diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.cpp b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.cpp
index 361620b9d4e89ae076108b4ee997d98abe618d0f..6638cce631f82286924567c8bb7dc8f7c87e2045 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.cpp
+++ b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.cpp
@@ -179,6 +179,10 @@ void STEP_A4950::setCurrent(float cscale){
dacs->writeDac1(dacLUT[_bStep] * _cscale);
}
+void STEP_A4950::setInversion(boolean inv){
+ _dir_invert = inv;
+}
+
void STEP_A4950::dacRefresh(void){
dacs->refresh();
}
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h
index 5f9dad84cd70bf9aad9383e1d88122ab5b71f709..a6fa398aeea785a855fd89442876e57d331104b5 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h
+++ b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h
@@ -93,6 +93,7 @@ class STEP_A4950 {
boolean getDir(void);
// current settings
void setCurrent(float cscale);
+ void setInversion(boolean inv);
// for the dacs
void dacRefresh(void);
};
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
index 9161b462dc27aaba72444e2b2b7479ead463c5ea..dd1bb524b42db30cdf54613a5e7e3bc223af7188 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
+++ b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
@@ -8,22 +8,59 @@
OSAP* osap = new OSAP("stepper motor drop");
VPort_UCBus_Drop* vPortUcBusDrop = new VPort_UCBus_Drop();
-// clank cz:
-// AXIS SPU INVERT
-// X: 320 false
-// YL: 320 true
-// YR: 320 false
-// Z: 924.4r false
-// E: 830 currently false, not sure
-// per bondtech, for BMG on 16 microsteps, do 415: we are 32 microsteps
-// https://www.bondtech.se/en/customer-service/faq/
-
-#define AXIS_PICK 0 // E: 3 Z: 2, Y: 1, X: 0
-#define AXIS_INVERT false
-#define SPU 320 //924.444444F
-#define C_SCALE 0.4F // 0-1, floating
+// bare defaults: use vm / bus id to set on startup
+uint8_t axis_pick = 0;
+float spu = 400.0F;
+float old_spu = 400.0F;
+volatile boolean spu_was_set = false;
+float c_scale = 0.2F;
#define TICKS_PER_PACKET 25.0F
+// ENDPOINT 0
+boolean onAxisPickSet(uint8_t* data, uint16_t len){
+ if(data[0] > 3){
+ axis_pick = 0;
+ } else {
+ axis_pick = data[0];
+ }
+ return true;
+}
+Endpoint* axisPickEP = osap->endpoint(onAxisPickSet);
+
+// ENDPOINT 1
+boolean onAxisInvertSet(uint8_t* data, uint16_t len){
+ if(data[0] > 0){
+ stepper_hw->setInversion(true);
+ } else {
+ stepper_hw->setInversion(false);
+ }
+ return true;
+}
+Endpoint* axisInvertEP = osap->endpoint(onAxisInvertSet);
+
+// ENDPOINT 2
+boolean onSPUSet(uint8_t* data, uint16_t len){
+ chunk_float32 spuc = { .bytes = { data[0], data[1], data[2], data[3] } };
+ old_spu = spu;
+ spu = fabsf(spuc.f);
+ spu_was_set = true;
+ return true;
+}
+Endpoint* spuEP = osap->endpoint(onSPUSet);
+
+// ENDPOINT 3
+boolean onCScaleSet(uint8_t* data, uint16_t len){
+ chunk_float32 cscalec = { .bytes = { data[0], data[1], data[2], data[3] } };
+ if(cscalec.f > 1.0F){
+ cscalec.f = 1.0F;
+ } else if (cscalec.f < 0.0F){
+ cscalec.f = 0.0F;
+ }
+ stepper_hw->setCurrent(cscalec.f);
+ return true;
+}
+Endpoint* cscaleEP = osap->endpoint(onCScaleSet);
+
void setup() {
ERRLIGHT_SETUP;
CLKLIGHT_SETUP;
@@ -35,7 +72,7 @@ void setup() {
osap->description = "remote stepper drop";
osap->addVPort(vPortUcBusDrop);
// stepper
- stepper_hw->init(AXIS_INVERT, C_SCALE);
+ stepper_hw->init(false, c_scale);
}
// have available,
@@ -61,14 +98,20 @@ void UCBus_Drop::onPacketARx(void){
if(setBlock) return;
//DEBUG2PIN_TOGGLE;
// last move is done, convert back steps -> float,
- current_floating_pos = current_step_pos / SPU;
+ if(spu_was_set){
+ current_floating_pos = current_step_pos / old_spu;
+ current_step_pos = lroundf(current_floating_pos * spu);
+ spu_was_set = false;
+ } else {
+ current_floating_pos = current_step_pos / spu;
+ }
vel = 0.0F; // reset zero in case packet is not move
uint8_t bptr = 0;
// switch bus packet types
switch(inBufferA[0]){
case UB_AK_GOTOPOS:
{
- bptr = AXIS_PICK * 4 + 1;
+ bptr = axis_pick * 4 + 1;
chunk_float32 target = {
.bytes = { inBufferA[bptr], inBufferA[bptr + 1], inBufferA[bptr + 2], inBufferA[bptr + 3] }
};
@@ -87,9 +130,9 @@ void UCBus_Drop::onPacketARx(void){
stepper_hw->dir(false);
}
// how many steps,
- delta_steps = lroundf(abs(delta * SPU));
+ delta_steps = lroundf(abs(delta * spu));
// what speed
- vel = abs(delta * SPU) / TICKS_PER_PACKET;
+ vel = abs(delta * spu) / TICKS_PER_PACKET;
// for str8 r8
/*
if(delta_steps == 0){
@@ -103,12 +146,12 @@ void UCBus_Drop::onPacketARx(void){
case UB_AK_SETPOS:
{
// reqest is to set position, not go to it...
- bptr = AXIS_PICK * 4 + 1;
+ bptr = axis_pick * 4 + 1;
chunk_float32 target = {
.bytes = { inBufferA[bptr], inBufferA[bptr + 1], inBufferA[bptr + 2], inBufferA[bptr + 3] }
};
float target_current_pos = target.f;
- int32_t target_current_steps = lroundf(target_current_pos * SPU);
+ int32_t target_current_steps = lroundf(target_current_pos * spu);
setBlock = true; // don't do step work while these are modified
current_floating_pos = target_current_pos;
current_step_pos = target_current_steps;
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/osape b/firmware/osape-smoothieroll-drop-stepper/src/osape
index 0a37169e44d354fa301704ac0a351fb81bcca585..7bbcbf8d8364d9beaf501d1acf6b34a77e4086f3 160000
--- a/firmware/osape-smoothieroll-drop-stepper/src/osape
+++ b/firmware/osape-smoothieroll-drop-stepper/src/osape
@@ -1 +1 @@
-Subproject commit 0a37169e44d354fa301704ac0a351fb81bcca585
+Subproject commit 7bbcbf8d8364d9beaf501d1acf6b34a77e4086f3
diff --git a/log/2021-02-03_phase-steps-angle.jpg b/log/2021-02-03_phase-steps-angle.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d97f1842347dc9095978bbe0441977b8dec94ba4
Binary files /dev/null and b/log/2021-02-03_phase-steps-angle.jpg differ
diff --git a/log/cl-step-control-log.md b/log/cl-step-control-log.md
index ed8c6bc187cd9786a4f458d1e2cf3e71e5cf32ab..ca800e55c0f761af34e4347ef9485fdd11394b64 100644
--- a/log/cl-step-control-log.md
+++ b/log/cl-step-control-log.md
@@ -353,6 +353,12 @@ I'm just going to get into the 'magnetic angle' pointing system for the DACs now
This makes sense: so when I'm at '0 degs' my A phase is on 100%, B phase is zero. Or, the way I've my LUT written, I'll have A at 0 and B at full-width positive. If I don't like this for some reason (It'll calibrate away) I can change the LUT.
+FWIW **at 2021 02 03** I ended up drawing this out later:
+
+
+
+In the stepper, we have one 'complete electrical phase' inside of four of what we normally call 'steps' - this spans 7.2 physical degrees when we have a 200 'step' (pole) motor.
+
I'm up to pointing, now I just need to deliver some power to the motor.
OK, this is making sense and I can point my magnetic vector around: