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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