From 5010b8cdb16a0055aa60bc7c8a9a2469f0c5d96e Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Tue, 1 May 2018 20:05:17 -0400
Subject: [PATCH] stepper sends acks on complete block, should be ready to send
mocontrol from js
---
circuit/mkstepper/eagle.epf | 8 ++--
.../mkstepper-v011/apahandler.c | 6 ++-
.../mkstepper-v011/mkstepper-v011/apaport.c | 5 +++
.../mkstepper-v011/mkstepper-v011/apaport.h | 2 +
embedded/mkstepper-v011/mkstepper-v011/main.c | 26 +-----------
.../mkstepper-v011/mkstepper-v011/stepper.c | 42 ++++++++++---------
.../mkstepper-v011/mkstepper-v011/stepper.h | 6 +--
7 files changed, 42 insertions(+), 53 deletions(-)
diff --git a/circuit/mkstepper/eagle.epf b/circuit/mkstepper/eagle.epf
index cf506ef..dce4515 100644
--- a/circuit/mkstepper/eagle.epf
+++ b/circuit/mkstepper/eagle.epf
@@ -40,7 +40,7 @@ UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/sym.lbr"
Type="Schematic Editor"
Number=1
File="mkstepper.sch"
-View="134.406 87.3199 359.838 304.764"
+View="85.2318 92.065 241.782 243.068"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
@@ -79,14 +79,14 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
-Views=" 1: 134.406 87.3199 359.838 304.764"
+Views=" 1: 85.2318 92.065 241.782 243.068"
Sheet="1"
[Win_2]
Type="Board Editor"
Number=2
File="mkstepper.brd"
-View="-11.172 -7.65215 62.1037 46.9423"
+View="-3.15469 12.1004 39.2502 43.6944"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
@@ -131,7 +131,7 @@ Type="Control Panel"
Number=0
[Desktop]
-Screen="1920 1080"
+Screen="3840 1080"
Window="Win_1"
Window="Win_2"
Window="Win_3"
diff --git a/embedded/mkstepper-v011/mkstepper-v011/apahandler.c b/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
index 222f131..957c500 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
@@ -11,7 +11,7 @@
void apa_handle_packet(uint8_t *packet, uint8_t length){
// dirty debug reply
- apa_return_packet(packet, length);
+
// through packet
int i = 0;
int apa_handler_state = APA_HANDLER_OUTSIDE;
@@ -31,12 +31,14 @@ void apa_handle_packet(uint8_t *packet, uint8_t length){
switch (packet[i]){
case DELIM_KEY_TEST:
+ apa_return_packet(packet, length);
pin_toggle(&stlb);
i ++;
break;
case DELIM_KEY_STEPS:
// take steps (int32_t) and speed (uint32_t) and dir (uint8_t) to step
+ apa_return_packet(packet, length);
if(i + 8 > length){
i ++; // avoid hangup, but give up on this
} else {
@@ -62,8 +64,8 @@ void apa_handle_packet(uint8_t *packet, uint8_t length){
// in steps/s
uint32_t deccellength = (packet[i+17] << 24) | (packet[i+18] << 16) | (packet[i+19] << 8) | packet[i+20];
// do the business
- stepper_new_block(&stepper, steps, entryspeed, accel, accellength, deccellength);
i += 13; // ? not 12 ?
+ stepper_new_block(packet, i, &stepper, steps, entryspeed, accel, accellength, deccellength);
}
break;
diff --git a/embedded/mkstepper-v011/mkstepper-v011/apaport.c b/embedded/mkstepper-v011/mkstepper-v011/apaport.c
index ac13490..c25b46e 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apaport.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/apaport.c
@@ -101,6 +101,11 @@ void apapacket_shift_pointer(uint8_t *packet, uint8_t portnum){
}
}
+void apaport_send_packet(uint8_t *address, uint8_t address_length, uint8_t *payload, uint8_t payloadlength){
+ // 1st byte is port out
+ // not yet implemented, using apa_return_packet ... all of these could be cleaner
+}
+
// UNIT TESTS:
/*
flood packets
diff --git a/embedded/mkstepper-v011/mkstepper-v011/apaport.h b/embedded/mkstepper-v011/mkstepper-v011/apaport.h
index 5ff68b4..22a90f3 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apaport.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/apaport.h
@@ -45,4 +45,6 @@ void apaport_scan(apaport_t *apap, uint32_t maxpackets);
void apapacket_shift_pointer(uint8_t *packet, uint8_t portnum);
+void apaport_send_packet(uint8_t *address, uint8_t address_length, uint8_t *payload, uint8_t payloadlength);
+
#endif /* APAPORT_H_ */
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/main.c b/embedded/mkstepper-v011/mkstepper-v011/main.c
index 561ad97..881db2d 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/main.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/main.c
@@ -247,38 +247,16 @@ int main(void)
tickup0tx = pin_new(&PORT->Group[0], 13);
pin_output(&tickup0tx);
-
- //pin_clear(&stlb);
-
+
while (1)
{
apaport_scan(&apap1, 2);
}
}
-/*
-next steps (haha)
-- speed and timing: what the heck
-- reduce error accumulation in stepper: track proper last time
-- segment command
-- steps @ speed command
-
-*/
-
void SysTick_Handler(void){
// slow ticker
- //pin_toggle(&stlb);
-
- //uart_sendchar_buffered(&up0, 120);
-
- /*
- if(stepper.position_ticks_target == stepper.position_ticks){
- stpcnt ++;
- stepper_targetposition_steps(&stepper, 500 * (stpcnt %2));
- //stepper_targetspeed_steps(&stepper, 10000);
- //stepper_goto(&stepper, 360 * (stpcnt % 2), 1200);
- }
- */
+ pin_toggle(&stlb);
}
void SERCOM4_0_Handler(void){
diff --git a/embedded/mkstepper-v011/mkstepper-v011/stepper.c b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
index 2b7872e..84a0d21 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/stepper.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
@@ -66,9 +66,17 @@ void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed){
stepper->last_step = now;
}
-void stepper_new_block(stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength){
+void stepper_new_block(uint8_t *packet, uint8_t packet_length, stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength){
// does assignments and adds to queue
+ // track this address so that we can ack to it when the move is complete
+ // a sloppy copy, I'm sure
+ for(int i = 0; i < packet_length; i ++){
+ stepper->block[stepper->blockhead].packet[i] = packet[i];
+ }
+
+ stepper->block[stepper->blockhead].packet_length = packet_length;
+
// TODO: should block the execution of this block while we do this, so that we
// have an interrupt safe ringbuffer
@@ -97,14 +105,6 @@ void stepper_new_block(stepper_t *stepper, int32_t steps, uint32_t entryspeed, u
// increment block head ptr: should catch full queue HERE but not bothering
stepper->blockhead = (stepper->blockhead + 1) % stepper->blocksize;
-
- // reset times
- /*
- TICKER_SYNC;
- unsigned long now = TICKER;
- stepper->last_accel = now;
- stepper->last_step = now;
- */
}
void stepper_update(stepper_t *stepper){
@@ -112,7 +112,6 @@ void stepper_update(stepper_t *stepper){
// pin_clear(&stlb);
// bail, no steps to make, ringbuffer is empty
} else if(stepper->block[stepper->blocktail].position_end > stepper->position_ticks){
- pin_set(&stlb);
// we have somewhere to go
TICKER_SYNC;
unsigned long now = TICKER;
@@ -123,14 +122,13 @@ void stepper_update(stepper_t *stepper){
stepper->speed_period = stepper->one_minute / stepper->speed;
// and set the dir
- if(stepper->block[stepper->blocktail].dir < 0){
- pin_clear(stepper->dir_pin);
- } else {
+ if(stepper->block[stepper->blocktail].dir > 0){
pin_set(stepper->dir_pin);
+ } else {
+ pin_clear(stepper->dir_pin);
}
- // and clear the distance
- stepper->position_ticks = 0;
+ // and distance was 0'd after last move
// and then clear this flag
stepper->block[stepper->blocktail].is_new = 0;
@@ -165,12 +163,16 @@ void stepper_update(stepper_t *stepper){
} // end step cycle
} else {
- pin_clear(&stlb);
- // we've just finished a block, next time we'll be running with that, or call an empty queue
- stepper->blocktail = (stepper->blocktail + 1) % stepper->blocksize;
- stepper->position_ticks = 0;
+ // looks a lot like we're done here
+ // send a reply for windowed transmission
+ // this is dirty because we're passing the backet (referenced here in the ringbuffer) by reference,
+ // properly return_packet should take a copy of the packet so that we can be done with it now, but *it* goes faster than *this* (almost for sure...)
+ // so, we shrugman for now
+ apa_return_packet(stepper->block[stepper->blocktail].packet, stepper->block[stepper->blocktail].packet_length);
- // call end-block - will want to send the ack now
+ // increment ringbuffer along
+ stepper->blocktail = (stepper->blocktail + 1) % stepper->blocksize;
+ stepper->position_ticks = 0; // clear so that we evaluate new block as having steps to make
}
}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/stepper.h b/embedded/mkstepper-v011/mkstepper-v011/stepper.h
index d3ae30f..5ff3e67 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/stepper.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.h
@@ -17,8 +17,8 @@
// one movement
typedef struct {
// from whence you came
- uint8_t return_address[8]; // C quesion: how to do this properly with malloc() ? malloc() on embedded sys?
- uint8_t return_address_length;
+ uint8_t packet[8]; // C quesion: how to do this properly with malloc() ? malloc() on embedded sys?
+ uint8_t packet_length;
// tracking
uint8_t is_new;
@@ -70,7 +70,7 @@ void stepper_reset(stepper_t *stepper);
void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed);
// steps discrete, mm/min, mm/min/s (mm/s better but we want more discrete resolution)
-void stepper_new_block(stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength);
+void stepper_new_block(uint8_t *packet, uint8_t packet_length, stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength);
void stepper_update(stepper_t *stepper);
--
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