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Jake Read
ucbus-stepper
Commits
3ccc109b
Commit
3ccc109b
authored
May 17, 2021
by
Jake Read
Browse files
stepper homing routine
parent
b650be88
Changes
3
Hide whitespace changes
Inline
Side-by-side
2020-06_ucbus-stepper-melted/eagle.epf
View file @
3ccc109b
...
...
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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"
...
...
2020-06_ucbus-stepper-module/eagle.epf
View file @
3ccc109b
...
...
@@ -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 15.8
65
3
2
5.2235 23.6978
"
View="16.
8508 10.0924 34.90
65 2
6.3339
"
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"
...
...
firmware/osape-smoothieroll-drop-stepper/src/main.cpp
View file @
3ccc109b
...
...
@@ -14,6 +14,7 @@ float old_spu = 400.0F;
volatile
boolean
spu_was_set
=
false
;
float
c_scale
=
0.2
F
;
#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
=
0.0
F
;
// step-float-counter
float
homePos
=
0.0
F
;
// position (units)
float
homeStepRate
=
0.0
F
;
// rate (steps/tick)
float
homePosRate
=
0.0
F
;
// rate (units/tick)
boolean
homeDir
=
false
;
// direction
float
homeOffset
=
0.0
F
;
// 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
=
0.0
F
;
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
=
0.0
F
;
homePos
=
0.0
F
;
homing
=
HOME_BACKOFF
;
}
else
{
homeStepCounter
+=
homeStepRate
;
if
(
homeStepCounter
>=
1.0
F
){
homeStepCounter
-=
1.0
F
;
stepper_hw
->
step
();
}
}
break
;
case
HOME_BACKOFF
:
homeStepCounter
+=
homeStepRate
;
homePos
+=
homePosRate
;
if
(
homeStepCounter
>=
1.0
F
){
// backoff motion
homeStepCounter
-=
1.0
F
;
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
>
1.0
F
);
...
...
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