowTime = longTime.extendTime(t);
timeDiff = reallyNowTime - reallyThenTime; // Time-diff in microseconds
nLoops = round(double(timeDiff) / 1000.0);
reallyThenTime = reallyNowTime;
pos_cmd1 = Obj.CommandedPosition1;
pos_cmd2 = Obj.CommandedPosition2;
// Obj.ActualPosition1 = Obj.CommandedPosition1;
// Obj.ActualPosition2 = Obj.CommandedPosition2;
if (Step)
{
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
Step->updateStepGen(pos);
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
}
#endif
uint32_t diffT = longTime.extendTime(micros()) - irqTime;
delayT = 700 - diffT;
if (delayT > 0 && delayT < 900)
{
syncTimer->setOverflow(delayT, MICROSEC_FORMAT);
syncTimer->refresh();
syncTimer->resume();
}
else
{
syncWithLCNC();
}
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -65,8 +96,8 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
// Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
// Obj.IndexByte = Encoder1.getIndexState();
float_t ap2 = Obj.ActualPosition2;
#if 0
uint64_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
#if 1
uint64_t dTim = irqTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
Tim.push(dTim);
uint64_t max_Tim = 0, min_Tim = UINT64_MAX;
for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
@@ -80,10 +111,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
thenTime = irqTime;
#endif
Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.D1 = 0;
Obj.D2 = 0;
Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D4 = 0;
Obj.D1 = Step->cnt % INT16_MAX; //nLoops;
Obj.D2 = 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);
@@ -123,7 +154,7 @@ void basePeriodCB(void)
{
step = &(Step->stepgen_array[i]);
digitalWrite(Step->dirPin[i], step->phase[DIR_PIN] ? LOW : HIGH);
digitalWrite(Step->stepPin[i], step->phase[STEP_PIN] ? LOW : HIGH);
digitalWrite(Step->stepPin[i], step->phase[STEP_PIN] ? HIGH : LOW);
}
}
}
@@ -142,13 +173,15 @@ void setup(void)
pinMode(PC10, OUTPUT);
Step = new StepGen3;
HardwareTimer *MyTim = new HardwareTimer(TIM1); // The base period timer
MyTim->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT);
MyTim->attachInterrupt(basePeriodCB);
MyTim->resume();
myTim = new HardwareTimer(TIM1); // The base period timer
myTim->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT);
myTim->attachInterrupt(basePeriodCB);
myTim->resume();
syncTimer = new HardwareTimer(TIM2); // The base period timer
syncTimer->attachInterrupt(syncWithLCNC);
}
double pos = 0;
void loop(void)
{
uint64_t dTime;
@@ -172,7 +205,7 @@ void loop(void)
void sync0Handler(void)
{
ALEventIRQ = ESC_ALeventread();
// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
//if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{
serveIRQ = 1;
irqTime = longTime.extendTime(micros());