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Added SDO for basePeriod, PDOs for scale, enable, maxAccel. All got default values in ESI

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This commit is contained in:
Hakan Bastedt
2025-02-23 20:40:11 +01:00
parent 8726aff1f8
commit eced221b35
10 changed files with 393 additions and 2300 deletions
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8
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/include/StepGen3.h
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@@ -92,7 +92,12 @@ public:
volatile uint64_t cnt = 0; // Debug counter
#undef double
StepGen3(void);
void updateStepGen(double pos_cmd1, double pos_cmd2, double pos_cmd3, double pos_cmd4, uint32_t servoPeriod);
void updateStepGen(double pos_cmd1, double pos_cmd2, double pos_cmd3, double pos_cmd4,
float pos_scale1, float pos_scale2, float pos_scale3, float pos_scale4,
float max_acc1, float max_acc2, float max_acc3, float max_acc4,
uint8_t enable1, uint8_t enable2, uint8_t enable3, uint8_t enable4,
uint32_t servoPeriod);
void makeAllPulses(void);
int rtapi_app_main();
int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
@@ -130,6 +135,7 @@ private:
{2, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 0};
};
// Initial values. Please update base_period using SDO, the others using PDOs
// For the example 20000 ns => 50 kHz
// It may be ok with over 100 kHz, it depends on the overall load. You just need to test.
#define BASE_PERIOD 20000

2087
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/MetalMusings_EaserCAT_3000_test_plasma_torch_reader.xml
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File diff suppressed because it is too large Load Diff

4
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/ecat_options.h
View File

@@ -33,8 +33,8 @@
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 13
#define MAX_MAPPINGS_SM3 14
#define MAX_MAPPINGS_SM2 18
#define MAX_MAPPINGS_SM3 7
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512

BIN
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.bin
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Binary file not shown.

14
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.hex
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@@ -1,13 +1,13 @@
:20000000050603446400000000001A0000004E00AA0A0000AEDCCA000100000001000000B8
:20000000050603446400000000001A0000004E00D0D1BED000300000020000000100000060
:20002000000000000000000000000000000000000010000200120002040000000000000096
:200040000000000000000000000000000000000000000000000000000000000000000000A0
:20006000000000000000000000000000000000000000000000000000000000000F00010070
:200080000A003000041454484341442052656164657220617835383130300E4D6163686950
:2000A0006E65436F6E74726F6C06494D47434259334D6574616C4D7573696E6773204561F9
:2000C0007365724341542033303030207465737420706C61736D6120746F72636820726566
:2000E000616465721E0010000203010400130000000000000000000011000000000000008
:20010000000000000000000028000200010203002900100000100002260001010012000228
:20012000220001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFF29
:200080000A001F00040B434E4320636F6E74726F6C0E4D616368696E65436F6E74726F6C8F
:2000A00006494D474342591A4D6574616C4D7573696E677320456173657243415420333021
:2000C00030301E001000020301040013000000000000000000001100000000000000000064
:2000E000000000000000280002000102030029001000001000022600010100120002220027
:2001000001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFFFFFF6D
:20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF
:20014000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBF
:20016000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9F
:20018000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7F

225
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json
View File

@@ -1,10 +1,10 @@
{
"form": {
"VendorName": "MetalMusings",
"VendorID": "0xaaa",
"ProductCode": "0xcadcae",
"VendorID": "0xd0bed1d0",
"ProductCode": "0x3000",
"ProfileNo": "5002",
"RevisionNumber": "0x001",
"RevisionNumber": "0x002",
"SerialNumber": "0x001",
"HWversion": "0.0.1",
"SWversion": "0.0.1",
@@ -15,10 +15,10 @@
"SM2Offset": "0x1600",
"SM3Offset": "0x1A00",
"TextGroupType": "MachineControl",
"TextGroupName5": "Plasma torch reader",
"TextGroupName5": "CNC control",
"ImageName": "IMGCBY",
"TextDeviceType": "THCAD Reader ax58100",
"TextDeviceName": "MetalMusings EaserCAT 3000 test plasma torch reader",
"TextDeviceType": "CNC control",
"TextDeviceName": "MetalMusings EaserCAT 3000",
"Port0Physical": "Y",
"Port1Physical": "Y",
"Port2Physical": " ",
@@ -34,6 +34,15 @@
},
"od": {
"sdo": {
"2000": {
"otype": "VAR",
"name": "BasePeriod",
"access": "RW",
"dtype": "UNSIGNED32",
"value": "20000",
"isSDOitem": true,
"data": "&Obj.BasePeriod"
},
"A": {
"otype": "RECORD",
"name": "Error Settings",
@@ -73,60 +82,6 @@
"data": "&Obj.Velocity"
},
"6001": {
"otype": "ARRAY",
"name": "Inputs",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "IN1",
"data": "&Obj.Inputs[0]",
"value": "0"
},
{
"name": "IN2",
"value": "0",
"data": "&Obj.Inputs[1]"
},
{
"name": "IN3",
"value": "0",
"data": "&Obj.Inputs[2]"
},
{
"name": "IN4",
"value": "0",
"data": "&Obj.Inputs[3]"
},
{
"name": "IN5",
"value": "0",
"data": "&Obj.Inputs[4]"
},
{
"name": "IN6",
"value": "0",
"data": "&Obj.Inputs[5]"
},
{
"name": "IN7",
"value": "0",
"data": "&Obj.Inputs[6]"
},
{
"name": "IN8",
"value": "0",
"data": "&Obj.Inputs[7]"
}
],
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED8"
},
"6002": {
"otype": "VAR",
"name": "Frequency",
"access": "RO",
@@ -137,6 +92,17 @@
"value": "0",
"data": "&Obj.Frequency"
},
"6002": {
"otype": "VAR",
"name": "Input8",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Input8"
},
"6003": {
"otype": "VAR",
"name": "ActualPosition1",
@@ -191,42 +157,19 @@
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"value": "1",
"data": "&Obj.Scale"
},
"7001": {
"otype": "ARRAY",
"name": "Outputs",
"otype": "VAR",
"name": "Output4",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "OUT1",
"data": "&Obj.Outputs[0]",
"value": "0"
},
{
"name": "OUT2",
"value": "0",
"data": "&Obj.Outputs[1]"
},
{
"name": "OUT3",
"value": "0",
"data": "&Obj.Outputs[2]"
},
{
"name": "OUT4",
"value": "0",
"data": "&Obj.Outputs[3]"
}
],
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8"
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Output4"
},
"7002": {
"otype": "VAR",
@@ -279,8 +222,8 @@
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"dtype": "REAL32",
"value": "100",
"data": "&Obj.StepsPerMM1"
},
"7007": {
@@ -290,8 +233,8 @@
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"dtype": "REAL32",
"value": "100",
"data": "&Obj.StepsPerMM2"
},
"7008": {
@@ -301,8 +244,8 @@
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"dtype": "REAL32",
"value": "100",
"data": "&Obj.StepsPerMM3"
},
"7009": {
@@ -312,10 +255,32 @@
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"dtype": "REAL32",
"value": "100",
"data": "&Obj.StepsPerMM4"
},
"7010": {
"otype": "VAR",
"name": "Enable3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable3"
},
"7011": {
"otype": "VAR",
"name": "Enable4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable4"
},
"60664": {
"otype": "VAR",
"name": "ActualPosition",
@@ -325,6 +290,72 @@
],
"dtype": "INTEGER32",
"value": "0"
},
"700D": {
"otype": "VAR",
"name": "MaxAcceleration4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration4"
},
"700C": {
"otype": "VAR",
"name": "MaxAcceleration3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration3"
},
"700E": {
"otype": "VAR",
"name": "Enable1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable1"
},
"700F": {
"otype": "VAR",
"name": "Enable2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable2"
},
"700A": {
"otype": "VAR",
"name": "MaxAcceleration1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration1"
},
"700B": {
"otype": "VAR",
"name": "MaxAcceleration2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration2"
}
}
},

252
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/objectlist.c
View File

@@ -16,12 +16,9 @@ static const char acName1018_04[] = "Serial Number";
static const char acName1600[] = "Scale";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "Scale";
static const char acName1601[] = "Outputs";
static const char acName1601[] = "Output4";
static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "OUT1";
static const char acName1601_02[] = "OUT2";
static const char acName1601_03[] = "OUT3";
static const char acName1601_04[] = "OUT4";
static const char acName1601_01[] = "Output4";
static const char acName1602[] = "CommandedPosition1";
static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "CommandedPosition1";
@@ -46,22 +43,39 @@ static const char acName1608_01[] = "StepsPerMM3";
static const char acName1609[] = "StepsPerMM4";
static const char acName1609_00[] = "Max SubIndex";
static const char acName1609_01[] = "StepsPerMM4";
static const char acName160A[] = "MaxAcceleration1";
static const char acName160A_00[] = "Max SubIndex";
static const char acName160A_01[] = "MaxAcceleration1";
static const char acName160B[] = "MaxAcceleration2";
static const char acName160B_00[] = "Max SubIndex";
static const char acName160B_01[] = "MaxAcceleration2";
static const char acName160C[] = "MaxAcceleration3";
static const char acName160C_00[] = "Max SubIndex";
static const char acName160C_01[] = "MaxAcceleration3";
static const char acName160D[] = "MaxAcceleration4";
static const char acName160D_00[] = "Max SubIndex";
static const char acName160D_01[] = "MaxAcceleration4";
static const char acName160E[] = "Enable1";
static const char acName160E_00[] = "Max SubIndex";
static const char acName160E_01[] = "Enable1";
static const char acName160F[] = "Enable2";
static const char acName160F_00[] = "Max SubIndex";
static const char acName160F_01[] = "Enable2";
static const char acName1610[] = "Enable3";
static const char acName1610_00[] = "Max SubIndex";
static const char acName1610_01[] = "Enable3";
static const char acName1611[] = "Enable4";
static const char acName1611_00[] = "Max SubIndex";
static const char acName1611_01[] = "Enable4";
static const char acName1A00[] = "Velocity";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "Velocity";
static const char acName1A01[] = "Inputs";
static const char acName1A01[] = "Frequency";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "IN1";
static const char acName1A01_02[] = "IN2";
static const char acName1A01_03[] = "IN3";
static const char acName1A01_04[] = "IN4";
static const char acName1A01_05[] = "IN5";
static const char acName1A01_06[] = "IN6";
static const char acName1A01_07[] = "IN7";
static const char acName1A01_08[] = "IN8";
static const char acName1A02[] = "Frequency";
static const char acName1A01_01[] = "Frequency";
static const char acName1A02[] = "Input8";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "Frequency";
static const char acName1A02_01[] = "Input8";
static const char acName1A03[] = "ActualPosition1";
static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "ActualPosition1";
@@ -92,6 +106,14 @@ static const char acName1C12_07[] = "PDO Mapping";
static const char acName1C12_08[] = "PDO Mapping";
static const char acName1C12_09[] = "PDO Mapping";
static const char acName1C12_0a[] = "PDO Mapping";
static const char acName1C12_0b[] = "PDO Mapping";
static const char acName1C12_0c[] = "PDO Mapping";
static const char acName1C12_0d[] = "PDO Mapping";
static const char acName1C12_0e[] = "PDO Mapping";
static const char acName1C12_0f[] = "PDO Mapping";
static const char acName1C12_010[] = "PDO Mapping";
static const char acName1C12_11[] = "PDO Mapping";
static const char acName1C12_12[] = "PDO Mapping";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
@@ -101,29 +123,16 @@ static const char acName1C13_04[] = "PDO Mapping";
static const char acName1C13_05[] = "PDO Mapping";
static const char acName1C13_06[] = "PDO Mapping";
static const char acName1C13_07[] = "PDO Mapping";
static const char acName2000[] = "BasePeriod";
static const char acName6000[] = "Velocity";
static const char acName6001[] = "Inputs";
static const char acName6001_00[] = "Max SubIndex";
static const char acName6001_01[] = "IN1";
static const char acName6001_02[] = "IN2";
static const char acName6001_03[] = "IN3";
static const char acName6001_04[] = "IN4";
static const char acName6001_05[] = "IN5";
static const char acName6001_06[] = "IN6";
static const char acName6001_07[] = "IN7";
static const char acName6001_08[] = "IN8";
static const char acName6002[] = "Frequency";
static const char acName6001[] = "Frequency";
static const char acName6002[] = "Input8";
static const char acName6003[] = "ActualPosition1";
static const char acName6004[] = "ActualPosition2";
static const char acName6005[] = "ActualPosition3";
static const char acName6006[] = "ActualPosition4";
static const char acName7000[] = "Scale";
static const char acName7001[] = "Outputs";
static const char acName7001_00[] = "Max SubIndex";
static const char acName7001_01[] = "OUT1";
static const char acName7001_02[] = "OUT2";
static const char acName7001_03[] = "OUT3";
static const char acName7001_04[] = "OUT4";
static const char acName7001[] = "Output4";
static const char acName7002[] = "CommandedPosition1";
static const char acName7003[] = "CommandedPosition2";
static const char acName7004[] = "CommandedPosition3";
@@ -132,6 +141,14 @@ static const char acName7006[] = "StepsPerMM1";
static const char acName7007[] = "StepsPerMM2";
static const char acName7008[] = "StepsPerMM3";
static const char acName7009[] = "StepsPerMM4";
static const char acName700A[] = "MaxAcceleration1";
static const char acName700B[] = "MaxAcceleration2";
static const char acName700C[] = "MaxAcceleration3";
static const char acName700D[] = "MaxAcceleration4";
static const char acName700E[] = "Enable1";
static const char acName700F[] = "Enable2";
static const char acName7010[] = "Enable3";
static const char acName7011[] = "Enable4";
const _objd SDO1000[] =
{
@@ -139,7 +156,7 @@ const _objd SDO1000[] =
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 408, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 3000 test plasma torch reader"},
{0x0, DTYPE_VISIBLE_STRING, 208, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 3000"},
};
const _objd SDO1009[] =
{
@@ -152,9 +169,9 @@ const _objd SDO100A[] =
const _objd SDO1018[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 13294766, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 3502166480, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 12288, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
};
const _objd SDO1600[] =
@@ -164,11 +181,8 @@ const _objd SDO1600[] =
};
const _objd SDO1601[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010108, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_02, 0x70010208, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_03, 0x70010308, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_04, 0x70010408, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010008, NULL},
};
const _objd SDO1602[] =
{
@@ -210,6 +224,46 @@ const _objd SDO1609[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1609_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1609_01, 0x70090020, NULL},
};
const _objd SDO160A[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160A_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160A_01, 0x700A0020, NULL},
};
const _objd SDO160B[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160B_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160B_01, 0x700B0020, NULL},
};
const _objd SDO160C[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160C_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160C_01, 0x700C0020, NULL},
};
const _objd SDO160D[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160D_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160D_01, 0x700D0020, NULL},
};
const _objd SDO160E[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160E_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160E_01, 0x700E0008, NULL},
};
const _objd SDO160F[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160F_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160F_01, 0x700F0008, NULL},
};
const _objd SDO1610[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1610_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1610_01, 0x70100008, NULL},
};
const _objd SDO1611[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1611_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1611_01, 0x70110008, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
@@ -217,20 +271,13 @@ const _objd SDO1A00[] =
};
const _objd SDO1A01[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 8, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010108, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_02, 0x60010208, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_03, 0x60010308, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_04, 0x60010408, NULL},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_05, 0x60010508, NULL},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_06, 0x60010608, NULL},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_07, 0x60010708, NULL},
{0x08, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_08, 0x60010808, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
};
const _objd SDO1A02[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020008, NULL},
};
const _objd SDO1A03[] =
{
@@ -262,7 +309,7 @@ const _objd SDO1C00[] =
};
const _objd SDO1C12[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 10, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 18, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
@@ -273,6 +320,14 @@ const _objd SDO1C12[] =
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_08, 0x1607, NULL},
{0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_09, 0x1608, NULL},
{0x0a, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_0a, 0x1609, NULL},
{0x0b, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_0b, 0x160A, NULL},
{0x0c, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_0c, 0x160B, NULL},
{0x0d, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_0d, 0x160C, NULL},
{0x0e, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_0e, 0x160D, NULL},
{0x0f, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_0f, 0x160E, NULL},
{0x010, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_010, 0x160F, NULL},
{0x11, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_11, 0x1610, NULL},
{0x12, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_12, 0x1611, NULL},
};
const _objd SDO1C13[] =
{
@@ -285,25 +340,21 @@ const _objd SDO1C13[] =
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
};
const _objd SDO2000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName2000, 20000, &Obj.BasePeriod},
};
const _objd SDO6000[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.Velocity},
};
const _objd SDO6001[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6001_00, 8, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_01, 0, &Obj.Inputs[0]},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_02, 0, &Obj.Inputs[1]},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_03, 0, &Obj.Inputs[2]},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_04, 0, &Obj.Inputs[3]},
{0x05, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_05, 0, &Obj.Inputs[4]},
{0x06, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_06, 0, &Obj.Inputs[5]},
{0x07, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_07, 0, &Obj.Inputs[6]},
{0x08, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_08, 0, &Obj.Inputs[7]},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.Frequency},
};
const _objd SDO6002[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0x00000000, &Obj.Frequency},
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.Input8},
};
const _objd SDO6003[] =
{
@@ -323,15 +374,11 @@ const _objd SDO6006[] =
};
const _objd SDO7000[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0x00000000, &Obj.Scale},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0x3f800000, &Obj.Scale},
};
const _objd SDO7001[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7001_00, 4, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_01, 0, &Obj.Outputs[0]},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_02, 0, &Obj.Outputs[1]},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_03, 0, &Obj.Outputs[2]},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_04, 0, &Obj.Outputs[3]},
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.Output4},
};
const _objd SDO7002[] =
{
@@ -351,19 +398,51 @@ const _objd SDO7005[] =
};
const _objd SDO7006[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7006, 0, &Obj.StepsPerMM1},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7006, 0x42c80000, &Obj.StepsPerMM1},
};
const _objd SDO7007[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7007, 0, &Obj.StepsPerMM2},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7007, 0x42c80000, &Obj.StepsPerMM2},
};
const _objd SDO7008[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7008, 0, &Obj.StepsPerMM3},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7008, 0x42c80000, &Obj.StepsPerMM3},
};
const _objd SDO7009[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7009, 0, &Obj.StepsPerMM4},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7009, 0x42c80000, &Obj.StepsPerMM4},
};
const _objd SDO700A[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700A, 0x461c4000, &Obj.MaxAcceleration1},
};
const _objd SDO700B[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700B, 0x461c4000, &Obj.MaxAcceleration2},
};
const _objd SDO700C[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700C, 0x461c4000, &Obj.MaxAcceleration3},
};
const _objd SDO700D[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700D, 0x461c4000, &Obj.MaxAcceleration4},
};
const _objd SDO700E[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName700E, 0, &Obj.Enable1},
};
const _objd SDO700F[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName700F, 0, &Obj.Enable2},
};
const _objd SDO7010[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7010, 0, &Obj.Enable3},
};
const _objd SDO7011[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7011, 0, &Obj.Enable4},
};
const _objectlist SDOobjects[] =
@@ -374,7 +453,7 @@ const _objectlist SDOobjects[] =
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{0x1601, OTYPE_RECORD, 4, 0, acName1601, SDO1601},
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
{0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
@@ -383,25 +462,34 @@ const _objectlist SDOobjects[] =
{0x1607, OTYPE_RECORD, 1, 0, acName1607, SDO1607},
{0x1608, OTYPE_RECORD, 1, 0, acName1608, SDO1608},
{0x1609, OTYPE_RECORD, 1, 0, acName1609, SDO1609},
{0x160A, OTYPE_RECORD, 1, 0, acName160A, SDO160A},
{0x160B, OTYPE_RECORD, 1, 0, acName160B, SDO160B},
{0x160C, OTYPE_RECORD, 1, 0, acName160C, SDO160C},
{0x160D, OTYPE_RECORD, 1, 0, acName160D, SDO160D},
{0x160E, OTYPE_RECORD, 1, 0, acName160E, SDO160E},
{0x160F, OTYPE_RECORD, 1, 0, acName160F, SDO160F},
{0x1610, OTYPE_RECORD, 1, 0, acName1610, SDO1610},
{0x1611, OTYPE_RECORD, 1, 0, acName1611, SDO1611},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 8, 0, acName1A01, SDO1A01},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
{0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
{0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 10, 0, acName1C12, SDO1C12},
{0x1C12, OTYPE_ARRAY, 18, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_ARRAY, 8, 0, acName6001, SDO6001},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
{0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005},
{0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_ARRAY, 4, 0, acName7001, SDO7001},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
{0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
{0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
@@ -410,5 +498,13 @@ const _objectlist SDOobjects[] =
{0x7007, OTYPE_VAR, 0, 0, acName7007, SDO7007},
{0x7008, OTYPE_VAR, 0, 0, acName7008, SDO7008},
{0x7009, OTYPE_VAR, 0, 0, acName7009, SDO7009},
{0x700A, OTYPE_VAR, 0, 0, acName700A, SDO700A},
{0x700B, OTYPE_VAR, 0, 0, acName700B, SDO700B},
{0x700C, OTYPE_VAR, 0, 0, acName700C, SDO700C},
{0x700D, OTYPE_VAR, 0, 0, acName700D, SDO700D},
{0x700E, OTYPE_VAR, 0, 0, acName700E, SDO700E},
{0x700F, OTYPE_VAR, 0, 0, acName700F, SDO700F},
{0x7010, OTYPE_VAR, 0, 0, acName7010, SDO7010},
{0x7011, OTYPE_VAR, 0, 0, acName7011, SDO7011},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

23
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/utypes.h
View File

@@ -14,8 +14,8 @@ typedef struct
/* Inputs */
float Velocity;
uint8_t Inputs[8];
float Frequency;
uint8_t Input8;
float ActualPosition1;
float ActualPosition2;
float ActualPosition3;
@@ -24,16 +24,27 @@ typedef struct
/* Outputs */
float Scale;
uint8_t Outputs[4];
uint8_t Output4;
float CommandedPosition1;
float CommandedPosition2;
float CommandedPosition3;
float CommandedPosition4;
int32_t StepsPerMM1;
int32_t StepsPerMM2;
int32_t StepsPerMM3;
int32_t StepsPerMM4;
float StepsPerMM1;
float StepsPerMM2;
float StepsPerMM3;
float StepsPerMM4;
float MaxAcceleration1;
float MaxAcceleration2;
float MaxAcceleration3;
float MaxAcceleration4;
uint8_t Enable1;
uint8_t Enable2;
uint8_t Enable3;
uint8_t Enable4;
/* Parameters */
uint32_t BasePeriod;
} _Objects;
extern _Objects Obj;

18
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/StepGen3.cpp
View File

@@ -1107,7 +1107,7 @@ StepGen3::StepGen3(void)
dirPin[3] = PE4;
rtapi_app_main();
stepgen_array[0].pos_scale = JOINT_1_SCALE;
stepgen_array[0].pos_scale = JOINT_1_SCALE; // Can and should be overriden by PDO values
stepgen_array[0].maxaccel = JOINT_1_STEPGEN_MAXACCEL;
stepgen_array[1].pos_scale = JOINT_2_SCALE;
stepgen_array[1].maxaccel = JOINT_2_STEPGEN_MAXACCEL;
@@ -1116,17 +1116,27 @@ StepGen3::StepGen3(void)
stepgen_array[3].pos_scale = JOINT_4_SCALE;
stepgen_array[3].maxaccel = JOINT_4_STEPGEN_MAXACCEL;
stepgen_array[0].enable = stepgen_array[1].enable =
stepgen_array[2].enable = stepgen_array[3].enable = 1;
stepgen_array[2].enable = stepgen_array[3].enable = 0; // Note that they are off by default
}
void StepGen3::updateStepGen(double pos_cmd1, double pos_cmd2,
double pos_cmd3, double pos_cmd4,
void StepGen3::updateStepGen(double pos_cmd1, double pos_cmd2, double pos_cmd3, double pos_cmd4,
float pos_scale1, float pos_scale2, float pos_scale3, float pos_scale4,
float max_acc1, float max_acc2, float max_acc3, float max_acc4,
uint8_t enable1, uint8_t enable2, uint8_t enable3, uint8_t enable4,
uint32_t servoPeriod)
{
stepgen_array[0].pos_cmd = pos_cmd1;
stepgen_array[1].pos_cmd = pos_cmd2;
stepgen_array[2].pos_cmd = pos_cmd3;
stepgen_array[3].pos_cmd = pos_cmd4;
stepgen_array[0].pos_scale = pos_scale1;
stepgen_array[1].pos_scale = pos_scale2;
stepgen_array[2].pos_scale = pos_scale3;
stepgen_array[3].pos_scale = pos_scale4;
stepgen_array[0].maxaccel = max_acc1;
stepgen_array[1].maxaccel = max_acc2;
stepgen_array[2].maxaccel = max_acc3;
stepgen_array[3].maxaccel = max_acc4;
for (int i = 0; i < num_chan; i++)
{
stepgen_t *step;

62
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp
View File

@@ -17,7 +17,10 @@ HardwareSerial Serial1(PA10, PA9);
const byte INPUTS[8] = {PE8, PE9, PE10, PE11, PE12, PE13, PE14, PE15};
const byte OUTPUTS[4] = {PC5, PB0, PB1, PE7};
const byte THCAD_PIN = PA2; // CAN BE PA0, should be PA0
// PA2 is connected to Timer 2, a 32-bit timer
#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
#define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
///// Analog out
const byte DAC1_pin = PA4;
@@ -28,6 +31,10 @@ StepGen3 *Step = 0;
HardwareTimer *baseTimer; // The base period timer
uint32_t sync0CycleTime; // nanosecs, often 1000000 ( 1 ms )
volatile double posCmd1, posCmd2, posCmd3, posCmd4;
volatile float posScale1, posScale2, posScale3, posScale4;
volatile float maxAcc1, maxAcc2, maxAcc3, maxAcc4;
volatile uint8_t enable1, enable2, enable3, enable4;
volatile uint32_t basePeriod;
volatile uint16_t basePeriodCnt;
volatile uint16_t deltaMakePulsesCnt;
volatile uint64_t makePulsesCnt = 0;
@@ -73,20 +80,30 @@ void globalInt(void); // ISR for INT line
////// EtherCAT routines called regularly, to read data, do stuff and write data
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{
for (int i = 0; i < min(sizeof(Obj.Outputs), sizeof(OUTPUTS)); i++)
digitalWrite(OUTPUTS[i], Obj.Outputs[i] == 1 ? HIGH : LOW);
for (int i = 0; i < 4; i++)
digitalWrite(OUTPUTS[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
// analogWrite(DAC1_pin, Obj.Voltage);
//Encoder1.setLatch(Obj.IndexLatchEnable);
// Encoder1.setLatch(Obj.IndexLatchEnable);
// Encoder1.setScale(2000);
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1; // Scale perhaps changed
Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
Step->stepgen_array[2].pos_scale = -Obj.StepsPerMM3;
Step->stepgen_array[3].pos_scale = -Obj.StepsPerMM4;
posCmd1 = Obj.CommandedPosition1; // The position update
posCmd2 = Obj.CommandedPosition2;
posScale1 = Obj.StepsPerMM1; // Scale perhaps changed
posScale2 = Obj.StepsPerMM2;
posScale3 = Obj.StepsPerMM3;
posScale4 = Obj.StepsPerMM4;
posCmd1 = Obj.CommandedPosition1; // The position update, etc
posCmd2 = Obj.CommandedPosition2; // Is recognised by the base Time loop
posCmd3 = Obj.CommandedPosition3;
posCmd4 = Obj.CommandedPosition4;
maxAcc1 = Obj.MaxAcceleration1;
maxAcc2 = Obj.MaxAcceleration2;
maxAcc3 = Obj.MaxAcceleration3;
maxAcc4 = Obj.MaxAcceleration4;
enable1 = Obj.Enable1;
enable2 = Obj.Enable2;
enable3 = Obj.Enable3;
enable4 = Obj.Enable4;
if (Obj.BasePeriod != 0) // Use default value from setup() if not set by SDO.
basePeriod = Obj.BasePeriod;
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -97,8 +114,11 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
scale = Obj.Scale;
Obj.Velocity = scale * sin(ESCvar.Time * 1e-8 * 6.28); // Test
for (int i = 0; i < min(sizeof(Obj.Inputs), sizeof(INPUTS)); i++)
Obj.Inputs[i] = digitalRead(INPUTS[i]) == HIGH ? 1 : 0;
for (int i = 0; i < 8; i++)
if (digitalRead(INPUTS[i]) == HIGH)
bitSet(Obj.Input8, i);
else
bitClear(Obj.Input8, i);
#if 0
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPos = Encoder1.currentPos();
@@ -157,12 +177,12 @@ void setup(void)
Serial1.begin(115200);
delay(1000); // To make terminal window ready
for (int i = 0; i < min(sizeof(Obj.Outputs), sizeof(OUTPUTS)); i++)
for (int i = 0; i < 4; i++)
{
pinMode(OUTPUTS[i], OUTPUT);
digitalWrite(OUTPUTS[i], LOW);
}
for (int i = 0; i < min(sizeof(Obj.Inputs), sizeof(INPUTS)); i++)
for (int i = 0; i < 8; i++)
pinMode(INPUTS[i], INPUT);
pinMode(DAC1_pin, OUTPUT);
analogWrite(DAC1_pin, 0);
@@ -177,6 +197,8 @@ void setup(void)
pinMode(PE5, OUTPUT); // Step 4
pinMode(PE4, OUTPUT); // Dir 4
basePeriod = BASE_PERIOD; // Random-ish number, but it should work
baseTimer = new HardwareTimer(TIM11); // The base period timer
baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated
baseTimer->attachInterrupt(basePeriodCB);
@@ -319,10 +341,14 @@ void Rollover_IT_callback(void)
void updateStepperGenerators(void)
{
baseTimer->pause();
Step->updateStepGen(posCmd1, posCmd2, posCmd3, posCmd4, sync0CycleTime); // Update positions
Step->makeAllPulses(); // Make first step right here
basePeriodCnt = sync0CycleTime / BASE_PERIOD; //
baseTimer->refresh(); //
Step->updateStepGen(posCmd1, posCmd2, posCmd3, posCmd4,
posScale1, posScale2, posScale3, posScale4,
maxAcc1, maxAcc2, maxAcc3, maxAcc4,
enable1, enable2, enable3, enable4,
sync0CycleTime); // Update positions
Step->makeAllPulses(); // Make first step right here
basePeriodCnt = sync0CycleTime / basePeriod; //
baseTimer->refresh(); //
baseTimer->resume();
// Make the other steps in baseTimer's ISR
}