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

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