Only free run, no DC or SM2 sync

Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp

@@ -58,9 +58,7 @@ class OhmicSensing {
     OHMIC_PROBE_DONE
   };
   OhmicStates ohmicState = OHMIC_IDLE;
-  uint32_t setupTimeSoFar = 0;
+  uint64_t startTime;
-  uint32_t probingTime = 0;
-  uint16_t senseOnTime = 0;
   float_t oldVoltage = 0.0;
   std::queue<float> voltages;
   float_t refVoltage;
@@ -68,6 +66,9 @@ class OhmicSensing {
 OhmicSensing Ohm1;
 OhmicSensing Ohm2;
 
+// DEBUG
+volatile int saveALEvent;
+
 void handleVoltageReader(float scale_in, float offset, float &outVoltage,
                          int32_t &outRaw, float &oldVoltage, float &oldRaw,
                          uint8_t devType, int8_t &old_devType,
@@ -166,8 +167,8 @@ static esc_cfg_t config = {
     .post_object_download_hook = NULL,
     .rxpdo_override = NULL,
     .txpdo_override = NULL,
-    .esc_hw_interrupt_enable = ESC_interrupt_enable,
+    .esc_hw_interrupt_enable = NULL,
-    .esc_hw_interrupt_disable = ESC_interrupt_disable,
+    .esc_hw_interrupt_disable = NULL,
     .esc_hw_eep_handler = NULL,
     .esc_check_dc_handler = dc_checker,
 };
@@ -256,69 +257,10 @@ void setup(void) {
 
 void loop(void) {
 #ifdef ECAT
-  uint64_t dTime;
-  if (serveIRQ) {
-    DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
-                                DIG_PROCESS_APP_HOOK_FLAG |
-                                DIG_PROCESS_INPUTS_FLAG);
-    serveIRQ = 0;
-    ESCvar.PrevTime = ESCvar.Time;
-    ecat_slv_poll();
-  }
-  dTime = longTime.extendTime(micros()) - irqTime;
-  if (dTime > 5000)  // Not doing interrupts - handle free-run
   ecat_slv();
-
 #endif
 }
 
-void sync0Handler(void) {
-  ALEventIRQ = ESC_ALeventread();
-  // if (ALEventIRQ & ESCREG_ALEVENT_SM2)
-  {
-    irqTime = longTime.extendTime(micros());
-    serveIRQ = 1;
-  }
-}
-
-// Enable SM2 interrupts
-void ESC_interrupt_enable(uint32_t mask) {
-  // Enable interrupt for SYNC0 or SM2 or SM3
-  uint32_t user_int_mask =
-      ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
-  if (mask & user_int_mask) {
-    ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
-    ESC_ALeventmaskwrite(ESC_ALeventmaskread() &
-                         ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
-    attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
-
-    // Set LAN9252 interrupt pin driver as push-pull active high
-    uint32_t bits = 0x00000111;
-    ESC_write(0x54, &bits, 4);
-
-    // Enable LAN9252 interrupt
-    bits = 0x00000001;
-    ESC_write(0x5c, &bits, 4);
-  }
-}
-
-// Disable SM2 interrupts
-void ESC_interrupt_disable(uint32_t mask) {
-  // Enable interrupt for SYNC0 or SM2 or SM3
-  // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 |
-  // ESCREG_ALEVENT_SM3;
-  uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
-
-  if (mask & user_int_mask) {
-    // Disable interrupt from SYNC0
-    ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
-    detachInterrupt(digitalPinToInterrupt(PC3));
-    // Disable LAN9252 interrupt
-    uint32_t bits = 0x00000000;
-    ESC_write(0x5c, &bits, 4);
-  }
-}
-
 // Setup of DC
 uint16_t dc_checker(void) {
   // Indicate we run DC
@@ -333,7 +275,8 @@ void handleVoltageReader(float scale_in, float offset, float &outVoltage,
                          MyMCP3221 *&mcp, uint8_t I2C_address,
                          uint32_t &I2C_restarts) {
   float scale = scale_in;
-  if (scale == 0.0) scale = 1.0;
+  if (scale == 0.0)
+    scale = 1.0;
   int stat = 1, data0;
 
   switch (devType) {
@@ -407,7 +350,8 @@ void handleVoltageReader(float scale_in, float offset, float &outVoltage,
     Wire2.begin();
     Wire2.setClock(I2C_BUS_SPEED);
     I2C_restarts++;
-    if (devType == ADS1014_TYPE && ads != nullptr) ads1014_reset(ads);
+    if (devType == ADS1014_TYPE && ads != nullptr)
+      ads1014_reset(ads);
     // mcp3221 has no reset, reset the I2C bus is the best we can do
   }
   readStat = stat;
@@ -444,26 +388,34 @@ void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
                           uint32_t setupTime, uint8_t enabled,
                           uint8_t &sensed) {
   sensed = 0;
+  uint64_t dTime;
+  Obj.Out_Unit1.RawData = ohmicState;
   if (enabled && voltageState == 0) {
     if (ohmicState == OHMIC_IDLE && inVoltage > limitVoltage) {
       ohmicState = OHMIC_SETUP;
-      setupTimeSoFar = 0;
+      startTime = longTime.extendTime(micros());
-      while (!voltages.empty()) voltages.pop();  // Remove history
+      while (!voltages.empty())
+        voltages.pop(); // Remove history
       return;
     }
     if (ohmicState == OHMIC_SETUP) {
-      if (setupTimeSoFar++ > setupTime) {
+      dTime = longTime.extendTime(micros()) - startTime;
+      Obj.Out_Unit2.RawData = dTime;
+      if (dTime > setupTime * 1000) {
         ohmicState = OHMIC_PROBE;
-        probingTime = 0;
+        startTime = longTime.extendTime(micros());
         oldVoltage = 0.0;
         refVoltage = inVoltage; // RefVoltage = voltage at end of setup
         return;
       }
     }
     if (ohmicState == OHMIC_PROBE) {
+      dTime = longTime.extendTime(micros()) - startTime;
+      Obj.Out_Unit2.RawData = dTime;
       voltages.push(inVoltage);
-      while (voltages.size() > N_VOLTAGES) voltages.pop();  // Only N_VOLTAGES
+      while (voltages.size() > N_VOLTAGES)
-      if (probingTime++ > 30000) {  // Go to IDLE after 30 seconds
+        voltages.pop();       // Only N_VOLTAGES
+      if (dTime > 30000000) { // Go to IDLE after 30 seconds
         ohmicState = OHMIC_IDLE;
         return;
       }
@@ -476,7 +428,7 @@ void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
           (fabs(voltageDropLimit) > 1e-3 && // Drop over 3 cycles
            voltages.front() - voltages.back() > voltageDropLimit)) {
         sensed = 1;
-        senseOnTime = 0;
+        startTime = longTime.extendTime(micros());
         ohmicState = OHMIC_PROBED_ON;
       }
       oldVoltage = inVoltage;
@@ -484,7 +436,9 @@ void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
     }
     if (ohmicState == OHMIC_PROBED_ON) {
       sensed = 1;
-      if (senseOnTime++ >= 100) {
+      dTime = longTime.extendTime(micros()) - startTime;
+      Obj.Out_Unit2.RawData = dTime;
+      if (dTime > 100000) {
         sensed = 0;
         ohmicState = OHMIC_PROBE_DONE;
       }
@@ -492,7 +446,6 @@ void OhmicSensing::handle(uint8_t voltageState, float inVoltage,
     }
     if (ohmicState == OHMIC_PROBE_DONE) {
       sensed = 0;
-      if (!enabled) ohmicState = OHMIC_IDLE;
       return;
     }
   } else {