jeka/MyOwnEtherCATDevice
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It actually makes pulses at 1ms intervals here. Saving this moment.

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This commit is contained in:
Hakan Bastedt
2024-01-05 17:46:31 +01:00
parent 1168f7e5ad
commit ed168df64e
2 changed files with 35 additions and 39 deletions
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2
Firmware/platformio.ini
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@@ -17,7 +17,7 @@ debug_tool = stlink
debug_build_flags = -O0 -g -ggdb
monitor_port = COM7
monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment
build_flags = -O0 -Wl,--no-warn-rwx-segment
lib_deps =
SPI
rlogiacco/CircularBuffer@^1.3.3

72
Firmware/src/main.cpp
View File

@@ -30,9 +30,17 @@ volatile uint8_t indexPulseFired = 0;
uint32_t nFires = 0;
volatile uint8_t pleaseZeroTheCounter = 0;
#define STEPPER_DIR_PIN PA12
#define STEPPER_STEP_PIN PA11
HardwareTimer *MyTim;
volatile uint32_t stepCount = 0, stepPulses = 0;
volatile double_t actualPosition = 0;
volatile double_t requestedPosition;
uint32_t sync0CycleTime = 0;
void handleStepper(void);
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/);
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
@@ -47,10 +55,18 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
CurPosScale = Obj.EncPosScale;
PosScaleRes = 1.0 / double(CurPosScale);
}
Obj.StepGenOut1.ActualPosition = Obj.StepGenIn1.CommandedPosition;
requestedPosition = Obj.StepGenIn1.CommandedPosition;
byte forwardDirection = 0; // 1 if going forward
int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition);
if (pulsesToGo != 0)
makePulses(500, 1); // Make the pulses using hardware timer
// digitalWrite(STEPPER_DIR_PIN, HIGH); // I think one should really wait a bit when changed
actualPosition = requestedPosition;
}
uint32_t posD2 = 0, posD3 = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = 0;
@@ -82,11 +98,8 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
if (Obj.IndexByte)
Serial1.printf("IS 1\n");
Obj.IndexByte = posD2;
Obj.IndexStatus = posD3;
posD3 = posD2;
posD2 = 1000*Obj.StepGenIn1.CommandedPosition;
Obj.StepGenOut1.ActualPosition = actualPosition;
Obj.DiffT = 10000 * requestedPosition; // deltaT;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -112,14 +125,6 @@ static esc_cfg_t config =
.esc_hw_eep_handler = NULL,
.esc_check_dc_handler = dc_checker,
};
#define STEPPER_DIR_PIN PA12
#define STEPPER_STEP_PIN PA11
HardwareTimer *MyTim;
volatile uint32_t stepCount = 0, stepPulses = 0;
volatile double_t actualPosition = 0;
volatile double_t requestedPosition;
volatile int32_t pulsesToGo = 0;
volatile byte forwardDirection = 0; // 1 if going forward
void TimerStep_CB(void)
{
@@ -130,12 +135,13 @@ void TimerStep_CB(void)
}
}
void makePulses(uint32_t period /* in usecs */, uint32_t pulses /* nr of pulses to do*/)
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/)
{
MyTim->setOverflow(pulses * 1000000 / period, HERTZ_FORMAT);
uint32_t puls = abs(pulses);
MyTim->setOverflow(puls * 1000000 / period, HERTZ_FORMAT);
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
stepCount = 0;
stepPulses = pulses;
stepPulses = puls;
MyTim->resume();
}
@@ -198,34 +204,24 @@ void indexPulse(void)
}
}
uint64_t now = 0, back_then = 0;
uint32_t deltaT;
void sync0Handler(void)
{
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}
void handleStepper(void)
{
now = micros();
deltaT = now - back_then;
Obj.DiffT = deltaT;
back_then = now;
const int32_t stepsPerMM = 1000;
// Update the actual position
pulsesToGo = stepsPerMM * (Obj.StepGenIn1.CommandedPosition - actualPosition);
// Get new end position
forwardDirection = pulsesToGo > 1 ? 1 : 0;
// Set direction pin
#if 0
byte forwardDirection = 0; // 1 if going forward
int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition);
if (pulsesToGo != 0)
{
digitalWrite(STEPPER_DIR_PIN, forwardDirection); // I think one should really wait a bit when changed
makePulses(700, abs((int)pulsesToGo)); // Make the pulses using hardware timer
}
actualPosition = Obj.StepGenIn1.CommandedPosition;
Obj.StepGenOut1.ActualPosition = Obj.StepGenIn1.CommandedPosition;
makePulses(500, 1); // Make the pulses using hardware timer
// digitalWrite(STEPPER_DIR_PIN, HIGH); // I think one should really wait a bit when changed
actualPosition = requestedPosition;
#endif
}
void ESC_interrupt_enable(uint32_t mask)