diff --git a/2020-08_psu-breakout/2020-08_psu-breakout.brd b/2020-08_psu-breakout/2020-08_psu-breakout.brd
index 839e1c55767dcdfcd87489d7aeb7b9c4bcc8d1f9..875f50688377118c762b348e8437fd0ad161f4f9 100644
--- a/2020-08_psu-breakout/2020-08_psu-breakout.brd
+++ b/2020-08_psu-breakout/2020-08_psu-breakout.brd
@@ -1170,7 +1170,7 @@ design rules under a new name.</description>
<attribute name="PRECISION" value="" x="36.5" y="17" size="1.778" layer="27" rot="R90" display="off"/>
<attribute name="VALUE" x="50.294" y="31.603" size="1.016" layer="27" rot="R90"/>
</element>
-<element name="R6" library="passives" package="1206" value="470R" x="54" y="39" smashed="yes" rot="R270">
+<element name="R6" library="passives" package="1206" value="1K" x="54" y="39" smashed="yes" rot="R270">
<attribute name="NAME" x="55.143" y="40.27" size="1.016" layer="25" rot="R270"/>
<attribute name="PACKAGE" value="1206" x="60" y="39" size="1.778" layer="27" rot="R270" display="off"/>
<attribute name="PRECISION" value="" x="60" y="39" size="1.778" layer="27" rot="R270" display="off"/>
diff --git a/2020-08_psu-breakout/2020-08_psu-breakout.sch b/2020-08_psu-breakout/2020-08_psu-breakout.sch
index 7d589fc8e7378aa39d5966fff6a8473539ddc561..a9a7f4faa95a77d81b51f08f5df63eaaed1279bc 100644
--- a/2020-08_psu-breakout/2020-08_psu-breakout.sch
+++ b/2020-08_psu-breakout/2020-08_psu-breakout.sch
@@ -6368,7 +6368,7 @@ chip</description>
<part name="GND16" library="supply1" deviceset="GND" device=""/>
<part name="GND21" library="supply1" deviceset="GND" device=""/>
<part name="R5" library="passives" deviceset="RESISTOR" device="1206" value="1k"/>
-<part name="R6" library="passives" deviceset="RESISTOR" device="1206" value="470R"/>
+<part name="R6" library="passives" deviceset="RESISTOR" device="1206" value="1K"/>
<part name="D8" library="lights" deviceset="LED" device="1206" value="LED1206"/>
<part name="GND22" library="supply1" deviceset="GND" device=""/>
<part name="P+3" library="supply1" deviceset="+5V" device=""/>
@@ -6411,6 +6411,7 @@ chip</description>
<sheets>
<sheet>
<plain>
+<text x="152.4" y="104.14" size="1.778" layer="91">^ this is an error, should be +24v</text>
</plain>
<instances>
<instance part="U1" gate="G$1" x="35.56" y="63.5" smashed="yes"/>
diff --git a/2020-08_psu-breakout/eagle.epf b/2020-08_psu-breakout/eagle.epf
index a2531fdcf2f0a0e9e7cea3795e9aea20bf786a62..b1a7d4be82b90753765bcd0231c4ac131c0581b9 100644
--- a/2020-08_psu-breakout/eagle.epf
+++ b/2020-08_psu-breakout/eagle.epf
@@ -19,7 +19,7 @@ UsedLibrary="C:/Dropbox/CBA/circuits/eagle/parts/SparkFun-Eagle-Libraries/SparkF
Type="Schematic Editor"
Number=1
File="2020-08_psu-breakout.sch"
-View="191.998 139.609 359.952 189.822"
+View="69.5535 84.1823 359.778 170.95"
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"
@@ -58,14 +58,14 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
-Views=" 1: 191.998 139.609 359.952 189.822"
+Views=" 1: 69.5535 84.1823 359.778 170.95"
Sheet="1"
[Win_2]
Type="Board Editor"
Number=2
File="2020-08_psu-breakout.brd"
-View="22.6761 -7.9544 114.036 68.529"
+View="-10.2873 -48.3803 179.157 110.216"
WireWidths=" 0.1016 0.15 0.2 2.54 0 0.508 0.2032 0.254 0.3048 0.4064 0.1524 1.016 1.27 0.127 0.6096 0.8128"
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 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.45"
diff --git a/firmware/motion-head/src/indicators.h b/firmware/motion-head/src/indicators.h
index 5de5ba9fb781ee179d87d937e937fcf6afbc3750..24d74a0c73094630b5cc48797ba1b85c2be3102a 100644
--- a/firmware/motion-head/src/indicators.h
+++ b/firmware/motion-head/src/indicators.h
@@ -26,12 +26,12 @@
#define DEBUG1PIN_TOGGLE PIN_TGL(0, 13)
#define DEBUG1PIN_SETUP PIN_SETUP_OUTPUT(0, 13); PIN_HI(0, 13)
-#define DEBUG2PIN_ON PIN_LO(0, 13)
-#define DEBUG2PIN_OFF PIN_HI(0, 13)
-#define DEBUG2PIN_HI PIN_HI(0, 13)
-#define DEBUG2PIN_LO PIN_LO(0, 13)
-#define DEBUG2PIN_TOGGLE PIN_TGL(0, 13)
-#define DEBUG2PIN_SETUP PIN_SETUP_OUTPUT(0, 13); PIN_HI(0, 13)
+#define DEBUG2PIN_ON PIN_LO(0, 12)
+#define DEBUG2PIN_OFF PIN_HI(0, 12)
+#define DEBUG2PIN_HI PIN_HI(0, 12)
+#define DEBUG2PIN_LO PIN_LO(0, 12)
+#define DEBUG2PIN_TOGGLE PIN_TGL(0, 12)
+#define DEBUG2PIN_SETUP PIN_SETUP_OUTPUT(0, 12); PIN_HI(0, 12)
#define DEBUG3PIN_ON PIN_LO(1, 15)
#define DEBUG3PIN_OFF PIN_HI(1, 15)
diff --git a/firmware/motion-head/src/main.cpp b/firmware/motion-head/src/main.cpp
index 7df92b750df60481e32e22e3a513a5d0dd823727..42d44d5063659ede8d2de40d5d9afb564257b38e 100644
--- a/firmware/motion-head/src/main.cpp
+++ b/firmware/motion-head/src/main.cpp
@@ -181,6 +181,102 @@ EP_ONDATA_RESPONSES onRateSettingsData(uint8_t* data, uint16_t len){
endpoint_t* rateSettingsEp = osapBuildEndpoint("rateSettings", onRateSettingsData);
+// -------------------------------------------------------- SPU SETTINGS
+
+EP_ONDATA_RESPONSES onSPUData(uint8_t* data, uint16_t len){
+ // also 4 floats, steps-per-unit...
+ uint16_t ptr = 0;
+ chunk_float32 targetChunks[4];
+ targetChunks[0] = { .bytes = { data[ptr ++], data[ptr ++], data[ptr ++], data[ptr ++] } };
+ targetChunks[1] = { .bytes = { data[ptr ++], data[ptr ++], data[ptr ++], data[ptr ++] } };
+ targetChunks[2] = { .bytes = { data[ptr ++], data[ptr ++], data[ptr ++], data[ptr ++] } };
+ targetChunks[3] = { .bytes = { data[ptr ++], data[ptr ++], data[ptr ++], data[ptr ++] } };
+ // more motor stuff
+ for(uint8_t m = 0; m < SR_NUM_MOTORS; m ++){
+ smoothieRoll->actuators[m]->set_steps_per_mm(targetChunks[m].f);
+ }
+ // recheck max rates
+ smoothieRoll->checkMaxRates();
+ // probably all OK
+ return EP_ONDATA_ACCEPT;
+}
+
+endpoint_t* spuEp = osapBuildEndpoint("stepsPerUnitSettings", onSPUData);
+
+// -------------------------------------------------------- POWER MODES
+
+#define V5_ON PIN_HI(0, 11)
+#define V5_OFF PIN_LO(0, 11)
+#define V5_SETUP PIN_SETUP_OUTPUT(0, 11); PIN_LO(0, 11)
+#define V24_ON PIN_HI(0, 10)
+#define V24_OFF PIN_LO(0, 10)
+#define V24_SETUP PIN_SETUP_OUTPUT(0, 10); PIN_LO(0, 10)
+
+// 5V Switch on PA11, 24V Switch on PA10
+/* 5v | 24v | legal
+ 0 | 0 | yes
+ 1 | 0 | yes
+ 0 | 1 | no
+ 1 | 1 | yes
+
+lol, pretty easy I guess: just no 24v when no 5v...
+we also want to turn on in-order though: 5v first, then 24v, and 24v off, then 5v
+*/
+
+// track states
+boolean state5V = false;
+boolean state24V = false;
+
+void publishPowerStates(void);
+
+// make changes
+void powerStateUpdate(boolean st5V, boolean st24V){
+ // guard against bad state
+ if(st24V && !st5V) st24V = false;
+ // check order-of-flip... if 5v is turning off, we will turn 24v first,
+ // in all other scenarios, we flip 5v first
+ if(state5V && !st5V){
+ state24V = st24V; state5V = st5V;
+ // publish, 24v first, and allow charge to leave...
+ state24V ? V24_ON : V24_OFF;
+ delay(50);
+ state5V ? V5_ON : V5_OFF;
+ } else {
+ state24V = st24V; state5V = st5V;
+ // publish, 5v first, and allow some bring-up...
+ state5V ? V5_ON : V5_OFF;
+ delay(10);
+ state24V ? V24_ON : V24_OFF;
+ }
+ // now ... would like to write to the endpoint
+ publishPowerStates();
+}
+
+EP_ONDATA_RESPONSES onPowerData(uint8_t* data, uint16_t len){
+ // read requested states out
+ boolean st5V, st24V;
+ uint16_t rptr = 0;
+ ts_readBoolean(&st5V, data, &rptr);
+ ts_readBoolean(&st24V, data, &rptr);
+ // run the update against our statemachine
+ powerStateUpdate(st5V, st24V);
+ // here's a case where we'll never want to let senders to
+ // update our internal state, so we just return
+ return EP_ONDATA_REJECT;
+ // this means that the endpoint's data store will remain unchanged (from the write)
+ // but remains true to what was written in when we updated w/ the powerStateUpdate fn...
+}
+
+endpoint_t* powerEp = osapBuildEndpoint("powerSwitches", onPowerData);
+
+void publishPowerStates(void){
+ uint8_t powerData[2];
+ uint16_t wptr = 0;
+ ts_writeBoolean(state5V, powerData, &wptr);
+ ts_writeBoolean(state24V, powerData, &wptr);
+ endpointWrite(powerEp, powerData, 2);
+}
+
// -------------------------------------------------------- SETUP
void setup() {
@@ -191,6 +287,10 @@ void setup() {
DEBUG3PIN_SETUP;
DEBUG4PIN_SETUP;
DEBUG5PIN_SETUP;
+ // setup the power stuff
+ V5_SETUP;
+ V24_SETUP;
+ powerStateUpdate(false, false);
// osap
osapSetup("modularMotionHead");
// ports
@@ -212,13 +312,20 @@ void setup() {
osapAddEndpoint(accelSettingsEp); // 7
// r8 settings
osapAddEndpoint(rateSettingsEp); // 8
+ // steps-per-unit settings
+ osapAddEndpoint(spuEp); // 9
+ // power settings
+ osapAddEndpoint(powerEp); // 10
// smoothie (and frequency of loop below)
- smoothieRoll->init(10000);
+ smoothieRoll->init(SR_TICK_FREQ);
+ smoothieRoll->checkMaxRates();
// 25kHz base (40us period) or
// 20kHz base (50us period)
// 10kHz base (100us period)
// 5kHz base (200us period)
- d51ClockBoss->start_ticker_a(100);
+ d51ClockBoss->start_ticker_a(1000000/SR_TICK_FREQ);
+ // test...
+ // powerStateUpdate(true, false);
}
unsigned long epUpdateInterval = 100; // ms
@@ -228,7 +335,7 @@ void loop() {
// main recursive osap loop:
osapLoop();
// smoothie checks / etc:
- //conveyor->on_idle(nullptr);
+ conveyor->on_idle(nullptr);
// run 10Hz endpoint update:
if(millis() > lastUpdate + epUpdateInterval){
DEBUG5PIN_TOGGLE;
@@ -237,12 +344,16 @@ void loop() {
updateSpeeds();
updateMotionState();
}
-
} // end loop
// runs on period defined by timer_a setup:
volatile uint32_t timeTick = 0;
volatile uint64_t timeBlink = 0;
+
+
+volatile uint8_t cachePtr = 0;
+uint8_t stepCache[2]; // xyze: step & dir (8 bit) for two cycles
+
uint16_t blinkTime = 1000;
uint8_t motion_packet[64]; // three floats bb, space
@@ -258,6 +369,20 @@ void TC0_Handler(void){
// do step tick
smoothieRoll->step_tick();
+ // cache ticks
+ stepCache[cachePtr] = smoothieRoll->actuators[3]->get_step_mask() << 6 |
+ smoothieRoll->actuators[2]->get_step_mask() << 4 |
+ smoothieRoll->actuators[1]->get_step_mask() << 2 |
+ smoothieRoll->actuators[0]->get_step_mask();
+ cachePtr ++;
+
+ if(cachePtr > 1){
+ DEBUG2PIN_TOGGLE;
+ ucBusHead_transmitA(stepCache, 2);
+ cachePtr = 0;
+ }
+
+ /*
// every n ticks, ship position?
// each of these ticks drops 10 data bytes, so if we have 17 byte packet, can do every 2nd packet
// which would occupy the full bus - notgood - or we can do every 3rd... I'll pick every 4th.
@@ -281,6 +406,7 @@ void TC0_Handler(void){
ucBusHead_transmitA(motion_packet, 17);
DEBUG2PIN_LO;
}
+ */
// do blinking, lol
timeBlink ++;
diff --git a/firmware/motion-head/src/osape-d51 b/firmware/motion-head/src/osape-d51
index acbff5f3f0333d072780d32246ac15a6aa7f1a62..34b5c2d86fd126bc0074418404bea77e96d3dcae 160000
--- a/firmware/motion-head/src/osape-d51
+++ b/firmware/motion-head/src/osape-d51
@@ -1 +1 @@
-Subproject commit acbff5f3f0333d072780d32246ac15a6aa7f1a62
+Subproject commit 34b5c2d86fd126bc0074418404bea77e96d3dcae
diff --git a/firmware/motion-head/src/smoothie/SmoothieConfig.h b/firmware/motion-head/src/smoothie/SmoothieConfig.h
index 517fbea28721890a7afc5e2e894d745afdf89f4c..eb43cba9a654b8a1fc19bf50398fc0989491755c 100644
--- a/firmware/motion-head/src/smoothie/SmoothieConfig.h
+++ b/firmware/motion-head/src/smoothie/SmoothieConfig.h
@@ -8,6 +8,8 @@
// default accel
#define SR_DEFAULT_ACCEL 5000.0F
+// and tick period, in us
+#define SR_TICK_FREQ 10000
// Keep MAX_ROBOT_ACTUATORS as small as practical it impacts block size and therefore free memory.
const size_t k_max_actuators = SR_NUM_MOTORS;
diff --git a/firmware/motion-head/src/smoothie/SmoothieRoll.cpp b/firmware/motion-head/src/smoothie/SmoothieRoll.cpp
index 8591ae9a4b2afcece445246ed14bddc3fc84b609..127de94f2f85d2ab96e08f8f4727e811b5c5bccd 100644
--- a/firmware/motion-head/src/smoothie/SmoothieRoll.cpp
+++ b/firmware/motion-head/src/smoothie/SmoothieRoll.cpp
@@ -42,4 +42,15 @@ void SmoothieRoll::init(float frequency){
void SmoothieRoll::step_tick(void){
stepTicker->step_tick();
+}
+
+void SmoothieRoll::checkMaxRates(void){
+ // we have frequency, SR_TICK_FREQ, and period which is 1000000/SR_TICK_FREQ
+ // we also have per-axis steps per unit, and max rates,
+ // if rate * spu exceeds the tick frequency, we are in trouble:
+ for(uint8_t m = 0; m < SR_NUM_MOTORS; m ++){
+ if(actuators[m]->get_max_rate() * actuators[m]->get_steps_per_mm() > SR_TICK_FREQ){
+ sysError("motor " + String(m) + " exceeds max rate");
+ }
+ }
}
\ No newline at end of file
diff --git a/firmware/motion-head/src/smoothie/SmoothieRoll.h b/firmware/motion-head/src/smoothie/SmoothieRoll.h
index 7fff37932177d3f7d6c8ff226e45406238e0573c..f5d8e42f49dfd20afed30df5c2c7ea0677365e63 100644
--- a/firmware/motion-head/src/smoothie/SmoothieRoll.h
+++ b/firmware/motion-head/src/smoothie/SmoothieRoll.h
@@ -31,6 +31,7 @@ class SmoothieRoll{
static SmoothieRoll* getInstance(void);
void init(float frequency);
void step_tick(void);
+ void checkMaxRates(void);
StepInterface* actuators[SR_NUM_MOTORS];
diff --git a/firmware/motion-head/src/smoothie/modules/robot/StepInterface.cpp b/firmware/motion-head/src/smoothie/modules/robot/StepInterface.cpp
index bfb318d3e287ed77f8e7c57ee17a88a1c3f30a5c..defb0de02a3354675b371abb841f0209dc299f89 100644
--- a/firmware/motion-head/src/smoothie/modules/robot/StepInterface.cpp
+++ b/firmware/motion-head/src/smoothie/modules/robot/StepInterface.cpp
@@ -55,6 +55,15 @@ void StepInterface::set_accel(float acc){
accel = fabsf(acc);
}
+void StepInterface::set_steps_per_mm(float spu){
+ steps_per_mm = spu;
+ mm_per_step = 1 / steps_per_mm;
+}
+
+float StepInterface::get_steps_per_mm(void){
+ return steps_per_mm;
+}
+
float StepInterface::get_current_speed(void){
if(!moving){
return 0.0F;
@@ -75,10 +84,23 @@ boolean StepInterface::step(void){
now = micros();
current_speed = (mm_per_step * 1000000) / (now - last_tick);
last_tick = now;
-
+ // upd8 step mask, is step-dir:
+ if(direction){
+ step_mask = 0b00000011;
+ } else {
+ step_mask = 0b00000010;
+ }
return moving;
}
+uint8_t StepInterface::get_step_mask(void){
+ // stash the return
+ uint8_t mask = step_mask;
+ // reset this,
+ step_mask = 0;
+ return mask;
+}
+
void StepInterface::set_direction(boolean dir){
direction = dir;
}
diff --git a/firmware/motion-head/src/smoothie/modules/robot/StepInterface.h b/firmware/motion-head/src/smoothie/modules/robot/StepInterface.h
index 5e4813d1881a182dd41dfa0a895b2b7a5f151bd5..bed0a6123988f3f069f6563e31f44de41562b549 100644
--- a/firmware/motion-head/src/smoothie/modules/robot/StepInterface.h
+++ b/firmware/motion-head/src/smoothie/modules/robot/StepInterface.h
@@ -25,6 +25,8 @@ class StepInterface {
void set_max_rate(float rate);
float get_accel(void);
void set_accel(float acc);
+ void set_steps_per_mm(float spu);
+ float get_steps_per_mm(void);
// util to track speed per motor:
float get_current_speed(void);
@@ -36,6 +38,10 @@ class StepInterface {
boolean is_moving(void);
// could also use this structure to setup steps / mm, max accel, max rate per actuator
+ // yonder awkward step-mask-getter for network step-mask
+ volatile uint8_t step_mask = 0;
+ uint8_t get_step_mask(void);
+
// for net interface,
volatile int32_t stepwise_position = 0;
volatile float floating_position = 0.0F;
diff --git a/log/ucbus-psu-breakout-log.md b/log/modular-motion-head-log.md
similarity index 88%
rename from log/ucbus-psu-breakout-log.md
rename to log/modular-motion-head-log.md
index c4d84a9a8b743d33d8e7854894d7b98ed018791f..25e3d5f0014d99f884f2996f3353af8bfa7d83bc 100644
--- a/log/ucbus-psu-breakout-log.md
+++ b/log/modular-motion-head-log.md
@@ -109,7 +109,19 @@ God bless, just a recursive overloaded function that was calling itself, when I
OK I can try a 5v turn-on-off code. I guess I'll build my little one-motor-single-page-demo controller as well, sheesh.
-- 5v src / sinks ?
+OK these look setup, I'm going to build an example controller here... or in another repo?
+
+The 5v switch works, so I want a little demo-test for the 24v.
+
+Also at the control head... some tiny distributed statemachine w/ a front end. I have been thinking about this kind of structure - a UI coupled virtual machine. It'd be a good stopgap, but I think I should focus on the typeset OSAP work & what would be a more complete version of this type of thing.
+
+In any case, the 24v stress testing. I'll solder one of these heat beds up. This provides 2.3 Ohms, at 24v that's just about 250 watts, 10 amps: the PSU is rated for 350W. I could butcher one of these 30-pin ribbons, or just solder a few leads to the BFC pinout. #2, I think.
+
+Alright well here it goes ffs. Seems like it works, though I suppose that shouldn't be too surprising, the FETS are rated to like 50A each, there's two, and this is 10A. I think I'll stick some little fets on there anyways.
+
+- test power draw, heat buildup...
+- watch power on scope, is it chill?
+- test 24v w/ no usb power...
## Part Purchase