diff --git a/circuit/README.md b/circuit/README.md
index 2adb99a252f7603bec9e303f83af0cfa16525e6c..26ee95a51b2281f2bb743dd16d6ee336e2a41f7d 100644
--- a/circuit/README.md
+++ b/circuit/README.md
@@ -9,3 +9,9 @@ The circuit uses an ATXmega256A3U microcontroller and a TMC2130 step driver to d
The TMC2130 is a popular step driver, and can sink ~ 1.5A of current.
Power is bussed into the board with two M3 Screw Terminals. The board is not polarity protected. Data is delivered on an Automatakit Port, which includes a data line (uart TX / RX) and clock lines (CLKIN and CLKOUT)
+
+## Next Circuit
+
+ - on current scaling, get rid of PWM circuit and line out, use internal ref, and choose resistors with math: want 0.5 - 1.2A to be inside of 16-32 selection
+ - go to 2oz copper bc u fancy, etc
+ - get rid of this split gnd
\ No newline at end of file
diff --git a/circuit/atkstepper17/eagle.epf b/circuit/atkstepper17/eagle.epf
index edafb53996eff3757577e7c81c4115556ec5ca9a..593690c51ae6a599ed78caa5376734bee3c19317 100644
--- a/circuit/atkstepper17/eagle.epf
+++ b/circuit/atkstepper17/eagle.epf
@@ -37,15 +37,15 @@ UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/sym.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/marekr/borkedlabs-passives.lbr"
[Win_1]
-Type="Board Editor"
-Number=2
-File="atkstepper17.brd"
-View="8.16562 -7.32526 61.43 47.2931"
-WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.254 0.3048 0.4064 0.508 0.6096 1.016 2.54 0.8128 1.27 0.2032 0.1524"
+Type="Schematic Editor"
+Number=1
+File="atkstepper17.sch"
+View="171.068 63.2152 445.42 258.351"
+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"
ViaDiameters=" 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.2 1.3 0"
-ViaDrills=" 0.2 0.25 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.3"
+ViaDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
HoleDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
TextSizes=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778"
PolygonSpacings=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.27"
@@ -56,14 +56,14 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
DimensionExtLengths=" 1.27 2.54 1 2 3 0"
DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
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=3
-WireBendSet=0
+WireBend=0
+WireBendSet=31
WireCap=1
MiterStyle=0
PadShape=0
ViaShape=1
PolygonPour=0
-PolygonRank=1
+PolygonRank=0
PolygonThermals=1
PolygonOrphans=0
TextRatio=8
@@ -78,18 +78,20 @@ SwapLevel=0
ArcDirection=0
AddLevel=2
PadsSameType=0
-Layer=1
+Layer=91
+Views=" 1: 171.068 63.2152 445.42 258.351"
+Sheet="1"
[Win_2]
-Type="Schematic Editor"
-Number=1
-File="atkstepper17.sch"
-View="-345.366 -191.587 473.844 391.086"
-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"
+Type="Board Editor"
+Number=2
+File="atkstepper17.brd"
+View="2.39114 -2.88041 55.6555 51.738"
+WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.254 0.3048 0.4064 0.508 0.6096 1.016 2.54 0.8128 1.27 0.2032 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"
ViaDiameters=" 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.2 1.3 0"
-ViaDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
+ViaDrills=" 0.2 0.25 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.3"
HoleDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
TextSizes=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778"
PolygonSpacings=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.27"
@@ -100,14 +102,14 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
DimensionExtLengths=" 1.27 2.54 1 2 3 0"
DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
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=0
PadShape=0
ViaShape=1
PolygonPour=0
-PolygonRank=0
+PolygonRank=1
PolygonThermals=1
PolygonOrphans=0
TextRatio=8
@@ -122,16 +124,14 @@ SwapLevel=0
ArcDirection=0
AddLevel=2
PadsSameType=0
-Layer=91
-Views=" 1: -345.366 -191.587 473.844 391.086"
-Sheet="1"
+Layer=1
[Win_3]
Type="Control Panel"
Number=0
[Desktop]
-Screen="3840 1080"
+Screen="1920 1080"
Window="Win_1"
Window="Win_2"
Window="Win_3"
diff --git a/embedded/README.md b/embedded/README.md
index c5cc60e71973ba74bda4df9ed977298333d312e8..50a76a2e9576b2f477fee2eb0c25cee85c52536c 100644
--- a/embedded/README.md
+++ b/embedded/README.md
@@ -9,4 +9,5 @@ Two hardware timers run step timing, one fires every time a step is to be taken,
## Current Problems
- step-delay on first step causing issues?
-- trinamic fiddling... need different sense resistors?
\ No newline at end of file
+- trinamic fiddling... need different sense resistors?
+- check missing break; on wait case statement in handler?
\ No newline at end of file
diff --git a/embedded/atkstepper17/atkstepper17/atkhandler.c b/embedded/atkstepper17/atkstepper17/atkhandler.c
index b0decb920d6defc5f52df04eba9136cca660028b..0e73fedd11a19288d62b363b2dec15be37ce0a68 100644
--- a/embedded/atkstepper17/atkstepper17/atkhandler.c
+++ b/embedded/atkstepper17/atkstepper17/atkhandler.c
@@ -37,7 +37,9 @@ void atk_handle_packet(uint8_t *packet, uint8_t length){
break;
case DELIM_KEY_RESET:
- // TODO
+ CCP = CCP_IOREG_gc;
+ RST.CTRL = RST_SWRST_bm;
+ i ++;
break;
case DELIM_KEY_TRAPEZOID:
@@ -45,6 +47,8 @@ void atk_handle_packet(uint8_t *packet, uint8_t length){
if(i + 12 > length){
i ++;
} else {
+ // to move or not to move
+ uint8_t is_wait = 0;
// in steps (discrete)
steps = ((int32_t)packet[i+1] << 24) | ((int32_t)packet[i+2] << 16) | ((int32_t)packet[i+3] << 8) | (int32_t)packet[i+4];
// in steps/s
@@ -57,7 +61,7 @@ void atk_handle_packet(uint8_t *packet, uint8_t length){
uint32_t deccellength = ((int32_t)packet[i+17] << 24) | ((int32_t)packet[i+18] << 16) | (int32_t)(packet[i+19] << 8) | (int32_t)packet[i+20];
// do the business
i += 21;
- stepper_new_block(packet, &stepper, steps, entryspeed, accel, accellength, deccellength);
+ stepper_new_block(packet, &stepper, is_wait, steps, entryspeed, accel, accellength, deccellength);
}
break;
@@ -65,11 +69,21 @@ void atk_handle_packet(uint8_t *packet, uint8_t length){
if(i + 8 > length){
i ++;
} else {
+ // to move or not to move
+ uint8_t is_wait = 1;
+ // in steps (discrete)
steps = ((int32_t)packet[i+1] << 24) | ((int32_t)packet[i+2] << 16) | ((int32_t)packet[i+3] << 8) | (int32_t)packet[i+4];
// in steps/s
- uint32_t speed = ((int32_t)packet[i+5] << 24) | ((int32_t)packet[i+6] << 16) | ((int32_t)packet[i+7] << 8) | (int32_t)packet[i+8];
- i += 8;
- stepper_new_wait(packet, &stepper, steps, speed);
+ uint32_t entryspeed = ((int32_t)packet[i+5] << 24) | ((int32_t)packet[i+6] << 16) | ((int32_t)packet[i+7] << 8) | (int32_t)packet[i+8];
+ // in steps/min/s
+ uint32_t accel = ((int32_t)packet[i+9] << 24) | ((int32_t)packet[i+10] << 16) | ((int32_t)packet[i+11] << 8) | (int32_t)packet[i+12];
+ // in steps/min
+ uint32_t accellength = ((int32_t)packet[i+13] << 24) | ((int32_t)packet[i+14] << 16) | ((int32_t)packet[i+15] << 8) | (int32_t)packet[i+16];
+ // in steps/min
+ uint32_t deccellength = ((int32_t)packet[i+17] << 24) | ((int32_t)packet[i+18] << 16) | (int32_t)(packet[i+19] << 8) | (int32_t)packet[i+20];
+ // do the business
+ i += 21;
+ stepper_new_block(packet, &stepper, is_wait, steps, entryspeed, accel, accellength, deccellength);
}
default:
diff --git a/embedded/atkstepper17/atkstepper17/main.c b/embedded/atkstepper17/atkstepper17/main.c
index 958f39e059e6fe7cbb29a3a9ce6fbb7646b26158..24454d129904121a2aec6b56eac2a9aa67a47194 100644
--- a/embedded/atkstepper17/atkstepper17/main.c
+++ b/embedded/atkstepper17/atkstepper17/main.c
@@ -94,6 +94,10 @@ int main(void)
uarts_init();
atkps_init();
+ // problem step?
+ // err. on linking wait and non-wait moves
+ // do wait / no wait commands: same params, ship from same code
+
// enable interrupts
sei();
PMIC.CTRL |= PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
@@ -119,7 +123,7 @@ int main(void)
atkport_scan(&atkp0, 2);
// just... as fast as we can
tck++;
- if(!(fastModulo(tck, 16384))){
+ if(!(fastModulo(tck, 4096))){
pin_toggle(&stlclk);
}
}
diff --git a/embedded/atkstepper17/atkstepper17/stepper.c b/embedded/atkstepper17/atkstepper17/stepper.c
index 18adf8d682327608d6f5327ac91f957e2391ee7a..b2da8ea9db138e9b1dec0c02cbaa02ef4a889fcf 100644
--- a/embedded/atkstepper17/atkstepper17/stepper.c
+++ b/embedded/atkstepper17/atkstepper17/stepper.c
@@ -37,7 +37,7 @@ void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed){
// not implemented atm
}
-void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength){
+void stepper_new_block(uint8_t *packet, stepper_t *stepper, uint8_t is_wait, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength){
// does assignments and adds to queue
// track this address so that we can ack to it when the move is complete
// a sloppy copy, I'm sure
@@ -45,15 +45,15 @@ void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint3
stepper->block[stepper->blockhead].packet[i] = packet[i];
}
- // a real move
- stepper->block[stepper->blockhead].is_nomove = 0;
+ // a real move, or a wait placeholder?
+ stepper->block[stepper->blockhead].is_wait = is_wait;
// TODO: should block the execution of this block while we do this, so that we
// have an interrupt safe ringbuffer
// enforce no div/0
(entryspeed < 3) ? entryspeed = 3 : (0); //(0) is NOP: 3 is min steps/s due to timer resolution
- (entryspeed > 187500) ? entryspeed = 187500 : (0); // no faster than this pls, else underneat timer resolution
+ (entryspeed > 187500) ? entryspeed = 187500 : (0); // no faster than this pls, else below timer resolution
// going to have to catch blocks which cause deceleration to 0 during deceleration phases !
stepper->block[stepper->blockhead].entry_speed = entryspeed;
@@ -81,54 +81,17 @@ void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint3
// otherwise we're taking for granted that we've set this properly following the last move
if(stepper->blockhead == stepper->blocktail){
uint16_t newper = STEPTICKER_ONE_SECOND / entryspeed;
+ stepticker_restart();
stepticker_newperiod(newper);
- stepticker_reset();
uint16_t accper = STEPTICKER_ONE_SECOND / accel;
+ accelticker_restart();
accelticker_newperiod(accper);
- accelticker_reset();
pin_clear(&stlerr);
}
// increment block head ptr: should catch full queue HERE but not bothering
stepper->blockhead = fastModulo((stepper->blockhead + 1), BLOCKS_QUEUE_SIZE);
}
-void stepper_new_wait(uint8_t *packet, stepper_t *stepper, int32_t steps, uint32_t speed){
- for(int i = 0; i < packet[0]; i ++){
- stepper->block[stepper->blockhead].packet[i] = packet[i];
- }
-
- // we have a waiting block, we'll say accel is now = speed for supposed steps
- stepper->block[stepper->blockhead].is_nomove = 1;
- // still need to check this
- (speed < 3) ? speed = 3 : (0);
- (speed > 187500) ? speed = 187500 : (0);
- // but we're going to wrap everything else in update() to avoid accel etc checks, we're just going to be counting
- stepper->block[stepper->blockhead].entry_speed = speed;
- stepper->block[stepper->blockhead].position_end = abs(steps);
- stepper->block[stepper->blockhead].accel_period = STEPTICKER_ONE_SECOND - 1;
- stepper->block[stepper->blockhead].position_accel_to = 0;
- stepper->block[stepper->blockhead].position_deccel_from = abs(steps);
-
- // ready set
- stepper->block[stepper->blockhead].is_new = 1;
-
- // if there are currently no steps to make, we're not sure about the current step frequency, we'll set the period
- // otherwise we're taking for granted that we've set this properly following the last move
- if(stepper->blockhead == stepper->blocktail){
- pin_clear(&stlerr);
- // could we just call stepper_update now?
- uint16_t newper = STEPTICKER_ONE_SECOND / speed;
- stepticker_newperiod(newper);
- stepticker_reset();
- uint16_t accper = STEPTICKER_ONE_SECOND - 1; // gets 16-bit truncated
- accelticker_newperiod(accper);
- accelticker_reset();
- pin_clear(&stlerr);
- }
-
- stepper->blockhead = fastModulo((stepper->blockhead + 1), BLOCKS_QUEUE_SIZE);
-}
-
void stepper_updatesteps(stepper_t *stepper){
if(stepper->blockhead == stepper->blocktail){
// no steps to make, ringbuffer is empty
@@ -139,12 +102,12 @@ void stepper_updatesteps(stepper_t *stepper){
// if we're just starting this block, set the speed
stepper->speed = stepper->block[stepper->blocktail].entry_speed;
stepper->speed_period = STEPTICKER_ONE_SECOND / stepper->speed;
+ stepticker_restart(); // restart sets cc register to zero, so we do this first
stepticker_newperiod(stepper->speed_period);
- stepticker_reset();
// and set the accel ticker
+ accelticker_restart();
accelticker_newperiod(stepper->block[stepper->blocktail].accel_period);
- accelticker_reset();
// and set the dir
if(stepper->block[stepper->blocktail].dir > 0){
@@ -158,7 +121,7 @@ void stepper_updatesteps(stepper_t *stepper){
}
// if there's steps to make, and this timer is firing, it's time to step!
- if(!stepper->block[stepper->blocktail].is_nomove){
+ if(!stepper->block[stepper->blocktail].is_wait){
pin_toggle(stepper->step_pin);
}
@@ -181,11 +144,11 @@ void stepper_updatesteps(stepper_t *stepper){
// apa_return_packet(stepper->block[stepper->blocktail].packet, 25);
uint8_t reply[12];
int8_t replyLength;
- if(stepper->block[stepper->blocktail].is_nomove){
+ if(stepper->block[stepper->blocktail].is_wait){
reply[0] = DELIM_KEY_WAIT;
reply[1] = 12;
replyLength = 2;
- } else {
+ } else {
reply[0] = DELIM_KEY_TRAPEZOID;
int32_t stepsTaken = stepper->block[stepper->blocktail].position_end;
if(!stepper->block[stepper->blocktail].dir){
@@ -208,23 +171,23 @@ void stepper_updateaccel(stepper_t *stepper){
// check for acceleration or deceleration
switch (stepper->accelstate){
case STEP_ACCELSTATE_ACCEL:
- stepper->speed ++;
- (stepper->speed > 187500) ? stepper->speed = 187500 : (0); // max speed due to timer res
- stepper->speed_period = STEPTICKER_ONE_SECOND / stepper->speed;
- stepticker_newperiod(stepper->speed_period);
- break;
+ stepper->speed ++;
+ (stepper->speed > 187500) ? stepper->speed = 187500 : (0); // max speed due to timer res
+ stepper->speed_period = STEPTICKER_ONE_SECOND / stepper->speed;
+ stepticker_newperiod(stepper->speed_period);
+ break;
case STEP_ACCELSTATE_DECEL:
- stepper->speed --;
- (stepper->speed < 3) ? stepper->speed = 3 : (0); // min speed due to timer res
- stepper->speed_period = STEPTICKER_ONE_SECOND / stepper->speed;
- stepticker_newperiod(stepper->speed_period);
- break;
+ stepper->speed --;
+ (stepper->speed < 3) ? stepper->speed = 3 : (0); // min speed due to timer res
+ stepper->speed_period = STEPTICKER_ONE_SECOND / stepper->speed;
+ stepticker_newperiod(stepper->speed_period);
+ break;
case STEP_ACCELSTATE_CRUISE:
- (0);
- break;
+ (0);
+ break;
default:
- (0);
- break;
+ (0);
+ break;
}
}
@@ -233,7 +196,7 @@ void stepticker_newperiod(uint16_t per){
TCC0.PERBUFH = (uint8_t) (per >> 8);
}
-void stepticker_reset(void){
+void stepticker_restart(void){
TCC0.CTRLFSET = TC_CMD_RESTART_gc;
}
@@ -242,6 +205,6 @@ void accelticker_newperiod(uint16_t per){
TCC1.PERBUFH = (uint8_t) (per >> 8);
}
-void accelticker_reset(void){
+void accelticker_restart(void){
TCC1.CTRLFSET = TC_CMD_RESTART_gc;
}
\ No newline at end of file
diff --git a/embedded/atkstepper17/atkstepper17/stepper.h b/embedded/atkstepper17/atkstepper17/stepper.h
index e58e77cb6114d131f10cb6536b210d20e440b617..059a5f261a2abda22ee3becb550c4e12f6d71eb3 100644
--- a/embedded/atkstepper17/atkstepper17/stepper.h
+++ b/embedded/atkstepper17/atkstepper17/stepper.h
@@ -24,7 +24,7 @@ typedef struct {
// tracking
uint8_t is_new;
- uint8_t is_nomove;
+ uint8_t is_wait;
// for what you do
uint8_t dir; // 0 or 1
@@ -70,9 +70,7 @@ void stepper_reset(stepper_t *stepper);
void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed);
// steps discrete, mm/min, mm/min/s (mm/s better but we want more discrete resolution)
-void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength);
-
-void stepper_new_wait(uint8_t *packet, stepper_t *stepper, int32_t steps, uint32_t speed);
+void stepper_new_block(uint8_t *packet, stepper_t *stepper, uint8_t is_wait, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength);
void stepper_updatesteps(stepper_t *stepper);
@@ -80,11 +78,11 @@ void stepper_updateaccel(stepper_t *stepper);
void stepticker_newperiod(uint16_t per);
-void stepticker_reset(void);
+void stepticker_restart(void);
void accelticker_newperiod(uint16_t per);
-void accelticker_reset(void);
+void accelticker_restart(void);
/*
step to-do
diff --git a/embedded/atkstepper17/atkstepper17/tmc2130.c b/embedded/atkstepper17/atkstepper17/tmc2130.c
index 41533f1c9f3745dcfe379b7b85a45fa16e538d9f..d1d109dc4e739f786fae31b77968152a8d3fbbe1 100644
--- a/embedded/atkstepper17/atkstepper17/tmc2130.c
+++ b/embedded/atkstepper17/atkstepper17/tmc2130.c
@@ -41,7 +41,7 @@ void tmc2130_start(tmc2130_t *tmc){
tmc2130_write(tmc, writeGConf, gConf);
// this writes to IHOLD_IRUN register
- tmc2130_setCurrents(tmc, 16, 20);
+ tmc2130_setCurrents(tmc, 12, 18);
// Write CHOPCONF
uint8_t writeChopConf = 0x6C | 0b10000000;