From a76660c3f567f02d78565cb4535d22ae51f279a6 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Wed, 17 Aug 2022 17:00:18 -0400
Subject: [PATCH] queues together
---
firmware/axl-stepper/src/axl | 2 +-
firmware/axl-stepper/src/main.cpp | 61 ++++++++++++++++++++--------
firmware/axl-stepper/src/osape_ucbus | 2 +-
3 files changed, 47 insertions(+), 18 deletions(-)
diff --git a/firmware/axl-stepper/src/axl b/firmware/axl-stepper/src/axl
index eb34931..202c44e 160000
--- a/firmware/axl-stepper/src/axl
+++ b/firmware/axl-stepper/src/axl
@@ -1 +1 @@
-Subproject commit eb34931b0991d7c6e257968fe60af13b90b1f629
+Subproject commit 202c44ee96ff46f07823a6dc8b9b4bb13c0a575e
diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp
index 42cfefe..ae46f6b 100644
--- a/firmware/axl-stepper/src/main.cpp
+++ b/firmware/axl-stepper/src/main.cpp
@@ -16,10 +16,9 @@
//OSAP osap("axl-stepper_z-front-left");
//OSAP osap("axl-stepper_z-rear-right");
//OSAP osap("axl-stepper_z-front-right");
-OSAP osap("axl-stepper_y-left");
+//OSAP osap("axl-stepper_y-left");
//OSAP osap("axl-stepper_y-right");
-//OSAP osap("axl-stepper_x");
-
+OSAP osap("axl-stepper_x");
//OSAP osap("axl-stepper_e");
VPort_ArduinoSerial vpUSBSerial(&osap, "arduinoUSBSerial", &Serial);
@@ -207,6 +206,32 @@ boolean axl_checkLimit(void){
Endpoint homeEP(&osap, "home", onHomeData);
+// -------------------------------------------------------- 8: Precalcd-move-adder;
+
+EP_ONDATA_RESPONSES onPrecalculatedMoveData(uint8_t* data, uint16_t len){
+ ERRLIGHT_TOGGLE;
+ haltLightOnTime = millis() + 250;
+ move_t move;
+ // data[0] == AXL_MODE_QUEUE -> I think we designed this serialization so
+ // that we could hit the same endpoint w/ multiple structures...
+ uint16_t rptr = 1;
+ move.vi = ts_readFloat32(data, &rptr);
+ move.accel = ts_readFloat32(data, &rptr);
+ move.cruise = ts_readFloat32(data, &rptr);
+ move.vf = ts_readFloat32(data, &rptr);
+ move.distance = ts_readFloat32(data, &rptr);
+ for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
+ move.unitVector[a] = ts_readFloat32(data, &rptr);
+ move.endPos.axis[a] = ts_readFloat32(data, &rptr);
+ }
+ // and send it...
+ axl_addMoveToQueue(move);
+ // OSAP::debug("move len " + String(move.distance));
+ return EP_ONDATA_REJECT;
+}
+
+Endpoint precalculatedMoveEP(&osap, "precalculatedMoves", onPrecalculatedMoveData);
+
// -------------------------------------------------------- Arduino Setup
void setup() {
@@ -223,27 +248,28 @@ void setup() {
// setup controller
axl_setup();
// ticker begin:
- d51ClockUtils->start_ticker_a(AXL_TICKER_INTERVAL_US);
+ // d51ClockUtils->start_ticker_a(AXL_TICKER_INTERVAL_US);
}
// -------------------------------------------------------- Das Loop
uint32_t lastBlink = 0;
uint32_t blinkInterval = 50; // ms
+uint8_t dummy[128];
void loop() {
osap.loop();
stepper_hw->dacRefresh();
- axl_lazyLoop();
+ axl_netLoop(dummy);
if(lastBlink + blinkInterval < millis()){
lastBlink = millis();
CLKLIGHT_TOGGLE;
updateStatesEP();
//axl_printHomeState();
}
- if(haltLightOnTime + 250 < millis()){
- ERRLIGHT_OFF;
- }
+ // if(haltLightOnTime + 250 < millis()){
+ // ERRLIGHT_OFF;
+ // }
}
// -------------------------------------------------------- Small-Time Ops
@@ -263,14 +289,17 @@ void axl_onPositionDelta(uint8_t axis, float delta){
}
}
-void TC0_Handler(void){
+// void TC0_Handler(void){
+// DEBUG1PIN_ON;
+// TC0->COUNT32.INTFLAG.bit.MC0 = 1;
+// TC0->COUNT32.INTFLAG.bit.MC1 = 1;
+// // run the loop,
+// axl_integrator();
+// DEBUG1PIN_OFF;
+// }
+
+void ucBusDrop_onRxISR(void){
DEBUG1PIN_ON;
- TC0->COUNT32.INTFLAG.bit.MC0 = 1;
- TC0->COUNT32.INTFLAG.bit.MC1 = 1;
- // run the loop,
axl_integrator();
DEBUG1PIN_OFF;
-}
-
-// deadies, unused ATM
-void ucBusDrop_onRxISR(void){}
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/firmware/axl-stepper/src/osape_ucbus b/firmware/axl-stepper/src/osape_ucbus
index 55661c3..9779836 160000
--- a/firmware/axl-stepper/src/osape_ucbus
+++ b/firmware/axl-stepper/src/osape_ucbus
@@ -1 +1 @@
-Subproject commit 55661c3f0510b7e31ce059a47fc1c401c608c765
+Subproject commit 9779836fd38f965e2be5fb0ff11f933dac7f7a04
--
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