stepper homing routine

3ccc109b · Jake Read · b650be88 · 3ccc109b · 3ccc109b · 3ccc109b
Commit 3ccc109b authored May 17, 2021 by Jake Read
--- a/2020-06_ucbus-stepper-melted/eagle.epf
+++ b/2020-06_ucbus-stepper-melted/eagle.epf
@@ -6,20 +6,295 @@ Desktop="Desktop"

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 ViaShape=1
 PolygonPour=0
-PolygonRank=0
+PolygonRank=4
 PolygonThermals=1
 PolygonOrphans=0
 TextRatio=8
@@ -94,9 +371,7 @@ SwapLevel=0
 ArcDirection=0
 AddLevel=2
 PadsSameType=0
-Layer=91
-Views=" 1: 148.076 60.2009 334.352 161.499"
-Sheet="1"
+Layer=15

 [Win_3]
 Type="Control Panel"

--- a/2020-06_ucbus-stepper-module/eagle.epf
+++ b/2020-06_ucbus-stepper-module/eagle.epf
@@ -355,7 +355,7 @@ UsedLibraryUrn="urn:adsk.eagle:library:168"
 Type="Schematic Editor"
 Number=1
 File="2020-06_ucbus-stepper-module.sch"
-View="93.8998 -5.32858 236.93 67.1657"
+View="42.4851 -10.8684 214.121 76.1248"
 WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
 PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
 PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
@@ -394,14 +394,14 @@ ArcDirection=0
 AddLevel=2
 PadsSameType=0
 Layer=91
-Views=" 1: 93.8998 -5.32858 236.93 67.1657"
+Views=" 1: 42.4851 -10.8684 214.121 76.1248"
 Sheet="1"

 [Win_2]
 Type="Board Editor"
 Number=2
 File="2020-06_ucbus-stepper-module.brd"
-View="16.5161 15.8653 25.2235 23.6978"
+View="16.8508 10.0924 34.9065 26.3339"
 WireWidths=" 0.127 0.15 0.2 2.54 1.016 0.2032 0.254 0.6096 0 2.032 0.508 0.4064 0.3048 1.27 0.8128 0.1524"
 PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
 PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"

--- a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
+++ b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
@@ -14,6 +14,7 @@ float old_spu = 400.0F;
 volatile boolean spu_was_set = false;
 float c_scale = 0.2F;
 #define TICKS_PER_PACKET 25.0F
+#define TICKS_PER_SECOND 50000.0F

 // -------------------------------------------------------- AXIS PICK EP 

@@ -68,9 +69,68 @@ boolean onCScaleData(uint8_t* data, uint16_t len){

 vertex_t* cScaleEp = osapBuildEndpoint("CScale", onCScaleData, nullptr);

+// -------------------------------------------------------- HOME ROUTINE
+
+// some homeing globals, 
+#define HOME_NOT 0
+#define HOME_FIRST 1
+#define HOME_BACKOFF 2
+
+uint8_t homing = 0;           // statemachine 
+float homeStepCounter = 0.0F; // step-float-counter
+float homePos = 0.0F;         // position (units)
+float homeStepRate = 0.0F;    // rate (steps/tick)
+float homePosRate = 0.0F;     // rate (units/tick)
+boolean homeDir = false;      // direction 
+float homeOffset = 0.0F;      // after-home offset 
+
+boolean onHomeData(uint8_t* data, uint16_t len){
+  chunk_float32 rate = { .bytes = { data[0], data[1], data[2], data[3] } };
+  chunk_float32 offset = { .bytes = { data[4], data[5], data[6], data[7] } };
+  homing = HOME_FIRST;
+  homeStepCounter = 0.0F;
+  if(rate.f > 0){
+    homeDir = true;
+    stepper_hw->dir(true);
+  } else {
+    homeDir = false;
+    stepper_hw->dir(false);
+  }
+  homeStepRate = abs(rate.f * spu) / TICKS_PER_SECOND;
+  homePosRate = abs(rate.f) / TICKS_PER_SECOND;
+  homeOffset = offset.f;
+  return true;
+}
+
+vertex_t* homeEp = osapBuildEndpoint("Home", onHomeData, nullptr);
+
+// -------------------------------------------------------- LIMIT SETUP 
+
+#define LIMIT_PORT PORT->Group[0]
+#define LIMIT_PIN 23 
+#define LIMIT_BM ((uint32_t)(1 << LIMIT_PIN))
+
+void limitSetup(void){
+  // not-an-output 
+  LIMIT_PORT.DIRCLR.reg = LIMIT_BM;
+  // enable input 
+  LIMIT_PORT.PINCFG[LIMIT_PIN].bit.INEN = 1;
+  // enable pull 
+  LIMIT_PORT.PINCFG[LIMIT_PIN].bit.PULLEN = 1;
+  // 'pull' references direction from 'out' register, so we set hi to pull up (switch pulls to gnd)
+  LIMIT_PORT.OUTSET.reg = LIMIT_BM;
+}
+
+boolean limitIsMade(void){
+  // return true if switch is hit 
+  return (LIMIT_PORT.IN.reg & LIMIT_BM);
+}
+
 void setup() {
  ERRLIGHT_SETUP;
  CLKLIGHT_SETUP;
+  // limit switch 
+  limitSetup();
  // osap
  osapSetup();
  // ports 
@@ -86,6 +146,8 @@ void setup() {
  osapAddVertex(spuEp);           // 4
  // cscale 
  osapAddVertex(cScaleEp);        // 5
+  // homing 
+  osapAddVertex(homeEp);          // 6 
  // stepper init 
  stepper_hw->init(false, c_scale);
 }
@@ -96,6 +158,11 @@ void setup() {
 void loop() {
  osapLoop();
  stepper_hw->dacRefresh();
+  if(limitIsMade()){
+    ERRLIGHT_ON;
+  } else {
+    ERRLIGHT_OFF;
+  }
 } // end loop 


@@ -110,7 +177,10 @@ volatile boolean setBlock = false;


 void ucBusDrop_onPacketARx(uint8_t* inBufferA, volatile uint16_t len){
+  // don't execute when we have been given a set-position block 
  if(setBlock) return;
+  // don't execute if we are currently homing
+  if(homing) return;
  //DEBUG2PIN_TOGGLE;
  // last move is done, convert back steps -> float,
  if(spu_was_set){
@@ -182,7 +252,44 @@ void ucBusDrop_onPacketARx(uint8_t* inBufferA, volatile uint16_t len){
 }

 void ucBusDrop_onRxISR(void){
+  // no-op when given a set block, 
  if(setBlock) return;
+  // incremental motion if is homing 
+  if(homing != 0){
+    switch(homing){
+      case HOME_FIRST:
+        if(limitIsMade()){
+          // traaaaaaansition -> backoff 
+          stepper_hw->dir(!homeDir);
+          homeStepCounter = 0.0F;
+          homePos = 0.0F;
+          homing = HOME_BACKOFF;
+        } else {
+          homeStepCounter += homeStepRate;
+          if(homeStepCounter >= 1.0F){
+            homeStepCounter -= 1.0F;
+            stepper_hw->step();
+          }
+        }
+        break;
+      case HOME_BACKOFF:
+        homeStepCounter += homeStepRate;
+        homePos += homePosRate;
+        if(homeStepCounter >= 1.0F){  // backoff motion 
+          homeStepCounter -= 1.0F;
+          stepper_hw->step();
+        }
+        if(homePos >= homeOffset){ // until more than 2mm away 
+          // traaaaaaaaaaaaaansition -> end 
+          homing = 0;
+        }
+        break;
+      default:
+        homing = 0;
+    }
+    return;
+  }
+
  //DEBUG2PIN_TOGGLE;
  move_counter += vel;
  boolean move_check = (move_counter > 1.0F);