jeka/MyOwnEtherCATDevice
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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;