Я создал 4 потока для каждого из 4-х шаговых двигателей отдельно, где будет крутиться бесконечный цикл с заданными Dir и Step и с задержками, зависящими от текущей скорости для каждого двигателя. Каждый вызов Out32 будет находиться в критической секции. В процедуре TLPTEngine.ApplyHardware для каждого двигателя будут задаваться RotDir[i], RotateStep[i] и скорость (задержка) TimeOut[i].
Приведенный ниже код должен начать вращение двигателей при запуске программы, но не делает этого. При вызове процедуры OutToLptThread[i].Execute в процедуре TLPTEngine.InitializeHardware выдается ошибка:
"Exception EAccessViolation in module MyProgram.exe at 001CE279. Access violation at address 005CE279 in module MyProgram.exe'. Read of address 00000000."
и выполнение программы прекращается.
| Delphi |
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| uses
SysUtils, Math, TraceLog, MDriveEngines, SyncObjs;
const
numOfEngines = 4;
type
// Class of threads that control motors
TOutToLptThread = class(TThread)
private
{ Private declarations }
protected
procedure Execute; override;
public
LPTEngineNum: integer; // Number of engine and thread
end;
// Class of stepper motors
TLPTEngine = class(TEngine)
public
procedure InitializeHardware; override;
procedure FinalizeHardware; override;
procedure ApplyHardware; override;
end;
var
RotateStep: array [1 .. numOfEngines] of Integer; // Stepper motor rotation pulse via LPT-port
RotDir: array [1 .. numOfEngines] of Integer; // Direction of rotation of stepper motor via LPT-port
Time_out: array [1 .. numOfEngines] of Integer; // Delays in the supply of pulses to the stepper motor through the LPT-port - for different motor speeds
FSynchronizer: TCriticalSection;
OutToLptThread: array[1..numOfEngines] of TOutToLptThread; // Array of threads that control numOfEngines engines
OutToLPTData: Byte; // Common byte with all Dir and Step for tumOfEngines engines, issued to the LPT port
procedure TOutToLptThread.Execute;
procedure Delay_mcs(time_out: double); // Delay in microseconds
var
iCounterPerSec: TLargeInteger;
T1, T2: TLargeInteger; // Values of counter before and after operation
begin
QueryPerformanceFrequency(iCounterPerSec);
// We defines a frequency of counter
QueryPerformanceCounter(T1); // Recorded the start time of the operation
T2 := T1;
while (T2 - T1) * 1000000 / iCounterPerSec < time_out do
QueryPerformanceCounter(T2); // Recorded the end time of the operation
end;
var
PortAdr: word;
begin
PortAdr := $EEFC; // Address of LPT-port
while true do
begin
OutToLPTData := RotDir[1] * 2 + RotDir[2] * 8 + RotDir[3] * 32 + RotDir[4] *
128; // Data that output to LPT-port
FSynchronizer.Enter; // = Acquire;
try
Out32(PortAdr, OutToLPTData);
finally
FSynchronizer.Leave; // = Release
end;
Delay_mcs(Time_out[LPTEngineNum]);
OutToLPTData := RotateStep[1] + RotateStep[2] * 4 + RotateStep[3] * 16 +
RotateStep[4] * 64 +
RotDir[1] * 2 + RotDir[2] * 8 + RotDir[3] * 32 +
RotDir[4] * 128; // Data that output to LPT-port
FSynchronizer.Enter; // = Acquire;
try
Out32(PortAdr, OutToLPTData);
finally
FSynchronizer.Leave; // = Release
end;
Delay_mcs(Time_out[LPTEngineNum]);
end;
end;
procedure TLPTEngine.InitializeHardware; // Called at the start of program execution
var
i: integer;
begin
IsSoftwareControlEngine := true;
for i := 1 to numOfEngines do
begin
RotateStep[i] := 1; // Initial pulses of rotation of the stepper motor
RotDir[i] := 0; // Initial direction of rotation of motors
Time_out[i] := 500; // Delay in microseconds for each stepper motor
OutToLptThread[i] := TOutToLptThread.Create(False);
OutToLptThread[i].LPTEngineNum := i; // The thread number corresponds to the engine number, used in the assignment Time_out[LPTEngineNum]
OutToLptThread[i].Priority := tpNormal;
// OutToLptThread[i].Execute; // This command causes a message "Exception EAccessViolation in module MyProgram.exe at 001CE279. Access violation at address 005CE279 in module MyProgram.exe'. Read of address 00000000."
end;
inherited;
end;
procedure TLPTEngine.ApplyHardware; // Called when the value of Velocity changes.
var
i: Integer;
begin
i := AxisNum; // Number of engine
if Velocity > 0 then // Direction of Rotation
begin
RotDir[i] := 0;
RotateStep[i] := 1
end
else if Velocity < 0 then // Another direction of Rotation
begin
RotDir[i] := 1;
RotateStep[i] := 1
end
else
begin
RotDir[i] := 0;
RotateStep[i] := 0
end;
end; |
|
Вот описание платы CNC TB6560HQT 4V3, с помощью которой осуществляется управление:
https://www.duxe.ru/load/red%20TB6560HQT%204V3.pdf
(
Сообщение от Rasool
