diff --git a/circuit/2020-11_fab-step/eagle.epf b/circuit/2020-11_fab-step/eagle.epf
index a9c4b6ac6388520e581777738cffbc94ec70fdcb..bc2ff5bedbfb946622f6e940a2a3ac21b80d3d71 100644
--- a/circuit/2020-11_fab-step/eagle.epf
+++ b/circuit/2020-11_fab-step/eagle.epf
@@ -116,7 +116,7 @@ Layer=21
Type="Schematic Editor"
Number=1
File="fab-step.sch"
-View="87.6168 -43.7485 319.799 131.814"
+View="35.0399 -95.0566 436.251 208.315"
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"
@@ -155,7 +155,7 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=97
-Views=" 1: 87.6168 -43.7485 319.799 131.814"
+Views=" 1: 35.0399 -95.0566 436.251 208.315"
Sheet="1"
[Win_4]
@@ -163,7 +163,7 @@ Type="Control Panel"
Number=0
[Desktop]
-Screen="1920 1080"
+Screen="3171 2520"
Window="Win_1"
Window="Win_2"
Window="Win_3"
diff --git a/firmware/fab-step/src/drivers/step_a4950.cpp b/firmware/fab-step/src/drivers/step_a4950.cpp
index 244a8f29e2cfbdd32181e1f06e86eed7a461b875..8dde6b9b38302de7af69538494419bac47d38d0d 100644
--- a/firmware/fab-step/src/drivers/step_a4950.cpp
+++ b/firmware/fab-step/src/drivers/step_a4950.cpp
@@ -13,6 +13,7 @@ is; no warranty is provided, and users accept all liability.
*/
#include "step_a4950.h"
+#include "../indicators.h"
// LUT, 0-1022, 64 entries, sin w/ 511 at midpoint
uint16_t LUT_1022[64] = {
@@ -21,42 +22,58 @@ uint16_t LUT_1022[64] = {
511,461,411,363,315,270,227,187,150,116,86,60,39,22,10,2,
0,2,10,22,39,60,86,116,150,187,227,270,315,363,411,461,
};
-
+// on init / cscale, we write new values into this thing, which is where
+// we actually pull currents from, for the h-bridges
uint16_t LUT_CURRENTS[64];
// startup stepper hardware
void step_a4950_init(void){
+ // ------------------------------------------ DIR PINS
// all of 'em, outputs
AIN1_PORT.DIRSET.reg = AIN1_BM;
AIN2_PORT.DIRSET.reg = AIN2_BM;
BIN1_PORT.DIRSET.reg = BIN1_BM;
BIN2_PORT.DIRSET.reg = BIN2_BM;
- // setup DAC for CHB (dac is 10 bit)
- DAC->CTRLA.bit.ENABLE = 0;
- DAC->CTRLB.reg |= DAC_CTRLB_REFSEL_INT1V; // I think this is 3v3, not sure
- DAC->CTRLA.bit.ENABLE = 1;
- // setup TCC0-1 / PA05
- // set pin as output,
- AVREF_PORT.DIRSET.reg = AVREF_BM;
- // mux pin onto peripheral, it's peripheral E, and *odd numbered pin*
- AVREF_PORT.PINCFG[AVREF_PIN].reg |= PORT_PINCFG_PMUXEN;
- AVREF_PORT.PMUX[AVREF_PIN >> 1].reg = PORT_PMUX_PMUXO_E;
+ // ------------------------------------------ TCC SETUPS
// s/o https://blog.thea.codes/phase-shifted-pwm-on-samd/
// unmask the peripheral,
- PM->APBCMASK.reg |= PM_APBCMASK_TCC0;
+ PM->APBCMASK.reg |= PM_APBCMASK_TCC0 | PM_APBCMASK_TCC1;
// route this clk (on 0) to our peripheral
GCLK->CLKCTRL.reg = GCLK_CLKCTRL_CLKEN | // (?)
GCLK_CLKCTRL_GEN_GCLK0 | // select 0: already generated main clk
GCLK_CLKCTRL_ID_TCC0_TCC1; // route to TCC0 / TCC1
while(GCLK->STATUS.bit.SYNCBUSY);
+ // ------------------------------------------ AVREF TCC
+ // setup TCC1-1 / PA07
+ // set pin as output,
+ AVREF_PORT.DIRSET.reg = AVREF_BM;
+ // mux pin onto peripheral, it's peripheral E, and *odd numbered pin*
+ AVREF_PORT.PINCFG[AVREF_PIN].reg |= PORT_PINCFG_PMUXEN;
+ AVREF_PORT.PMUX[AVREF_PIN >> 1].reg = PORT_PMUX_PMUXO_E;
+ // prescaler: we will probably go very fast, for now I want to see it
+ TCC1->CTRLA.reg |= TCC_CTRLA_PRESCALER_DIV1;
+ TCC1->WAVE.reg = TCC_WAVE_WAVEGEN_NPWM;
+ while(TCC1->SYNCBUSY.bit.WAVE);
+ TCC1->PER.reg = 128;
+ while(TCC1->SYNCBUSY.bit.PER);
+ TCC1->CC[1].reg = 0;
+ TCC1->CTRLA.bit.ENABLE = 1;
+ // ------------------------------------------ BVREF TCC
+ // setup TCC0-0 / PA04
+ // set pin as output,
+ BVREF_PORT.DIRSET.reg = BVREF_BM;
+ // mux pin onto peripheral, it's peripheral E, and *even numbered pin*
+ BVREF_PORT.PINCFG[BVREF_PIN].reg |= PORT_PINCFG_PMUXEN;
+ BVREF_PORT.PMUX[BVREF_PIN >> 1].reg = PORT_PMUX_PMUXE_E;
// prescaler: we will probably go very fast, for now I want to see it
TCC0->CTRLA.reg |= TCC_CTRLA_PRESCALER_DIV1;
TCC0->WAVE.reg = TCC_WAVE_WAVEGEN_NPWM;
while(TCC0->SYNCBUSY.bit.WAVE);
TCC0->PER.reg = 128;
while(TCC0->SYNCBUSY.bit.PER);
- TCC0->CC[1].reg = 0;
+ TCC0->CC[0].reg = 0;
TCC0->CTRLA.bit.ENABLE = 1;
+ // ------------------------------------------ INIT
// now, setup current table, default to 0.0 (disabled).
step_a4950_set_cscale(0.0F);
// push a step to init up/down states
@@ -83,15 +100,19 @@ void step_a4950_set_cscale(float scale){
LUT_CURRENTS[i] = 0;
}
}
+ // we need to publish these updates:
+ step_a4950_publish_currents();
+}
+
+void step_a4950_set_microstep(uint8_t microstep){
+ //
}
// step states
boolean _dir = true; // current direction
boolean _dirInvert = false; // invert directions ?
-uint8_t lutptra = 16; // current pt. in microstep phase
-uint8_t lutptrb = 0; // A leads B by 1/4 period
-
-uint8_t cntr = 0;
+uint8_t lutptra = 16; // current pt. in microstep phase
+uint8_t lutptrb = 0; // A leads B by 1/4 period
void step_a4950_step(){
// step LUT ptrs thru table,
@@ -117,12 +138,14 @@ void step_a4950_step(){
} else {
B_OFF;
}
- // set vref currents: this is messy at this rev we have DAC and TC, should be two TCs
- // that was a circuit bug: note division as well, >> 3 is removing smallest 3 bits
- TCC0->CC[1].reg = LUT_CURRENTS[lutptra] >> 3; // TC resolution is 0-128 (7 bit)
- DAC->DATA.reg = LUT_CURRENTS[lutptrb]; // DAC resolution is 0-1024 (10 bit)
+ step_a4950_publish_currents();
}
+void step_a4950_publish_currents(void){
+ // set vref currents via these rc flter / pwms
+ TCC1->CC[1].reg = LUT_CURRENTS[lutptra] >> 3; // TC resolution is 0-128 (7 bit)
+ TCC0->CC[0].reg = LUT_CURRENTS[lutptrb] >> 3;
+}
// set direction
void step_a4950_dir(boolean dir){
if(_dirInvert){
diff --git a/firmware/fab-step/src/drivers/step_a4950.h b/firmware/fab-step/src/drivers/step_a4950.h
index a521415e9cd5ddd2245bea64a07617ae02422734..63ec2304a0e1c22238dcc08a2421fd036f51c69d 100644
--- a/firmware/fab-step/src/drivers/step_a4950.h
+++ b/firmware/fab-step/src/drivers/step_a4950.h
@@ -17,20 +17,20 @@ is; no warranty is provided, and users accept all liability.
#include <arduino.h>
-// AIN1 PA06
-// AIN2 PA07
-// BIN1 PA03
-// BIN2 PA04
-#define AIN1_PIN 6
+// AIN1 PA14
+// AIN2 PA15
+// BIN1 PA05
+// BIN2 PA06
+#define AIN1_PIN 14
#define AIN1_PORT PORT->Group[0]
#define AIN1_BM (uint32_t)(1 << AIN1_PIN)
-#define AIN2_PIN 7
+#define AIN2_PIN 15
#define AIN2_PORT PORT->Group[0]
#define AIN2_BM (uint32_t)(1 << AIN2_PIN)
-#define BIN1_PIN 3
+#define BIN1_PIN 5
#define BIN1_PORT PORT->Group[0]
#define BIN1_BM (uint32_t)(1 << BIN1_PIN)
-#define BIN2_PIN 4
+#define BIN2_PIN 6
#define BIN2_PORT PORT->Group[0]
#define BIN2_BM (uint32_t)(1 << BIN2_PIN)
@@ -53,15 +53,21 @@ is; no warranty is provided, and users accept all liability.
#define B_OFF BIN2_LO; BIN1_LO
#define B_DOWN BIN1_LO; BIN2_HI
-// BVREF via PA02 / DAC
-// AVREF via PA05 / TCC0-1 RC Filt
+// AVREF via PA07 / TCC1-1
+// BVREF via PA04 / TCC0-0
-#define AVREF_PIN 5
+#define AVREF_PIN 7
#define AVREF_PORT PORT->Group[0]
#define AVREF_BM (uint32_t)(1 << AVREF_PIN)
+#define BVREF_PIN 4
+#define BVREF_PORT PORT->Group[0]
+#define BVREF_BM (uint32_t)(1 << BVREF_PIN)
+
void step_a4950_init(void);
void step_a4950_set_cscale(float scale);
+void step_a4950_publish_currents(void);
+void step_a4950_set_microstep(uint8_t microstep);
void step_a4950_step();
void step_a4950_dir(boolean dir);
diff --git a/firmware/fab-step/src/indicators.h b/firmware/fab-step/src/indicators.h
index c0fffc7f305cbfbd6d9ba09858aab7bcbe18f59c..34403457eba150b160630d771d5b6d3324ff3060 100644
--- a/firmware/fab-step/src/indicators.h
+++ b/firmware/fab-step/src/indicators.h
@@ -7,41 +7,24 @@
#define PIN_SETUP_OUTPUT(port, pin) PORT->Group[port].DIRSET.reg = PIN_BM(pin)
// PA23
-#define CLKLIGHT_PIN 23
-#define CLKLIGHT_PORT PORT->Group[0]
-#define CLKLIGHT_BM (uint32_t)(1 << CLKLIGHT_PIN)
-#define CLKLIGHT_ON CLKLIGHT_PORT.OUTSET.reg = CLKLIGHT_BM
-#define CLKLIGHT_OFF CLKLIGHT_PORT.OUTCLR.reg = CLKLIGHT_BM
-#define CLKLIGHT_TOGGLE CLKLIGHT_PORT.OUTTGL.reg = CLKLIGHT_BM
-#define CLKLIGHT_SETUP CLKLIGHT_PORT.DIRSET.reg = CLKLIGHT_BM; CLKLIGHT_OFF
+#define CLKLIGHT_ON PIN_HI(0, 23)
+#define CLKLIGHT_OFF PIN_LO(0, 23)
+#define CLKLIGHT_TOGGLE PIN_TGL(0, 23)
+#define CLKLIGHT_SETUP PIN_SETUP_OUTPUT(0, 23)
// PA22
-#define BUSLIGHT_PIN 22
-#define BUSLIGHT_PORT PORT->Group[0]
-#define BUSLIGHT_BM (uint32_t)(1 << BUSLIGHT_PIN)
-#define BUSLIGHT_ON BUSLIGHT_PORT.OUTSET.reg = BUSLIGHT_BM
-#define BUSLIGHT_OFF BUSLIGHT_PORT.OUTCLR.reg = BUSLIGHT_BM
-#define BUSLIGHT_TOGGLE BUSLIGHT_PORT.OUTTGL.reg = BUSLIGHT_BM
-#define BUSLIGHT_SETUP BUSLIGHT_PORT.DIRSET.reg = BUSLIGHT_BM; BUSLIGHT_OFF
+#define BUSLIGHT_ON PIN_HI(0, 22)
+#define BUSLIGHT_OFF PIN_LO(0, 22)
+#define BUSLIGHT_TOGGLE PIN_TGL(0, 22)
+#define BUSLIGHT_SETUP PIN_SETUP_OUTPUT(0, 22)
// probably would use the limit conn, that's
// PA03
-#define DEBUG1PIN_PIN 3
-#define DEBUG1PIN_PORT PORT->Group[0]
-#define DEBUG1PIN_BM (uint32_t)(1 << DEBUG1PIN_PIN)
-#define DEBUG1PIN_ON DEBUG1PIN_PORT.OUTSET.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_OFF DEBUG1PIN_PORT.OUTCLR.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_TOGGLE DEBUG1PIN_PORT.OUTTGL.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_SETUP DEBUG1PIN_PORT.DIRSET.reg = DEBUG1PIN_BM; DEBUG1PIN_OFF
-
-// the "bus light" : led pts to gnd
-#define DEBUG2PIN_PIN 22
-#define DEBUG2PIN_PORT PORT->Group[0]
-#define DEBUG2PIN_BM (uint32_t)(1 << DEBUG2PIN_PIN)
-#define DEBUG2PIN_ON DEBUG2PIN_PORT.OUTSET.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_OFF DEBUG2PIN_PORT.OUTCLR.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_TOGGLE DEBUG2PIN_PORT.OUTTGL.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_SETUP DEBUG2PIN_PORT.DIRSET.reg = DEBUG2PIN_BM; DEBUG2PIN_OFF
+#define DEBUG1PIN_ON PIN_HI(0, 3)
+#define DEBUG1PIN_OFF PIN_LO(0, 3)
+#define DEBUG1PIN_TOGGLE PIN_TGL(0, 3)
+#define DEBUG1PIN_SETUP PIN_SETUP_OUTPUT(0, 3)
+// deadies for sysError
#define ERRLIGHT_ON
#define ERRLIGHT_OFF
diff --git a/firmware/fab-step/src/main.cpp b/firmware/fab-step/src/main.cpp
index bda9e3f3aaa96d7d4438ffb32fd48e4b89d3b45d..d15ba6a0f07f85dfc84cc1ca5b1240fc4afeef4a 100644
--- a/firmware/fab-step/src/main.cpp
+++ b/firmware/fab-step/src/main.cpp
@@ -2,96 +2,150 @@
#include "indicators.h"
#include "config.h"
-//#include "drivers/step_a4950.h"
+#include "drivers/step_a4950.h"
#include "osape-d21/osape/osap/osap.h"
#include "osape-d21/vertices/vt_usbSerial.h"
#include "osape-d21/vertices/ucbus/vt_ucBusDrop.h"
#include "osape-d21/vertices/ucbus/ucBusDrop.h"
-// bus light on PA22, to flip:
+uint8_t axisPick = 0;
+boolean invert = false;
-EP_ONDATA_RESPONSES onDemoData(uint8_t* data, uint16_t len){
- DEBUG2PIN_TOGGLE;
+// -------------------------------------------------------- AXIS PICK EP
+
+EP_ONDATA_RESPONSES onAxisPickData(uint8_t* data, uint16_t len){
+ if(data[0] > 3){
+ axisPick = 0;
+ } else {
+ axisPick = data[0];
+ }
return EP_ONDATA_ACCEPT;
}
-vertex_t* demoEP = osapBuildEndpoint("demo", onDemoData, nullptr);
+endpoint_t* axisPickEp = osapBuildEndpoint("axisPick", onAxisPickData);
+
+// -------------------------------------------------------- AXIS INVERSION EP
+
+EP_ONDATA_RESPONSES onAxisInvertData(uint8_t* data, uint16_t len){
+ data[0] ? invert = true : invert = false;
+ return EP_ONDATA_ACCEPT;
+}
-/*
+endpoint_t* axisInvertEp = osapBuildEndpoint("axisInvert", onAxisInvertData);
-// -------------------------------------------------------- Axis Pick
+// -------------------------------------------------------- MICROSTEP EP
-boolean onAxisPickData(uint8_t* data, uint16_t len){
- ERRLIGHT_TOGGLE;
- return true;
+EP_ONDATA_RESPONSES onMicrostepData(uint8_t* data, uint16_t len){
+ step_a4950_set_microstep(data[0]);
+ return EP_ONDATA_ACCEPT;
}
-vertex_t* axisPickEp = osapBuildEndpoint("axisPick", onAxisPickData, nullptr);
+endpoint_t* microstepEp = osapBuildEndpoint("microstep", onMicrostepData);
-// -------------------------------------------------------- Axis Invert
+// -------------------------------------------------------- SPU EP
-vertex_t* axisInvertEp = osapBuildEndpoint("axisInvert", nullptr, nullptr);
+EP_ONDATA_RESPONSES onSPUData(uint8_t* data, uint16_t len){
+ // doesn't do anything w/ step-on-tick situation
+ return EP_ONDATA_ACCEPT;
+}
-// -------------------------------------------------------- SPU
+endpoint_t* spuEp = osapBuildEndpoint("SPU", onSPUData, nullptr);
-vertex_t* spuEp = osapBuildEndpoint("steps per unit", nullptr, nullptr);
+// -------------------------------------------------------- CSCALE DATA
-// -------------------------------------------------------- CScale
+EP_ONDATA_RESPONSES onCScaleData(uint8_t* data, uint16_t len){
+ chunk_float32 cscalec = { .bytes = { data[0], data[1], data[2], data[3] } };
+ if(cscalec.f > 1.0F){
+ cscalec.f = 1.0F;
+ } else if (cscalec.f < 0.0F){
+ cscalec.f = 0.0F;
+ }
+ step_a4950_set_cscale(cscalec.f);
+ return EP_ONDATA_ACCEPT;
+}
-vertex_t* cScaleEp = osapBuildEndpoint("currentScale", nullptr, nullptr);
+endpoint_t* cScaleEp = osapBuildEndpoint("CScale", onCScaleData);
-// -------------------------------------------------------- Homing
+// -------------------------------------------------------- HOME ROUTINE
+
+EP_ONDATA_RESPONSES onHomeData(uint8_t* data, uint16_t len){
+ return EP_ONDATA_ACCEPT;
+}
+
+endpoint_t* homeEp = osapBuildEndpoint("Home", onHomeData);
+
+// -------------------------------------------------------- HOME STATE
-*/
+endpoint_t* homeStateEp = osapBuildEndpoint("HomeState");
+
+// -------------------------------------------------------- Homing
// -------------------------------------------------------- SETUP
void setup() {
CLKLIGHT_SETUP;
- //BUSLIGHT_SETUP;
+ BUSLIGHT_SETUP;
DEBUG1PIN_SETUP;
- // setup demo light
- DEBUG2PIN_SETUP;
// osap setup...
- osapSetup();
+ osapSetup("fab-step");
vt_usbSerial_setup();
osapAddVertex(vt_usbSerial);
vt_ucBusDrop_setup(false, 2);
osapAddVertex(vt_ucBusDrop);
- // demo endpoint (?)
- osapAddVertex(demoEP);
- // startup stepper HW
- // step_a4950_init();
- // step_a4950_set_cscale(0.25F);
- // startup 1st vertex as usbserial entrance,
- //vt_usbSerial_setup();
- //osapAddVertex(vt_usbSerial); // 0
- //osapAddVertex(spiBusDummy); // 1
- //osapAddVertex(axisPickEp); // 2
- //osapAddVertex(axisInvertEp); // 3
+ // motor API
+ // axis pick
+ osapAddEndpoint(axisPickEp); // 2
+ // axis invert
+ osapAddEndpoint(axisInvertEp); // 3
+ // microstep
+ osapAddEndpoint(microstepEp); // 4
+ // SPU
+ osapAddEndpoint(spuEp); // 5
+ // cscale
+ osapAddEndpoint(cScaleEp); // 6
+ // homing
+ osapAddEndpoint(homeEp); // 7
+ osapAddEndpoint(homeStateEp); // 8
+ // step hardware init
+ step_a4950_init();
}
// -------------------------------------------------------- LOOP
-#define CLK_TICK 100
+#define CLK_TICK 50
unsigned long last_tick = 0;
void loop() {
- // DEBUG2PIN_TOGGLE;
// do osap things,
osapLoop();
// blink
if(millis() > last_tick + CLK_TICK){
- //step_a4950_step();
+ // step_a4950_step();
last_tick = millis();
}
}
-void ucBusDrop_onPacketARx(uint8_t* inBufferA, volatile uint16_t len){
+uint8_t stepCache[2];
+volatile uint8_t cachePtr = 0;
+volatile boolean stepValid = false;
+volatile uint8_t stepMask = 0;
+void ucBusDrop_onPacketARx(uint8_t* inBufferA, volatile uint16_t len){
+ // refill step cache:
+ stepCache[0] = inBufferA[0]; stepCache[1] = inBufferA[1];
+ cachePtr = 0;
+ stepValid = true;
}
void ucBusDrop_onRxISR(void){
-
+ // if we dont' have valid steps, bail
+ if(!stepValid) return;
+ // extract our step mask
+ stepMask = 0b00000011 & (stepCache[cachePtr] >> (axisPick * 2));
+ // mask -> step api:
+ (stepMask & 0b00000001) ? step_a4950_dir(true) : step_a4950_dir(false); // dir bit,
+ if (stepMask & 0b00000010) step_a4950_step(); // step bit
+ // increment ptr -> next step mask, if over-wrap, steps no longer valid
+ cachePtr ++; if(cachePtr >= 2) stepValid = false;
}
\ No newline at end of file
diff --git a/log/fab-step-log.md b/log/fab-step-log.md
index c0b5d3fca21bcc92331d885ae66c53876c2d4ebb..9e8e8ec038da5eb9060dc930f024fb641ab00ce2 100644
--- a/log/fab-step-log.md
+++ b/log/fab-step-log.md
@@ -195,5 +195,36 @@ I = 3.3 / (0.5) -> I = 6.6 -> a lot of amps at full spec, decreasing my effectiv
Back here but I am not working on the closed-loop version now... need to split these repos... writing code for the actually-fab-abble version.
-- pull new osape
-- indicators
\ No newline at end of file
+I think I'm just going to get right into a step-tick rather than float-tick operation.
+
+Though this means some re-work at the head first.
+
+It's totally easy though, I write a little step mask in the motor interface class, get that on interrupt - I am even caching two so that I can get the full 10kHz rather than 5.
+
+I think I need a config / setup on the js side.
+
+OK this is almost jogging - I need some motor config, then I think I actually have some driver level debug to do, not unlikely with the VREF stuff.
+
+It has come to my attention that I changed the pins on all of these things, and hadn't re-written to use the timer-counter rc filters, whoops.
+
+Looking a lot better now that I sorted that haha - looks like I still need to scope the pwm'd lines, I am maybe flipping a phase improperly.
+
+
+
+Yeah, something like that: microsteps increment *back* but flipping ticks *forwards* so I'm somehow misaligned.
+
+had an 'a' where a 'b' was meant to be.
+
+Now I'm just not seeing it hold while it's microstepping...
+
+OK it's all up, and jogs around w/ the motion system, rad.
+
+- check that 'microstep' config does what it claims
+- microstep image
+- bring motor config back to JS side
+- we need a homing routine still, write this little statemachine pls !
+- now ... we need to reconsider how / whomst makes SPU / dir configs, etc
+ - inversion is per-motor
+ - so is microstepping
+ - so is the axis pick
+ - spu is per-axis in the head
\ No newline at end of file
diff --git a/log/images/2022-01-10_fab-step-microstep.jpg b/log/images/2022-01-10_fab-step-microstep.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0287727bec361060f0bdaec2cc995108ae8177cc
Binary files /dev/null and b/log/images/2022-01-10_fab-step-microstep.jpg differ