From 12f553429f1ca1b7ae0bebc52be22a4a185c5beb Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Wed, 18 Jul 2018 11:44:14 +0200
Subject: [PATCH] add bugfix for step timing misses on wait moves
---
circuit/README.md | 6 ++
circuit/atkstepper17/eagle.epf | 46 +++++-----
embedded/README.md | 3 +-
.../atkstepper17/atkstepper17/atkhandler.c | 24 ++++-
embedded/atkstepper17/atkstepper17/main.c | 6 +-
embedded/atkstepper17/atkstepper17/stepper.c | 91 ++++++-------------
embedded/atkstepper17/atkstepper17/stepper.h | 10 +-
embedded/atkstepper17/atkstepper17/tmc2130.c | 2 +-
8 files changed, 87 insertions(+), 101 deletions(-)
diff --git a/circuit/README.md b/circuit/README.md
index 2adb99a..26ee95a 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 edafb53..593690c 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 c5cc60e..50a76a2 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 b0decb9..0e73fed 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 958f39e..24454d1 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 18adf8d..b2da8ea 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 e58e77c..059a5f2 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 41533f1..d1d109d 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;
--
GitLab