jeka/MyOwnEtherCATDevice
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This commit is contained in:
Hakan Bastedt
2024-03-10 01:03:50 +01:00
parent 31be067dea
commit fef934b103
3 changed files with 39 additions and 23 deletions
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10
Firmware/include/StepGen2.h
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@@ -18,10 +18,10 @@ public:
HardwareTimer *pulseTimer;
uint32_t pulseTimerChan;
HardwareTimer *startTimer; // 10,11,13,14
HardwareTimer *startTimer; // Use timers 10,11,13,14
uint8_t dirPin;
PinName stepPin;
const uint32_t Tjitter = 500; // Time unit is microseconds
uint32_t Tjitter = 400; // Longest time from IRQ to handling in handleStepper, unit is microseconds
uint64_t dbg;
const uint16_t t2 = 5; // DIR is ahead of PUL with at least 5 usecs
const uint16_t t3 = 3; // Pulse width at least 2.5 usecs
@@ -37,12 +37,12 @@ public:
volatile uint8_t enabled; // Enabled step generator
volatile float frequency;
static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time
volatile float lcncCycleTime; // Linuxcnc nominal cycle time in sec (1 ms often)
static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time nanoseconds
volatile float lcncCycleTime; // Linuxcnc nominal cycle time in sec (1 ms often)
StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
uint32_t handleStepper(uint64_t irqTime /* time for irq nanosecs */);
uint32_t handleStepper(uint64_t irqTime /* time when irq happened nanosecs */, uint16_t nLoops);
void startTimerCB();
void pulseTimerCB();
uint32_t updatePos(uint32_t i);