diff --git a/README.md b/README.md
index 070960e25ce5978a581d37bf58ea5e75c9eb5fae..e150b6d0e9305ee2019ae97081a14b9acc512346 100644
--- a/README.md
+++ b/README.md
@@ -14,6 +14,7 @@ This is a circuit & mount for a small desktop DC PSU and embedded system bus-hea
- clear LED indication of 24v presence, 5v presence on bus
### What's Up:
+
- uses [the module](https://gitlab.cba.mit.edu/jakeread/ucbus-module)
- breaks out 24V 350W & UCBus on one 2x15 IDC
- second 24V 40W UCBus channel available
diff --git a/firmware/motion-head/src/main.cpp b/firmware/motion-head/src/main.cpp
index 60398044fd5aac6d8fea83ef8ba0cc83302cb6d5..cf7aaac058ef42b6c1794a775d5788b567ebf3d0 100644
--- a/firmware/motion-head/src/main.cpp
+++ b/firmware/motion-head/src/main.cpp
@@ -32,6 +32,7 @@ boolean smoothie_is_moving(void){
EP_ONDATA_RESPONSES onMoveData(uint8_t* data, uint16_t len){
// can we load it?
if(!conveyor->is_queue_full()){
+ DEBUG3PIN_TOGGLE;
// read from head,
uint16_t ptr = 0;
// feedrate is 1st,
@@ -227,50 +228,17 @@ void setup() {
// r8 settings
osapAddVertex(rateSettingsEp); // 8
// smoothie (and frequency of loop below)
- #warning pls reconsider maximal rates / etc given new loop freq... and how / where to parameterize
smoothieRoll->init(20000);
- // bare serial
- //Serial.begin(9600);
- // barebus
- //ucBusHead_setup();
// 25kHz base (40us period) or
// 20kHz base (50us period)
d51ClockBoss->start_ticker_a(50);
}
-//#define TEST_TX
-
-#ifdef TEST_TX
-unsigned long lastTx = 0;
-uint8_t testTx[33] = {
- 1, 2, 3, 4, 0, 6, 7, 8, 9, 10,
- 11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
- 21, 22, 23, 24, 25, 26, 27, 28, 29, 30,
- 31, 32, 33 };
-
-uint8_t tstRx[256];
-#endif
-
void loop() {
// write ~ every second, transmit on chb to drop 1
// check indices on the way down / up ... was shifting, are not anymore
osapLoop();
conveyor->on_idle(nullptr);
-
- #ifdef TEST_TX
- if(ucBusHead_ctr(1)){
- uint16_t len = ucBusHead_read(1, tstRx);
- logPacket(tstRx, len);
- }
- if(millis() > lastTx + 100){
- lastTx = millis();
- if(ucBusHead_ctsB(1)){
- //logPacket(testTx, 15);
- ucBusHead_transmitB(testTx, 22, 1);
- DEBUG1PIN_TOGGLE;
- }
- }
- #endif
} // end loop
// runs on period defined by timer_a setup:
@@ -287,19 +255,18 @@ void TC0_Handler(void){
timeTick ++;
timeBlink ++;
if(timeBlink > blinkTime){
- //DEBUG1PIN_TOGGLE;
+ DEBUG1PIN_TOGGLE;
timeBlink = 0;
}
// do bus action first: want downstream clocks to be deterministic-ish
ucBusHead_timerISR();
// do step tick
- /*
smoothieRoll->step_tick();
// 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.
if(timeTick > 3){
- DEBUG2PIN_TOGGLE;
+ DEBUG2PIN_HI;
timeTick = 0;
uint16_t mpptr = 0; // motion packet pointer
if(planner->do_set_position){
@@ -314,9 +281,7 @@ void TC0_Handler(void){
ts_writeFloat32(smoothieRoll->actuators[2]->floating_position, motion_packet, &mpptr);
ts_writeFloat32(smoothieRoll->actuators[3]->floating_position, motion_packet, &mpptr);
// write packet, put on ucbus
- //DEBUG3PIN_ON;
- //ucBusHead_transmitA(motion_packet, 17);
- //DEBUG3PIN_OFF;
+ ucBusHead_transmitA(motion_packet, 17);
+ DEBUG2PIN_LO;
}
- */
}
diff --git a/firmware/motion-head/src/osape-d51 b/firmware/motion-head/src/osape-d51
index af5f9a0e004a6134b38f0f1996bebda271f9c655..eeabe1a173dc1c7270b0099a7a1a0e0e7735e1be 160000
--- a/firmware/motion-head/src/osape-d51
+++ b/firmware/motion-head/src/osape-d51
@@ -1 +1 @@
-Subproject commit af5f9a0e004a6134b38f0f1996bebda271f9c655
+Subproject commit eeabe1a173dc1c7270b0099a7a1a0e0e7735e1be
diff --git a/firmware/motion-head/src/smoothie/modules/robot/Conveyor.cpp b/firmware/motion-head/src/smoothie/modules/robot/Conveyor.cpp
index 9e6248ba86b1f56ae96ef1c0a2d607a391e664c7..0903d54a27ffa02e77288ab94efc97264c5fc2e9 100644
--- a/firmware/motion-head/src/smoothie/modules/robot/Conveyor.cpp
+++ b/firmware/motion-head/src/smoothie/modules/robot/Conveyor.cpp
@@ -121,7 +121,8 @@ void Conveyor::on_idle(void*)
// Cleanly delete block
Block* block = queue.tail_ref();
// if not-super-full, light on: buffer close to starving
- (queue.space() > 32) ? DEBUG2PIN_ON : DEBUG2PIN_OFF;
+ #warning this was useful w/ buffer starvation debug / indication
+ // (queue.space() > 32) ? DEBUG2PIN_ON : DEBUG2PIN_OFF;
/*
sysError(String(block->millimeters) + " "
+ String(block->entry_speed) + " "
@@ -259,6 +260,8 @@ void Conveyor::check_queue(bool force)
// called from step ticker ISR
bool Conveyor::get_next_block(Block **block){
+ // indicate consumption
+ DEBUG4PIN_TOGGLE;
// mark entire queue for GC if flush flag is asserted
if (flush){
while (queue.isr_tail_i != queue.head_i) {
diff --git a/log/ucbus-psu-breakout-log.md b/log/ucbus-psu-breakout-log.md
index 5f42392bd94fb7772bdba04f1a812629bdabed84..b544a2094220c8ef6b20375fc31ec4cabb969b5f 100644
--- a/log/ucbus-psu-breakout-log.md
+++ b/log/ucbus-psu-breakout-log.md
@@ -9,4 +9,24 @@ OK, through most of the setup.
- pick sercom for rpi serial
- label cut-jumpers, config auto
-OK, done.
\ No newline at end of file
+OK, done.
+
+## Next Revision
+
+**2021 08 09**
+
+I get a lot of use out of these and it would be useful if they had a few more features.
+
+- ferrite bead, maybe SMT? inspect gnd plane when something is consuming power (i.e. the A4950 drivers), there's a 20kHz wobble (about +/- 1V!) and a longer mode ~ maybe 1kHz or so.
+- 24v remote shutoff, and might as well add reverse polarity protection if it's easy
+- 24v should auto-shutoff when logic is removed, presumably can pull the shutoff gate low
+- 24v power sense w/ shunt resistor
+- hardware 'power-present' led,
+- 5v (!) remote shutoff: helps when debugging, to remote reset everything down-branch
+- more intentional packaging with the PSU itself, current situation a little awkward.
+- one 30pin and one 10pin connector, same lines, don't bother with 2nd RS485 link
+- *so many* debug LEDs
+- keep this option for i2c display
+- some... buttons ?
+- label the 5v select jumpers,
+- I had more notes about this somewhere else... see if you can find old haystack log
\ No newline at end of file