From aabb3b728813a508e09a57e948754c4e98eeabd2 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Fri, 22 Jun 2018 00:21:06 -0400
Subject: [PATCH] accel ticker OK
---
.../atkstepper23/atkstepper23/atkhandler.c | 1 -
embedded/atkstepper23/atkstepper23/atkport.c | 2 -
embedded/atkstepper23/atkstepper23/main.c | 13 +-
embedded/atkstepper23/atkstepper23/stepper.c | 131 +++++++++---------
embedded/atkstepper23/atkstepper23/stepper.h | 14 +-
5 files changed, 79 insertions(+), 82 deletions(-)
diff --git a/embedded/atkstepper23/atkstepper23/atkhandler.c b/embedded/atkstepper23/atkstepper23/atkhandler.c
index 6fb720b..85c6ce9 100644
--- a/embedded/atkstepper23/atkstepper23/atkhandler.c
+++ b/embedded/atkstepper23/atkstepper23/atkhandler.c
@@ -56,7 +56,6 @@ 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);
}
break;
diff --git a/embedded/atkstepper23/atkstepper23/atkport.c b/embedded/atkstepper23/atkstepper23/atkport.c
index 0e754bb..65b80e0 100644
--- a/embedded/atkstepper23/atkstepper23/atkport.c
+++ b/embedded/atkstepper23/atkstepper23/atkport.c
@@ -36,11 +36,9 @@ void atkport_scan(atkport_t *atkp, uint32_t maxpackets){
} else {
// pull bytes out of buffer into the packet structure
atkp->packets[atkp->packet_num][atkp->packet_position] = rb_get(atkp->uart->rbrx);
- uart_sendchar_polled(&up1, atkp->packets[atkp->packet_num][atkp->packet_position]);
atkp->packet_position ++;
// now segment, point to them
if(atkp->packet_position >= atkp->packets[atkp->packet_num][0]){
- pin_toggle(&stlerr);
// length is 1st byte, like array[n] not array[n-1]
// now volley for next pass
// packet_num is index of head of packet buffer (just an array)
diff --git a/embedded/atkstepper23/atkstepper23/main.c b/embedded/atkstepper23/atkstepper23/main.c
index b9b7873..52521e2 100644
--- a/embedded/atkstepper23/atkstepper23/main.c
+++ b/embedded/atkstepper23/atkstepper23/main.c
@@ -108,19 +108,18 @@ int main(void)
pin_init(&stlclk, &PORTF, PIN7_bm, 7, 1);
pin_init(&stlerr, &PORTF, PIN6_bm, 6, 1);
pin_set(&stlerr);
-
+ pin_set(&stlclk);
+
// stepper business
stephardware_init();
- // runtime globals
- uint32_t tck = 0;
-
tmc26_start(&tmc);
tmc26_enable(&tmc);
tickers_init();
-
- pin_set(&stlclk);
+
+ // runtime globals
+ uint32_t tck = 0;
while (1)
{
@@ -131,7 +130,7 @@ int main(void)
// this modulo op is slow AF
// that means streamlining atkport_scan without modulos is probably a rad thing
if(!(fastModulo(tck, 16384))){
- pin_toggle(&stlclk);
+ //pin_toggle(&stlclk);
}
}
}
diff --git a/embedded/atkstepper23/atkstepper23/stepper.c b/embedded/atkstepper23/atkstepper23/stepper.c
index 7cfe270..656ab0b 100644
--- a/embedded/atkstepper23/atkstepper23/stepper.c
+++ b/embedded/atkstepper23/atkstepper23/stepper.c
@@ -1,9 +1,9 @@
/*
- * stepper.c
- *
- * Created: 2/17/2018 5:39:34 PM
- * Author: Jake
- */
+* stepper.c
+*
+* Created: 2/17/2018 5:39:34 PM
+* Author: Jake
+*/
#include "stepper.h"
#include "hardware.h"
@@ -11,7 +11,7 @@
#include "atkhandler.h"
#include "fastmath.h"
-void stepper_init(stepper_t *stepper, pin_t *step_pin, pin_t *dir_pin){
+void stepper_init(stepper_t *stepper, pin_t *step_pin, pin_t *dir_pin){
stepper->step_pin = step_pin;
stepper->dir_pin = dir_pin;
@@ -19,22 +19,18 @@ void stepper_init(stepper_t *stepper, pin_t *step_pin, pin_t *dir_pin){
}
void stepper_reset(stepper_t *stepper){
- stepper->speed_period = 0;
- stepper->accel_period = 0;
-
stepper->blockhead = 0;
stepper->blocktail = 0;
stepper->blocksize = BLOCKS_QUEUE_SIZE;
+
+ stepper->speed_period = 0;
+ stepper->accel_period = 0;
stepper->speed = 0;
- stepper->last_step = 0;
- stepper->last_accel = 0;
-
stepper->position_ticks = 0;
stepper->position_accel_to = 0;
stepper->position_deccel_from = 0;
- stepper->position_ticks_end = 0;
}
void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed){
@@ -55,7 +51,7 @@ void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint3
// still need to check this
(accel < 3) ? accel = 3 : (0);
(accel > 187500) ? accel = 187500 : (0);
- // but we're going to wrap everything else in update() to avoid accel etc checks, we're just going to be counting
+ // 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 = accel;
stepper->block[stepper->blockhead].position_end = abs(steps);
stepper->block[stepper->blockhead].accel_period = STEPTICKER_ONE_SECOND;
@@ -68,15 +64,19 @@ void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint3
// 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){
+ // could we just call stepper_update now?
uint16_t newper = STEPTICKER_ONE_SECOND / accel;
stepticker_newperiod(newper);
stepticker_reset();
+ uint16_t accper = 65536; // gets 16-bit truncated
+ accelticker_newperiod(accper);
+ accelticker_reset();
}
- } else {
+ } else {
// a real move
stepper->block[stepper->blockhead].is_nomove = 0;
- // TODO: should block the execution of this block while we do this, so that we
+ // TODO: should block the execution of this block while we do this, so that we
// have an interrupt safe ringbuffer
// enforce no div/0
@@ -84,14 +84,16 @@ void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint3
(entryspeed > 187500) ? entryspeed = 187500 : (0); // no faster than this pls, else underneat timer resolution
// going to have to catch blocks which cause deceleration to 0 during deceleration phases !
stepper->block[stepper->blockhead].entry_speed = entryspeed;
-
+
// do starting speed period
+ (accel < 3) ? accel = 3 : (0);
+ (accel > 187500) ? accel = 187500 : (0);
stepper->block[stepper->blockhead].accel_period = STEPTICKER_ONE_SECOND / accel;
// set dir
if(steps < 0){
stepper->block[stepper->blockhead].dir = 0;
- } else {
+ } else {
stepper->block[stepper->blockhead].dir = 1;
}
@@ -104,11 +106,14 @@ void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint3
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
+ // 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_newperiod(newper);
stepticker_reset();
+ uint16_t accper = STEPTICKER_ONE_SECOND / accel;
+ accelticker_newperiod(accper);
+ accelticker_reset();
}
}
// increment block head ptr: should catch full queue HERE but not bothering
@@ -117,9 +122,8 @@ void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint3
void stepper_updatesteps(stepper_t *stepper){
if(stepper->blockhead == stepper->blocktail){
- //pin_clear(&stlerr);
- // bail, no steps to make, ringbuffer is empty
- } else if(stepper->block[stepper->blocktail].position_end > stepper->position_ticks){
+ // no steps to make, ringbuffer is empty
+ } else if(stepper->block[stepper->blocktail].position_end > stepper->position_ticks){
// we have somewhere to go
if(stepper->block[stepper->blocktail].is_new){
// if we're just starting this block, set the speed
@@ -128,58 +132,37 @@ void stepper_updatesteps(stepper_t *stepper){
stepticker_newperiod(stepper->speed_period);
stepticker_reset();
- // time for accels, etc is now zero
- stepper->time = 0;
+ // and set the accel ticker
+ accelticker_newperiod(stepper->block[stepper->blocktail].accel_period);
+ accelticker_reset();
// and set the dir
if(stepper->block[stepper->blocktail].dir > 0){
pin_set(stepper->dir_pin);
- } else {
+ } else {
pin_clear(stepper->dir_pin);
}
-
// and distance was 0'd after last move
// and then clear this flag
- stepper->block[stepper->blocktail].is_new = 0;
- } else {
- stepper->time += stepper->speed_period;
+ stepper->block[stepper->blocktail].is_new = 0;
}
- // check for acceleration or deceleration
- // CASE: acceleration rate faster than step rate?
- /*
- definitely, the timer will only need to be setup to fire on the next step,
- but TI suggests to use two timers, one for steps and another for acceleration... this makes some sense
- in this case, when acceleration rate is greater than step rate, we can set new periods of the step timer from the accel isr
- and when we update period when it's already over that period, that will automatically call the isr
- */
- if(stepper->position_ticks < stepper->block[stepper->blocktail].position_accel_to){
- // we're accelerating!
- if(stepper->time - stepper->last_accel > stepper->block[stepper->blocktail].accel_period){
- stepper->speed += 1;
- (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);
- stepper->last_accel = stepper->time;
- }
- } else if(stepper->position_ticks > stepper->block[stepper->blocktail].position_deccel_from){
- // we're decelerating!
- if(stepper->time - stepper->last_accel > stepper->block[stepper->blocktail].accel_period){
- stepper->speed -= 1;
- (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);
- stepper->last_accel = stepper->time;
- }
- }
-
// if there's steps to make, and this timer is firing, it's time to step!
if(!stepper->block[stepper->blocktail].is_nomove){
pin_toggle(stepper->step_pin);
}
+
stepper->position_ticks ++;
- } else {
+ if(stepper->position_ticks < stepper->block[stepper->blocktail].position_accel_to){
+ stepper->accelstate = STEP_ACCELSTATE_ACCEL;
+ } else if (stepper->position_ticks > stepper->block[stepper->blocktail].position_deccel_from){
+ stepper->accelstate = STEP_ACCELSTATE_DECEL;
+ } else {
+ stepper->accelstate = STEP_ACCELSTATE_CRUISE;
+ }
+
+ } else {
// looks a lot like we're done here
// send a reply for windowed transmission
// this is dirty because we're passing the packet (referenced here in the ringbuffer) by reference,
@@ -190,7 +173,7 @@ void stepper_updatesteps(stepper_t *stepper){
if(stepper->block[stepper->blocktail].is_nomove){
reply[0] = 131;
reply[1] = 12;
- } else {
+ } else {
reply[0] = 131;
reply[1] = 24;
}
@@ -203,12 +186,32 @@ void stepper_updatesteps(stepper_t *stepper){
}
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;
+ 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;
+ case STEP_ACCELSTATE_CRUISE:
+ (0);
+ break;
+ default:
+ (0);
+ break;
+ }
}
void stepticker_newperiod(uint16_t per){
- TCC0.PERL = (uint8_t) per;
- TCC0.PERH = (uint8_t) (per >> 8);
+ TCC0.PERBUFL = (uint8_t) per;
+ TCC0.PERBUFH = (uint8_t) (per >> 8);
}
void stepticker_reset(void){
@@ -216,8 +219,8 @@ void stepticker_reset(void){
}
void accelticker_newperiod(uint16_t per){
- TCC1.PERL = (uint8_t) per;
- TCC1.PERH = (uint8_t) (per >> 8);
+ TCC1.PERBUFL = (uint8_t) per;
+ TCC1.PERBUFH = (uint8_t) (per >> 8);
}
void accelticker_reset(void){
diff --git a/embedded/atkstepper23/atkstepper23/stepper.h b/embedded/atkstepper23/atkstepper23/stepper.h
index 0b70b17..562f8c3 100644
--- a/embedded/atkstepper23/atkstepper23/stepper.h
+++ b/embedded/atkstepper23/atkstepper23/stepper.h
@@ -13,6 +13,9 @@
#define BLOCKS_QUEUE_SIZE 16
#define STEPTICKER_ONE_SECOND 187500 // one tick of timer is 5.3-- us
+#define STEP_ACCELSTATE_CRUISE 0
+#define STEP_ACCELSTATE_ACCEL 1
+#define STEP_ACCELSTATE_DECEL 2
// one movement
typedef struct {
@@ -42,17 +45,13 @@ typedef struct {
uint8_t blockhead;
uint8_t blocktail;
uint8_t blocksize;
-
- // tracking time (using single timer, updates)
- unsigned long time;
-
+
// tracking time periods
uint16_t speed_period; // meaning we have a min. step speed of STEPTICKER_ONE_SECOND / 2^16 ( ~ 2.86 s/s)
- unsigned long accel_period;
+ uint16_t accel_period;
// tracking time for updates
- unsigned long last_step;
- unsigned long last_accel;
+ uint8_t accelstate;
// have to track speed to update accel
uint32_t speed;
@@ -61,7 +60,6 @@ typedef struct {
uint32_t position_ticks;
uint32_t position_accel_to;
uint32_t position_deccel_from;
- uint32_t position_ticks_end;
}stepper_t;
void stepper_init(stepper_t *stepper, pin_t *step_pin, pin_t *dir_pin);
--
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