MyOwnEtherCATDevice/Firmware/src/main.cpp

#include <Arduino.h>
#include <stdio.h>
extern "C"
{
#include "ecat_slv.h"
#include "utypes.h"
};
_Objects Obj;

HardwareSerial Serial1(PA10, PA9);

// SGT = StepGenTest
#define SGT 1
#if SGT
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt

#include "MyEncoder.h"
void indexPulseEncoderCB1(void);
MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
void indexPulseEncoderCB1(void)
{
   Encoder1.indexPulse();
}
#endif

#include "StepGen3.h"
StepGen3 *Step = 0;

#if SGT
#include "extend32to64.h"

CircularBuffer<uint64_t, 200> Tim;
volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0;
extend32to64 longTime;

void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
   //  Encoder1.setLatch(Obj.IndexLatchEnable);
   //  Encoder1.setScale(2000);

   // Step2.reqPos(Obj.CommandedPosition2);
   // Step2.setScale(Obj.StepsPerMM2);
   // Step2.enable(1);
}

uint16_t nLoops;
uint64_t reallyNowTime = 0, reallyThenTime = 0;
uint64_t timeDiff; // Timediff in nanoseconds
void handleStepper(void)
{
   double pos[MAX_CHAN];
   pos[0] = Obj.CommandedPosition1;
   pos[1] = Obj.CommandedPosition2;
   if (Step)
   {
      Step->updateStepGen(pos);
      Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
      Obj.ActualPosition1 = Step->stepgen_array[1].pos_fb;
   }
}

void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
   // Obj.IndexStatus = Encoder1.indexHappened();
   // Obj.EncPos = Encoder1.currentPos();
   // Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
   // Obj.IndexByte = Encoder1.getIndexState();
   float_t ap2 = Obj.ActualPosition2;
   Obj.ActualPosition1 = Obj.CommandedPosition1; // Step1.actPos();
   Obj.ActualPosition2 = Obj.CommandedPosition2; // Step2.actPos();
#if 0
   uint64_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
   Tim.push(dTim);
   uint64_t max_Tim = 0, min_Tim = UINT64_MAX;
   for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
   {
      uint32_t aTim = Tim[i];
      if (aTim > max_Tim)
         max_Tim = aTim;
      if (aTim < min_Tim)
         min_Tim = aTim;
   }
   thenTime = irqTime;
#endif
   Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
   Obj.D1 = 0;
   Obj.D2 = 0;
   Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
   Obj.D4 = 0;
}

void ESC_interrupt_enable(uint32_t mask);
void ESC_interrupt_disable(uint32_t mask);
uint16_t dc_checker(void);
void sync0Handler(void);

static esc_cfg_t config =
    {
        .user_arg = NULL,
        .use_interrupt = 1,
        .watchdog_cnt = 150,
        .set_defaults_hook = NULL,
        .pre_state_change_hook = NULL,
        .post_state_change_hook = NULL,
        .application_hook = handleStepper,
        .safeoutput_override = NULL,
        .pre_object_download_hook = NULL,
        .post_object_download_hook = NULL,
        .rxpdo_override = NULL,
        .txpdo_override = NULL,
        .esc_hw_interrupt_enable = ESC_interrupt_enable,
        .esc_hw_interrupt_disable = ESC_interrupt_disable,
        .esc_hw_eep_handler = NULL,
        .esc_check_dc_handler = dc_checker,
};

volatile byte serveIRQ = 0;
#endif

void basePeriodCB(void)
{
   if (Step && Step->stepgen_array)
   {
      Step->make_pulses(Step->stepgen_array, BASE_PERIOD);
      stepgen_t *step;
      for (int i = 0; i < Step->num_chan; i++)
      {
         step = &(Step->stepgen_array[i]);
         digitalWrite(Step->dirPin[i], step->phase[DIR_PIN] ? LOW : HIGH);
         digitalWrite(Step->stepPin[i], step->phase[STEP_PIN] ? LOW : HIGH);
      }
   }
}

void setup(void)
{

   Serial1.begin(115200);

   rcc_config(); // Needed by encoder, probably breaks some timers.
   ecat_slv_init(&config);

   pinMode(PA11, OUTPUT);
   pinMode(PA12, OUTPUT);
   digitalWrite(PA11, HIGH);
   digitalWrite(PA12, HIGH);
   pinMode(PC9, OUTPUT);
   pinMode(PC10, OUTPUT);
   digitalWrite(PC9, HIGH);
   digitalWrite(PC10, HIGH);
   // Step = new StepGen3;

   HardwareTimer *MyTim = new HardwareTimer(TIM1); // The base period timer
   MyTim->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT);
   MyTim->attachInterrupt(basePeriodCB);
   //  MyTim->resume();
}

double pos = 0;
void loop(void)
{
   pinMode(PC9, OUTPUT);
   digitalWrite(PC9, LOW);
   delay(50);
   digitalWrite(PC9, HIGH);
   delay(50);

   uint64_t dTime;
   if (serveIRQ)
   {
      nowTime = longTime.extendTime(micros());
      /* Read local time from ESC*/
      // ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
      // ESCvar.Time = etohl(ESCvar.Time);
      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) // Don't run ecat_slv_poll when expecting to serve interrupt
   ecat_slv_poll();
}

void sync0Handler(void)
{
#if SGT
   ALEventIRQ = ESC_ALeventread();
   // if (ALEventIRQ & ESCREG_ALEVENT_SM2)
   {
      serveIRQ = 1;
      irqTime = longTime.extendTime(micros());
   }
#endif
}

// 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;
   uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
   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);
   }
}

extern "C" uint32_t ESC_SYNC0cycletime(void);

// Setup of DC
uint16_t dc_checker(void)
{
   // Indicate we run DC
   ESCvar.dcsync = 1;
   // StepGen3::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
   return 0;
}