My update encpos is working
- Pin PA0 PA1 PA3 checked with oscillator scope, when no pulse, it is high 5V and low 0V when pulse (test both pull up and pull down)
- Manage Txpdo Rxpdo according to EaserCAT-2000 example
- Improve Hal according to EaserCAT-2000 example
- I tried debugging with Chinese ST-Link, failed
- I monitor with TWINCAT, no change of IndexStatus when motor shaft rotated
I updated STM32 / ESI /EEPROM / XML, but still no change of index
Hal
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt metalmusings_encoder
addf lcec.read-all servo-thread
addf metalmusings-encoder.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
setp lcec.0.1.scale [SPINDLE_9]ENCODER_SCALE
#setp lcec.0.1.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= lcec.0.1.encpos
#net spindle-revs <= lcec.0.1.Encoder Position
loadrt invert
loadrt mult2 names=mult2.rps,mult2.rpm
addf invert.0 servo-thread
addf mult2.rps servo-thread
addf mult2.rpm servo-thread
setp invert.0.in [SPINDLE_9]ENCODER_SCALE
setp mult2.rpm.in0 -60.0
setp mult2.rpm.in0 60.0
net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out
#net enc-get-freq-rps mult2.rps.in1 <= lcec.0.1.encfrequency
#net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out
net spindle-vel-fb-rpm mult2.rpm.out
#net spindle-index-enable lcec.0.1.indexstatus
net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.1.encfrequency
net spindle-vel-fb-rpm mult2.rpm.out
net to_encoder metalmusings-encoder.0.index-latch-enable lcec.0.1.indexlatchenable
net from_encoder metalmusings-encoder.0.index-status lcec.0.1.indexstatus
net spindle-index-enable metalmusings-encoder.0.index-c-enable
main.cpp
///////// Spindle Encoder
#include "MyEncoder.h"
volatile uint16_t encCnt = 0;
void indexPulseEncoderCB1(void);
MyEncoder Encoder1(TIM2, PA3, indexPulseEncoderCB1);
void indexPulseEncoderCB1(void)
{
encCnt++;
Encoder1.indexPulse();
}
////// EtherCAT routines called regularly, to read data, do stuff and write data
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{
for (int i = 0; i < min(sizeof(Obj.Outputs), sizeof(OUTPUTS)); i++)
digitalWrite(OUTPUTS[i], Obj.Outputs[i] == 1 ? HIGH : LOW);
analogWrite(DAC1_pin, Obj.Voltage);
Encoder1.setLatch(Obj.IndexLatchEnable);
// Encoder1.setScale(2000);
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1; // Scale perhaps changed
Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
Step->stepgen_array[2].pos_scale = -Obj.StepsPerMM3;
Step->stepgen_array[3].pos_scale = -Obj.StepsPerMM4;
posCmd1 = Obj.CommandedPosition1; // The position update
posCmd2 = Obj.CommandedPosition2;
posCmd3 = Obj.CommandedPosition3;
posCmd4 = Obj.CommandedPosition4;
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.Velocity = Obj.Scale * FrequencyMeasured;
float scale = 1;
if (Obj.Scale != 0.0)
scale = Obj.Scale;
Obj.Velocity = scale * sin(ESCvar.Time * 1e-8 * 6.28); // Test
for (int i = 0; i < min(sizeof(Obj.Inputs), sizeof(INPUTS)); i++)
Obj.Inputs[i] = digitalRead(INPUTS[i]) == HIGH ? 1 : 0;
#if 1
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(longTime.extendTime(micros()));
Obj.IndexByte = Encoder1.getIndexState();
Obj.Velocity = Obj.Scale * FrequencyMeasured;
#endif
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
Obj.ActualPosition3 = Step->stepgen_array[2].pos_fb;
Obj.ActualPosition4 = Step->stepgen_array[3].pos_fb;
}
utypes.c
/* Inputs */
float Velocity;
uint8_t Inputs[8];
float Frequency;
float ActualPosition1;
float ActualPosition2;
float ActualPosition3;
float ActualPosition4;
float EncPos;
float EncFrequency;
uint16_t DiffT;
uint32_t IndexByte;
uint8_t IndexStatus;
/* Outputs */
float Scale;
uint8_t Outputs[4];
float CommandedPosition1;
float CommandedPosition2;
float CommandedPosition3;
float CommandedPosition4;
int32_t StepsPerMM1;
int32_t StepsPerMM2;
int32_t StepsPerMM3;
int32_t StepsPerMM4;
float Voltage;
uint8_t IndexLatchEnable;
