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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17
Firmware/src/StepGen2.cpp
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@@ -26,20 +26,20 @@ StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin,
startTimer = new HardwareTimer(Timer2);
startTimer->attachInterrupt(irq2);
}
extern volatile uint32_t cnt;
uint32_t StepGen2::handleStepper(uint64_t irqTime)
uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
{
if (!enabled)
return updatePos(0);
lcncCycleTime = StepGen2::sync0CycleTime * 1.0e-6; // was usec, became sec
lcncCycleTime = nLoops * StepGen2::sync0CycleTime * 1.0e-9; // // nLoops is there in case we missed a ethercat cycle. secs
commandedStepPosition = floor(commandedPosition * stepsPerMM); // Scale position to steps
if (initialStepPosition == commandedStepPosition) // No movement
return updatePos(1);
nSteps = commandedStepPosition - initialStepPosition;
if (abs(nSteps) < 2) // Some small number
if (abs(nSteps) < 1) // Some small number
{
frequency = (abs(nSteps) + 1) / lcncCycleTime;
Tpulses = abs(nSteps) / frequency;
@@ -58,14 +58,15 @@ uint32_t StepGen2::handleStepper(uint64_t irqTime)
}
updatePos(5);
uint32_t timeSinceISR = (longTime.extendTime(micros()) - irqTime); // Diff time from ISR (usecs)
dbg = timeSinceISR;
Tstartu = Tjitter + uint32_t(Tstartf * 1e6) - timeSinceISR; // Have already wasted some time since the irq.
dbg = timeSinceISR; //
Tstartu = Tjitter + uint32_t(Tstartf * 1e6) - timeSinceISR; // Have already wasted some time since the irq.
timerFrequency = uint32_t(ceil(frequency));
startTimer->setOverflow(Tstartu, MICROSEC_FORMAT); // All handled by irqs
startTimer->resume();
return 1;
}
void StepGen2::startTimerCB()
{
startTimer->pause(); // Once is enough.
@@ -74,9 +75,11 @@ void StepGen2::startTimerCB()
timerPulseSteps = abs(nSteps);
pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
pulseTimer->setCaptureCompare(pulseTimerChan, 5, MICROSEC_COMPARE_FORMAT); // 5 usecs
// pulseTimer->setCaptureCompare(pulseTimerChan, t3, MICROSEC_COMPARE_FORMAT);
pulseTimer->setCaptureCompare(pulseTimerChan, 50, PERCENT_COMPARE_FORMAT);
pulseTimer->resume();
}
void StepGen2::pulseTimerCB()
{
--timerPulseSteps;