diff --git a/2020-06_ucbus-stepper-melted/eagle.epf b/2020-06_ucbus-stepper-melted/eagle.epf
index e33215bcce39b64a1c660ab623e6b7cf712c6206..fa1582d96f7aa45a0112ba94306f2efd319254a1 100644
--- 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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AutoSaveProject=1
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+UsedLibrary="C:/Dropbox/CBA/circuits/eagle/parts/motors.lbr"
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+UsedLibrary="C:/Dropbox/CBA/circuits/eagle/parts/raspberrypi_bastelstube_v13.lbr"
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@@ -28,14 +303,14 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
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SmdSizes=" 0.3048 0.1524 0.4064 0.2032 0.6096 0.3048 0.8128 0.4064 1.016 0.508 1.27 0.6604 1.4224 0.7112 1.6764 0.8128 1.778 0.9144 1.9304 0.9652 2.1844 1.0668 2.54 1.27 3.81 1.9304 5.08 2.54 6.4516 3.2512 1.27 0.635"
-WireBend=0
-WireBendSet=31
+WireBend=3
+WireBendSet=0
WireCap=1
MiterStyle=1
PadShape=0
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"
diff --git a/2020-06_ucbus-stepper-module/eagle.epf b/2020-06_ucbus-stepper-module/eagle.epf
index 6ff93f3c6df83f582a47739a6528487b93a6d81e..464973fa2e1e33f2eca9da4391d4e78b225b56f7 100644
--- 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"
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
index 6a3a7f393cf48f0375a7e9146e20f326da0df383..04ca517db2d90834cc3f98d6319b10ec086563ae 100644
--- 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);