diff --git a/.gitmodules b/.gitmodules
index 6deb88208aadda4f58e96873b65665a69a7d4cdf..fa16f1593bab25e8e9231cf4034d1a8b40e02d4c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,3 +4,6 @@
[submodule "controller/osapjs"]
path = controller/osapjs
url = ssh://git@gitlab.cba.mit.edu:846/jakeread/osapjs.git
+[submodule "firmware/cl-step-controller/src/osape"]
+ path = firmware/cl-step-controller/src/osape
+ url = ssh://git@gitlab.cba.mit.edu:846/jakeread/osape.git
diff --git a/controller/client/clStepClient.js b/controller/client/clStepClient.js
new file mode 100644
index 0000000000000000000000000000000000000000..711042b30e8410d6ff3ec23223e762fb52627dfa
--- /dev/null
+++ b/controller/client/clStepClient.js
@@ -0,0 +1,276 @@
+/*
+clank-client.js
+
+clank controller client side
+
+Jake Read at the Center for Bits and Atoms
+(c) Massachusetts Institute of Technology 2020
+
+This work may be reproduced, modified, distributed, performed, and
+displayed for any purpose, but must acknowledge the open systems assembly protocol (OSAP) project.
+Copyright is retained and must be preserved. The work is provided as is;
+no warranty is provided, and users accept all liability.
+*/
+
+'use strict'
+
+import OSAP from '../osapjs/core/osap.js'
+import { TS, PK, DK, AK, EP } from '../osapjs/core/ts.js'
+import NetRunner from '../osapjs/client/netrunner/osap-render.js'
+
+// the clank 'virtual machine'
+import ClStepVM from './clStepVM.js'
+
+import { AutoPlot } from '../osapjs/client/components/autoPlot.js'
+import { Button } from '../osapjs/client/interface/button.js'
+import { TextInput } from '../osapjs/client/interface/textInput.js'
+
+console.log("hello clank controller")
+
+// an instance of some osap capable thing (the virtual object)
+// that will appear on the network, be virtually addressable
+let osap = new OSAP()
+osap.name = "cl-step tuner client"
+
+// draws network,
+let netrunner = new NetRunner(osap, 10, 760, false)
+
+// -------------------------------------------------------- THE VM
+
+// vm,
+let vm = new ClStepVM(osap, TS.route().portf(0).portf(1).end())
+
+// -------------------------------------------------------- QUERY MAG
+
+let magDiagnosticsBtn = new Button(10, 10, 94, 14, 'mag?')
+magDiagnosticsBtn.onClick(() => {
+ vm.getMagDiagnostics().then((result) => {
+ console.log(result)
+ magDiagnosticsBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ magDiagnosticsBtn.bad("err", 500)
+ })
+})
+
+// -------------------------------------------------------- DO CALIB
+
+let runCalibBtn = new Button(10, 40, 94, 14, 'calibr8')
+runCalibBtn.onClick(() => {
+ vm.runCalib().then(() => {
+ runCalibBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ runCalibBtn.bad("err", 500)
+ })
+})
+
+// -------------------------------------------------------- QUERY POSITION
+
+let posnLp = false
+let positionQueryBtn = new Button(10, 70, 94, 14, 'pos?')
+positionQueryBtn.onClick(() => {
+ if (posnLp) {
+ posnLp = false
+ } else {
+ let loop = () => {
+ if (!posnLp) {
+ positionQueryBtn.bad("halted", 500)
+ } else {
+ vm.getPosition().then((pos) => {
+ $(positionQueryBtn.elem).text(pos.toFixed(3))
+ setTimeout(loop, 10)
+ }).catch((err) => {
+ console.error(err)
+ posnLp = false;
+ setTimeout(loop, 10)
+ })
+ }
+ }
+ posnLp = true
+ loop()
+ }
+})
+
+// -------------------------------------------------------- LOOP SPEC
+
+let encPlot = new AutoPlot(130, 10, 500, 210, 'encoder')
+encPlot.setHoldCount(500)
+//tempPlot.setYDomain(0, 100)
+encPlot.redraw()
+
+let anglePlot = new AutoPlot(130, 230, 500, 210, 'angle reading')
+anglePlot.setHoldCount(500)
+//tempPlot.setYDomain(0, 100)
+anglePlot.redraw()
+
+let angleEstPlot = new AutoPlot(130, 450, 500, 210, 'angle estimate')
+angleEstPlot.setHoldCount(500)
+//tempPlot.setYDomain(0, 100)
+angleEstPlot.redraw()
+
+let angleDotPlot = new AutoPlot(130, 670, 500, 210, 'angle dot')
+angleDotPlot.setHoldCount(500)
+angleDotPlot.redraw()
+
+let specLp = false
+let specPlotCount = 0
+let loopQueryBtn = new Button(10, 100, 94, 14, 'spec?')
+loopQueryBtn.onClick(() => {
+ if (specLp) {
+ specLp = false
+ } else {
+ let loop = () => {
+ if (!specLp) {
+ loopQueryBtn.bad("halted", 500)
+ } else {
+ vm.getSpec().then((spec) => {
+ specPlotCount++
+ encPlot.pushPt([specPlotCount, spec.encoder]); encPlot.redraw()
+ anglePlot.pushPt([specPlotCount, spec.angle]); anglePlot.redraw()
+ angleEstPlot.pushPt([specPlotCount, spec.angleEstimate]); angleEstPlot.redraw()
+ setTimeout(loop, 10)
+ }).catch((err) => {
+ console.error(err)
+ specLp = false;
+ setTimeout(loop, 10)
+ })
+ }
+ }
+ specLp = true
+ loop()
+ }
+})
+
+// -------------------------------------------------------- MOTION FEED
+
+// -------------------------------------------------------- PID
+
+let PIDController = (xPlace, yPlace) => {
+ let pVal = new TextInput(xPlace, yPlace + 120, 110, 20, '-0.1')
+ let iVal = new TextInput(xPlace, yPlace + 150, 110, 20, '0.0')
+ let dVal = new TextInput(xPlace, yPlace + 180, 110, 20, '0.1')
+
+ let pidSetBtn = new Button(xPlace, yPlace + 210, 104, 14, 'set PID')
+ pidSetBtn.onClick(() => {
+ let p = parseFloat(pVal.value)
+ let i = parseFloat(iVal.value)
+ let d = parseFloat(dVal.value)
+ if (Number.isNaN(p) || Number.isNaN(i) || Number.isNaN(d)) {
+ pidSetBtn.bad("bad parse", 1000)
+ return
+ }
+ tvm.setPIDTerms([p, i, d]).then(() => {
+ pidSetBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ pidSetBtn.bad("err", 1000)
+ })
+ })
+
+ let tempPlot = new AutoPlot(xPlace + 120, yPlace, 420, 230)
+ tempPlot.setHoldCount(500)
+ //tempPlot.setYDomain(0, 100)
+ tempPlot.redraw()
+
+ let effortPlot = new AutoPlot(xPlace + 120, yPlace + 240, 420, 150)
+ effortPlot.setHoldCount(500)
+ //effortPlot.setYDomain(-10, 10)
+ effortPlot.redraw()
+
+ let tempLpBtn = new Button(xPlace, yPlace + 90, 104, 14, 'plot temp')
+ let tempLp = false
+ let tempLpCount = 0
+ tempLpBtn.onClick(() => {
+ if (tempLp) {
+ tempLp = false
+ tempLpBtn.good("stopped", 500)
+ } else {
+ let poll = () => {
+ if (!tempLp) return
+ tvm.getExtruderTemp().then((temp) => {
+ //console.log(temp)
+ tempLpCount++
+ tempPlot.pushPt([tempLpCount, temp])
+ tempPlot.redraw()
+ return tvm.getExtruderTempOutput()
+ }).then((effort) => {
+ //console.log(effort)
+ effortPlot.pushPt([tempLpCount, effort])
+ effortPlot.redraw()
+ setTimeout(poll, 200)
+ }).catch((err) => {
+ tempLp = false
+ console.error(err)
+ tempLpBtn.bad("err", 500)
+ })
+ }
+ tempLp = true
+ poll()
+ }
+ })
+}
+
+//PIDController(240, 10)
+
+
+// -------------------------------------------------------- STARTUP LOCAL
+
+let wscVPort = osap.vPort()
+wscVPort.name = 'websocket client'
+wscVPort.maxSegLength = 1024
+
+let LOGPHY = false
+
+// to test these systems, the client (us) will kickstart a new process
+// on the server, and try to establish connection to it.
+console.log("making client-to-server request to start remote process,")
+console.log("and connecting to it w/ new websocket")
+// ok, let's ask to kick a process on the server,
+// in response, we'll get it's IP and Port,
+// then we can start a websocket client to connect there,
+// automated remote-proc. w/ vPort & wss medium,
+// for args, do '/processName.js?args=arg1,arg2'
+
+jQuery.get('/startLocal/osapl-usb-bridge.js', (res) => {
+ if (res.includes('OSAP-wss-addr:')) {
+ let addr = res.substring(res.indexOf(':') + 2)
+ if (addr.includes('ws://')) {
+ let status = EP.PORTSTATUS.OPENING
+ wscVPort.status = () => { return status }
+ console.log('starting socket to remote at', addr)
+ let ws = new WebSocket(addr)
+ // opens,
+ ws.onopen = (evt) => {
+ status = EP.PORTSTATUS.OPEN
+ // implement rx
+ ws.onmessage = (msg) => {
+ msg.data.arrayBuffer().then((buffer) => {
+ let uint = new Uint8Array(buffer)
+ if (LOGPHY) console.log('PHY WSC Recv')
+ if (LOGPHY) TS.logPacket(uint)
+ wscVPort.receive(uint)
+ }).catch((err) => {
+ console.error(err)
+ })
+ }
+ // implement tx
+ wscVPort.send = (buffer) => {
+ if (LOGPHY) console.log('PHY WSC Send', buffer)
+ ws.send(buffer)
+ }
+ }
+ ws.onerror = (err) => {
+ status = EP.PORTSTATUS.CLOSED
+ console.log('sckt err', err)
+ }
+ ws.onclose = (evt) => {
+ status = EP.PORTSTATUS.CLOSED
+ console.log('sckt closed', evt)
+ }
+ }
+ } else {
+ console.error('remote OSAP not established', res)
+ }
+})
+
diff --git a/controller/client/clStepVM.js b/controller/client/clStepVM.js
new file mode 100644
index 0000000000000000000000000000000000000000..7f2a9c6dd90d94591a2f74a8986585c3f87d5290
--- /dev/null
+++ b/controller/client/clStepVM.js
@@ -0,0 +1,217 @@
+/*
+cclStepVM.js
+
+vm for closed-loop stepper motors
+
+Jake Read at the Center for Bits and Atoms
+(c) Massachusetts Institute of Technology 2021
+
+This work may be reproduced, modified, distributed, performed, and
+displayed for any purpose, but must acknowledge the open systems assembly protocol (OSAP) project.
+Copyright is retained and must be preserved. The work is provided as is;
+no warranty is provided, and users accept all liability.
+*/
+
+import { TS, PK, DK, AK, EP } from '../osapjs/core/ts.js'
+
+export default function ClStepVM(osap, route) {
+
+ // ------------------------------------------------------ 0: DIAGNOSTICS QUERY
+ let diagnosticsQuery = osap.query(route, TS.endpoint(0, 0), 512)
+ this.getMagDiagnostics = () => {
+ return new Promise((resolve, reject) => {
+ diagnosticsQuery.pull().then((data) => {
+ let result = {
+ magHi: TS.read('boolean', data, 0, true),
+ magLo: TS.read('boolean', data, 1, true),
+ cordicOverflow: TS.read('boolean', data, 2, true),
+ compensationComplete: TS.read('boolean', data, 3, true),
+ angularGainCorrection: TS.read('uint8', data, 4, true),
+ cordicMagnitude: TS.read('uint16', data, 5, true)
+ }
+ resolve(result)
+ }).catch((err) => {
+ reject(err)
+ })
+ })
+ }
+
+ // ------------------------------------------------------ 1: RUN CALIB
+
+ let calibEP = osap.endpoint()
+ calibEP.addRoute(route, TS.endpoint(0, 1), 512)
+ calibEP.setTimeoutLength(10000)
+ this.runCalib = () => {
+ return new Promise((resolve, reject) => {
+ calibEP.write(new Uint8Array(0)).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // ------------------------------------------------------ 3: POSITION QUERY
+
+ let positionQuery = osap.query(route, TS.endpoint(0, 3), 512)
+ this.getPosition = () => {
+ return new Promise((resolve, reject) => {
+ positionQuery.pull().then((data) => {
+ let pos = TS.read('float32', data, 0, true)
+ resolve(pos)
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // ------------------------------------------------------ 4: LOOP SPEC
+
+ let specQuery = osap.query(route, TS.endpoint(0, 4), 512)
+ this.getSpec = () => {
+ return new Promise((resolve, reject) => {
+ specQuery.pull().then((data) => {
+ let result = {
+ encoder: TS.read('uint16', data, 0, true),
+ angle: TS.read('float32', data, 2, true),
+ angleEstimate: TS.read('float32', data, 6, true)
+ }
+ resolve(result)
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ /*
+ // ------------------------------------------------------ POS
+ // ok: we make an 'endpoint' that will transmit moves,
+ let moveEP = osap.endpoint()
+ // add the machine head's route to it,
+ moveEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 1), 512)
+ // and set a long timeout,
+ // moveEP.setTimeoutLength(60000)
+ this.addMoveToQueue = (move) => {
+ // write the gram,
+ let wptr = 0
+ let datagram = new Uint8Array(20)
+ // write rate
+ wptr += TS.write('float32', move.rate, datagram, wptr, true)
+ // write posns
+ wptr += TS.write('float32', move.position.X, datagram, wptr, true)
+ wptr += TS.write('float32', move.position.Y, datagram, wptr, true)
+ wptr += TS.write('float32', move.position.Z, datagram, wptr, true)
+ if (move.position.E) {
+ //console.log(move.position.E)
+ wptr += TS.write('float32', move.position.E, datagram, wptr, true)
+ } else {
+ wptr += TS.write('float32', 0, datagram, wptr, true)
+ }
+ // do the networking,
+ return new Promise((resolve, reject) => {
+ moveEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => {
+ reject(err)
+ })
+ })
+ }
+
+ // to set the current position,
+ let setPosEP = osap.endpoint()
+ setPosEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 2), 512)
+ setPosEP.setTimeoutLength(10000)
+ this.setPos = (pos) => {
+ let wptr = 0
+ let datagram = new Uint8Array(16)
+ wptr += TS.write('float32', pos.X, datagram, wptr, true)
+ wptr += TS.write('float32', pos.Y, datagram, wptr, true)
+ wptr += TS.write('float32', pos.Z, datagram, wptr, true)
+ if (pos.E) {
+ wptr += TS.write('float32', pos.E, datagram, wptr, true)
+ } else {
+ wptr += TS.write('float32', 0, datagram, wptr, true)
+ }
+ // ship it
+ return new Promise((resolve, reject) => {
+ setPosEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // an a 'query' to check current position
+ let posQuery = osap.query(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 2), 512)
+ this.getPos = () => {
+ return new Promise((resolve, reject) => {
+ posQuery.pull().then((data) => {
+ let pos = {
+ X: TS.read('float32', data, 0, true),
+ Y: TS.read('float32', data, 4, true),
+ Z: TS.read('float32', data, 8, true),
+ E: TS.read('float32', data, 12, true)
+ }
+ resolve(pos)
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // another query to see if it's currently moving,
+ // update that endpoint so we can 'write halt' / 'write go' with a set
+ let motionQuery = osap.query(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 3), 512)
+ this.awaitMotionEnd = () => {
+ return new Promise((resolve, reject) => {
+ let check = () => {
+ motionQuery.pull().then((data) => {
+ if (data[0] > 0) {
+ setTimeout(check, 50)
+ } else {
+ resolve()
+ }
+ }).catch((err) => {
+ reject(err)
+ })
+ }
+ setTimeout(check, 50)
+ })
+ }
+
+ // endpoint to set per-axis accelerations,
+ let accelEP = osap.endpoint()
+ accelEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 5), 512)
+ this.setAccels = (accels) => { // float array, len 4 XYZE
+ let wptr = 0
+ let datagram = new Uint8Array(16)
+ wptr += TS.write('float32', accels.X, datagram, wptr, true)
+ wptr += TS.write('float32', accels.Y, datagram, wptr, true)
+ wptr += TS.write('float32', accels.Z, datagram, wptr, true)
+ if (accels.E) {
+ wptr += TS.write('float32', accels.E, datagram, wptr, true)
+ } else {
+ wptr += TS.write('float32', 0, datagram, wptr, true)
+ }
+ return new Promise((resolve, reject) => {
+ accelEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ let rateEP = osap.endpoint()
+ rateEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 6), 512)
+ this.setRates = (rates) => {
+ // in firmware we think of mm/sec,
+ // in gcode and up here we think in mm/minute
+ // so conversion happens here
+ let wptr = 0
+ let datagram = new Uint8Array(16)
+ wptr += TS.write('float32', rates.X / 60, datagram, wptr, true)
+ wptr += TS.write('float32', rates.Y / 60, datagram, wptr, true)
+ wptr += TS.write('float32', rates.Z / 60, datagram, wptr, true)
+ if (rates.E) {
+ wptr += TS.write('float32', rates.E / 60, datagram, wptr, true)
+ } else {
+ wptr += TS.write('float32', 100, datagram, wptr, true)
+ }
+ return new Promise((resolve, reject) => {
+ rateEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+ */
+}
\ No newline at end of file
diff --git a/controller/client/clankClient.js b/controller/client/clankClient.js
deleted file mode 100644
index 324f822b07b8648d2b4acb0b97ff2f92ff8a3e26..0000000000000000000000000000000000000000
--- a/controller/client/clankClient.js
+++ /dev/null
@@ -1,808 +0,0 @@
-/*
-clank-client.js
-
-clank controller client side
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2020
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the open systems assembly protocol (OSAP) project.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-'use strict'
-
-import OSAP from '../osapjs/core/osap.js'
-import { TS, PK, DK, AK, EP } from '../osapjs/core/ts.js'
-import NetRunner from '../osapjs/client/netrunner/osap-render.js'
-
-// the clank 'virtual machine'
-import ClankVM from './clankVirtualMachine.js'
-
-// sort of stand-alone prototype input / output system for JS... it doth not network
-import { Input, Output } from '../osapjs/core/modules.js'
-
-import { GCodePanel } from '../osapjs/client/components/gCodePanel.js'
-import { AutoPlot } from '../osapjs/client/components/autoPlot.js'
-import { Button } from '../osapjs/client/interface/button.js'
-import { TextInput } from '../osapjs/client/interface/textInput.js'
-import { JogBox } from '../osapjs/client/components/jogBox.js'
-
-console.log("hello clank controller")
-
-// an instance of some osap capable thing (the virtual object)
-// that will appear on the network, be virtually addressable
-let osap = new OSAP()
-osap.name = "clank client"
-osap.description = "clank cz browser interface"
-
-// draws network,
-let netrunner = new NetRunner(osap, 10, 760, false)
-
-// -------------------------------------------------------- THE VM
-
-// vm,
-let vm = new ClankVM(osap)
-
-// -------------------------------------------------------- MOTION FEED
-
-// panel,
-let gCodePanel = new GCodePanel(10, 10)
-
-// pipe moves 2 machine
-window.eForward = 0
-window.eRetract = 0
-let moveInput = new Input()
-gCodePanel.moveOut.attach(moveInput)
-moveInput.addListener((move) => {
- return new Promise((resolve, reject) => {
- move.rate = move.rate // ?
- /*
- if(move.position.E > 0){
- window.eForward += move.position.E
- } else {
- window.eRetract += move.position.E
- }
- resolve()
- return
- */
- vm.addMoveToQueue(move).then(() => {
- resolve()
- }).catch((err) => { reject(err) })
- })
-})
-
-let jogBox = new JogBox(240, 10, vm)
-
-// this is... kind of buggy. button state sometimes straightforwards, sometimes callback hell
-let posBtn = new Button(430, 10, 344, 14, 'pos')
-let posLp = false
-posBtn.onClick(() => {
- if (posLp) {
- posLp = false
- posBtn.good("stop", 500)
- } else {
- let poll = () => {
- if (!posLp) return
- vm.getPos().then((pos) => {
- if (posLp) {
- $(posBtn.elem).text(`X: ${pos.X.toFixed(2)}, Y: ${pos.Y.toFixed(2)}, Z: ${pos.Z.toFixed(2)}, E: ${pos.E.toFixed(2)}`)
- setTimeout(poll, 50)
- }
- }).catch((err) => {
- posLp = false
- console.error(err)
- posBtn.bad("err", 1000)
- })
- }
- posLp = true
- poll()
- }
-})
-
-let setStartBtn = new Button(360, 130, 94, 14, 'offset zero')
-setStartBtn.onClick(() => {
- vm.setPos({
- X: 0,
- Y: 0,
- Z: 121.8,
- E: 0
- }).then(() => {
- setStartBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- setStartBtn.bad("err", 500)
- })
-})
-
-let gotoZeroBtn = new Button(360, 160, 94, 14, 'goto zero')
-gotoZeroBtn.onClick(() => {
- vm.addMoveToQueue({
- rate: 600,
- position: {
- X: 0,
- Y: 0,
- Z: 0,
- E: 0,
- }
- }).then(() => {
- gotoZeroBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- gotoZeroBtn.bad("err", 500)
- })
-})
-
-// -------------------------------------------------------- TEMP CONTROLLER
-
-let tempController = (xPlace, yPlace, i, init) => {
- let tvm = vm.tvm[i]
-
- let tempSet = new TextInput(xPlace, yPlace, 110, 20, `${init}`)
-
- let tempSetBtn = new Button(xPlace, yPlace + 30, 104, 14, 'set temp')
- tempSetBtn.onClick(() => {
- let temp = parseFloat(tempSet.value)
- if (Number.isNaN(temp)) {
- tempSetBtn.bad("parse err", 1000)
- return
- }
- tvm.setExtruderTemp(temp).then(() => {
- tempSetBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- tempSetBtn.bad("err", 1000)
- })
- })
-
- let tempCoolBtn = new Button(xPlace, yPlace + 60, 104, 14, 'cooldown')
- tempCoolBtn.onClick(() => {
- tvm.setExtruderTemp(0).then(() => {
- tempCoolBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- tempCoolBtn.bad("err", 500)
- })
- })
-
- let tempPlot = new AutoPlot(xPlace + 120, yPlace, 420, 230)
- tempPlot.setHoldCount(500)
- //tempPlot.setYDomain(0, 100)
- tempPlot.redraw()
-
- let effortPlot = new AutoPlot(xPlace + 120, yPlace + 240, 420, 150)
- effortPlot.setHoldCount(500)
- //effortPlot.setYDomain(-10, 10)
- effortPlot.redraw()
-
- let tempLpBtn = new Button(xPlace, yPlace + 90, 104, 14, 'plot temp')
- let tempLp = false
- let tempLpCount = 0
- tempLpBtn.onClick(() => {
- if (tempLp) {
- tempLp = false
- tempLpBtn.good("stopped", 500)
- } else {
- let poll = () => {
- if (!tempLp) return
- tvm.getExtruderTemp().then((temp) => {
- //console.log(temp)
- tempLpCount++
- tempPlot.pushPt([tempLpCount, temp])
- tempPlot.redraw()
- return tvm.getExtruderTempOutput()
- }).then((effort) => {
- //console.log(effort)
- effortPlot.pushPt([tempLpCount, effort])
- effortPlot.redraw()
- setTimeout(poll, 200)
- }).catch((err) => {
- tempLp = false
- console.error(err)
- tempLpBtn.bad("err", 500)
- })
- }
- tempLp = true
- poll()
- }
- })
-
- let pVal = new TextInput(xPlace, yPlace + 120, 110, 20, '-0.1')
- let iVal = new TextInput(xPlace, yPlace + 150, 110, 20, '0.0')
- let dVal = new TextInput(xPlace, yPlace + 180, 110, 20, '0.1')
-
- let pidSetBtn = new Button(xPlace, yPlace + 210, 104, 14, 'set PID')
- pidSetBtn.onClick(() => {
- let p = parseFloat(pVal.value)
- let i = parseFloat(iVal.value)
- let d = parseFloat(dVal.value)
- if (Number.isNaN(p) || Number.isNaN(i) || Number.isNaN(d)) {
- pidSetBtn.bad("bad parse", 1000)
- return
- }
- tvm.setPIDTerms([p, i, d]).then(() => {
- pidSetBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- pidSetBtn.bad("err", 1000)
- })
- })
-}
-
-tempController(240, 190, 0, 220)
-tempController(240, 590, 1, 60)
-
-// -------------------------------------------------------- MOTION SETTINGS
-// todo: should bundle with jog, position query, etc ? or get on with other work
-
-let setRatesBtn = new Button(790, 10, 84, 24, 'set acc & max fr')
-let accText = new Button(790, 50, 84, 14, 'mm/sec^2')
-let xAccVal = new TextInput(790, 80, 90, 20, '300')
-let yAccVal = new TextInput(790, 110, 90, 20, '300')
-let zAccVal = new TextInput(790, 140, 90, 20, '50')
-let eAccVal = new TextInput(790, 170, 90, 20, '900')
-
-let rateText = new Button(790, 200, 84, 14, 'mm/min')
-let xRateVal = new TextInput(790, 230, 90, 20, '12000')
-let yRateVal = new TextInput(790, 260, 90, 20, '12000')
-let zRateVal = new TextInput(790, 290, 90, 20, '1000')
-let eRateVal = new TextInput(790, 320, 90, 20, '60000')
-
-let setupMotion = () => {
- // accel
- let aVals = {
- X: parseFloat(xAccVal.value),
- Y: parseFloat(yAccVal.value),
- Z: parseFloat(zAccVal.value),
- E: parseFloat(eAccVal.value)
- }
- for (let v in aVals) {
- if (Number.isNaN(aVals[v])) { console.error('bad parse for float', v); return }
- }
- // rates
- let rVals = {
- X: parseFloat(xRateVal.value),
- Y: parseFloat(yRateVal.value),
- Z: parseFloat(zRateVal.value),
- E: parseFloat(eRateVal.value)
- }
- for (let v in rVals) {
- if (Number.isNaN(rVals[v])) { console.error('bad parse for float', r); return }
- }
- // network
- return new Promise((resolve, reject) => {
- vm.setAccels(aVals).then(() => {
- return vm.setRates(rVals)
- }).then(() => {
- resolve()
- }).catch((err) => { reject(err) })
- })
-}
-
-setRatesBtn.onClick(() => {
- setupMotion().then(() => {
- setRatesBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- setRatesBtn.bad("err", 500)
- })
-})
-
-// -------------------------------------------------------- MOTOR SETTINGS
-
-let setMotorsBtn = new Button(790, 360, 84, 14, 'motor setup')
-setMotorsBtn.onClick(() => {
- vm.initMotors().then(() => {
- setMotorsBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- setMotorsBtn.bad("err", 500)
- })
-})
-
-let disableMotorsBtn = new Button(790, 390, 84, 14, 'disable')
-disableMotorsBtn.onClick(() => {
- vm.disableMotors().then(() => {
- disableMotorsBtn('ok', 500)
- }).catch((err) => {
- console.error(err)
- disableMotorsBtn.bad("err", 500)
- })
-})
-
-let enableMotorsBtn = new Button(790, 420, 84, 14, 'enable')
-enableMotorsBtn.onClick(() => {
- vm.enableMotors().then(() => {
- enableMotorsBtn('ok', 500)
- }).catch((err) => {
- console.error(err)
- enableMotorsBtn.bad("err", 500)
- })
-})
-
-// -------------------------------------------------------- MACHINE INIT
-
-let initMachineBtn = new Button(470, 130, 84, 44, 'init vm')
-initMachineBtn.onClick(() => {
- setupMotion().then(() => {
- return vm.initMotors()
- }).then(() => {
- initMachineBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- initMachineBtn.bad("err", 500)
- })
-})
-
-// -------------------------------------------------------- TOOLCHANGER
-
-let tcBtn = new Button(430, 40, 94, 14, 'tc')
-tcBtn.onClick(() => {
- if ($(tcBtn.elem).text() == 'close tc') {
- vm.closeTC().then(() => {
- tcBtn.good('ok', 500)
- setTimeout(() => {
- $(tcBtn.elem).text('open tc')
- }, 500)
- }).catch((err) => {
- console.error(err)
- tcBtn.bad('err', 500)
- setTimeout(() => {
- $(tcBtn.elem).text('close tc')
- }, 500)
- })
- } else {
- vm.openTC().then(() => {
- tcBtn.good('ok', 500)
- setTimeout(() => {
- $(tcBtn.elem).text('close tc')
- }, 500)
- }).catch((err) => {
- console.error(err)
- tcBtn.bad('err', 500)
- setTimeout(() => {
- $(tcBtn.elem).text('open tc')
- }, 500)
- })
- }
-})
-$(tcBtn.elem).text('close tc')
-
-let dropBtn = new Button(430, 70, 94, 14, 'drop T0')
-dropBtn.onClick(() => {
- vm.dropTool(0).then(() => {
- dropBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- dropBtn.bad("err", 500)
- })
-})
-
-let pickupBtn = new Button(430, 100, 94, 14, 'pickup T0')
-pickupBtn.onClick(() => {
- vm.pickTool(0).then(() => {
- pickupBtn.good("ok", 500)
- }).catch((err) => {
- console.error(err)
- pickupBtn.bad("err", 500)
- })
-})
-
-// -------------------------------------------------------- ENDPOINT TEST
-
-let ep = osap.endpoint()
-ep.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 0), 512)
-
-let epTestBtn = new Button(240, 130, 104, 14, 'ep test')
-epTestBtn.onClick(() => {
- testRun(10).then((res) => {
- console.warn(res)
- epTestBtn.good(`avg ${res}`, 500)
- }).catch((err) => {
- console.log('err')
- })
- /*
- let datagram = Uint8Array.from([12, 24, 36])
- console.warn('begin')
- let start = performance.now()
- ep.write(datagram).then(() => {
- console.log(performance.now() - start)
- console.warn('end')
- epTestBtn.good("resolves")
- console.warn('RESOLVE EP WRITE')
- }).catch((err) => {
- epTestBtn.bad("rejects")
- console.error('EP REJECT')
- console.error(err)
- })
- */
-})
-
-let testRun = async (count) => {
- let datagram = Uint8Array.from([12, 24, 36])
- let start = performance.now()
- let avg = 0
- try {
- for (let i = 0; i < count; i++) {
- console.log(`test ${i}`)
- await ep.write(datagram)
- let now = performance.now()
- avg += now - start
- start = now
- }
- } catch (err) {
- throw new Error(err)
- }
- return avg / count
-}
-
-let posns = osap.query(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 0), 512)
-
-let qTestBtn = new Button(240, 160, 104, 14, 'query test')
-qTestBtn.onClick(() => {
- posns.pull().then((data) => {
- console.warn("query passed", data)
- qTestBtn.good('ok', 200)
- }).catch((err) => {
- console.warn("query fails")
- console.error(err)
- qTestBtn.bad('fail', 200)
- })
-})
-
-/*
-
-// connect awaitMotionEnd() to gcode parser
-
-let motionWaitIn = new Input()
-gCodePanel.awaitMotionEnd.attach(motionWaitIn)
-motionWaitIn.addListener(async () => {
- return new Promise((resolve, reject) => {
- vm.awaitMotionEnd().then(() => {
- resolve()
- }).catch((err) => {
- console.error(err)
- reject(err)
- })
- })
-})
-
-// pipe spindle 2 machine
-let spindleIn = new Input()
-gCodePanel.spindleOut.attach(spindleIn)
-spindleIn.addListener(async (rpm) => {
- return new Promise((resolve, reject) => {
- vm.setRPM(rpm).then(() => {
- setTimeout(resolve, 500)
- }).catch((err) => {
- console.error(err)
- reject(err)
- })
- })
-})
-
-let vm = new VirtualMachine(osap)
-
-// -------------------------------------------------------- HOME, JOG, ZERO
-
-// pardon the mess, these are redefined for the jog box...
-// could properly wrap all btn action up over there, sometime!
-
-let BTN_RED = 'rgb(242, 201, 201)'
-let BTN_GRN = 'rgb(201, 242, 201)'
-let BTN_YLW = 'rgb(240, 240, 180)'
-let BTN_GREY = 'rgb(242, 242, 242)'
-let BTN_HANGTIME = 1000
-let BTN_ERRTIME = 2000
-
-// go home
-let homeBtn = Button(240, 10, 54, 14, 'home')
-$(homeBtn).on('click', (evt) => {
- vm.home().then(() => {
- $(homeBtn).text('ok')
- setTimeout(() => {
- $(homeBtn).text('home')
- }, 500)
- }).catch((err) => {
- console.error(err)
- $(homeBtn).text('err!')
- setTimeout(() => {
- $(homeBtn).text('home')
- }, 500)
- })
- $(homeBtn).text('homing...')
-})
-
-// query queue length
-let qqlBtn = Button(310, 10, 54, 14, 'queue ?')
-$(qqlBtn).on('click', (evt) => {
- if (qqlBtn.clicked) return
- qqlBtn.clicked = true
- vm.queryQueueLength().then((len) => {
- $(qqlBtn).text(`${len}`).css('background-color', BTN_GRN)
- setTimeout(() => { $(qqlBtn).text(`queue ?`).css('background-color', BTN_GREY); qqlBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(qqlBtn).text('error').css('background-color', BTN_RED)
- setTimeout(() => { $(qqlBtn).text(`queue ?`).css('background-color', BTN_GREY); qqlBtn.clicked = false }, BTN_ERRTIME)
- })
- $(qqlBtn).text('...').css('background-color', BTN_YLW)
-})
-
-// query motion status
-let mqBtn = Button(380, 10, 54, 14, 'moving ?')
-$(mqBtn).on('click', (evt) => {
- if (mqBtn.clicked) return
- mqBtn.clicked = true
- vm.queryMotionStatus().then((state) => {
- $(mqBtn).text(`${state}`).css('background-color', BTN_GRN)
- setTimeout(() => { $(mqBtn).text(`moving ?`).css('background-color', BTN_GREY); mqBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(mqBtn).text('error').css('background-color', BTN_RED)
- setTimeout(() => { $(mqBtn).text(`moving ?`).css('background-color', BTN_GREY); mqBtn.clicked = false }, BTN_ERRTIME)
- })
- $(mqBtn).text('...').css('background-color', BTN_YLW)
-})
-
-// query position
-let pqBtn = Button(450, 10, 204, 14, 'pos ?')
-$(pqBtn).on('click', (evt) => {
- if (pqBtn.clicked) return
- pqBtn.clicked = true
- vm.queryPosition().then((pos) => {
- $(pqBtn).text(`${pos.X.toFixed(3)}, ${pos.Y.toFixed(3)}, ${pos.Z.toFixed(3)}`).css('background-color', BTN_GRN)
- setTimeout(() => { $(pqBtn).text(`pos ?`).css('background-color', BTN_GREY); pqBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(pqBtn).text('error').css('background-color', BTN_RED)
- setTimeout(() => { $(pqBtn).text(`pos ?`).css('background-color', BTN_GREY); pqBtn.clicked = false }, BTN_ERRTIME)
- })
- $(pqBtn).text('...').css('background-color', BTN_YLW)
-})
-
-let spInput = TextInput(450, 40, 210, 20, '0.000, 0.000, 0.000')
-let lpBtn = Button(240, 40, 84, 14, 'get pos')
-$(lpBtn).on('click', (ev) => {
- if(lpBtn.clicked) return
- lpBtn.clicked = true
- // git posn from machine
- let pos = vm.queryPosition().then((pos) => {
- // write it to input value, to modify...
- spInput.value = `${pos.X.toFixed(3)}, ${pos.Y.toFixed(3)}, ${pos.Z.toFixed(3)}`
- $(lpBtn).text(`ok ->`).css('background-color', BTN_GRN)
- setTimeout(() => { $(lpBtn).text(`get pos`).css('background-color', BTN_GREY); lpBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(lpBtn).text('error').css('background-color', BTN_RED)
- setTimeout(() => { $(lpBtn).text(`set pos`).css('background-color', BTN_GREY); lpBtn.clicked = false }, BTN_ERRTIME)
- })
- $(lpBtn).text('...').css('background-color', BTN_YLW)
-})
-
-let spBtn = Button(340, 40, 94, 14, 'set pos')
-$(spBtn).on('click', (evt) => {
- if (spBtn.clicked) return
- spBtn.clicked = true
- // get from input, arr
- let psns = spInput.value.split(',')
- let badParse = false
- for (let p in psns) {
- psns[p] = parseFloat(psns[p])
- if (Number.isNaN(psns[p])) {
- badParse = true
- }
- }
- if (psns.length != 3) badParse = true
- if (badParse) {
- $(spBtn).text('bad set-target parse')
- setTimeout(() => {
- $(spBtn).text(`set pos`).css('background-color', BTN_GREY)
- spBtn.clicked = false
- }, BTN_HANGTIME)
- return
- }
- vm.setPosition({ X: psns[0], Y: psns[1], Z: psns[2] }).then(() => {
- // this is ok, so
- return vm.queryPosition()
- }).then((pos) => {
- $(spBtn).text(`ok ->`).css('background-color', BTN_GRN)
- setTimeout(() => { $(spBtn).text(`set pos`).css('background-color', BTN_GREY); spBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(spBtn).text('error').css('background-color', BTN_RED)
- setTimeout(() => { $(spBtn).text(`set pos`).css('background-color', BTN_GREY); spBtn.clicked = false }, BTN_ERRTIME)
- })
- $(spBtn).text('...').css('background-color', BTN_YLW)
-})
-
-// remote set currents
-let scBtn = Button(240, 70, 194, 14, 'set currents')
-let scInput = TextInput(450, 70, 210, 20, '0.2, 0.2, 0.2')
-$(scBtn).on('click', (evt) => {
- if (scBtn.clicked) return
- scBtn.clicked = true
- // get from input, arr
- let currents = scInput.value.split(',')
- let badParse = false
- for (let p in currents) {
- currents[p] = parseFloat(currents[p])
- if (Number.isNaN(currents[p])) {
- badParse = true
- }
- }
- if (currents.length != 3) badParse = true
- if (badParse) {
- $(scBtn).text('bad set-target parse').css('background-color', BTN_RED)
- setTimeout(() => {
- $(scBtn).text(`set currents`).css('background-color', BTN_GREY)
- scBtn.clicked = false
- }, BTN_HANGTIME)
- return
- }
- vm.setCurrents({ X: currents[0], Y: currents[1], Z: currents[2] }).then(() => {
- $(scBtn).text(`ok`).css('background-color', BTN_GRN)
- setTimeout(() => { $(scBtn).text(`set currents`).css('background-color', BTN_GREY); scBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(scBtn).text('error').css('background-color', BTN_RED)
- setTimeout(() => { $(scBtn).text(`set currents`).css('background-color', BTN_GREY); scBtn.clicked = false }, BTN_ERRTIME)
- })
- $(scBtn).text('...').css('background-color', BTN_YLW)
-})
-
-// remote set tool
-let toolGripped = false
-let tgBtn = Button(240, 100, 194, 14, 'grip tool')
-$(tgBtn).on('click', (evt) => {
- if(tgBtn.clicked) return
- tgBtn.clicked = true
- $(tgBtn).text('...').css('background-color', BTN_YLW)
- if(toolGripped){
- vm.releaseTool().then(() => {
- toolGripped = false
- $(tgBtn).text('grip tool').css('background-color', BTN_GREY); tgBtn.clicked = false
- }).catch((err) => {
- console.error(err)
- $(tgBtn).text('error').css('background-color', BTN_RED)
- })
- } else {
- vm.gripTool().then(() => {
- toolGripped = true
- $(tgBtn).text('release tool').css('background-color', BTN_GREY); tgBtn.clicked = false
- }).catch((err) => {
- console.error(err)
- $(tgBtn).text('error').css('background-color', BTN_RED)
- })
- }
-})
-
-let calBtn = Button(450, 100, 94, 14, 'calibr8')
-$(calBtn).on('click', (evt) => {
- if(calBtn.clicked) return
- calBtn.clicked = true
- $(calBtn).text('...').css('background-color', BTN_YLW)
- vm.runCalibration().then(() => {
- $(calBtn).text('ok').css('background-color', BTN_GRN)
- setTimeout(() => { $(calBtn).text(`calibr8`).css('background-color', BTN_GREY); calBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(calBtn).text('err').css('background-color', BTN_RED)
- setTimeout(() => { $(calBtn).text(`calibr8`).css('background-color', BTN_GREY); calBtn.clicked = false }, BTN_ERRTIME)
- })
-})
-
-let unlockBtn = Button(560, 100, 94, 14, 'release')
-$(unlockBtn).on('click', (evt) => {
- if(unlockBtn.clicked) return
- unlockBtn.clicked = true
- $(unlockBtn).text('...').css('background-color', BTN_YLW)
- vm.unlockTool().then(() => {
- $(unlockBtn).text('ok').css('background-color', BTN_GRN)
- setTimeout(() => { $(unlockBtn).text('release').css('background-color', BTN_GREY); unlockBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(unlockBtn).text('error').css('background-color', BTN_RED)
- setTimeout(() => { $(unlockBtn).text('release').css('background-color', BTN_GREY); unlockBtn.clicked = false }, BTN_ERRTIME)
- })
-})
-
-let pickupBtn = Button(240, 130, 84, 14, 'pickup')
-$(pickupBtn).on('click', (evt) => {
- if(pickupBtn.clicked) return
- pickupBtn.clicked = true
- $(pickupBtn).text('...').css('background-color', BTN_YLW)
- vm.pickupTool(225, 2).then(() => {
- $(pickupBtn).text('ok').css('background-color', BTN_GRN)
- setTimeout(() => { $(pickupBtn).text('pickup').css('background-color', BTN_GREY); pickupBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(pickupBtn).text('error').css('background-color', BTN_RED)
- setTimeout(() => { $(pickupBtn).text('pickup').css('background-color', BTN_GREY); pickupBtn.clicked = false }, BTN_ERRTIME)
- })
-})
-
-let dropBtn = Button(340, 130, 94, 14, 'drop')
-$(dropBtn).on('click', (evt) => {
- if(dropBtn.clicked) return
- dropBtn.clicked = true
- $(dropBtn).text('...').css('background-color', BTN_YLW)
- vm.dropTool(225, 2).then(() => {
- $(dropBtn).text('ok').css('background-color', BTN_GRN)
- setTimeout(() => { $(dropBtn).text('drop').css('background-color', BTN_GREY); dropBtn.clicked = false }, BTN_HANGTIME)
- }).catch((err) => {
- console.error(err)
- $(dropBtn).text('error').css('background-color', BTN_RED)
- setTimeout(() => { $(dropBtn).text('drop').css('background-color', BTN_GREY); dropBtn.clicked = false }, BTN_ERRTIME)
- })
-})
-
-let jogBox = new JogBox(670, 10, vm)
-
-// render
-let pad = new Pad(240, 160, 610, 610)
-
-*/
-
-// -------------------------------------------------------- STARTUP LOCAL
-
-let wscVPort = osap.vPort()
-wscVPort.name = 'websocket client'
-wscVPort.maxSegLength = 1024
-
-let LOGPHY = false
-
-// to test these systems, the client (us) will kickstart a new process
-// on the server, and try to establish connection to it.
-console.log("making client-to-server request to start remote process,")
-console.log("and connecting to it w/ new websocket")
-// ok, let's ask to kick a process on the server,
-// in response, we'll get it's IP and Port,
-// then we can start a websocket client to connect there,
-// automated remote-proc. w/ vPort & wss medium,
-// for args, do '/processName.js?args=arg1,arg2'
-
-jQuery.get('/startLocal/osapl-usb-bridge.js', (res) => {
- if (res.includes('OSAP-wss-addr:')) {
- let addr = res.substring(res.indexOf(':') + 2)
- if (addr.includes('ws://')) {
- let status = EP.PORTSTATUS.OPENING
- wscVPort.status = () => { return status }
- console.log('starting socket to remote at', addr)
- let ws = new WebSocket(addr)
- // opens,
- ws.onopen = (evt) => {
- status = EP.PORTSTATUS.OPEN
- // implement rx
- ws.onmessage = (msg) => {
- msg.data.arrayBuffer().then((buffer) => {
- let uint = new Uint8Array(buffer)
- if (LOGPHY) console.log('PHY WSC Recv')
- if (LOGPHY) TS.logPacket(uint)
- wscVPort.receive(uint)
- }).catch((err) => {
- console.error(err)
- })
- }
- // implement tx
- wscVPort.send = (buffer) => {
- if (LOGPHY) console.log('PHY WSC Send', buffer)
- ws.send(buffer)
- }
- }
- ws.onerror = (err) => {
- status = EP.PORTSTATUS.CLOSED
- console.log('sckt err', err)
- }
- ws.onclose = (evt) => {
- status = EP.PORTSTATUS.CLOSED
- console.log('sckt closed', evt)
- }
- }
- } else {
- console.error('remote OSAP not established', res)
- }
-})
-
diff --git a/controller/client/clankVirtualMachine.js b/controller/client/clankVirtualMachine.js
deleted file mode 100644
index 45c0328a9aec792bfc670f883b6643836d05ac58..0000000000000000000000000000000000000000
--- a/controller/client/clankVirtualMachine.js
+++ /dev/null
@@ -1,430 +0,0 @@
-/*
-clankVirtualMachine.js
-
-vm for Clank-CZ
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2021
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the open systems assembly protocol (OSAP) project.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-import { TS, PK, DK, AK, EP } from '../osapjs/core/ts.js'
-import TempVM from './tempVirtualMachine.js'
-import MotorVM from './motorVirtualMachine.js'
-
-/* bus ID (osap maps +1)
-X: 0
-YL: 1
-YR: 2, term
-Z: 3
-TCS: 4
-E: 5
-HE: 6
-LC: 7
-BED: 8
-*/
-
-export default function ClankVM(osap, route) {
-
- // ------------------------------------------------------ MOTION
- // ok: we make an 'endpoint' that will transmit moves,
- let moveEP = osap.endpoint()
- // add the machine head's route to it,
- moveEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 1), 512)
- // and set a long timeout,
- moveEP.setTimeoutLength(60000)
- // move like: { position: {X: num, Y: num, Z: num}, rate: num }
- this.addMoveToQueue = (move) => {
- // write the gram,
- let wptr = 0
- let datagram = new Uint8Array(20)
- // write rate
- wptr += TS.write('float32', move.rate, datagram, wptr, true)
- // write posns
- wptr += TS.write('float32', move.position.X, datagram, wptr, true)
- wptr += TS.write('float32', move.position.Y, datagram, wptr, true)
- wptr += TS.write('float32', move.position.Z, datagram, wptr, true)
- if (move.position.E) {
- //console.log(move.position.E)
- wptr += TS.write('float32', move.position.E, datagram, wptr, true)
- } else {
- wptr += TS.write('float32', 0, datagram, wptr, true)
- }
- // do the networking,
- return new Promise((resolve, reject) => {
- moveEP.write(datagram).then(() => {
- resolve()
- }).catch((err) => {
- reject(err)
- })
- })
- }
-
- // to set the current position,
- let setPosEP = osap.endpoint()
- setPosEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 2), 512)
- setPosEP.setTimeoutLength(10000)
- this.setPos = (pos) => {
- let wptr = 0
- let datagram = new Uint8Array(16)
- wptr += TS.write('float32', pos.X, datagram, wptr, true)
- wptr += TS.write('float32', pos.Y, datagram, wptr, true)
- wptr += TS.write('float32', pos.Z, datagram, wptr, true)
- if (pos.E) {
- wptr += TS.write('float32', pos.E, datagram, wptr, true)
- } else {
- wptr += TS.write('float32', 0, datagram, wptr, true)
- }
- // ship it
- return new Promise((resolve, reject) => {
- setPosEP.write(datagram).then(() => {
- resolve()
- }).catch((err) => { reject(err) })
- })
- }
-
- // an a 'query' to check current position
- let posQuery = osap.query(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 2), 512)
- this.getPos = () => {
- return new Promise((resolve, reject) => {
- posQuery.pull().then((data) => {
- let pos = {
- X: TS.read('float32', data, 0, true),
- Y: TS.read('float32', data, 4, true),
- Z: TS.read('float32', data, 8, true),
- E: TS.read('float32', data, 12, true)
- }
- resolve(pos)
- }).catch((err) => { reject(err) })
- })
- }
-
- // another query to see if it's currently moving,
- // update that endpoint so we can 'write halt' / 'write go' with a set
- let motionQuery = osap.query(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 3), 512)
- this.awaitMotionEnd = () => {
- return new Promise((resolve, reject) => {
- let check = () => {
- motionQuery.pull().then((data) => {
- if (data[0] > 0) {
- setTimeout(check, 50)
- } else {
- resolve()
- }
- }).catch((err) => {
- reject(err)
- })
- }
- setTimeout(check, 50)
- })
- }
-
- // an endpoint to write 'wait time' on the remote,
- let waitTimeEP = osap.endpoint()
- waitTimeEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 4), 512)
- this.setWaitTime = (ms) => {
- return new Promise((resolve, reject) => {
- let datagram = new Uint8Array(4)
- TS.write('uint32', ms, datagram, 0, true)
- waitTimeEP.write(datagram).then(() => {
- resolve()
- }).catch((err) => { reject(err) })
- })
- }
-
- // endpoint to set per-axis accelerations,
- let accelEP = osap.endpoint()
- accelEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 5), 512)
- this.setAccels = (accels) => { // float array, len 4 XYZE
- let wptr = 0
- let datagram = new Uint8Array(16)
- wptr += TS.write('float32', accels.X, datagram, wptr, true)
- wptr += TS.write('float32', accels.Y, datagram, wptr, true)
- wptr += TS.write('float32', accels.Z, datagram, wptr, true)
- if (accels.E) {
- wptr += TS.write('float32', accels.E, datagram, wptr, true)
- } else {
- wptr += TS.write('float32', 0, datagram, wptr, true)
- }
- return new Promise((resolve, reject) => {
- accelEP.write(datagram).then(() => {
- resolve()
- }).catch((err) => { reject(err) })
- })
- }
-
- let rateEP = osap.endpoint()
- rateEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 6), 512)
- this.setRates = (rates) => {
- // in firmware we think of mm/sec,
- // in gcode and up here we think in mm/minute
- // so conversion happens here
- let wptr = 0
- let datagram = new Uint8Array(16)
- wptr += TS.write('float32', rates.X / 60, datagram, wptr, true)
- wptr += TS.write('float32', rates.Y / 60, datagram, wptr, true)
- wptr += TS.write('float32', rates.Z / 60, datagram, wptr, true)
- if (rates.E) {
- wptr += TS.write('float32', rates.E / 60, datagram, wptr, true)
- } else {
- wptr += TS.write('float32', 100, datagram, wptr, true)
- }
- return new Promise((resolve, reject) => {
- rateEP.write(datagram).then(() => {
- resolve()
- }).catch((err) => { reject(err) })
- })
- }
-
- // ------------------------------------------------------ MOTORS
-
- // clank cz:
- // AXIS SPU INVERT
- // X: 320 false
- // YL: 320 true
- // YR: 320 false
- // Z: 924.4r false
- // E: 550 true
- // per bondtech, for BMG on 16 microsteps, do 415: we are 32 microsteps
- // https://www.bondtech.se/en/customer-service/faq/
- // however, this is measured & calibrated: 830 was extruding 75mm for a 50mm request
- /* bus ID (osap maps +1)
- X: 0
- YL: 1
- YR: 2, term
- Z: 3
- TCS: 4
- E: 5
- HE: 6
- LC: 7
- BED: 8
- */
-
- this.motors = {
- X: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 1).end()),
- YL: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 2).end()),
- YR: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 3).end()),
- Z: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 4).end()),
- E: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 6).end()),
- }
-
- let motorCurrents = [0.5, 0.5, 0.5, 0.5, 0.5]
- this.setMotorCurrents = async () => {
- try {
- await this.motors.X.setCScale(motorCurrents[0])
- await this.motors.YL.setCScale(motorCurrents[1])
- await this.motors.YR.setCScale(motorCurrents[2])
- await this.motors.Z.setCScale(motorCurrents[3])
- //await this.motors.E.setCScale(motorCurrents[4])
- } catch (err) {
- console.error('bad motor current set')
- throw err
- }
- }
-
- // alias...
- this.enableMotors = this.setMotorCurrents
-
- this.disableMotors = async () => {
- try {
- await this.motors.X.setCScale(0)
- await this.motors.YL.setCScale(0)
- await this.motors.YR.setCScale(0)
- await this.motors.Z.setCScale(0)
- await this.motors.E.setCScale(0)
- } catch (err) {
- console.error('bad motor disable set')
- throw err
- }
- }
-
- this.initMotors = async () => {
- // so, really, for these & the disable / enable / set current
- // could do them all parallel: like this halts if i.e. YL fails,
- // where it might just be that motor with an error... that'd be catching / continuing, accumulating
- // errors, and reporting them in a group
- try {
- await this.motors.X.setAxisPick(0)
- await this.motors.X.setAxisInversion(false)
- await this.motors.X.setSPU(320)
- } catch (err) {
- console.error('bad x motor init')
- throw err
- }
- try {
- await this.motors.YL.setAxisPick(1)
- await this.motors.YL.setAxisInversion(true)
- await this.motors.YL.setSPU(320)
- } catch (err) {
- console.error('bad yl motor init')
- throw err
- }
- try {
- await this.motors.YR.setAxisPick(1)
- await this.motors.YR.setAxisInversion(false)
- await this.motors.YR.setSPU(320)
- } catch (err) {
- console.error('bad yr motor init')
- throw err
- }
- try {
- await this.motors.Z.setAxisPick(2)
- await this.motors.Z.setAxisInversion(false)
- await this.motors.Z.setSPU(924.444444)
- } catch (err) {
- console.error('bad z motor init')
- throw err
- }
- /*
- try {
- await this.motors.E.setAxisPick(3)
- await this.motors.E.setAxisInversion(true)
- await this.motors.E.setSPU(550)
- } catch (err) {
- console.error('bad e motor init')
- throw err
- }
- */
- await this.setMotorCurrents()
- }
-
- // ------------------------------------------------------ TOOLCHANGER
-
- let tcServoEP = osap.endpoint()
- tcServoEP.addRoute(TS.route().portf(0).portf(1).busf(1, 5).end(), TS.endpoint(0, 0), 512)
-
- this.setTCServo = (micros) => {
- let wptr = 0
- let datagram = new Uint8Array(4)
- // write micros
- wptr += TS.write('uint32', micros, datagram, wptr, true)
- // do the shipment
- return new Promise((resolve, reject) => {
- tcServoEP.write(datagram).then(() => {
- console.warn('tc set', micros)
- resolve()
- }).catch((err) => {
- reject(err)
- })
- })
- }
-
- this.openTC = () => {
- return this.setTCServo(2000)
- }
-
- this.closeTC = () => {
- return this.setTCServo(875)
- }
-
- // ------------------------------------------------------ TOOL CHANGING
-
- // tool localization for put-down & pickup, tool statefulness,
- // from back left 0,0
- // put-down HE at (23.8, -177) -> (23.8, -222.6) -> release -> (-17.8, -208.6) clear -> (-17.8, -183)
- // { position: {X: num, Y: num, Z: num}, rate: num }
-
- let delay = (ms) => {
- return new Promise((resolve, reject) => {
- setTimeout(() => { resolve() }, ms)
- })
- }
-
- this.delta = async (move, rate) => {
- try {
- if (!rate) rate = 6000
- await this.setWaitTime(1)
- await delay(5)
- await this.awaitMotionEnd()
- let cp = await this.getPos()
- console.log('current', cp)
- await this.addMoveToQueue({
- position: { X: cp.X + move[0], Y: cp.Y + move[1], Z: cp.Z + move[2] },
- rate: rate
- })
- await delay(5)
- await this.awaitMotionEnd()
- await this.setWaitTime(100)
- } catch (err) {
- console.error('arising during delta')
- throw err
- }
- }
-
- this.goto = async (pos, rate) => {
- try {
- if (!rate) rate = 6000
- // set remote queue-wait-time
- await this.setWaitTime(1)
- await delay(5)
- // wait for the stop
- await this.awaitMotionEnd()
- await this.addMoveToQueue({
- position: { X: pos[0], Y: pos[1], Z: pos[2], E: 0 },
- rate: rate
- })
- await delay(5)
- await this.awaitMotionEnd()
- await this.setWaitTime(100)
- } catch (err) {
- console.error('during goto')
- throw err
- }
- }
-
- let tools = [{
- pickX: 16.8,
- pickY: -177,
- plunge: -45.6
- }]
-
- this.dropTool = async (num) => {
- try {
- await this.awaitMotionEnd()
- await this.closeTC()
- let cp = await this.getPos()
- await this.goto([tools[num].pickX, tools[num].pickY, cp.Z])
- console.warn('done setup')
- await this.delta([0, tools[num].plunge, 0])
- await this.openTC()
- await delay(250)
- console.warn('tc open')
- await this.delta([-6, 10, 0])
- await this.delta([0, 50, 0])
- await this.goto([tools[num].pickX, tools[num].pickY, cp.Z])
- } catch (err) {
- console.error(`at T${num} drop`)
- throw err
- }
- }
-
- this.pickTool = async (num) => {
- try {
- await this.awaitMotionEnd()
- await this.openTC()
- let cp = await this.getPos()
- await this.goto([tools[num].pickX, tools[num].pickY, cp.Z])
- await this.delta([-6, 0, 0])
- await this.delta([0, tools[num].plunge + 10, 0])
- await this.delta([6, -10, 0])
- await this.closeTC()
- await delay(250)
- await this.delta([0, -tools[num].plunge, 0])
- await delay(250)
- } catch (err) {
- console.error(`at T${num} pick`)
- throw err
- }
- }
-
- // ------------------------------------------------------ HEATER JUNK
-
- this.tvm = []
- this.tvm[0] = new TempVM(osap, TS.route().portf(0).portf(1).busf(1, 7).end())
- this.tvm[1] = new TempVM(osap, TS.route().portf(0).portf(1).busf(1, 9).end())
-
-}
\ No newline at end of file
diff --git a/controller/client/index.html b/controller/client/index.html
index f5d7dac9a06c731aa84993f5722128c1b96c97fc..b910ebae6af665a3d3fc99dbd4fbbf08becc4cca 100644
--- a/controller/client/index.html
+++ b/controller/client/index.html
@@ -2,7 +2,7 @@
<html>
<head>
- <title>clank-tool</title>
+ <title>cl-step-tuner</title>
<!-- these three disable caching -->
<meta http-equiv="Cache-Control" content="no-cache, no-store, must-revalidate" />
<meta http-equiv="Pragma" content="no-cache" />
@@ -14,7 +14,7 @@
<script src="../osapjs/client/libs/jquery.min.js"></script>
<script src="../osapjs/client/libs/math.js" type="text/javascript"></script>
<script src="../osapjs/client/libs/d3.js"></script>
- <script type="module" src="clankClient.js"></script>
+ <script type="module" src="clStepClient.js"></script>
<div id="wrapper">
<!-- bootloop puts first view inside of this div -->
diff --git a/controller/osapjs b/controller/osapjs
index de18301b0a0839f929c326058d459aedc21f7be0..81cdb84bf268612a79185f7a0eb71013ad8938d1 160000
--- a/controller/osapjs
+++ b/controller/osapjs
@@ -1 +1 @@
-Subproject commit de18301b0a0839f929c326058d459aedc21f7be0
+Subproject commit 81cdb84bf268612a79185f7a0eb71013ad8938d1
diff --git a/firmware/cl-step-controller/src/config.h b/firmware/cl-step-controller/src/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..6682b6da865746d8129722aa3889ba286828be40
--- /dev/null
+++ b/firmware/cl-step-controller/src/config.h
@@ -0,0 +1,7 @@
+#ifndef CONFIG_H_
+#define CONFIG_H_
+
+//#define UCBUS_IS_HEAD
+//#define UCBUS_IS_DROP
+
+#endif
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/drivers/dacs.h b/firmware/cl-step-controller/src/drivers/dacs.h
index 6d095390582c08027f0bd3777136fed0e05edbf4..15cc2eadbca5c5e918b69bc7679669d7fc71d7ed 100644
--- a/firmware/cl-step-controller/src/drivers/dacs.h
+++ b/firmware/cl-step-controller/src/drivers/dacs.h
@@ -18,7 +18,7 @@ is; no warranty is provided, and users accept all liability.
#include <arduino.h>
#include "indicators.h"
-#include "utils/syserror.h"
+#include "../osape/utils/syserror.h"
// scrape https://github.com/adafruit/ArduinoCore-samd/blob/master/cores/arduino/wiring_analog.c
// scrape https://github.com/adafruit/ArduinoCore-samd/blob/master/cores/arduino/startup.c (clock)
diff --git a/firmware/cl-step-controller/src/drivers/dip_ucbus_config.cpp b/firmware/cl-step-controller/src/drivers/dip_ucbus_config.cpp
deleted file mode 100644
index e0316b389b72c91a640a75883c4f426b9e5c07cf..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/drivers/dip_ucbus_config.cpp
+++ /dev/null
@@ -1,55 +0,0 @@
-// DIPs
-
-#include "dip_ucbus_config.h"
-
-void dip_init(void){
- // set direction in,
- DIP_PORT.DIRCLR.reg = D_BM(D0_PIN) | D_BM(D1_PIN) | D_BM(D2_PIN) | D_BM(D3_PIN) | D_BM(D4_PIN) | D_BM(D5_PIN) | D_BM(D6_PIN) | D_BM(D7_PIN);
- // enable in,
- DIP_PORT.PINCFG[D0_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D1_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D2_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D3_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D4_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D5_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D6_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D7_PIN].bit.INEN = 1;
- // enable pull,
- DIP_PORT.PINCFG[D0_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D1_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D2_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D3_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D4_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D5_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D6_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D7_PIN].bit.PULLEN = 1;
- // 'pull' references the value set in the 'out' register, so to pulldown:
- DIP_PORT.OUTCLR.reg = D_BM(D0_PIN) | D_BM(D1_PIN) | D_BM(D2_PIN) | D_BM(D3_PIN) | D_BM(D4_PIN) | D_BM(D5_PIN) | D_BM(D6_PIN) | D_BM(D7_PIN);
-}
-
-uint8_t dip_read_lower_five(void){
- uint32_t bits[5] = {0,0,0,0,0};
- if(DIP_PORT.IN.reg & D_BM(D7_PIN)) { bits[0] = 1; }
- if(DIP_PORT.IN.reg & D_BM(D6_PIN)) { bits[1] = 1; }
- if(DIP_PORT.IN.reg & D_BM(D5_PIN)) { bits[2] = 1; }
- if(DIP_PORT.IN.reg & D_BM(D4_PIN)) { bits[3] = 1; }
- if(DIP_PORT.IN.reg & D_BM(D3_PIN)) { bits[4] = 1; }
- /*
- bits[0] = (DIP_PORT.IN.reg & D_BM(D7_PIN)) >> D7_PIN;
- bits[1] = (DIP_PORT.IN.reg & D_BM(D6_PIN)) >> D6_PIN;
- bits[2] = (DIP_PORT.IN.reg & D_BM(D5_PIN)) >> D5_PIN;
- bits[3] = (DIP_PORT.IN.reg & D_BM(D4_PIN)) >> D4_PIN;
- bits[4] = (DIP_PORT.IN.reg & D_BM(D3_PIN)) >> D3_PIN;
- */
- uint32_t word = 0;
- word = word | (bits[4] << 4) | (bits[3] << 3) | (bits[2] << 2) | (bits[1] << 1) | (bits[0] << 0);
- return (uint8_t)word;
-}
-
-boolean dip_read_pin_0(void){
- return DIP_PORT.IN.reg & D_BM(D0_PIN);
-}
-
-boolean dip_read_pin_1(void){
- return DIP_PORT.IN.reg & D_BM(D1_PIN);
-}
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/drivers/dip_ucbus_config.h b/firmware/cl-step-controller/src/drivers/dip_ucbus_config.h
deleted file mode 100644
index 44eaa00d1fb1fd0f30118308ba436cd136cc344a..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/drivers/dip_ucbus_config.h
+++ /dev/null
@@ -1,24 +0,0 @@
-// DIP switch HAL macros
-// pardon the mis-labeling: on board, and in the schem, these are 1-8,
-// here they will be 0-7
-
-// note: these are 'on' hi by default, from the factory.
-// to set low, need to turn the internal pulldown on
-
-#include <Arduino.h>
-
-#define D0_PIN 5
-#define D1_PIN 4
-#define D2_PIN 3
-#define D3_PIN 2
-#define D4_PIN 1
-#define D5_PIN 0
-#define D6_PIN 31
-#define D7_PIN 30
-#define DIP_PORT PORT->Group[1]
-#define D_BM(val) ((uint32_t)(1 << val))
-
-void dip_init(void);
-uint8_t dip_read_lower_five(void);
-boolean dip_read_pin_0(void); // bus-head (hi) or bus-drop (lo)
-boolean dip_read_pin_1(void); // if bus-drop, te-enable (hi) or no (lo)
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/drivers/enc_as5047.cpp b/firmware/cl-step-controller/src/drivers/enc_as5047.cpp
index 790277ee0ffec54a471195cc21789937619a73f5..3101dbd6381133fff7f36541f831bba360ee3d00 100644
--- a/firmware/cl-step-controller/src/drivers/enc_as5047.cpp
+++ b/firmware/cl-step-controller/src/drivers/enc_as5047.cpp
@@ -13,7 +13,7 @@ is; no warranty is provided, and users accept all liability.
*/
#include "enc_as5047.h"
-#include "../utils/clocks_d51_module.h"
+#include "../osape/utils/clocks_d51.h"
ENC_AS5047* ENC_AS5047::instance = 0;
@@ -75,8 +75,8 @@ void ENC_AS5047::init(void){
// AS5047 datasheet says CPOL = 1, CPHA = 0, msb first, and parity checks
// bit: func
// 15: parity, 14: 0/read, 1/write, 13:0 address to read or write
- ENC_SER_SPI.CTRLA.reg = SERCOM_SPI_CTRLA_CPOL | // CPOL = 1
- //SERCOM_SPI_CTRLA_CPHA | // ?
+ ENC_SER_SPI.CTRLA.reg = //SERCOM_SPI_CTRLA_CPOL | // CPOL = 1
+ SERCOM_SPI_CTRLA_CPHA | // ?
SERCOM_SPI_CTRLA_DIPO(3) | // pad 3 is data input
SERCOM_SPI_CTRLA_DOPO(0) | // pad 0 is data output, 1 is clk
SERCOM_SPI_CTRLA_MODE(3); // mode 3: head operation
@@ -168,27 +168,26 @@ uint16_t ENC_AS5047::get_reading(void){
}
uint16_t ENC_AS5047::read_field_mag(void){
+ start_spi_interaction(AS5047_SPI_READ_MAG);
+ while(!readComplete);
start_spi_interaction(AS5047_SPI_READ_MAG);
while(!readComplete);
return result;
}
-String ENC_AS5047::read_enc_diagnostics(void){
+as5047_diag_t ENC_AS5047::read_enc_diagnostics(void){
+ start_spi_interaction(AS5047_SPI_READ_DIAG);
+ while(!readComplete);
start_spi_interaction(AS5047_SPI_READ_DIAG);
while(!readComplete);
uint16_t res = result;
- boolean magHi = false;
- boolean magLo = false;
- boolean cordicOvf = false;
- boolean compComplete = false;
- if(res & (1 << 11)) magHi = true; // maghi
- if(res & (1 << 10)) magLo = true; // maglo
- if(res & (1 << 9)) cordicOvf = true; // cordic overflow
- if(res & (1 << 8)) compComplete = true; // offset compensation completed
- uint16_t agc = res & 0b0000000001111111;
- return "magHi: " + String(magHi)
- + "\nmagLo: " + String(magLo)
- + "\ncordicOverflow: " + String(cordicOvf)
- + "\ncompensationComplete: " + String(compComplete)
- + "\nautomaticGainCorrection: " + String(agc);
+ // seeing some strange results here, bewarned
+ //sysError(String(res, BIN));
+ as5047_diag_t result;
+ (res & (1 << 11)) ? result.magLo = true : result.magLo = false;
+ (res & (1 << 10)) ? result.magHi = true : result.magHi = false;
+ (res & (1 << 9)) ? result.cordicOverflow = true : result.cordicOverflow = false;
+ (res & (1 << 8)) ? result.compensationComplete = true : result.compensationComplete = false;
+ result.angularGainCorrection = res & 0b0000000011111111;
+ return result;
}
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/drivers/enc_as5047.h b/firmware/cl-step-controller/src/drivers/enc_as5047.h
index 49c9aad2b2bb3fa9584295fc5ce9604cda0fe6ff..b516e4c29f5289f6900d9e40fa32f457dbdacb9b 100644
--- a/firmware/cl-step-controller/src/drivers/enc_as5047.h
+++ b/firmware/cl-step-controller/src/drivers/enc_as5047.h
@@ -18,7 +18,7 @@ is; no warranty is provided, and users accept all liability.
#include <Arduino.h>
#include "indicators.h"
-#include "utils/syserror.h"
+#include "../osape/utils/syserror.h"
#define ENC_CS_PIN 14 // PB14, SER4-2
#define ENC_CS_BM (uint32_t)(1 << ENC_CS_PIN)
@@ -48,6 +48,14 @@ is; no warranty is provided, and users accept all liability.
#define AS5047_SPI_READ_MAG (0b1100000000000000 | 0x3FFD)
#define AS5047_SPI_READ_DIAG (0b1100000000000000 | 0x3FFC)
+typedef struct {
+ boolean magHi;
+ boolean magLo;
+ boolean cordicOverflow;
+ boolean compensationComplete;
+ uint8_t angularGainCorrection;
+} as5047_diag_t;
+
class ENC_AS5047 {
private:
// is singleton
@@ -76,7 +84,7 @@ class ENC_AS5047 {
void on_read_complete(uint16_t pos);
// *blocking*
uint16_t read_field_mag(void);
- String read_enc_diagnostics(void);
+ as5047_diag_t read_enc_diagnostics(void);
};
extern ENC_AS5047* enc_as5047;
diff --git a/firmware/cl-step-controller/src/drivers/peripheral_nums.h b/firmware/cl-step-controller/src/drivers/peripheral_nums.h
deleted file mode 100644
index eed9f188afacfb0da271d43603f833f61ec61191..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/drivers/peripheral_nums.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#ifndef PERIPHERAL_NUMS_H_
-#define PERIPHERAL_NUMS_H_
-
-#define PERIPHERAL_A 0
-#define PERIPHERAL_B 1
-#define PERIPHERAL_C 2
-#define PERIPHERAL_D 3
-#define PERIPHERAL_E 4
-#define PERIPHERAL_F 5
-#define PERIPHERAL_G 6
-#define PERIPHERAL_H 7
-#define PERIPHERAL_I 8
-#define PERIPHERAL_K 9
-#define PERIPHERAL_L 10
-#define PERIPHERAL_M 11
-#define PERIPHERAL_N 12
-
-#endif
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/drivers/step_a4950.h b/firmware/cl-step-controller/src/drivers/step_a4950.h
index 0cc143a80865c7ea194edb21c118b7e7912c279f..6b71164959117ccfe9703a53fba96b01fa27eedb 100644
--- a/firmware/cl-step-controller/src/drivers/step_a4950.h
+++ b/firmware/cl-step-controller/src/drivers/step_a4950.h
@@ -19,7 +19,7 @@ is; no warranty is provided, and users accept all liability.
#include "dacs.h"
#include "indicators.h"
-#include "utils/syserror.h"
+#include "../osape/utils/syserror.h"
// C_SCALE
// 1: DACs go 0->512 (of 4096, peak current is 1.6A at 4096): 0.2A
diff --git a/firmware/cl-step-controller/src/drivers/step_cl.cpp b/firmware/cl-step-controller/src/drivers/step_cl.cpp
index 3af6ca356eabe32cbbaaee998fbc6c478d2cd4db..c83fb97825a32c3428398a6f2d2a880d8bba13f1 100644
--- a/firmware/cl-step-controller/src/drivers/step_cl.cpp
+++ b/firmware/cl-step-controller/src/drivers/step_cl.cpp
@@ -125,36 +125,47 @@ void Step_CL::run_torque_loop(void){
#define TICKS_PER_SEC 50000.0F
#define SECS_PER_TICK 1.0F / TICKS_PER_SEC
-volatile float a_measurement = 0.0F;
+volatile uint16_t enc_reading = 0;
+volatile float a_reading = 0.0F;
volatile float last_measurement = 0.0F;
volatile float a_est = 0.0F;
volatile float a_last_est = 0.0F;
-volatile float a_alpha = 0.9F; // trust in measurement
+volatile float a_alpha = 0.01F; // trust in measurement
volatile float _pa; // phase angle
-float Step_CL::get_last_pos_est(void){
- return a_est;
+uint16_t Step_CL::get_last_enc_reading(void){
+ return enc_reading;
+}
+
+float Step_CL::get_last_pos_reading(void){
+ return a_reading;
}
-float Step_CL::get_last_reading(void){
- return a_measurement;
+float Step_CL::get_last_pos_est(void){
+ return a_est;
}
void ENC_AS5047::on_read_complete(uint16_t result){
if(step_cl->is_calibrating) return;
- last_measurement = a_measurement;
- a_measurement = lut[result * 2];
- // wtf ??
- // a_est = (a_measurement * a_alpha) + (a_last_est * (1 - a_alpha));
- // a_last_est = a_est;
+ // stash this,
+ enc_reading = result;
+ // stash old measurement, pull new from LUT
+ last_measurement = a_reading;
+ a_reading = lut[result * 2];
+ // make estimate
+ a_est = (a_reading * a_alpha) + (a_last_est * (1 - a_alpha));
+ a_last_est = a_est;
+ // derivative,
+
// or like
// I am completely confused by the noise that this generates ? seems like it's taking a difference?
// should just be averaging?
// something about getting the variables out, under interrupt?
- a_est = 0.5 * a_measurement + 0.5 * last_measurement;
+ //a_est = a_reading; // 0.5 * a_measurement + 0.5 * last_measurement;
//output = alpha * (input - output) + output
+ // this commutation phase is independent from the above, more or less
_pa = lut[result * 2 + 1]; // the phase angle (0 - 1 in a sweep of 4 steps)
// this is the phase angle we want to apply, 90 degs off & wrap't to 1
if(step_cl->get_torque() < 0){
diff --git a/firmware/cl-step-controller/src/drivers/step_cl.h b/firmware/cl-step-controller/src/drivers/step_cl.h
index fa26bf1baed57ac7d0a448ac4f142a8eaac71c5d..73a17108dc746c06d8f003740aa56121971cc6e8 100644
--- a/firmware/cl-step-controller/src/drivers/step_cl.h
+++ b/firmware/cl-step-controller/src/drivers/step_cl.h
@@ -33,8 +33,10 @@ class Step_CL {
void print_table(void);
void set_torque(float tc);
float get_torque(void);
+ // read stat
+ uint16_t get_last_enc_reading(void);
+ float get_last_pos_reading(void);
float get_last_pos_est(void);
- float get_last_reading(void);
void run_torque_loop(void);
boolean calibrate(void);
boolean is_calibrating;
diff --git a/firmware/cl-step-controller/src/drivers/ucbus_drop.cpp b/firmware/cl-step-controller/src/drivers/ucbus_drop.cpp
deleted file mode 100644
index 3053d2ac214c9298d70525ca37334b62b6809970..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/drivers/ucbus_drop.cpp
+++ /dev/null
@@ -1,285 +0,0 @@
-/*
-osap/drivers/ucbus_head.cpp
-
-beginnings of a uart-based clock / bus combo protocol
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo
-projects. Copyright is retained and must be preserved. The work is provided as
-is; no warranty is provided, and users accept all liability.
-*/
-
-#include "ucbus_drop.h"
-
-UCBus_Drop* UCBus_Drop::instance = 0;
-
-UCBus_Drop* UCBus_Drop::getInstance(void){
- if(instance == 0){
- instance = new UCBus_Drop();
- }
- return instance;
-}
-
-// making this instance globally available, when built,
-// recall extern declaration in .h
-UCBus_Drop* ucBusDrop = UCBus_Drop::getInstance();
-
-UCBus_Drop::UCBus_Drop(void) {}
-
-// so, first thing, I've some confusion about what might be the best way (again) to implement
-// multiple similar drivers. I did this before w/ the cobserialport, I might again want to
-// do it, but by writing more static hardware drivers that another parent class (the bus) forwards to
-// so the init codes / etc could all be verbatim with hardware registers, instead of this infinite list of defines
-
-// yeah, this kind of stuff is morning work: focus, tracking little details. go to bed.
-
-void UCBus_Drop::init(boolean useDipPick, uint8_t ID) {
- dip_init();
- if(useDipPick){
- // set our id,
- id = dip_read_lower_five();
- } else {
- id = ID;
- }
- if(id > 14){
- id = 14;
- }
- // set driver output LO to start: tri-state
- UBD_DE_PORT.DIRSET.reg = UBD_DE_BM;
- UBD_DRIVER_DISABLE;
- // set receiver output on, forever: LO to set on
- UBD_RE_PORT.DIRSET.reg = UBD_RE_BM;
- UBD_RE_PORT.OUTCLR.reg = UBD_RE_BM;
- // termination resistor should be set only on one drop,
- // or none and physically with a 'tail' cable, or something?
- UBD_TE_PORT.DIRSET.reg = UBD_TE_BM;
- if(dip_read_pin_1()){
- UBD_TE_PORT.OUTCLR.reg = UBD_TE_BM;
- } else {
- UBD_TE_PORT.OUTSET.reg = UBD_TE_BM;
- }
- // rx pin setup
- UBD_COMPORT.DIRCLR.reg = UBD_RXBM;
- UBD_COMPORT.PINCFG[UBD_RXPIN].bit.PMUXEN = 1;
- if(UBD_RXPIN % 2){
- UBD_COMPORT.PMUX[UBD_RXPIN >> 1].reg |= PORT_PMUX_PMUXO(UBD_RXPERIPHERAL);
- } else {
- UBD_COMPORT.PMUX[UBD_RXPIN >> 1].reg |= PORT_PMUX_PMUXE(UBD_RXPERIPHERAL);
- }
- // tx
- UBD_COMPORT.DIRCLR.reg = UBD_TXBM;
- UBD_COMPORT.PINCFG[UBD_TXPIN].bit.PMUXEN = 1;
- if(UBD_TXPIN % 2){
- UBD_COMPORT.PMUX[UBD_TXPIN >> 1].reg |= PORT_PMUX_PMUXO(UBD_TXPERIPHERAL);
- } else {
- UBD_COMPORT.PMUX[UBD_TXPIN >> 1].reg |= PORT_PMUX_PMUXE(UBD_TXPERIPHERAL);
- }
- // ok, clocks, first line au manuel
- // unmask clocks
- MCLK->APBAMASK.bit.SERCOM1_ = 1;
- GCLK->GENCTRL[UBD_GCLKNUM_PICK].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
- while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(UBD_GCLKNUM_PICK));
- GCLK->PCHCTRL[UBD_SERCOM_CLK].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(UBD_GCLKNUM_PICK);
- // then, sercom
- while(UBD_SER_USART.SYNCBUSY.bit.ENABLE);
- UBD_SER_USART.CTRLA.bit.ENABLE = 0;
- while(UBD_SER_USART.SYNCBUSY.bit.SWRST);
- UBD_SER_USART.CTRLA.bit.SWRST = 1;
- while(UBD_SER_USART.SYNCBUSY.bit.SWRST);
- while(UBD_SER_USART.SYNCBUSY.bit.SWRST || UBD_SER_USART.SYNCBUSY.bit.ENABLE);
- // ok, well
- UBD_SER_USART.CTRLA.reg = SERCOM_USART_CTRLA_MODE(1) | SERCOM_USART_CTRLA_DORD;
- UBD_SER_USART.CTRLA.reg |= SERCOM_USART_CTRLA_RXPO(UBD_RXPO) | SERCOM_USART_CTRLA_TXPO(0);
- UBD_SER_USART.CTRLA.reg |= SERCOM_USART_CTRLA_FORM(1); // enable even parity
- while(UBD_SER_USART.SYNCBUSY.bit.CTRLB);
- UBD_SER_USART.CTRLB.reg = SERCOM_USART_CTRLB_RXEN | SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_CHSIZE(0);
- // enable interrupts
- NVIC_EnableIRQ(SERCOM1_2_IRQn); // rx,
- NVIC_EnableIRQ(SERCOM1_1_IRQn); // txc ?
- NVIC_EnableIRQ(SERCOM1_0_IRQn); // tx,
- // priority
- NVIC_SetPriority(SERCOM1_2_IRQn, 1);
- NVIC_SetPriority(SERCOM1_1_IRQn, 1);
- NVIC_SetPriority(SERCOM1_0_IRQn, 1);
- // set baud
- UBD_SER_USART.BAUD.reg = UBD_BAUD_VAL;
- // and finally, a kickoff
- while(UBD_SER_USART.SYNCBUSY.bit.ENABLE);
- UBD_SER_USART.CTRLA.bit.ENABLE = 1;
- // enable rx interrupt
- UBD_SER_USART.INTENSET.bit.RXC = 1;
-}
-
-void SERCOM1_2_Handler(void){
- //ERRLIGHT_TOGGLE;
- ucBusDrop->rxISR();
-}
-
-void UCBus_Drop::rxISR(void){
- // check parity bit,
- uint16_t perr = UBD_SER_USART.STATUS.bit.PERR;
- if(perr){
- //DEBUGPIN_ON;
- uint8_t clear = UBD_SER_USART.DATA.reg;
- UBD_SER_USART.STATUS.bit.PERR = 1; // clear parity error
- return;
- }
- // cleared by reading out, but we are blind feed forward atm
- uint8_t data = UBD_SER_USART.DATA.reg;
- // for now, just running the clk, on every 0th bit
- if((data >> 7) == 0){ // timer bit, on every 0th bit, and beginning of word
- inWord[0] = data;
- timeTick ++;
- timeBlink ++;
- if(timeBlink >= blinkTime){
- CLKLIGHT_TOGGLE;
- timeBlink = 0;
- }
- onRxISR(); // on start of each word
- } else { // end of word on every 0th bit
- inWord[1] = data;
- // now decouple,
- inHeader = ((inWord[0] >> 1) & 0b00111000) | ((inWord[1] >> 4) & 0b00000111);
- inByte = ((inWord[0] << 4) & 0b11110000) | (inWord[1] & 0b00001111);
- // now check incoming data,
- if((inHeader & 0b00110000) == 0b00100000){ // has-token, CHA
- lastWordAHadToken = true;
- if(inBufferALen != 0){ // in this case, we didn't read-out of the buffer in time,
- inBufferALen = 0; // so we reset it, missing the last packet !
- inBufferARp = 0;
- }
- inBufferA[inBufferARp] = inByte;
- inBufferARp ++;
- } else if ((inHeader & 0b00110000) == 0b00000000) { // no-token, CHA
- if(lastWordAHadToken){
- inBufferALen = inBufferARp - 1;
- onPacketARx();
- }
- lastWordAHadToken = false;
- } else if ((inHeader & 0b00110000) == 0b00110000) { // has-token, CHB
- //DEBUG1PIN_ON;
- lastWordBHadToken = true;
- if(inBufferBLen != 0){
- inBufferBLen = 0;
- inBufferBRp = 0;
- }
- inBufferB[inBufferBRp] = inByte;
- inBufferBRp ++;
- } else if ((inHeader & 0b00110000) == 0b00010000) { // no-token, CHB
- if(lastWordBHadToken){
- inBufferBLen = inBufferARp - 1;
- //onPacketBRx(); // b-channel handled in loop, yah
- }
- lastWordBHadToken = false;
- }
- // now check if outgoing tick is ours,
- if((inHeader & dropIdMask) == id){
- // our transmit
- if(outBufferLen > 0){
- outByte = outBuffer[outBufferRp];
- outHeader = headerMask & (tokenWord | (id & 0b00011111));
- } else {
- outByte = 0;
- outHeader = headerMask & (noTokenWord | (id & 0b00011111));
- }
- outWord[0] = 0b00000000 | ((outHeader << 1) & 0b01110000) | (outByte >> 4);
- outWord[1] = 0b10000000 | ((outHeader << 4) & 0b01110000) | (outByte & 0b00001111);
- // now transmit,
- UBD_DRIVER_ENABLE;
- UBD_SER_USART.DATA.reg = outWord[0];
- UBD_SER_USART.INTENSET.bit.DRE = 1;
- // now do this,
- if(outBufferLen > 0){
- outBufferRp ++;
- if(outBufferRp >= outBufferLen){
- outBufferRp = 0;
- outBufferLen = 0;
- }
- }
- } else if ((inHeader & dropIdMask) == UBD_CLOCKRESET){
- // reset
- timeTick = 0;
- }
- } // end 1th bit case,
- // do every-tick stuff
-}
-
-void SERCOM1_0_Handler(void){
- ucBusDrop->dreISR();
-}
-
-void UCBus_Drop::dreISR(void){
- UBD_SER_USART.DATA.reg = outWord[1]; // tx the next word,
- UBD_SER_USART.INTENCLR.reg = SERCOM_USART_INTENCLR_DRE; // clear this interrupt
- UBD_SER_USART.INTENSET.reg = SERCOM_USART_INTENSET_TXC; // now watch transmit complete
-}
-
-void SERCOM1_1_Handler(void){
- ucBusDrop->txcISR();
-}
-
-void UCBus_Drop::txcISR(void){
- UBD_SER_USART.INTFLAG.bit.TXC = 1; // clear the flag by writing 1
- UBD_SER_USART.INTENCLR.reg = SERCOM_USART_INTENCLR_TXC; // turn off the interrupt
- UBD_DRIVER_DISABLE; // turn off the driver,
- //DEBUGPIN_TOGGLE;
-}
-
-// -------------------------------------------------------- ASYNC API
-
-boolean UCBus_Drop::ctr_a(void){
- if(inBufferALen > 0){
- return true;
- } else {
- return false;
- }
-}
-
-boolean UCBus_Drop::ctr_b(void){
- if(inBufferBLen > 0){
- return true;
- } else {
- return false;
- }
-}
-
-size_t UCBus_Drop::read_a(uint8_t *dest){
- if(!ctr_a()) return 0;
- NVIC_DisableIRQ(SERCOM1_2_IRQn);
- // copy out, irq disabled, TODO safety on missing an interrupt in this case?? clock jitter?
- memcpy(dest, inBufferA, inBufferALen);
- size_t len = inBufferALen;
- inBufferALen = 0;
- inBufferARp = 0;
- NVIC_EnableIRQ(SERCOM1_2_IRQn);
- return len;
-}
-
-size_t UCBus_Drop::read_b(uint8_t *dest){
- if(!ctr_b()) return 0;
- NVIC_DisableIRQ(SERCOM1_2_IRQn);
- memcpy(dest, inBufferB, inBufferBLen);
- size_t len = inBufferBLen;
- inBufferBLen = 0;
- inBufferBRp = 0;
- NVIC_EnableIRQ(SERCOM1_2_IRQn);
- return len;
-}
-
-boolean UCBus_Drop::cts(void){
- if(outBufferLen > 0){
- return false;
- } else {
- return true;
- }
-}
-
-void UCBus_Drop::transmit(uint8_t *data, uint16_t len){
- if(!cts()) return;
- size_t encLen = cobsEncode(data, len, outBuffer);
- outBufferLen = encLen;
- outBufferRp = 0;
-}
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/drivers/ucbus_drop.h b/firmware/cl-step-controller/src/drivers/ucbus_drop.h
deleted file mode 100644
index 844645cdb3390c9dcd539aa39357a5bc618bdc27..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/drivers/ucbus_drop.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
-osap/drivers/ucbus_head.h
-
-beginnings of a uart-based clock / bus combo protocol
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo
-projects. Copyright is retained and must be preserved. The work is provided as
-is; no warranty is provided, and users accept all liability.
-*/
-
-#ifndef UCBUS_DROP_H_
-#define UCBUS_DROP_H_
-
-#include <arduino.h>
-
-#include "indicators.h"
-#include "dip_ucbus_config.h"
-#include "peripheral_nums.h"
-#include "utils/syserror.h"
-#include "utils/cobs.h"
-
-#define UBD_SER_USART SERCOM1->USART
-#define UBD_SERCOM_CLK SERCOM1_GCLK_ID_CORE
-#define UBD_GCLKNUM_PICK 7
-#define UBD_COMPORT PORT->Group[0]
-#define UBD_TXPIN 16 // x-0
-#define UBD_TXBM (uint32_t)(1 << UBD_TXPIN)
-#define UBD_RXPIN 18 // x-2
-#define UBD_RXBM (uint32_t)(1 << UBD_RXPIN)
-#define UBD_RXPO 2
-#define UBD_TXPERIPHERAL PERIPHERAL_C
-#define UBD_RXPERIPHERAL PERIPHERAL_C
-
-// baud bb baud
-// 63019 for a very safe 115200
-// 54351 for a go-karting 512000
-// 43690 for a trotting pace of 1MHz
-// 21845 for the E30 2MHz
-// 0 for max-speed 3MHz
-#define UBD_BAUD_VAL 0
-
-#define UBD_DE_PIN 16 // driver output enable: set HI to enable, LO to tri-state the driver
-#define UBD_DE_BM (uint32_t)(1 << UBD_DE_PIN)
-#define UBD_DE_PORT PORT->Group[1]
-#define UBD_DRIVER_ENABLE UBD_DE_PORT.OUTSET.reg = UBD_DE_BM
-#define UBD_DRIVER_DISABLE UBD_DE_PORT.OUTCLR.reg = UBD_DE_BM
-#define UBD_RE_PIN 19 // receiver output enable, set LO to enable the RO, set HI to tri-state RO
-#define UBD_RE_BM (uint32_t)(1 << UBD_RE_PIN)
-#define UBD_RE_PORT PORT->Group[0]
-#define UBD_TE_PIN 17 // termination enable, drive LO to enable to internal termination resistor, HI to disable
-#define UBD_TE_BM (uint32_t)(1 << UBD_TE_PIN)
-#define UBD_TE_PORT PORT->Group[0]
-
-#define UBD_BUFSIZE 1024
-
-#define UBD_CLOCKRESET 15
-
-#define UB_AK_GOTOPOS 91
-#define UB_AK_SETPOS 92
-#define UB_AK_SETRPM 93
-
-class UCBus_Drop {
- private:
- // singleton-ness
- static UCBus_Drop* instance;
- // timing,
- volatile uint64_t timeBlink = 0;
- uint16_t blinkTime = 10000;
- // input buffer & word
- volatile uint8_t inWord[2];
- volatile uint8_t inHeader;
- volatile uint8_t inByte;
- volatile boolean lastWordAHadToken = false;
- uint8_t inBufferA[UBD_BUFSIZE];
- volatile uint16_t inBufferARp = 0;
- volatile uint16_t inBufferALen = 0; // writes at terminal zero,
- volatile boolean lastWordBHadToken = false;
- uint8_t inBufferB[UBD_BUFSIZE];
- volatile uint16_t inBufferBRp = 0;
- volatile uint16_t inBufferBLen = 0;
- // output,
- volatile uint8_t outWord[2];
- volatile uint8_t outHeader;
- volatile uint8_t outByte;
- uint8_t outBuffer[UBD_BUFSIZE];
- volatile uint16_t outBufferRp = 0;
- volatile uint16_t outBufferLen = 0;
- const uint8_t headerMask = 0b00111111;
- const uint8_t dropIdMask = 0b00001111;
- const uint8_t tokenWord = 0b00100000;
- const uint8_t noTokenWord = 0b00000000;
- public:
- UCBus_Drop();
- static UCBus_Drop* getInstance(void);
- // available time count,
- volatile uint16_t timeTick = 0;
- // isrs
- void rxISR(void);
- void dreISR(void);
- void txcISR(void);
- // handlers
- void onRxISR(void);
- void onPacketARx(void);
- // our physical bus address,
- volatile uint8_t id = 0;
- // the api, eh
- void init(boolean useDipPick, uint8_t ID);
- boolean ctr_a(void); // return true if RX complete / buffer ready
- boolean ctr_b(void);
- size_t read_a(uint8_t *dest); // ship les bytos
- size_t read_b(uint8_t *dest);
- boolean cts(void); // true if tx buffer empty,
- void transmit(uint8_t *data, uint16_t len);
-};
-
-extern UCBus_Drop* ucBusDrop;
-
-#endif
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/main.cpp b/firmware/cl-step-controller/src/main.cpp
index cdbdf30adda00fb8266e733e472cbb383fa7e16e..857f62a844d53ef61c101e87150a6fa433692646 100644
--- a/firmware/cl-step-controller/src/main.cpp
+++ b/firmware/cl-step-controller/src/main.cpp
@@ -1,46 +1,110 @@
#include <Arduino.h>
#include "drivers/indicators.h"
-#include "utils/cobs.h"
-#include "osap/osap.h"
+#include "osape/osap/osap.h"
OSAP* osap = new OSAP("cl stepper motor drop");
-#include "osap/vport_usbserial.h"
+#include "osape/osap/vport_usbserial.h"
VPort_USBSerial* vPortSerial = new VPort_USBSerial();
-#include "drivers/ucbus_drop.h"
+
+#include "osape/osap/vport_ucbus_drop.h"
+
#include "drivers/step_cl.h"
+#include "osape/utils/clocks_d51.h"
+
+
+// -------------------------------------------------------- 0: MAG DIAGNOSTICS
+
+boolean onMagDiagnosticsPut(uint8_t* data, uint16_t len);
+boolean onMagDiagnosticsQuery(void);
+
+Endpoint* magDiagnosticsEP = osap->endpoint(onMagDiagnosticsPut, onMagDiagnosticsQuery);
+
+boolean onMagDiagnosticsPut(uint8_t* data, uint16_t len){
+ return true;
+}
+
+boolean onMagDiagnosticsQuery(void){
+ // put diag. data in the stash
+ uint16_t magField = enc_as5047->read_field_mag();
+ as5047_diag_t diagnostics = enc_as5047->read_enc_diagnostics();
+ uint8_t data[7];
+ uint16_t wptr = 0;
+ ts_writeBoolean(diagnostics.magHi, data, &wptr);
+ ts_writeBoolean(diagnostics.magLo, data, &wptr);
+ ts_writeBoolean(diagnostics.cordicOverflow, data, &wptr);
+ ts_writeBoolean(diagnostics.compensationComplete, data, &wptr);
+ ts_writeUint8(diagnostics.angularGainCorrection, data, &wptr);
+ ts_writeUint16(magField, data, &wptr);
+ magDiagnosticsEP->write(data, 7);
+ return true;
+}
+
+// -------------------------------------------------------- 1: RUN CALIB
+
+boolean onRunCalibPut(uint8_t* data, uint16_t len);
+Endpoint* runCalibEP = osap->endpoint(onRunCalibPut);
+
+boolean onRunCalibPut(uint8_t* data, uint16_t len){
+ step_cl->calibrate();
+ return true;
+}
+
+// -------------------------------------------------------- 2: POSITION TARGET
+
+boolean onPositionTargetPut(uint8_t* data, uint16_t len);
+Endpoint* positionTargetEP = osap->endpoint(onPositionTargetPut);
+
+boolean onPositionTargetPut(uint8_t* data, uint16_t len){
+ return true;
+}
+
+// -------------------------------------------------------- 3: CURRENT POSITION
-#include "utils/clocks_d51_module.h"
-
-union chunk_float32 {
- uint8_t bytes[4];
- float f;
-};
-
-union chunk_float64 {
- uint8_t bytes[8];
- double f;
-};
-
-// adhoc reply
-uint8_t reply[1024];
-uint16_t rl = 0;
-
-uint8_t replyBlankPck[1024];
-uint16_t replyBlankPl = 0;
-uint16_t replyBlankPtr = 0;
-uint16_t replyBlankSegsize = 0;
-VPort* replyBlankVp;
-uint16_t replyBlankVpi = 0;
-uint16_t lastQueueSpaceTxd = 0;
-
-#define BUS_DROP 4 // Z: 1, YL: 2, X: 3, YR: 4
-#define AXIS_PICK 2 // Z: 2, Y: 1, X: 0
-#define AXIS_INVERT false // Z: false, YL: true, YR: false, X: false
-#define SPU 3200.0F // always positive! Z: 3200, XY: 400
-#define C_SCALE 0.2F // 0-1, floating: initial holding current to motor, 0-2.5A
-#define TICKS_PER_PACKET 20.0F // always 20.0F
+boolean onPositionPut(uint8_t* data, uint16_t len);
+boolean onPositionQuery(void);
+Endpoint* positionQueryEP = osap->endpoint(onPositionPut, onPositionQuery);
+
+boolean onPositionPut(uint8_t* data, uint16_t len){
+ return true;
+}
+
+boolean onPositionQuery(void){
+ float posn = step_cl->get_last_pos_est();
+ uint8_t data[4];
+ uint16_t wptr = 0;
+ ts_writeFloat32(posn, data, &wptr);
+ positionQueryEP->write(data, 4);
+ return true;
+}
+
+// -------------------------------------------------------- 4: FULL SPEC
+
+boolean onSpecPut(uint8_t* data, uint16_t len);
+boolean onSpecQuery(void);
+Endpoint* specQueryEP = osap->endpoint(onSpecPut, onSpecQuery);
+
+boolean onSpecPut(uint8_t* data, uint16_t len){
+ return true;
+}
+
+boolean onSpecQuery(void){
+ // want:
+ uint16_t encoder_reading = step_cl->get_last_enc_reading();
+ float angle_reading = step_cl->get_last_pos_reading();
+ float posn = step_cl->get_last_pos_est();
+ // ship,
+ uint8_t data[10];
+ uint16_t wptr = 0;
+ ts_writeUint16(encoder_reading, data, &wptr);
+ ts_writeFloat32(angle_reading, data, &wptr);
+ ts_writeFloat32(posn, data, &wptr);
+ specQueryEP->write(data, 10);
+ return true;
+}
+
+// -------------------------------------------------------- SETUP / RUNTIME
void setup() {
ERRLIGHT_SETUP;
@@ -50,76 +114,47 @@ void setup() {
osap->description = "cl controller test";
// serport
osap->addVPort(vPortSerial);
- // bus
- ucBusDrop->init(false, BUS_DROP);
// cl controller
step_cl->init();
- // start ctrl timer for 100khz loop,
- d51_clock_boss->start_50kHz_ticker_tc0();
+ // start ctrl timer for loop (arg to start is us period)
+ d51_clock_boss->start_ticker_a(100);
}
-// 50kHz control tick
+// on ticker_a
void TC0_Handler(void){
TC0->COUNT32.INTFLAG.bit.MC0 = 1;
TC0->COUNT32.INTFLAG.bit.MC1 = 1;
step_cl->run_torque_loop();
}
-uint8_t bChPck[64];
-volatile float current_floating_pos = 0.0F;
-volatile int32_t current_step_pos = 0;
-volatile uint32_t delta_steps = 0;
-volatile float vel = 0.0F;
-volatile float move_counter = 0.0F;
-volatile boolean setBlock = false;
-uint16_t tick = 0;
-
// async loop
void loop() {
osap->loop();
step_a4950->dacRefresh();
- // check chb packes
- if(ucBusDrop->ctr_b()){
- uint16_t len = ucBusDrop->read_b(bChPck);
- uint16_t ptr = 0;
- switch(bChPck[ptr]){
- case AK_SET_TC: {
- ptr ++;
- chunk_float32 tcs = { .bytes = { bChPck[ptr ++], bChPck[ptr ++], bChPck[ptr ++], bChPck[ptr ++] }};
- step_cl->set_torque(tcs.f);
- }
- break;
- case AK_RUNCALIB:
- step_cl->calibrate();
- break;
- default:
- // noop
- break;
- }
- }
} // end loop
// usb packets
-void OSAP::handleAppPacket(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp){
- // track end of header, to reply with
- uint16_t replyPtr = ptr;
- // (a hack) store one app packet, to format our replies with. do once
- if(replyBlankPtr == 0){
- for(uint16_t i = 0; i < pl; i++){
- replyBlankPck[i] = pck[i];
- }
- replyBlankPl = pl;
- replyBlankPtr = ptr;
- replyBlankSegsize = segsize;
- replyBlankVp = vp;
- replyBlankVpi = vpi;
- }
- // clear out our reply,
- rl = 0;
- reply[rl ++] = DK_APP;
- // do the reading:
- ptr ++; // walk appcode DK_APP
- switch(pck[ptr]){
+void OSAP::handleAppPacket(uint8_t* pck, uint16_t ptr, pckm_t* pckm){
+ // always clear this
+ pckm->vpa->clear(pckm->location);
+}
+
+#ifdef UCBUS_IS_DROP
+
+// on words rx'd from bus,
+void UCBus_Drop::onRxISR(void){
+
+}
+
+// on timed (interrupt) rx of bus packet, channel A
+// this is where we will eventually read-in positions, and target them
+void UCBus_Drop::onPacketARx(void){
+
+}
+
+#endif
+
+/*
case AK_READ_MAG:{
ptr ++;
reply[rl ++] = AK_READ_MAG;
@@ -160,29 +195,4 @@ void OSAP::handleAppPacket(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t seg
ts_writeFloat32(last_reading, reply, &rl);
break;
}
- default:
- break;
- }
- // end pck[ptr] switch
- if(rl > 1){
- if(vp->cts()){
- appReply(pck, pl, replyPtr, segsize, vp, vpi, reply, rl);
- } else {
- sysError("on reply, not cts, system fails");
- }
- }
- // always clear this
- vp->clearPacket(pwp);
-}
-
-// on words rx'd from bus,
-void UCBus_Drop::onRxISR(void){
-
-}
-
-// on timed (interrupt) rx of bus packet, channel A
-// this is where we will eventually read-in positions, and target them
-void UCBus_Drop::onPacketARx(void){
-
-}
-
+*/
diff --git a/firmware/cl-step-controller/src/osap/osap.cpp b/firmware/cl-step-controller/src/osap/osap.cpp
deleted file mode 100644
index 4b4499c5c2cd3fbd93ca95f0f43608b0f613aa2c..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/osap/osap.cpp
+++ /dev/null
@@ -1,487 +0,0 @@
-/*
-osap/osap.cpp
-
-virtual network node
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "osap.h"
-
-uint8_t ringFrame[1028];
-
-OSAP::OSAP(String nodeName){
- name = nodeName;
-}
-
-boolean OSAP::addVPort(VPort* vPort){
- if(_numVPorts > OSAP_MAX_VPORTS){
- return false;
- } else {
- vPort->init();
- _vPorts[_numVPorts ++] = vPort;
- return true;
- }
-}
-
-void OSAP::forward(uint8_t *pck, uint16_t pl, uint16_t ptr, VPort *vp, uint8_t vpi, uint8_t pwp){
- sysError("NO FWD CODE YET");
- vp->clearPacket(pwp);
-}
-
-void OSAP::write77(uint8_t *pck, VPort *vp){
- uint16_t one = 1;
- pck[0] = PK_PPACK; // the '77'
- uint16_t bufSpace = vp->getBufSpace();
- ts_writeUint16(bufSpace, pck, &one);
- vp->lastRXBufferSpaceTransmitted = bufSpace;
- vp->rxSinceTx = 0;
-}
-
-// packet to read from, response to write into, write pointer, maximum response length
-// assumes header won't be longer than received max seg length, if it arrived ...
-// ptr = DK_x, ptr - 5 = PK_DEST, ptr - 6 = PK_PTR
-boolean OSAP::formatResponseHeader(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, uint16_t checksum, VPort *vp, uint16_t vpi){
- // sanity check, this should be pingreq key
- // sysError("FRH pck[ptr]: " + String(pck[ptr]));
- // buf[(*ptr) ++] = val & 255
- // pck like:
- // [rptr] [rend] [ptr]
- // [77:3][dep0][e1][e2][e3][pk_ptr][pk_dest][acksegsize:2][checksum:2][dkey-req]
- // response (will be) like:
- // [wptr]
- // [ptr]
- // [77:3][dep0][pk_ptr][p3][p2][p1][pk_dest][acksegsize:2][checksum:2][dkey-res]
- // ptr here will always indicate end of the header,
- // leaves space until pck[3] for the 77-ack, which will write in later on,
- // to do this, we read forwarding steps from e1 (incrementing read-ptr)
- // and write in tail-to-head, (decrementing write ptr)
- uint16_t wptr = ptr - 5; // to beginning of dest, segsize, checksum block
- _res[wptr ++] = PK_DEST;
- ts_writeUint16(segsize, _res, &wptr);
- ts_writeUint16(checksum, _res, &wptr);
- wptr -= 5; // back to start of this block,
- // now find rptr beginning,
- uint16_t rptr = 3; // departure port was trailing 77,
- switch(pck[rptr]){ // walk to e1, ignoring original departure information
- case PK_PORTF_KEY:
- rptr += PK_PORTF_INC;
- break;
- case PK_BUSF_KEY:
- rptr += PK_BUSF_INC;
- break;
- case PK_BUSB_KEY:
- rptr += PK_BUSB_INC;
- break;
- default:
- sysError("nonreq departure key on reverse route, bailing");
- return false;
- }
- // end switch, now pck[rptr] is at port-type-key of next fwd instruction
- // walk rptr forwards, wptr backwards, copying in forwarding segments, max. 16 hops
- uint16_t rend = ptr - 6; // read-end per static pck-at-dest end block: 6 for checksum(2) acksegsize(2), dest and ptr
- for(uint8_t h = 0; h < 16; h ++){
- if(rptr >= rend){ // terminate when walking past end,
- break;
- }
- switch(pck[rptr]){
- case PK_PORTF_KEY:
- wptr -= PK_PORTF_INC;
- for(uint8_t i = 0; i < PK_PORTF_INC; i ++){
- _res[wptr + i] = pck[rptr ++];
- }
- break;
- case PK_BUSF_KEY:
- case PK_BUSB_KEY:
- wptr -= PK_BUSF_INC;
- for(uint8_t i = 0; i < PK_BUSF_INC; i ++){
- _res[wptr + i] = pck[rptr ++];
- }
- default:
- sysError("rptr: " + String(rptr) + " key here: " + String(pck[rptr]));
- sysError("couldn't reverse this path");
- return false;
- }
- }
- // following route-copy-in,
- // TODO mod this for busses,
- wptr -= 4;
- _res[wptr ++] = PK_PORTF_KEY; /// write in departure key type,
- ts_writeUint16(vpi, _res, &wptr); // write in departure port,
- _res[wptr ++] = PK_PTR; // ptr follows departure key,
- // to check, wptr should now be at 7: for 77(3), departure(3:portf), ptr(1)
- if(wptr != 7){ // wptr != 7
- sysError("bad response header write");
- return false;
- } else {
- return true;
- }
-}
-
-/*
-await osap.query(nextRoute, 'name', 'numVPorts')
-await osap.query(nextRoute, 'vport', np, 'name', 'portTypeKey', 'portStatus', 'maxSegLength')
-*/
-
-void OSAP::writeQueryDown(uint16_t *wptr){
- sysError("QUERYDOWN");
- _res[(*wptr) ++] = EP_ERRKEY;
- _res[(*wptr) ++] = EP_ERRKEY_QUERYDOWN;
-}
-
-void OSAP::writeEmpty(uint16_t *wptr){
- sysError("EMPTY");
- _res[(*wptr) ++] = EP_ERRKEY;
- _res[(*wptr) ++] = EP_ERRKEY_EMPTY;
-}
-
-// queries for ahn vport,
-void OSAP::readRequestVPort(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t rptr, uint16_t *wptr, uint16_t segsize, VPort* vp){
- // could be terminal, could read into endpoints (input / output) of the vport,
- for(uint8_t i = 0; i < 16; i ++){
- if(rptr >= pl){
- return;
- }
- if(*wptr > segsize){
- sysError("QUERYDOWN wptr: " + String(*wptr) + " segsize: " + String(segsize));
- *wptr = ptr;
- writeQueryDown(wptr);
- return;
- }
- switch(pck[rptr]){
- case EP_NUMINPUTS:
- _res[(*wptr) ++] = EP_NUMINPUTS;
- ts_writeUint16(0, _res, wptr); // TODO: vports can have inputs / outputs,
- rptr ++;
- break;
- case EP_NUMOUTPUTS:
- _res[(*wptr) ++] = EP_NUMOUTPUTS;
- ts_writeUint16(0, _res, wptr);
- rptr ++;
- break;
- case EP_INPUT:
- case EP_OUTPUT:
- writeEmpty(wptr); // ATM, these just empty - and then return, further args would be for dive
- return;
- case EP_NAME:
- _res[(*wptr) ++] = EP_NAME;
- ts_writeString(vp->name, _res, wptr);
- rptr ++;
- break;
- case EP_DESCRIPTION:
- _res[(*wptr) ++] = EP_DESCRIPTION;
- ts_writeString(vp->description, _res, wptr);
- rptr ++;
- break;
- case EP_PORTTYPEKEY:
- _res[(*wptr) ++] = EP_PORTTYPEKEY; // TODO for busses
- _res[(*wptr) ++] = vp->portTypeKey;
- rptr ++;
- break;
- case EP_MAXSEGLENGTH:
- _res[(*wptr) ++] = EP_MAXSEGLENGTH;
- ts_writeUint32(vp->maxSegLength, _res, wptr);
- rptr ++;
- break;
- case EP_PORTSTATUS:
- _res[(*wptr) ++] = EP_PORTSTATUS;
- ts_writeBoolean(vp->status, _res, wptr);
- rptr ++;
- break;
- case EP_PORTBUFSPACE:
- _res[(*wptr) ++] = EP_PORTBUFSPACE;
- ts_writeUint16(vp->getBufSpace(), _res, wptr);
- rptr ++;
- break;
- case EP_PORTBUFSIZE:
- _res[(*wptr) ++] = EP_PORTBUFSIZE;
- ts_writeUint16(vp->getBufSize(), _res, wptr);
- rptr ++;
- break;
- default:
- writeEmpty(wptr);
- return;
- }
- }
-}
-
-void OSAP::handleReadRequest(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp){
- if(vp->cts()){
- // resp. code,
- // readptr,
- uint16_t rptr = ptr + 1; // this will pass the RREQ and ID bytes, next is first query key
- uint16_t wptr = ptr;
- _res[wptr ++] = DK_RRES;
- _res[wptr ++] = pck[rptr ++];
- _res[wptr ++] = pck[rptr ++];
- // read items,
- // ok, walk those keys
- uint16_t indice = 0;
- for(uint8_t i = 0; i < 16; i ++){
- if(rptr >= pl){
- goto endwalk;
- }
- if(wptr > segsize){
- sysError("QUERYDOWN wptr: " + String(wptr) + " segsize: " + String(segsize));
- wptr = ptr;
- writeQueryDown(&wptr);
- goto endwalk;
- }
- switch(pck[rptr]){
- // first up, handle dives which downselect the tree
- case EP_VPORT:
- rptr ++;
- ts_readUint16(&indice, pck, &rptr);
- if(indice < _numVPorts){
- _res[wptr ++] = EP_VPORT;
- ts_writeUint16(indice, _res, &wptr);
- readRequestVPort(pck, pl, ptr, rptr, &wptr, segsize, _vPorts[indice]);
- } else {
- writeEmpty(&wptr);
- }
- goto endwalk;
- case EP_VMODULE:
- writeEmpty(&wptr);
- goto endwalk;
- // for reading any top-level item,
- case EP_NUMVPORTS:
- _res[wptr ++] = EP_NUMVPORTS;
- ts_writeUint16(_numVPorts, _res, &wptr);
- rptr ++;
- break;
- case EP_NUMVMODULES:
- _res[wptr ++] = EP_NUMVMODULES;
- ts_writeUint16(_numVModules, _res, &wptr);
- rptr ++;
- break;
- case EP_NAME:
- _res[wptr ++] = EP_NAME;
- ts_writeString(name, _res, &wptr);
- rptr ++;
- break;
- case EP_DESCRIPTION:
- _res[wptr ++] = EP_DESCRIPTION;
- ts_writeString(description, _res, &wptr);
- rptr ++;
- break;
- // the default: unclear keys nullify entire response
- default:
- writeEmpty(&wptr);
- goto endwalk;
- } // end 1st switch
- }
- endwalk: ;
- //sysError("QUERY ENDWALK, ptr: " + String(ptr) + " wptr: " + String(wptr));
- if(formatResponseHeader(pck, pl, ptr, segsize, wptr - ptr, vp, vpi)){
- vp->clearPacket(pwp);
- write77(_res, vp);
- vp->sendPacket(_res, wptr);
- vp->decrimentRecipBufSpace();
- } else {
- sysError("bad response format");
- vp->clearPacket(pwp);
- }
- } else {
- vp->clearPacket(pwp);
- }
-}
-
-// pck[ptr] == DK_PINGREQ
-void OSAP::handlePingRequest(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp){
- if(vp->cts()){ // resp. path is clear, can write resp. and ship it
- // the reversed header will be *the same length* as the received header,
- // which was from 0-ptr! - this is great news, we can say:
- uint16_t wptr = ptr; // start writing here, leaves room for the header,
- _res[wptr ++] = DK_PINGRES; // write in whatever the response is, here just the ping-res key and id
- _res[wptr ++] = pck[ptr + 1];
- _res[wptr ++] = pck[ptr + 2];
- // this'll be the 'std' response formatting codes,
- // formatResponseHeader doesn't need the _res, that's baked in, and it writes 0-ptr,
- // since we wrote into _res following ptr, (header lengths identical), this is safe,
- if(formatResponseHeader(pck, pl, ptr, segsize, 3, vp, vpi)){ // write the header: this goes _resp[3] -> _resp[ptr]
- vp->clearPacket(pwp); // can now rm the packet, have gleaned all we need from it,
- write77(_res, vp); // and *after* rm'ing it, report open space _resp[0] -> _resp[3];
- vp->sendPacket(_res, wptr); // this fn' call should copy-out of our buffer
- vp->decrimentRecipBufSpace();
- } else {
- sysError("bad response format");
- vp->clearPacket(pwp);
- }
- } else {
- vp->clearPacket(pwp);
- }
-}
-
-// write and send ahn reply out,
-void OSAP::appReply(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t *reply, uint16_t rl){
- uint16_t wptr = ptr;
- for(uint16_t i = 0; i < rl; i ++){
- _res[wptr ++] = reply[i];
- }
- if(formatResponseHeader(pck, pl, ptr, segsize, rl, vp, vpi)){
- write77(_res, vp);
- vp->sendPacket(_res, wptr);
- vp->decrimentRecipBufSpace();
- } else {
- sysError("bad response format");
- }
-}
-
-// frame: the buffer, ptr: the location of the ptr (ack or pack),
-// vp: port received on, fwp: frame-write-ptr,
-// so vp->frames[fwp] = frame, though that isn't exposed here
-void OSAP::instructionSwitch(uint8_t *pck, uint16_t pl, uint16_t ptr, VPort *vp, uint8_t vpi, uint8_t pwp){
- // we must *do* something, and (ideally) pop this thing,
- switch(pck[ptr]){
- case PK_PORTF_KEY:
- case PK_BUSF_KEY:
- case PK_BUSB_KEY:
- forward(pck, pl, ptr, vp, vpi, pwp);
- break;
- case PK_DEST: {
- ptr ++; // walk past dest key,
- uint16_t segsize = 0;
- uint16_t checksum = 0;
- ts_readUint16(&segsize, pck, &ptr);
- ts_readUint16(&checksum, pck, &ptr);
- if(checksum != pl - ptr){
- sysError("bad checksum, count: " + String(pl - ptr) + " checksum: " + String(checksum));
- vp->clearPacket(pwp);
- } else {
- switch(pck[ptr]){
- case DK_APP:
- handleAppPacket(pck, pl, ptr, segsize, vp, vpi, pwp);
- break;
- case DK_PINGREQ:
- handlePingRequest(pck, pl, ptr, segsize, vp, vpi, pwp);
- break;
- case DK_RREQ:
- handleReadRequest(pck, pl, ptr, segsize, vp, vpi, pwp);
- break;
- break;
- case DK_WREQ: // no writing yet,
- case DK_PINGRES: // not issuing pings from embedded, shouldn't have deal w/ their responses
- case DK_RRES: // not issuing requests from embedded, same
- case DK_WRES: // not issuing write requests from embedded, again
- sysError("WREQ or RES received in embedded, popping");
- vp->clearPacket(pwp);
- break;
- default:
- sysError("non-recognized destination key, popping");
- vp->clearPacket(pwp);
- break;
- }
- }
- }
- break;
- default:
- // packet is unrecognized,
- sysError("unrecognized instruction key");
- vp->clearPacket(pwp);
- break;
- }
-}
-
-void OSAP::loop(){
- /*
- Also a note - the vp->getFrame(); (which is called often in the loop) doesn't have to be a virtual f.
- VPorts can have private \_frames** ptrs-to, and when we start up a vport class,
- point that at some statically allocated heap.
- also, set a \_numFrames and ahn \_writePtrs*.
- */
- /*
- another note
- this was measured around 25us (long!)
- so it would be *tite* if that coule be decreased, especially in recognizing the no-op cases,
- where execution could be very - very - small.
- */
- unsigned long pat = 0; // packet arrival time
- VPort* vp; // vp of vports
- unsigned long now = millis();
- // pull one frame per loop per port,
- // TODO: can increase speed by pulling more frames per loop ??
- for(uint8_t p = 0; p < _numVPorts; p ++){
- vp = _vPorts[p];
- vp->loop(); // affordance to run phy code,
- for(uint8_t t = 0; t < 4; t ++){ // count # of packets to process per port per turn
- uint8_t* pck; // the packet we are handling
- uint16_t pl = 0; // length of that packet
- uint8_t pwp = 0; // packet write pointer: where it was, to write-back clearance
- vp->getPacket(&pck, &pl, &pwp, &pat); // gimme the bytes
- if(pl > 0){ // have length, will try,
- // check prune stale,
- if(pat + OSAP_STALETIMEOUT < now){
- //this untested, but should work, yeah?
- //sysError("prune stale message on " + String(vp->name));
- vp->clearPacket(pwp);
- continue;
- }
- // check / handle pck
- uint16_t ptr = 0;
- // new rcrbx?
- if(pck[ptr] == PK_PPACK){
- ptr ++;
- uint16_t rcrxs;
- ts_readUint16(&rcrxs, pck, &ptr);
- vp->setRecipRxBufSpace(rcrxs);
- }
- // anything else?
- if(ptr < pl){
- // walk through for instruction,
- for(uint8_t i = 0; i < 16; i ++){
- switch(pck[ptr]){
- case PK_PTR:
- instructionSwitch(pck, pl, ptr + 1, vp, p, pwp);
- goto endWalk;
- case PK_PORTF_KEY: // previous instructions, walk over,
- ptr += PK_PORTF_INC;
- break;
- case PK_BUSF_KEY:
- ptr += PK_BUSF_INC;
- break;
- case PK_BUSB_KEY:
- ptr += PK_BUSF_INC;
- break;
- case PK_LLERR:
- // someone forwarded us an err-escape,
- // we are kind of helpless to help, just escp.
- vp->clearPacket(pwp);
- goto endWalk;
- default:
- sysError("bad walk for ptr: key " + String(pck[ptr]) + " at: " + String(ptr));
- vp->clearPacket(pwp);
- goto endWalk;
- } // end switch
- } // end loop for ptr walk,
- } else {
- // that was just the rcrbx then,
- vp->clearPacket(pwp);
- }
- } else {
- break;
- } // no frames in this port,
- // end of this-port-scan,
- endWalk: ;
- } // end up-to-8-packets-per-turn
- } // end loop over ports (handling rx)
- // loop for keepalive conditions,
- for(uint8_t p = 0; p < _numVPorts; p ++){
- vp = _vPorts[p];
- // check if needs to tx keepalive,
- uint16_t currentRXBufferSpace = vp->getBufSpace();
- if(currentRXBufferSpace > vp->lastRXBufferSpaceTransmitted || vp->lastTxTime + OSAP_TXKEEPALIVEINTERVAL < now){
- // has open space not reported, or needs to ping for port keepalive
- if(vp->cts()){
- write77(_res, vp);
- vp->sendPacket(_res, 3);
- vp->decrimentRecipBufSpace();
- }
- }
- } // end loop over ports (keepalive)
-}
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/osap/osap.h b/firmware/cl-step-controller/src/osap/osap.h
deleted file mode 100644
index 5242ba0ae6cdc77538ef57f119a6691fb46188fa..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/osap/osap.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-osap/osap.h
-
-virtual network node
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#ifndef OSAP_H_
-#define OSAP_H_
-
-#include <arduino.h>
-#include "ts.h"
-#include "vport.h"
-#include "./drivers/indicators.h"
-#include "./utils/cobs.h"
-
-#define OSAP_MAX_VPORTS 16
-#define RES_LENGTH 2048
-#define OSAP_STALETIMEOUT 600
-#define OSAP_TXKEEPALIVEINTERVAL 300
-
-class OSAP {
-private:
- // yonder ports,
- VPort* _vPorts[16];
- uint8_t _numVPorts = 0;
- // yither vmodules
- uint8_t _numVModules = 0;
- // dishing output, temp write buffer
- uint8_t _res[RES_LENGTH];
-public:
- OSAP(String nodeName);
- // props
- String name;
- String description = "undescribed osap node";
- // fns
- boolean addVPort(VPort* vPort);
- void forward(uint8_t *pck, uint16_t pl, uint16_t ptr, VPort *vp, uint8_t vpi, uint8_t pwp);
- void write77(uint8_t *pck, VPort *vp);
- boolean formatResponseHeader(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, uint16_t checksum, VPort *vp, uint16_t vpi);
- void writeQueryDown(uint16_t *wptr);
- void writeEmpty(uint16_t *wptr);
- void readRequestVPort(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t rptr, uint16_t *wptr, uint16_t segsize, VPort* vp);
- void handleReadRequest(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp);
- void handlePingRequest(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp);
- void appReply(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t *reply, uint16_t rl);
- void instructionSwitch(uint8_t *pck, uint16_t pl, uint16_t ptr, VPort *vp, uint8_t vpi, uint8_t pwp);
- void loop();
- // the handoff,
- void handleAppPacket(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp);
-};
-
-#endif
diff --git a/firmware/cl-step-controller/src/osap/ts.cpp b/firmware/cl-step-controller/src/osap/ts.cpp
deleted file mode 100644
index 1a399002651a3f22be9cb8c51e373af13d25163d..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/osap/ts.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-osap/ts.cpp
-
-typeset / keys / writing / reading
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "ts.h"
-
-void ts_writeBoolean(boolean val, unsigned char *buf, uint16_t *ptr){
- if(val){
- buf[(*ptr) ++] = 1;
- } else {
- buf[(*ptr) ++] = 0;
- }
-}
-
-void ts_readUint16(uint16_t *val, unsigned char *buf, uint16_t *ptr){
- *val = buf[(*ptr) + 1] << 8 | buf[(*ptr)];
- *ptr += 2;
-}
-
-void ts_writeUint16(uint16_t val, unsigned char *buf, uint16_t *ptr){
- buf[(*ptr) ++] = val & 255;
- buf[(*ptr) ++] = (val >> 8) & 255;
-}
-
-void ts_writeUint32(uint32_t val, unsigned char *buf, uint16_t *ptr){
- buf[(*ptr) ++] = val & 255;
- buf[(*ptr) ++] = (val >> 8) & 255;
- buf[(*ptr) ++] = (val >> 16) & 255;
- buf[(*ptr) ++] = (val >> 24) & 255;
-}
-
-union chunk_float32 {
- uint8_t bytes[4];
- float f;
-};
-
-void ts_writeFloat32(float val, volatile unsigned char *buf, uint16_t *ptr){
- chunk_float32 chunk;
- chunk.f = val;
- buf[(*ptr) ++] = chunk.bytes[0];
- buf[(*ptr) ++] = chunk.bytes[1];
- buf[(*ptr) ++] = chunk.bytes[2];
- buf[(*ptr) ++] = chunk.bytes[3];
-}
-
-void ts_writeString(String val, unsigned char *buf, uint16_t *ptr){
- uint32_t len = val.length();
- buf[(*ptr) ++] = len & 255;
- buf[(*ptr) ++] = (len >> 8) & 255;
- buf[(*ptr) ++] = (len >> 16) & 255;
- buf[(*ptr) ++] = (len >> 24) & 255;
- val.getBytes(&buf[*ptr], len + 1);
- *ptr += len;
-}
diff --git a/firmware/cl-step-controller/src/osap/ts.h b/firmware/cl-step-controller/src/osap/ts.h
deleted file mode 100644
index 27c57cc6c72695478381e9694c4e3c7a34361eaa..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/osap/ts.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
-osap/ts.h
-
-typeset / keys / writing / reading
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include <arduino.h>
-
-// -------------------------------------------------------- Routing (Packet) Keys
-
-#define PK_PPACK 77
-#define PK_PTR 88
-#define PK_DEST 99
-#define PK_LLERR 44
-#define PK_PORTF_KEY 11
-#define PK_PORTF_INC 3
-#define PK_BUSF_KEY 12
-#define PK_BUSF_INC 5
-#define PK_BUSB_KEY 14
-#define PK_BUSB_INC 5
-
-// -------------------------------------------------------- Destination Keys (arrival layer)
-
-#define DK_APP 100 // application codes, go to -> main
-#define DK_PINGREQ 101 // ping request
-#define DK_PINGRES 102 // ping reply
-#define DK_RREQ 111 // read request
-#define DK_RRES 112 // read response
-#define DK_WREQ 113 // write request
-#define DK_WRES 114 // write response
-
-// -------------------------------------------------------- Application Keys
-
-#define AK_OK 100
-#define AK_ERR 200
-#define AK_GOTOPOS 101 // goto pos
-#define AK_SETPOS 102 // set position to xyz
-#define AK_SETCURRENT 103 // set currents xyz
-#define AK_SETRPM 105 // set spindle
-#define AK_QUERYMOVING 111 // is moving?
-#define AK_QUERYPOS 112 // get current pos
-#define AK_QUERYQUEUELEN 113 // current queue len?
-
-#define AK_RUNCALIB 121
-#define AK_READCALIB 122
-#define AK_SET_TC 123
-#define AK_READ_MAG 124
-#define AK_READ_DIAG 125
-
-// -------------------------------------------------------- MVC Endpoints
-
-#define EP_ERRKEY 150
-#define EP_ERRKEY_QUERYDOWN 151
-#define EP_ERRKEY_EMPTY 153
-#define EP_ERRKEY_UNCLEAR 154
-
-#define EP_NAME 171
-#define EP_DESCRIPTION 172
-
-#define EP_NUMVPORTS 181
-#define EP_VPORT 182
-#define EP_PORTTYPEKEY 183
-#define EP_MAXSEGLENGTH 184
-#define EP_PORTSTATUS 185
-#define EP_PORTBUFSPACE 186
-#define EP_PORTBUFSIZE 187
-
-#define EP_NUMVMODULES 201
-#define EP_VMODULE 202
-
-#define EP_NUMINPUTS 211
-#define EP_INPUT 212
-
-#define EP_NUMOUTPUTS 221
-#define EP_OUTPUT 222
-
-#define EP_TYPE 231
-#define EP_VALUE 232
-#define EP_STATUS 233
-
-#define EP_NUMROUES 243
-#define EP_ROUTE 235
-
-// ... etc, later
-
-// -------------------------------------------------------- Reading and Writing
-
-void ts_writeBoolean(boolean val, unsigned char *buf, uint16_t *ptr);
-
-void ts_readUint16(uint16_t *val, uint8_t *buf, uint16_t *ptr);
-
-void ts_writeUint16(uint16_t val, unsigned char *buf, uint16_t *ptr);
-
-void ts_writeUint32(uint32_t val, unsigned char *buf, uint16_t *ptr);
-
-void ts_writeFloat32(float val, volatile unsigned char *buf, uint16_t *ptr);
-
-void ts_writeString(String val, unsigned char *buf, uint16_t *ptr);
diff --git a/firmware/cl-step-controller/src/osap/vport.cpp b/firmware/cl-step-controller/src/osap/vport.cpp
deleted file mode 100644
index e064991454d718657dbc30027b4d6b0f9c8b7d8f..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/osap/vport.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-osap/vport.cpp
-
-virtual port, p2p
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "vport.h"
-
-VPort::VPort(String vPortName){
- name = vPortName;
-}
-
-void VPort::setRecipRxBufSpace(uint16_t len){
- _recipRxBufSpace = len;
-}
-
-void VPort::decrimentRecipBufSpace(void){
- if(_recipRxBufSpace < 1){
- _recipRxBufSpace = 0;
- } else {
- _recipRxBufSpace --;
- }
- lastTxTime = millis();
-}
-
-boolean VPort::cts(void){
- if(_recipRxBufSpace > 0 && status){
- return true;
- } else {
- return false;
- }
-}
diff --git a/firmware/cl-step-controller/src/osap/vport.h b/firmware/cl-step-controller/src/osap/vport.h
deleted file mode 100644
index b705e91a150ff544b2efa0ceba17f4f6b3b515eb..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/osap/vport.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-osap/vport.h
-
-virtual port, p2p
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#ifndef VPORT_H_
-#define VPORT_H_
-
-#include <arduino.h>
-#include "./utils/syserror.h"
-
-class VPort {
-private:
- uint16_t _recipRxBufSpace = 1;
-public:
- VPort(String vPortName);
- String name;
- String description = "undescribed vport";
- uint8_t portTypeKey = PK_PORTF_KEY;
- uint16_t maxSegLength = 0;
- virtual void init(void) = 0;
- virtual void loop(void) = 0;
- // keepalive log
- uint16_t lastRXBufferSpaceTransmitted = 0;
- uint16_t rxSinceTx = 0; // debugging: count packets received since last spaces txd
- unsigned long lastTxTime = 0;
- // handling incoming frames,
- virtual void getPacket(uint8_t** pck, uint16_t* pl, uint8_t* pwp, unsigned long* pat) = 0;
- // *be sure* that getPacket sets pl to zero if no packet emerges,
- // consider making boolean return, true if packet?
- virtual void clearPacket(uint8_t pwp) = 0;
- virtual uint16_t getBufSpace(void) = 0;
- virtual uint16_t getBufSize(void) = 0;
- // dish outgoing frames, and check if open to send them?
- boolean status = false; // open / closed-ness -> OSAP can set, VP can set.
- virtual boolean cts(void); // is a connection established & is the reciprocal buffer nonzero?
- virtual void sendPacket(uint8_t* pck, uint16_t pl) = 0; // take this frame, copying out of the buffer I pass you
- // internal state,
- void setRecipRxBufSpace(uint16_t len);
- void decrimentRecipBufSpace(void);
-};
-
-#endif
diff --git a/firmware/cl-step-controller/src/osap/vport_usbserial.cpp b/firmware/cl-step-controller/src/osap/vport_usbserial.cpp
deleted file mode 100644
index ddbc9fd308439d946194f2a75364b4613bb1f2a4..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/osap/vport_usbserial.cpp
+++ /dev/null
@@ -1,141 +0,0 @@
-/*
-osap/vport.cpp
-
-virtual port, p2p
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "vport_usbserial.h"
-
-VPort_USBSerial::VPort_USBSerial()
-:VPort("usb serial"){
- description = "vport wrap on arduino Serial object";
- // ok, just calls super-constructor
-}
-
-void VPort_USBSerial::init(void){
- // set frame lengths to zero,
- for(uint8_t i = 0; i < VPUSB_NUM_SPACES; i ++){
- _pl[i] = 0;
- }
- Serial.begin(9600);
-}
-
-void VPort_USBSerial::loop(void){
- while(Serial.available()){
- _encodedPacket[_pwp][_bwp] = Serial.read();
- if(_encodedPacket[_pwp][_bwp] == 0){
- rxSinceTx ++;
- // sysError(String(getBufSpace()) + " " + String(_bwp));
- // indicate we recv'd zero
- // CLKLIGHT_TOGGLE;
- // decode from rx-ing frame to interface frame,
- status = true; // re-assert open whenever received packet incoming
- size_t dcl = cobsDecode(_encodedPacket[_pwp], _bwp, _packet[_pwp]);
- _pl[_pwp] = dcl; // this frame now available, has this length,
- _packetArrivalTimes[_pwp] = millis(); // time this thing arrived
- // reset byte write pointer
- _bwp = 0;
- // find next empty frame, that's new frame write pointer
- boolean set = false;
- for(uint8_t i = 0; i <= VPUSB_NUM_SPACES; i ++){
- _pwp ++;
- if(_pwp >= VPUSB_NUM_SPACES){ _pwp = 0; }
- if(_pl[_pwp] == 0){ // if this frame-write-ptr hasn't been set to occupied,
- set = true;
- break; // this _pwp is next empty frame,
- }
- }
- if(!set){
- sysError("no empty slot for serial read, protocol error!");
- uint16_t apparentSpace = getBufSpace();
- sysError("reads: " + String(apparentSpace));
- sysError("last txd recip: " + String(lastRXBufferSpaceTransmitted));
- sysError("rxd since last tx: " + String(rxSinceTx));
- sysError(String(_pl[0]));
- sysError(String(_pl[1]));
- sysError(String(_pl[2]));
- sysError(String(_pl[3]));
- sysError(String(_pl[4]));
- sysError(String(_pl[5]));
- sysError(String(_pl[6]));
- sysError(String(_pl[7]));
- sysError(String(_pl[8]));
- delay(5000);
- }
- } else {
- _bwp ++;
- }
- }
-}
-
-void VPort_USBSerial::getPacket(uint8_t **pck, uint16_t *pl, uint8_t *pwp, unsigned long* pat){
- uint8_t p = _lastPacket; // the last one we delivered,
- boolean retrieved = false;
- for(uint8_t i = 0; i <= VPUSB_NUM_SPACES; i ++){
- p ++;
- if(p >= VPUSB_NUM_SPACES) { p = 0; }
- if(_pl[p] > 0){ // this is an occupied packet, deliver that
- *pck = _packet[p]; // same, is this passing the ptr, yeah?
- *pl = _pl[p]; // I *think* this is how we do this in c?
- *pwp = p; // packet write pointer ? the indice of the packet, to clear
- *pat = _packetArrivalTimes[p];
- _lastPacket = p;
- retrieved = true;
- break;
- }
- }
- if(!retrieved){
- *pl = 0;
- }
-}
-
-void VPort_USBSerial::clearPacket(uint8_t pwp){
- // frame consumed, clear to write-in,
- //sysError("clear " + String(pwp));
- _pl[pwp] = 0;
- _packetArrivalTimes[pwp] = 0;
-}
-
-uint16_t VPort_USBSerial::getBufSize(void){
- return VPUSB_NUM_SPACES;
-}
-
-uint16_t VPort_USBSerial::getBufSpace(void){
- uint16_t sum = 0;
- // any zero-length frame is not full,
- for(uint16_t i = 0; i < VPUSB_NUM_SPACES; i++){
- if(_pl[i] == 0){
- sum ++;
- }
- }
- // but one is being written into,
- //if(_bwp > 0){
- sum --;
- //}
- // if we're very full this might wrap / invert, so
- if(sum > VPUSB_NUM_SPACES){
- sum = 0;
- }
- // arrivaderci
- return sum;
-}
-
-void VPort_USBSerial::sendPacket(uint8_t *pck, uint16_t pl){
- size_t encLen = cobsEncode(pck, pl, _encodedOut);
- if(Serial.availableForWrite()){
- //DEBUG1PIN_ON;
- Serial.write(_encodedOut, encLen);
- Serial.flush();
- //DEBUG1PIN_OFF;
- } else {
- sysError("NOT AVAILABLE");
- }
-}
diff --git a/firmware/cl-step-controller/src/osap/vport_usbserial.h b/firmware/cl-step-controller/src/osap/vport_usbserial.h
deleted file mode 100644
index 4a72d1ce9462ca8bf4ee76992d56c62a8a54a0cf..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/osap/vport_usbserial.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
-osap/vport_usbserial.h
-
-virtual port, p2p
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#ifndef VPORT_USBSERIAL_H_
-#define VPORT_USBSERIAL_H_
-
-#include <arduino.h>
-#include "vport.h"
-#include "./utils/cobs.h"
-#include "./drivers/indicators.h"
-
-#define VPUSB_NUM_SPACES 64
-#define VPUSB_SPACE_SIZE 1028
-
-class VPort_USBSerial : public VPort {
-private:
- // unfortunately, looks like we need to write-in to temp,
- // and decode out of that
- uint8_t _encodedPacket[VPUSB_NUM_SPACES][VPUSB_SPACE_SIZE];
- uint8_t _packet[VPUSB_NUM_SPACES][VPUSB_SPACE_SIZE];
- volatile uint16_t _pl[VPUSB_NUM_SPACES];
- unsigned long _packetArrivalTimes[VPUSB_NUM_SPACES];
- uint8_t _pwp = 0; // packet write pointer,
- uint16_t _bwp = 0; // byte write pointer,
- uint8_t _lastPacket = 0; // last packet written into
- // outgoing cobs-copy-in,
- uint8_t _encodedOut[VPUSB_SPACE_SIZE];
- // this is just for debug,
- uint8_t _ringPacket[VPUSB_SPACE_SIZE];
-public:
- VPort_USBSerial();
- // props
- uint16_t maxSegLength = VPUSB_SPACE_SIZE - 6;
- // code
- void init(void);
- void loop(void);
- // handle incoming frames
- void getPacket(uint8_t** pck, uint16_t* pl, uint8_t* pwp, unsigned long* pat);
- void clearPacket(uint8_t pwp);
- uint16_t getBufSize(void);
- uint16_t getBufSpace(void);
- // dish outgoing frames, and check if cts
- void sendPacket(uint8_t *pck, uint16_t pl);
-};
-
-#endif
diff --git a/firmware/cl-step-controller/src/osape b/firmware/cl-step-controller/src/osape
new file mode 160000
index 0000000000000000000000000000000000000000..763c64b623c30fa245ddecc45ac03d1c1c8f5b17
--- /dev/null
+++ b/firmware/cl-step-controller/src/osape
@@ -0,0 +1 @@
+Subproject commit 763c64b623c30fa245ddecc45ac03d1c1c8f5b17
diff --git a/firmware/cl-step-controller/src/utils/FlashStorage.cpp b/firmware/cl-step-controller/src/utils/FlashStorage.cpp
index 24411c93e7d1be3b51ebadbe362bc952c0b3a21e..b7b13eb229cafc369f53dcaae2268d561199621d 100644
--- a/firmware/cl-step-controller/src/utils/FlashStorage.cpp
+++ b/firmware/cl-step-controller/src/utils/FlashStorage.cpp
@@ -18,7 +18,7 @@
*/
#include "FlashStorage.h"
-#include "syserror.h"
+#include "../osape/utils/syserror.h"
static const uint32_t pageSizes[] = { 8, 16, 32, 64, 128, 256, 512, 1024 };
diff --git a/firmware/cl-step-controller/src/utils/clocks_d51_module.cpp b/firmware/cl-step-controller/src/utils/clocks_d51_module.cpp
deleted file mode 100644
index 6c4422162a01869d5b360af487756733a3f12995..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/utils/clocks_d51_module.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
-utils/clocks_d51_module.cpp
-
-clock utilities for the D51 as moduuularized, adhoc!
-i.e. xtals present on module board or otherwise
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo
-projects. Copyright is retained and must be preserved. The work is provided as
-is; no warranty is provided, and users accept all liability.
-*/
-
-#include "clocks_d51_module.h"
-
-D51_Clock_Boss* D51_Clock_Boss::instance = 0;
-
-D51_Clock_Boss* D51_Clock_Boss::getInstance(void){
- if(instance == 0){
- instance = new D51_Clock_Boss();
- }
- return instance;
-}
-
-D51_Clock_Boss* d51_clock_boss = D51_Clock_Boss::getInstance();
-
-D51_Clock_Boss::D51_Clock_Boss(){}
-
-void D51_Clock_Boss::setup_16mhz_xtal(void){
- if(mhz_xtal_is_setup) return; // already done,
- // let's make a clock w/ that xtal:
- OSCCTRL->XOSCCTRL[0].bit.RUNSTDBY = 0;
- OSCCTRL->XOSCCTRL[0].bit.XTALEN = 1;
- // set oscillator current..
- OSCCTRL->XOSCCTRL[0].reg |= OSCCTRL_XOSCCTRL_IMULT(4) | OSCCTRL_XOSCCTRL_IPTAT(3);
- OSCCTRL->XOSCCTRL[0].reg |= OSCCTRL_XOSCCTRL_STARTUP(5);
- OSCCTRL->XOSCCTRL[0].bit.ENALC = 1;
- OSCCTRL->XOSCCTRL[0].bit.ENABLE = 1;
- // make the peripheral clock available on this ch
- GCLK->GENCTRL[MHZ_XTAL_GCLK_NUM].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_XOSC0) | GCLK_GENCTRL_GENEN; // GCLK_GENCTRL_SRC_DFLL
- while (GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(MHZ_XTAL_GCLK_NUM)){
- //DEBUG2PIN_TOGGLE;
- };
- mhz_xtal_is_setup = true;
-}
-
-void D51_Clock_Boss::start_100kHz_ticker_tc0(void){
- setup_16mhz_xtal();
- // ok
- TC0->COUNT32.CTRLA.bit.ENABLE = 0;
- TC1->COUNT32.CTRLA.bit.ENABLE = 0;
- // unmask clocks
- MCLK->APBAMASK.reg |= MCLK_APBAMASK_TC0 | MCLK_APBAMASK_TC1;
- // ok, clock to these channels...
- GCLK->PCHCTRL[TC0_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- GCLK->PCHCTRL[TC1_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- // turn them ooon...
- TC0->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- TC1->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- // going to set this up to count at some time, we will tune
- // that freq. with
- TC0->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- TC1->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- // allow interrupt to trigger on this event (overflow)
- TC0->COUNT32.INTENSET.bit.MC0 = 1;
- TC0->COUNT32.INTENSET.bit.MC1 = 1;
- // set the period,
- while (TC0->COUNT32.SYNCBUSY.bit.CC0);
- TC0->COUNT32.CC[0].reg = 80; // at DIV2, 240 for 10us ('realtime') (with
- // DFLL), 80 for 10us (with XTAL 16MHZ)
- // 400 for 50us,
- // enable, sync for enable write
- while (TC0->COUNT32.SYNCBUSY.bit.ENABLE);
- TC0->COUNT32.CTRLA.bit.ENABLE = 1;
- while (TC0->COUNT32.SYNCBUSY.bit.ENABLE);
- TC1->COUNT32.CTRLA.bit.ENABLE = 1;
- // enable the IRQ
- NVIC_EnableIRQ(TC0_IRQn);
-}
-
-void D51_Clock_Boss::start_50kHz_ticker_tc0(void){
- setup_16mhz_xtal();
- // ok
- TC0->COUNT32.CTRLA.bit.ENABLE = 0;
- TC1->COUNT32.CTRLA.bit.ENABLE = 0;
- // unmask clocks
- MCLK->APBAMASK.reg |= MCLK_APBAMASK_TC0 | MCLK_APBAMASK_TC1;
- // ok, clock to these channels...
- GCLK->PCHCTRL[TC0_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- GCLK->PCHCTRL[TC1_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- // turn them ooon...
- TC0->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- TC1->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- // going to set this up to count at some time, we will tune
- // that freq. with
- TC0->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- TC1->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- // allow interrupt to trigger on this event (overflow)
- TC0->COUNT32.INTENSET.bit.MC0 = 1;
- TC0->COUNT32.INTENSET.bit.MC1 = 1;
- // set the period,
- while (TC0->COUNT32.SYNCBUSY.bit.CC0);
- TC0->COUNT32.CC[0].reg = 400; // at DIV2, 240 for 10us ('realtime') (with
- // DFLL), 80 for 10us (with XTAL 16MHZ)
- // 400 for 50us,
- // enable, sync for enable write
- while (TC0->COUNT32.SYNCBUSY.bit.ENABLE);
- TC0->COUNT32.CTRLA.bit.ENABLE = 1;
- while (TC0->COUNT32.SYNCBUSY.bit.ENABLE);
- TC1->COUNT32.CTRLA.bit.ENABLE = 1;
- // enable the IRQ
- NVIC_EnableIRQ(TC0_IRQn);
- // and set the priority level
- NVIC_SetPriority(TC0_IRQn, 2);
-}
-
-void D51_Clock_Boss::start_100kHz_ticker_tc2(void){
- setup_16mhz_xtal();
- // ok
- TC2->COUNT32.CTRLA.bit.ENABLE = 0;
- TC3->COUNT32.CTRLA.bit.ENABLE = 0;
- // unmask clocks
- MCLK->APBBMASK.reg |= MCLK_APBBMASK_TC2 | MCLK_APBBMASK_TC3;
- // ok, clock to these channels...
- GCLK->PCHCTRL[TC2_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- GCLK->PCHCTRL[TC3_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- // turn them ooon...
- TC2->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- TC3->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- // going to set this up to count at some time, we will tune
- // that freq. with
- TC2->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- TC3->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- // allow interrupt to trigger on this event (overflow)
- TC2->COUNT32.INTENSET.bit.MC0 = 1;
- TC2->COUNT32.INTENSET.bit.MC1 = 1;
- // set the period,
- while (TC2->COUNT32.SYNCBUSY.bit.CC0);
- TC2->COUNT32.CC[0].reg = 80; // at DIV2, 240 for 10us ('realtime') (with
- // DFLL), 80 for 10us (with XTAL 16MHZ)
- // 400 for 50us,
- // enable, sync for enable write
- while (TC2->COUNT32.SYNCBUSY.bit.ENABLE);
- TC2->COUNT32.CTRLA.bit.ENABLE = 1;
- while (TC2->COUNT32.SYNCBUSY.bit.ENABLE);
- TC3->COUNT32.CTRLA.bit.ENABLE = 1;
- // enable the IRQ
- NVIC_EnableIRQ(TC2_IRQn);
-}
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/utils/clocks_d51_module.h b/firmware/cl-step-controller/src/utils/clocks_d51_module.h
deleted file mode 100644
index 2e0fcd8b4cc9eb67e5135c400b08f23c40777b1c..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/utils/clocks_d51_module.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
-utils/clocks_d51_module.h
-
-clock utilities for the D51 as moduuularized, adhoc!
-i.e. xtals present on module board or otherwise
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo
-projects. Copyright is retained and must be preserved. The work is provided as
-is; no warranty is provided, and users accept all liability.
-*/
-
-#ifndef CLOCKS_D51_MODULE_H_
-#define CLOCKS_D51_MODULE_H_
-
-#include <Arduino.h>
-
-#include "../drivers/indicators.h"
-
-#define MHZ_XTAL_GCLK_NUM 9
-
-class D51_Clock_Boss {
- private:
- static D51_Clock_Boss* instance;
- public:
- D51_Clock_Boss();
- static D51_Clock_Boss* getInstance(void);
- // xtal
- volatile boolean mhz_xtal_is_setup = false;
- uint32_t mhz_xtal_gclk_num = 9;
- void setup_16mhz_xtal(void);
- // builds 100kHz clock on TC0 or TC2
- // todo: tell these fns a frequency,
- void start_100kHz_ticker_tc0(void);
- void start_50kHz_ticker_tc0(void);
- void start_100kHz_ticker_tc2(void);
-};
-
-extern D51_Clock_Boss* d51_clock_boss;
-
-#endif
\ No newline at end of file
diff --git a/firmware/cl-step-controller/src/utils/cobs.cpp b/firmware/cl-step-controller/src/utils/cobs.cpp
deleted file mode 100644
index a2d73787ba6f2626405e92aa1f72dc6da8ea43d5..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/utils/cobs.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-utils/cobs.cpp
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "cobs.h"
-// str8 crib from
-// https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing
-
-#define StartBlock() (code_ptr = dst++, code = 1)
-#define FinishBlock() (*code_ptr = code)
-
-size_t cobsEncode(uint8_t *ptr, size_t length, uint8_t *dst){
- const uint8_t *start = dst, *end = ptr + length;
- uint8_t code, *code_ptr; /* Where to insert the leading count */
-
- StartBlock();
- while (ptr < end) {
- if (code != 0xFF) {
- uint8_t c = *ptr++;
- if (c != 0) {
- *dst++ = c;
- code++;
- continue;
- }
- }
- FinishBlock();
- StartBlock();
- }
- FinishBlock();
- // write the actual zero,
- *dst++ = 0;
- return dst - start;
-}
-
-size_t cobsDecode(uint8_t *ptr, size_t length, uint8_t *dst)
-{
- const uint8_t *start = dst, *end = ptr + length;
- uint8_t code = 0xFF, copy = 0;
-
- for (; ptr < end; copy--) {
- if (copy != 0) {
- *dst++ = *ptr++;
- } else {
- if (code != 0xFF)
- *dst++ = 0;
- copy = code = *ptr++;
- if (code == 0)
- break; /* Source length too long */
- }
- }
- return dst - start;
-}
diff --git a/firmware/cl-step-controller/src/utils/cobs.h b/firmware/cl-step-controller/src/utils/cobs.h
deleted file mode 100644
index a9e587463dc4cfc6f8175d0ff48b53174970133c..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/utils/cobs.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
-utils/cobs.h
-
-consistent overhead byte stuffing implementation
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#ifndef UTIL_COBS_H_
-#define UTIL_COBS_H_
-
-#include <arduino.h>
-
-size_t cobsEncode(uint8_t *src, size_t len, uint8_t *dest);
-
-size_t cobsDecode(uint8_t *src, size_t len, uint8_t *dest);
-
-#endif
diff --git a/firmware/cl-step-controller/src/utils/syserror.cpp b/firmware/cl-step-controller/src/utils/syserror.cpp
deleted file mode 100644
index a2473fe296a6744d233b39d217bfef523aa6f776..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/utils/syserror.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-#include "syserror.h"
-
-uint8_t errBuf[1028];
-uint8_t errEncoded[1028];
-
-/*
-boolean writeString(unsigned char* dest, uint16_t* dptr, String msg){
- uint16_t len = msg.length();
- dest[(*dptr) ++] = TS_STRING_KEY;
- writeLenBytes(dest, dptr, len);
- msg.getBytes(dest, len + 1);
- return true;
-}
-
-boolean writeLenBytes(unsigned char* dest, uint16_t* dptr, uint16_t len){
- dest[(*dptr) ++] = len;
- dest[(*dptr) ++] = (len >> 8) & 255;
- return true;
-}
-*/
-
-// config-your-own-ll-escape-hatch
-void sysError(String msg){
- // whatever you want,
- //ERRLIGHT_ON;
- uint32_t len = msg.length();
- errBuf[0] = PK_LLERR; // the ll-errmsg-key
- errBuf[1] = len & 255;
- errBuf[2] = (len >> 8) & 255;
- errBuf[3] = (len >> 16) & 255;
- errBuf[4] = (len >> 24) & 255;
- msg.getBytes(&errBuf[5], len + 1);
- size_t ecl = cobsEncode(errBuf, len + 5, errEncoded);
- if(Serial.availableForWrite() > (int64_t)ecl){
- Serial.write(errEncoded, ecl);
- Serial.flush();
- }
-}
diff --git a/firmware/cl-step-controller/src/utils/syserror.h b/firmware/cl-step-controller/src/utils/syserror.h
deleted file mode 100644
index b421cc2a08eb1d482a9f298ed9dbefaa90531f9d..0000000000000000000000000000000000000000
--- a/firmware/cl-step-controller/src/utils/syserror.h
+++ /dev/null
@@ -1,11 +0,0 @@
-#ifndef SYSERROR_H_
-#define SYSERROR_H_
-
-#include <arduino.h>
-#include "./drivers/indicators.h"
-#include "./utils/cobs.h"
-#include "./osap/ts.h"
-
-void sysError(String msg);
-
-#endif
diff --git a/log/2021-02-15_heavy-alpha-0-01.png b/log/2021-02-15_heavy-alpha-0-01.png
new file mode 100644
index 0000000000000000000000000000000000000000..12d8b5110cc775093d06e96b12dbd32a16da738c
Binary files /dev/null and b/log/2021-02-15_heavy-alpha-0-01.png differ
diff --git a/log/cl-step-control-log.md b/log/cl-step-control-log.md
index ca800e55c0f761af34e4347ef9485fdd11394b64..fefc9aaf37acf9734ce4d773f7bf1820ec06e8b9 100644
--- a/log/cl-step-control-log.md
+++ b/log/cl-step-control-log.md
@@ -1239,4 +1239,31 @@ I want to try this, but always want to take the underlying encoder reading back
OK, my new theory is that something is *up* with the volatile vals in here.
-Confused, IDK what is up. Another day.
\ No newline at end of file
+Confused, IDK what is up. Another day.
+
+## 2021 02 14
+
+Long haitus on this work but I am back because I want to bring it home for good position control.
+
+I have changed a lot of the OSAP internals since working on this, so I'll bring it up to date with OSAP submodules to start.
+
+I'm adding an on-query call in embedded osap...
+
+I think my diagnostics register reading might be off... things seem to vary way too much. Again, I think maybe the CPOL is off or something?
+
+I should check against position readings. Sorted those, seems like it *should* be set up as CPHA = 1, CPOL = 0, but I still have some mysterious diagnostics readings. Whatever, I am going to proceed as planned.
+
+OK, I'm pulling back a full spec / object - and yeah, big / compound typing is really really critical for these things - and I just need now to bring calibration back online, then I can get to noise-bughunting.
+
+So I'm pulling back data now: encoder reading, an angle measurement (from the LUT) and then a filtered value ... I absolutely pinched the filter: alpha is 0.01, but this actually works really well. Here's the encoder reading up top (where I have this terrible noise... I figure a bit is going missing at some place, idk - it's an odd pattern), the measured angle beneath, and filtered finally below. This is picking out really nice variations between 320.22 deg to 320.170 - and it feels fast enough (even with the big filter) to control with. So I'll try to start with this as a reference signal.
+
+
+
+I should eventually try to delete these spurious signals, but... I can approach that later.
+
+### Position PID
+
+- write & plot a derivative term
+- scratch a PD controller for angular position
+- attempt to tune, visualize output effort
+- remote-set PID terms
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