From ddb3c769f0f5c80d95cd4b51d38e62cdca69d4f2 Mon Sep 17 00:00:00 2001
From: Sam Calisch <s.calisch@gmail.com>
Date: Mon, 25 Sep 2017 14:29:06 -0400
Subject: [PATCH] added microstepping, current limit, and step speed commands
---
as5013-test/nrf52-as5013/nrf52-as5013.ino | 34 +++++++-----
as5013-test/nrf52-drv8825/nrf52-drv8825.ino | 60 ++++++++++++---------
2 files changed, 57 insertions(+), 37 deletions(-)
diff --git a/as5013-test/nrf52-as5013/nrf52-as5013.ino b/as5013-test/nrf52-as5013/nrf52-as5013.ino
index f8ea518..4c09a76 100644
--- a/as5013-test/nrf52-as5013/nrf52-as5013.ino
+++ b/as5013-test/nrf52-as5013/nrf52-as5013.ino
@@ -16,6 +16,9 @@
static uint8_t txdata[n_tx_bytes] = {0};
static uint8_t rxdata[n_rx_bytes] = {0};
+//uint16_t step_period = 30000; //microseconds
+
+
//uarte
const uint8_t pin_rx = 8;
const uint8_t pin_tx = 6;
@@ -121,28 +124,33 @@ void as5013_read(){
//main
//
void setup() {
- Serial.begin(115200);
- //uarte_setup();
+ //Serial.begin(115200);
+ uarte_setup();
twi_setup();
as5013_setup();
radio_setup();
+
+ //set step speed
+ radio_buffer[0] = 2; //set step speed
+ radio_buffer[1] = 10000; //30ms step period
+ radio_send_redundant();
+ //set full steps
+ radio_buffer[0] = 3; //set step speed
+ radio_buffer[1] = 0; //M1,M0 = 0,1
+ radio_send_redundant();
+ //set current limit
+ radio_buffer[0] = 4; //set step speed
+ radio_buffer[1] = 100; //M1,M0 = 0,1
+ radio_send_redundant();
+
while(1){
if (millis() - last_tx_time > tx_period){
as5013_read();
radio_buffer[0] = 1; //send a move command
radio_buffer[1] = 10; //move 10 steps forward
radio_send_redundant(); //send command
- Serial.println("sent command");
- //int result = radio_recv(); //wait for response
- //test for false positives:
- //Serial.print("result: ");
- //Serial.println(result);
- //if (radio_buffer[1] != 0){
- // Serial.print("XXXXX buffer: ");
- // Serial.println(radio_buffer[1]);
- //}
- //NRF_UARTE0->TXD.PTR = (uint32_t)(&rxdata); //reset pointer to start of buffer
- //NRF_UARTE0->TASKS_STARTTX = 1; //trigger start task
+ NRF_UARTE0->TXD.PTR = (uint32_t)(&rxdata); //reset pointer to start of buffer
+ NRF_UARTE0->TASKS_STARTTX = 1; //trigger start task
last_tx_time = millis();
}
}
diff --git a/as5013-test/nrf52-drv8825/nrf52-drv8825.ino b/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
index 6f27656..c13df2a 100644
--- a/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
+++ b/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
@@ -1,5 +1,6 @@
#include "radio.h"
uint16_t pwms[1] = {0};
+uint16_t step_period = 20000; //microseconds
const uint8_t pin_mode1 = 3; //A1
const uint8_t pin_mode0 = 0; //XL1
@@ -27,10 +28,10 @@ void stepper_setup(){
NRF_PWM0->ENABLE = (PWM_ENABLE_ENABLE_Enabled << PWM_ENABLE_ENABLE_Pos);
NRF_PWM0->MODE = (PWM_MODE_UPDOWN_Up << PWM_MODE_UPDOWN_Pos);
NRF_PWM0->PRESCALER = (PWM_PRESCALER_PRESCALER_DIV_1 << PWM_PRESCALER_PRESCALER_Pos); //16MHz tick
- NRF_PWM0->COUNTERTOP = (1600 << PWM_COUNTERTOP_COUNTERTOP_Pos); //1 kHz pwm freq.
+ NRF_PWM0->COUNTERTOP = (1600 << PWM_COUNTERTOP_COUNTERTOP_Pos); //10 kHz pwm freq.
NRF_PWM0->LOOP = (PWM_LOOP_CNT_Disabled << PWM_LOOP_CNT_Pos);
NRF_PWM0->DECODER = (PWM_DECODER_LOAD_Common << PWM_DECODER_LOAD_Pos) | (PWM_DECODER_MODE_RefreshCount << PWM_DECODER_MODE_Pos);
- pwms[0] = 1500; //50% duty cycle to test
+ pwms[0] = 1600-100; //100/1600 * 3.3v = .2V = 200 mA limit
NRF_PWM0->SEQ[0].PTR = ((uint32_t)(pwms) << PWM_SEQ_PTR_PTR_Pos);
NRF_PWM0->SEQ[0].CNT = (1 << PWM_SEQ_CNT_CNT_Pos);
NRF_PWM0->SEQ[0].REFRESH = 0;
@@ -51,27 +52,47 @@ void parse_command(){
}
for(i=0; i<radio_buffer[1]; i++){
NRF_GPIO->OUTSET = (1<<pin_step);
- delay(10);
+ delayMicroseconds(step_period);
NRF_GPIO->OUTCLR = (1<<pin_step);
- delay(1);
+ delayMicroseconds(10);
}
-
- //reset radio buffer
- for(i=0; i<PACKET_LENGTH; i++){
- radio_buffer[i] = 0;
+ } else if (radio_buffer[0] == 2){
+ //change step speed
+ step_period = radio_buffer[1];
+ } else if (radio_buffer[0] == 3){
+ //change microstepping
+ if (radio_buffer[1] && 1){
+ NRF_GPIO->OUTSET = (1 << pin_mode0);
+ } else {
+ NRF_GPIO->OUTCLR = (1 << pin_mode0);
+ }
+ if (radio_buffer[1] && 2){
+ NRF_GPIO->OUTSET = (1 << pin_mode0);
+ } else {
+ NRF_GPIO->OUTCLR = (1 << pin_mode0);
}
- } else{
- //unrecognized command, set radio buffer to all -1
- for(int i=0; i<PACKET_LENGTH; i++){
- radio_buffer[i] = -1;
- }
+ } else if (radio_buffer[0] == 4){
+ pwms[0] = 1600-radio_buffer[1]; //100/1600 * 3.3v = .2V = 200 mA limit
+ NRF_PWM0->SEQ[0].REFRESH = 1;
+ }
+ else{
+ }
+
+ //unrecognized command, set radio buffer to all -1
+ //for(int i=0; i<PACKET_LENGTH; i++){
+ // radio_buffer[i] = -1;
+ //}
+
+ //reset radio buffer
+ for(i=0; i<PACKET_LENGTH; i++){
+ radio_buffer[i] = 0;
}
}
void setup() {
- Serial.begin(115200);
+ //Serial.begin(115200);
//Switch to internal LFCLK to disconnect from XL1 and XL2
NRF_CLOCK->LFCLKSRC = 0; //disconnect XL1 AND XL2 FROM LFCLK?
@@ -86,16 +107,7 @@ void setup() {
while (true) {
int result = radio_recv(); //wait until recieve
- //if (result==0){
- //no crc error
- parse_command();
- //} else{
- //incoming crc error, set radio buffer to all -2
- // for(int i=0; i<PACKET_LENGTH; i++){
- // radio_buffer[i] = -2;
- // }
- //}
- //radio_send(); //send back radio buffer when done
+ parse_command(); //todo: move stepping to non-blocking so can receive commands during moves
}
}
--
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