diff --git a/circuit/mkstepper/eagle.epf b/circuit/mkstepper/eagle.epf
index 8fea37c60d10de81aa0e519538c6f50532f05d60..8e793532199848b0232e688e2402b18609c28f73 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="-21.652 1.07368 203.78 218.518"
+View="134.406 87.3199 359.838 304.764"
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: -21.652 1.07368 203.78 218.518"
+Views=" 1: 134.406 87.3199 359.838 304.764"
Sheet="1"
[Win_2]
Type="Board Editor"
Number=2
File="mkstepper.brd"
-View="7.50586 28.8374 36.9537 50.7777"
+View="0.139397 10.9565 61.2024 56.4519"
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="6000 2160"
+Screen="3840 1080"
Window="Win_1"
Window="Win_2"
Window="Win_3"
diff --git a/embedded/mkstepper-v011-incl-all.zip b/embedded/mkstepper-v011-incl-all.zip
new file mode 100644
index 0000000000000000000000000000000000000000..f2a423103e7e4317d9ec06af23d8351cb9b8b2f9
Binary files /dev/null and b/embedded/mkstepper-v011-incl-all.zip differ
diff --git a/embedded/mkstepper-v011/mkstepper-v011/apahandler.c b/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
index a0ecb21e48373a41e8b7514132cdb5f32438d8b2..34ea0356a7d8ef9f13b6bac61cfef0d072ae00cc 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
@@ -35,39 +35,24 @@ void apa_handle_packet(uint8_t *packet, uint8_t length){
i ++;
break;
- case DELIM_KEY_POSITION_STEPS:
- // should set 0 accel
- if(i + 4 > length){
- i ++; // avoid hangup
+ case DELIM_KEY_STEPS:
+ // take steps (int32_t) and speed (uint32_t) and dir (uint8_t) to step
+ if(i + 8 > length){
+ i ++; // avoid hangup, but give up on this
} else {
int32_t steps = (packet[i+1] << 24) | (packet[i+2] << 16) | (packet[i+3] << 8) | packet[i+4]; // msb
- stepper_steps(&stepper, steps);
- i += 5; // bring packet ptr to next key (should)
- }
- break;
-
- case DELIM_KEY_SPEED_STEPS:
- // should set 0 accel
- if(i + 4 > length){
- i ++; // avoiding hangup
- } else {
- uint32_t speed = (packet[i+1] << 24) | (packet[i+2] << 16) | (packet[i+3] << 8) | packet[i+4]; // msb
- stepper_speed(&stepper, speed);
- i += 5; // bring packet ptr to next key (should)
+ uint32_t speed = (packet[i+5] << 24) | (packet[i+6] << 16) | (packet[i+7] << 8) | packet[i+8];
+ stepper_steps(&stepper, steps, speed);
+ i += 9; // bring packet ptr to next key (should)
}
break;
- case DELIM_KEY_SEGMENT:
+ case DELIM_KEY_BLOCK:
if(i + 12 > length){ // confirm: not i + 12 >= ?
i ++; // avoid hangup
} else {
// in steps / s
- uint32_t startspeed = (packet[i+1] << 24) | (packet[i+2] << 16) | (packet[i+3] << 8) | packet[i+4];
- // in steps / s^2
- int32_t accel = (packet[i+5] << 24) | (packet[i+6] << 16) | (packet[i+7] << 8) | packet[i+8];
- // in steps
- int32_t steps = (packet[i+9] << 24) | (packet[i+10] << 16) | (packet[i+11] << 8) | packet[i+12];
- stepper_segment(&stepper, startspeed, accel, steps);
+ //stepper_segment(&stepper, startspeed, accel, steps);
i += 13; // ? not 12 ?
}
break;
diff --git a/embedded/mkstepper-v011/mkstepper-v011/apahandler.h b/embedded/mkstepper-v011/mkstepper-v011/apahandler.h
index 2b3da4c5b0e3e9d329a39013c4e696996f0d56f9..32c7104a4ef2549c51740733681ddcd109d16e5b 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apahandler.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/apahandler.h
@@ -14,10 +14,9 @@
#define APA_HANDLER_OUTSIDE 0
#define APA_HANDLER_INSIDE 1
-#define DELIM_KEY_TEST 128 // toggles a light, to test network
-#define DELIM_KEY_POSITION_STEPS 129 // is 32 bit int
-#define DELIM_KEY_SPEED_STEPS 130 // is 32 bit int
-#define DELIM_KEY_SEGMENT 131
+#define DELIM_KEY_TEST 127 // toggles a light, to test network
+#define DELIM_KEY_STEPS 128 // steps (steps) uint32_t, speed (steps/s) uint32_t, dir uint8_t
+#define DELIM_KEY_BLOCK 129 // is 32 bit int
void apa_handle_packet(uint8_t *packet, uint8_t length);
void apa_return_packet(uint8_t *packet, uint8_t length);
diff --git a/embedded/mkstepper-v011/mkstepper-v011/hardware.h b/embedded/mkstepper-v011/mkstepper-v011/hardware.h
index d78aa628b6968844a5e650885254de729cd6fc75..b53743569eb4c1ee6fe8f2e50a3a9f3060c68ae5 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/hardware.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/hardware.h
@@ -24,13 +24,9 @@ pin_t stlb;
// PORTS
-pin_t up0_stlr;
-pin_t up0_stlb;
pin_t up1_stlr;
pin_t up1_stlb;
-ringbuffer_t up0_rbrx;
-ringbuffer_t up0_rbtx;
ringbuffer_t up1_rbrx;
ringbuffer_t up1_rbtx;
@@ -45,17 +41,6 @@ uartport_t *ups[NUM_UPS];
apaport_t apap0;
apaport_t apap1;
-// TMC26x
-
-spiport_t spi_tmc;
-
-pin_t step_pin;
-pin_t dir_pin;
-pin_t en_pin;
-pin_t sg_pin;
-
-tmc26_t tmc;
-
// TIMERS
uint32_t overflows;
@@ -68,8 +53,23 @@ uint32_t blindcounter;
#define TICKER_SYNC (TC0->COUNT32.CTRLBSET.reg = TCC_CTRLBSET_CMD_READSYNC)
#define TICKER (TC0->COUNT32.COUNT.reg)
+// TMC26x
+
+spiport_t spi_tmc;
+
+pin_t step_pin;
+pin_t dir_pin;
+pin_t en_pin;
+pin_t sg_pin;
+
+tmc26_t tmc;
+
// STEPPER
stepper_t stepper;
+// DEBUG
+
+pin_t tickuptx;
+
#endif /* HARDWARE_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 9edbe8f66d74e6100ac867da6b64a09475ccb137..6bb6548f30aa11b88dc11e834eff91b328ca15dd 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/main.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/main.c
@@ -173,50 +173,26 @@ int main(void)
// ready interrupt system
__enable_irq();
- NVIC_EnableIRQ(SERCOM4_0_IRQn); //up0tx
- NVIC_EnableIRQ(SERCOM4_2_IRQn); //up0rx
NVIC_EnableIRQ(SERCOM5_0_IRQn);
NVIC_EnableIRQ(SERCOM5_2_IRQn);
NVIC_EnableIRQ(TC0_IRQn);
NVIC_EnableIRQ(TC2_IRQn);
// ringbuffers (for uart ports)
- rb_init(&up0_rbrx);
- rb_init(&up0_rbtx);
rb_init(&up1_rbrx);
rb_init(&up1_rbtx);
- /*
- pin_t testpin = pin_new(&PORT->Group[0], 12);
- pin_output(&testpin);
- pin_set(&testpin);
-
- while(1){
- pin_toggle(&testpin);
- }
- */
-
// uarts (ports)
// there's some chance we should really be using one gclk channel for all of the peripherals
// and running that at 100MHz or so
- up0 = uart_new(SERCOM4, &PORT->Group[0], &up0_rbrx, &up0_rbtx, 12, 13, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
- MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM4;
- uart_init(&up0, 7, SERCOM4_GCLK_ID_CORE, 62675); // baud: 45402 for 921600, 63018 for 115200
-
up1 = uart_new(SERCOM5, &PORT->Group[1], &up1_rbrx, &up1_rbtx, 3, 2, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
uart_init(&up1, 7, SERCOM5_GCLK_ID_CORE, 62675);
- ups[0] = &up0;
+ ups[0] = NULL;
ups[1] = &up1;
- up0_stlr = pin_new(&PORT->Group[0], 19);
- pin_output(&up0_stlr);
- pin_set(&up0_stlr);
- up0_stlb = pin_new(&PORT->Group[0], 17);
- pin_output(&up0_stlb);
- pin_set(&up0_stlb);
up1_stlr = pin_new(&PORT->Group[0], 21);
pin_output(&up1_stlr);
pin_set(&up1_stlr);
@@ -224,8 +200,6 @@ int main(void)
pin_output(&up1_stlb);
pin_set(&up1_stlb);
- apaport_build(&apap0, 0, &up0, &up0_stlr, &up0_stlb);
- apaport_reset(&apap0);
apaport_build(&apap1, 1, &up1, &up1_stlr, &up1_stlb);
apaport_reset(&apap1);
@@ -270,51 +244,28 @@ int main(void)
stepper = stepper_new(&step_pin, &dir_pin);
stepper_reset(&stepper);
+
+ tickuptx = pin_new(&PORT->Group[0], 13);
+ pin_output(&tickuptx);
- uint8_t lpcnt = 0;
- uint8_t stpcnt = 0;
-
while (1)
{
- apaport_scan(&apap0, 2);
apaport_scan(&apap1, 2);
-
- /*
- now: step timer should not accumulate error !
- */
-
- /*
- if(stepper.position_ticks_target == stepper.position_ticks){
- stpcnt ++;
- //pin_clear(&stlr);
- //stepper_targetposition_steps(&stepper, 1000 * (stpcnt %2));
- //stepper_targetspeed_steps(&stepper, 500);
- //stepper_goto(&stepper, 360 * (stpcnt % 2), 1200);
- } else {
- //pin_set(&stlr);
- }
- */
}
}
/*
next steps (haha)
-- do steps, steps/s speed checking, and direction
-- unit test all commands on all ports using mkterminal
-
-- this quickly so that you can mods compose
-
-further reading:
-- quadratic interpolation for position @ time w/ velocity @ endpoint step commands
+- speed and timing: what the heck
+- reduce error accumulation in stepper: track proper last time
+- segment command
+- steps @ speed command
-minors:
-- bring baud rate to 1M, at least! what the heck, FTDI!
*/
void SysTick_Handler(void){
// slow ticker
pin_toggle(&stlb);
- //pin_toggle(&stlr);
//uart_sendchar_buffered(&up0, 120);
@@ -351,8 +302,9 @@ void TC0_Handler(void){ // fires rarely, for counting overflows of time-ticker
overflows ++;
}
-void TC2_Handler(void){ // fires every 16us, for step checking
+void TC2_Handler(void){ // fires every 8.3us, for step checking
TC2->COUNT32.INTFLAG.bit.MC0 = 1;
TC2->COUNT32.INTFLAG.bit.MC1 = 1;
+ pin_toggle(&tickuptx);
stepper_update(&stepper);
}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/stepper.c b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
index 8b2034d5d26120f54b66c38667da3d76b0605bfb..a9b8976db8cf683216153cec42fb335e1ca74b26 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/stepper.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
@@ -29,41 +29,24 @@ void stepper_reset(stepper_t *stepper){
stepper->dir_steps = 1;
}
-void stepper_steps(stepper_t *stepper, int32_t position){
- stepper->position_ticks_target = abs(position);
+void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed){
+ // set new position information
+ stepper->position_ticks_target = abs(steps);
stepper->position_ticks = 0;
- if(position < 0){
+
+ // set direction
+ if(steps < 0){
stepper->dir_steps = 0;
pin_clear(stepper->dir_pin);
} else {
stepper->dir_steps = 1;
pin_set(stepper->dir_pin);
}
-}
-
-void stepper_speed(stepper_t *stepper, uint32_t speed){
- // minimum of 1 step / s
- // if speed is 0, we leave speed at minimum and set state to not step?
- (speed < 1) ? speed = 1 : (0);
+
+ // set speed period
+ (speed < 1) ? speed = 1 : (0); // avoid 0 division, 1 step / s seems like reasonable lower bound step rate
stepper->speed = speed;
- // timing not accurate to real-world yet
- // timer is 48MHz clock on a DIV16, so we have 3 000 000 ticks / s (333ns resolution, wow)
- stepper->speed_period = 3000000 / speed;
-}
-
-void stepper_segment(stepper_t *stepper, uint32_t startspeed, int32_t accel, int32_t steps){
- if(accel < 0){
- stepper->dir_accel = 0;
- } else {
- stepper->dir_accel = 1;
- }
- stepper->accel_period = 3000000 / abs(accel); // should check for / by 0
- stepper_speed(stepper, startspeed);
- stepper_steps(stepper, steps);
- TICKER_SYNC;
- uint32_t now = TICKER;
- stepper->last_accel = now;
- stepper->last_step = now;
+ stepper->speed_period = 2683000 / speed;
}
void stepper_update(stepper_t *stepper){
@@ -71,6 +54,7 @@ void stepper_update(stepper_t *stepper){
TICKER_SYNC;
uint32_t now = TICKER;
// check if it's time to accel
+ /*
if(now - stepper->last_accel > stepper->accel_period){
if(stepper->dir_accel){
uint32_t newspeed = stepper->speed + 1;
@@ -81,6 +65,7 @@ void stepper_update(stepper_t *stepper){
}
stepper->last_accel = now;
}
+ */
// check if it's time to step
if(now - stepper->last_step > stepper->speed_period){
pin_toggle(stepper->step_pin);
diff --git a/embedded/mkstepper-v011/mkstepper-v011/stepper.h b/embedded/mkstepper-v011/mkstepper-v011/stepper.h
index e7811a1cd462e51f5b2a5e82dd626042434f7320..ea55413247a516f588318ca375262d30e6995b20 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/stepper.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.h
@@ -36,17 +36,10 @@ stepper_t stepper_new(pin_t *step_pin, pin_t *dir_pin);
void stepper_reset(stepper_t *stepper);
-void stepper_steps(stepper_t *stepper, int32_t steps);
-void stepper_speed(stepper_t *stepper, uint32_t speed);
-
-void stepper_segment(stepper_t *stepper, uint32_t startspeed, int32_t accel, int32_t steps);
+void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed);
void stepper_update(stepper_t *stepper);
-void stepper_current_position(stepper_t *steppper, float *position);
-void stepper_current_speed(stepper_t *stepper, float *speed);
-void stepper_currently(stepper_t *stepper, float *position, float *speed);
-
/*
step to-do
- everything is broken and untested