From fab9f4436045f2fb1a7cda56efd57c7d4aac4074 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Sat, 17 Feb 2018 20:27:56 -0500
Subject: [PATCH] absolute barebones stepper wraps, ready to do network things
---
README.md | 2 +-
embedded/README.md | 1 +
.../.vs/mkstepper-v011/v14/.atsuo | Bin 78336 -> 84480 bytes
.../mkstepper-v011/Debug/Makefile | 7 ++
.../mkstepper-v011/Debug/makedep.mk | 2 +
.../mkstepper-v011/mkstepper-v011/hardware.h | 11 +++
embedded/mkstepper-v011/mkstepper-v011/main.c | 64 +++++++--------
.../mkstepper-v011/mkstepper-v011.cproj | 6 ++
.../mkstepper-v011/mkstepper-v011/stepper.c | 73 ++++++++++++++++++
.../mkstepper-v011/mkstepper-v011/stepper.h | 48 ++++++++++++
10 files changed, 181 insertions(+), 33 deletions(-)
create mode 100644 embedded/mkstepper-v011/mkstepper-v011/stepper.c
create mode 100644 embedded/mkstepper-v011/mkstepper-v011/stepper.h
diff --git a/README.md b/README.md
index 8f19ef4..be0ab31 100644
--- a/README.md
+++ b/README.md
@@ -26,6 +26,6 @@ A-la [Mechaduino](http://tropical-labs.com/index.php/mechaduino) and many other
# Currently
-Working through firmware setup (and requisite firmware tools / libs for ATSAMD51, will be used on BLDC, etc). Nearly there!
+Ready for MKXMods network integration.
\ No newline at end of file
diff --git a/embedded/README.md b/embedded/README.md
index 5ed8e37..b677671 100644
--- a/embedded/README.md
+++ b/embedded/README.md
@@ -525,3 +525,4 @@ void SysTick_Handler(void){
}
```
+OK, this is done now - both timers, and a step to position @ speed command. Next is networks for this board.
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo b/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo
index 942319214ae661d3644c079192eaa8ffdf913868..67498951a442b8830a5ba5052d5010e5d141e173 100644
GIT binary patch
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diff --git a/embedded/mkstepper-v011/mkstepper-v011/Debug/Makefile b/embedded/mkstepper-v011/mkstepper-v011/Debug/Makefile
index bf46e90..c1f9222 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/Debug/Makefile
+++ b/embedded/mkstepper-v011/mkstepper-v011/Debug/Makefile
@@ -44,6 +44,7 @@ C_SRCS += \
../pin.c \
../ringbuffer.c \
../spiport.c \
+../stepper.c \
../tmc26.c \
../uartport.c
@@ -61,6 +62,7 @@ main.o \
pin.o \
ringbuffer.o \
spiport.o \
+stepper.o \
tmc26.o \
uartport.o
@@ -71,6 +73,7 @@ main.o \
pin.o \
ringbuffer.o \
spiport.o \
+stepper.o \
tmc26.o \
uartport.o
@@ -81,6 +84,7 @@ main.d \
pin.d \
ringbuffer.d \
spiport.d \
+stepper.d \
tmc26.d \
uartport.d
@@ -91,6 +95,7 @@ main.d \
pin.d \
ringbuffer.d \
spiport.d \
+stepper.d \
tmc26.d \
uartport.d
@@ -127,6 +132,8 @@ LINKER_SCRIPT_DEP+= \
+
+
Device_Startup/%.o: ../Device_Startup/%.c
@echo Building file: $<
@echo Invoking: ARM/GNU C Compiler : 6.3.1
diff --git a/embedded/mkstepper-v011/mkstepper-v011/Debug/makedep.mk b/embedded/mkstepper-v011/mkstepper-v011/Debug/makedep.mk
index 4599793..7dc1a30 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/Debug/makedep.mk
+++ b/embedded/mkstepper-v011/mkstepper-v011/Debug/makedep.mk
@@ -14,6 +14,8 @@ ringbuffer.c
spiport.c
+stepper.c
+
tmc26.c
uartport.c
diff --git a/embedded/mkstepper-v011/mkstepper-v011/hardware.h b/embedded/mkstepper-v011/mkstepper-v011/hardware.h
index 6db8c08..5498bc4 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/hardware.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/hardware.h
@@ -14,6 +14,7 @@
#include "spiport.h"
#include "ringbuffer.h"
#include "tmc26.h"
+#include "stepper.h"
pin_t stlr;
pin_t stlb;
@@ -37,4 +38,14 @@ tmc26_t tmc;
uint32_t overflows;
+uint32_t blindcounter;
+
+#define STEPTICKER_SYNC (TC2->COUNT32.CTRLBSET.reg = TCC_CTRLBSET_CMD_READSYNC)
+#define STEPTICKER (TC2->COUNT32.COUNT.reg)
+
+#define TICKER_SYNC (TC0->COUNT32.CTRLBSET.reg = TCC_CTRLBSET_CMD_READSYNC)
+#define TICKER (TC0->COUNT32.COUNT.reg)
+
+stepper_t stepper;
+
#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 3f20bb1..c605457 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/main.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/main.c
@@ -106,9 +106,6 @@ void ticker_init(void){
overflows = 0;
}
-#define TICKER_SYNC (TC0->COUNT32.CTRLBSET.reg = TCC_CTRLBSET_CMD_READSYNC)
-#define TICKER (TC0->COUNT32.COUNT.reg)
-
void stepticker_init(void){
// Timers: in 32 bit mode we pair two - obscure datasheet reading later, they pair in a predefined way: 0 with 1...
// a word of warning: with the same code, a 16-bit timer was not working. I am mystified.
@@ -123,8 +120,8 @@ void stepticker_init(void){
GCLK->PCHCTRL[TC2_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(11);
GCLK->PCHCTRL[TC3_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(11);
// turn on in mode, presync
- TC2->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV64 | TC_CTRLA_CAPTEN0;// | TC_CTRLA_CAPTEN1;
- TC3->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV64 | TC_CTRLA_CAPTEN0;// | TC_CTRLA_CAPTEN1;
+ TC2->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV16 | TC_CTRLA_CAPTEN0;// | TC_CTRLA_CAPTEN1;
+ TC3->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV16 | TC_CTRLA_CAPTEN0;// | TC_CTRLA_CAPTEN1;
// do frequency match
TC2->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
TC3->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
@@ -133,7 +130,7 @@ void stepticker_init(void){
TC2->COUNT32.INTENSET.bit.MC1 = 1; // don't know why, but had to turn this on to get the interrupts
// set period
while(TC2->COUNT32.SYNCBUSY.bit.CC0);
- TC2->COUNT32.CC[0].reg = 11;
+ TC2->COUNT32.CC[0].reg = 10;
// enable, sync for enable write
TC2->COUNT32.CTRLA.bit.ENABLE = 1;
while(TC2->COUNT32.SYNCBUSY.bit.ENABLE);
@@ -141,9 +138,6 @@ void stepticker_init(void){
while(TC3->COUNT32.SYNCBUSY.bit.ENABLE);
}
-#define STEPTICKER_SYNC (TC2->COUNT32.CTRLBSET.reg = TCC_CTRLBSET_CMD_READSYNC)
-#define STEPTICKER (TC2->COUNT32.COUNT.reg)
-
int main(void)
{
/* Initialize the SAM system */
@@ -221,18 +215,27 @@ int main(void)
dir_pin = pin_new(&PORT->Group[1], 9);
pin_output(&step_pin);
pin_output(&dir_pin);
-
+
+ stepper = stepper_new(&step_pin, &dir_pin, 360.0, 64);
+
+ stepper_goto(&stepper, 1800, 180); // should do 5 turns in 10 seconds
+
while (1)
{
- // still doin it
- //tmc26_update(&tmc);
- // delay
- for(int i=0; i < 126; i++){
- pin_toggle(&stlr);
- //pin_toggle(&en_pin);
- }
- // step
- pin_toggle(&step_pin);
+ /*
+ next steps (haha)
+ - poll uart receive line, look for network packets
+ - on finding position / time period packets, parse, put into buffer of step moves
+ - roll through buffer of step moves, do them
+
+ further reading:
+ - quadratic interpolation for position @ time w/ velocity @ endpoint step commands
+
+ minors:
+ - inverting direction
+ - get up to 120MHz for very happy stepping
+ - bring baud rate to 1M, at least! what the heck, FTDI!
+ */
}
}
@@ -246,17 +249,15 @@ void SysTick_Handler(void){
uart_sendchar_buffered(&up1, rb_get(up1.rbrx));
}
*/
- STEPTICKER_SYNC;
- uint32_t thecount = STEPTICKER;
- uint8_t onemicro = thecount;
- uint8_t twomicro = thecount >> 8;
- uint8_t threemicro = thecount >> 16;
- uint8_t fourmicro = thecount >> 24;
- uart_sendchar_buffered(&up1, onemicro);
- uart_sendchar_buffered(&up1, twomicro);
- uart_sendchar_buffered(&up1, threemicro);
- uart_sendchar_buffered(&up1, fourmicro);
- uart_sendchar_buffered(&up1, overflows);
+ int32_t watch = stepper.position_ticks;
+ uint8_t w1 = watch >> 24;
+ uint8_t w2 = watch >> 16;
+ uint8_t w3 = watch >> 8;
+ uint8_t w4 = watch;
+ uart_sendchar_buffered(&up1, w1);
+ uart_sendchar_buffered(&up1, w2);
+ uart_sendchar_buffered(&up1, w3);
+ uart_sendchar_buffered(&up1, w4);
}
void SERCOM4_0_Handler(void){
@@ -283,6 +284,5 @@ void TC0_Handler(void){ // fires rarely, for counting overflows of time-ticker
void TC2_Handler(void){ // fires every 16us, for step checking
TC2->COUNT32.INTFLAG.bit.MC0 = 1;
TC2->COUNT32.INTFLAG.bit.MC1 = 1;
- overflows ++;
- pin_toggle(&en_pin);
+ stepper_update(&stepper);
}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.cproj b/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.cproj
index f691b7f..87125a9 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.cproj
+++ b/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.cproj
@@ -190,6 +190,12 @@
<Compile Include="spiport.h">
<SubType>compile</SubType>
</Compile>
+ <Compile Include="stepper.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="stepper.h">
+ <SubType>compile</SubType>
+ </Compile>
<Compile Include="tmc26.c">
<SubType>compile</SubType>
</Compile>
diff --git a/embedded/mkstepper-v011/mkstepper-v011/stepper.c b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
new file mode 100644
index 0000000..df2466e
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
@@ -0,0 +1,73 @@
+/*
+ * stepper.c
+ *
+ * Created: 2/17/2018 5:39:34 PM
+ * Author: Jake
+ */
+
+#include "stepper.h"
+#include "hardware.h"
+
+stepper_t stepper_new(pin_t *step_pin, pin_t *dir_pin, float position_per_200_steps, uint32_t microsteps){
+ stepper_t stepper;
+
+ stepper.step_pin = step_pin;
+ stepper.dir_pin = dir_pin;
+
+ stepper.position_per_200_steps = position_per_200_steps;
+ stepper.microsteps = microsteps;
+
+ stepper.speed_period = 0;
+ stepper.position_ticks = 0;
+ stepper.position = 0;
+ stepper.speed = 0;
+
+ stepper.position_ticks_target = 0;
+
+ return stepper;
+}
+
+void stepper_reset(stepper_t *stepper){
+ stepper->speed_period = 0;
+ stepper->position_ticks = 0;
+ stepper->position = 0;
+ stepper->speed = 0;
+
+ stepper->position_ticks_target = 0;
+}
+
+// position and speed by position_per_100_steps
+// speed is position units / s
+void stepper_goto(stepper_t *stepper, float position, float speed){
+ // in steps / second
+ uint32_t discrete_speed = (speed / (stepper->position_per_200_steps / 200)) * stepper->microsteps;
+ // in 3rds of microseconds (a result of timer settings)
+ stepper->speed_period = 3000000 / discrete_speed;
+ // in steps pulses
+ stepper->position_ticks_target = (position / (stepper->position_per_200_steps / 200)) * stepper->microsteps;;
+
+ TICKER_SYNC;
+ stepper->last_time = TICKER;
+}
+
+void stepper_update(stepper_t *stepper){
+ if(stepper->position_ticks_target != stepper->position_ticks){ // still have somewhere to go
+ TICKER_SYNC;
+ uint32_t now = TICKER;
+ if(now - stepper->last_time > stepper->speed_period){
+ int32_t gap = stepper->position_ticks_target - stepper->position_ticks;
+ if(gap < 0){
+ pin_set(stepper->dir_pin); // step forwards
+ pin_toggle(stepper->step_pin);
+ stepper->position_ticks --;
+ } else if (gap > 0) {
+ pin_clear(stepper->dir_pin);
+ pin_toggle(stepper->step_pin);
+ stepper->position_ticks ++;
+ } else {
+ // nah
+ }
+ stepper->last_time = now;
+ } // end step cycle
+ }
+}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/stepper.h b/embedded/mkstepper-v011/mkstepper-v011/stepper.h
new file mode 100644
index 0000000..63f31c2
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.h
@@ -0,0 +1,48 @@
+/*
+ * stepper.h
+ *
+ * Created: 2/17/2018 5:39:45 PM
+ * Author: Jake
+ */
+
+
+#ifndef STEPPER_H_
+#define STEPPER_H_
+
+#include "sam.h"
+#include "pin.h"
+
+typedef struct {
+ pin_t *step_pin;
+ pin_t *dir_pin;
+
+ // currently
+ uint32_t speed_period;
+ int32_t position_ticks;
+
+ // updating
+ uint32_t last_time;
+
+ // float conversions
+ float position_per_200_steps; // units (mm or deg, probably) moved per full rotation
+ uint32_t microsteps;
+ float position;
+ float speed;
+
+ // targets
+ int32_t position_ticks_target;
+}stepper_t;
+
+stepper_t stepper_new(pin_t *step_pin, pin_t *dir_pin, float position_per_200_steps, uint32_t microsteps);
+
+void stepper_reset(stepper_t *stepper);
+
+void stepper_goto(stepper_t *stepper, float position, float 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);
+
+#endif /* STEPPER_H_ */
\ No newline at end of file
--
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