diff --git a/circuit/mkstepper/eagle.epf b/circuit/mkstepper/eagle.epf
index b7746cf26b4f7763ac0627626eaeaad333b0513f..5984c9008ef22b223c9c5b90821511dba6670b2d 100644
--- a/circuit/mkstepper/eagle.epf
+++ b/circuit/mkstepper/eagle.epf
@@ -37,58 +37,12 @@ UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/rload.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/sym.lbr"
[Win_1]
-Type="Library Editor"
-Loc="0 0 1919 1039"
-State=1
-Number=3
-File="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-Connectors.lbr"
-View="-2.33078 -5.6861 6.58531 3.73563"
-WireWidths=" 0.0762 0.1016 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 0.127"
-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"
-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 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778 1.27"
-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"
-PolygonIsolates=" 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"
-MiterRadiuss=" 0.254 0.3175 0.635 1.27 2.54 1 2 2.5 5 7.5 10 0"
-DimensionWidths=" 0 0.127 0.254 0.1 0.26 0.13"
-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=" 0.4064 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 5 0.76"
-WireBend=5
-WireBendSet=0
-WireCap=1
-MiterStyle=0
-PadShape=0
-ViaShape=1
-PolygonPour=0
-PolygonRank=0
-PolygonThermals=1
-PolygonOrphans=0
-TextRatio=8
-DimensionUnit=1
-DimensionPrecision=2
-DimensionShowUnit=0
-PinDirection=3
-PinFunction=0
-PinLength=2
-PinVisible=3
-SwapLevel=0
-ArcDirection=0
-AddLevel=2
-PadsSameType=0
-Layer=51
-
-[Win_2]
Type="Schematic Editor"
-Loc="0 0 1919 1039"
-State=1
+Loc="926 0 1910 1007"
+State=2
Number=1
File="mkstepper.sch"
-View="25.2163 35.6215 155.675 146.596"
+View="69.3549 41.988 159.951 129.374"
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"
@@ -127,16 +81,16 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
-Views=" 1: 25.2163 35.6215 155.675 146.596"
+Views=" 1: 69.3549 41.988 159.951 129.374"
Sheet="1"
-[Win_3]
+[Win_2]
Type="Board Editor"
Loc="0 0 1919 1016"
State=1
Number=2
File="mkstepper.brd"
-View="0.634931 11.1659 35.9723 37.4943"
+View="10.3097 24.4002 22.1441 33.2175"
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"
@@ -176,7 +130,7 @@ AddLevel=2
PadsSameType=0
Layer=1
-[Win_4]
+[Win_3]
Type="Control Panel"
Loc="0 0 1919 1016"
State=1
@@ -187,4 +141,3 @@ Screen="3840 1080"
Window="Win_1"
Window="Win_2"
Window="Win_3"
-Window="Win_4"
diff --git a/circuit/mkstepper/mkstepper.brd b/circuit/mkstepper/mkstepper.brd
index 44b7ee31fccd0b307c1928b533f6d44ecffc101f..86826669b459e6349c1cdf4c8e13b66f6426f4f3 100644
--- a/circuit/mkstepper/mkstepper.brd
+++ b/circuit/mkstepper/mkstepper.brd
@@ -20,12 +20,12 @@
<layer number="24" name="bOrigins" color="15" fill="1" visible="yes" active="yes"/>
<layer number="25" name="tNames" color="7" fill="1" visible="no" active="yes"/>
<layer number="26" name="bNames" color="7" fill="1" visible="no" active="yes"/>
-<layer number="27" name="tValues" color="7" fill="1" visible="no" active="yes"/>
+<layer number="27" name="tValues" color="7" fill="1" visible="yes" active="yes"/>
<layer number="28" name="bValues" color="7" fill="1" visible="no" active="yes"/>
-<layer number="29" name="tStop" color="7" fill="3" visible="yes" active="yes"/>
-<layer number="30" name="bStop" color="7" fill="6" visible="yes" active="yes"/>
-<layer number="31" name="tCream" color="7" fill="4" visible="yes" active="yes"/>
-<layer number="32" name="bCream" color="7" fill="5" visible="yes" active="yes"/>
+<layer number="29" name="tStop" color="7" fill="3" visible="no" active="yes"/>
+<layer number="30" name="bStop" color="7" fill="6" visible="no" active="yes"/>
+<layer number="31" name="tCream" color="7" fill="4" visible="no" active="yes"/>
+<layer number="32" name="bCream" color="7" fill="5" visible="no" active="yes"/>
<layer number="33" name="tFinish" color="6" fill="3" visible="no" active="yes"/>
<layer number="34" name="bFinish" color="6" fill="6" visible="no" active="yes"/>
<layer number="35" name="tGlue" color="7" fill="4" visible="no" active="yes"/>
@@ -39,9 +39,9 @@
<layer number="43" name="vRestrict" color="2" fill="10" visible="no" active="yes"/>
<layer number="44" name="Drills" color="7" fill="1" visible="no" active="yes"/>
<layer number="45" name="Holes" color="7" fill="1" visible="yes" active="yes"/>
-<layer number="46" name="Milling" color="3" fill="1" visible="yes" active="yes"/>
+<layer number="46" name="Milling" color="3" fill="1" visible="no" active="yes"/>
<layer number="47" name="Measures" color="7" fill="1" visible="no" active="yes"/>
-<layer number="48" name="Document" color="7" fill="1" visible="no" active="yes"/>
+<layer number="48" name="Document" color="7" fill="1" visible="yes" active="yes"/>
<layer number="49" name="Reference" color="7" fill="1" visible="no" active="yes"/>
<layer number="50" name="dxf" color="7" fill="1" visible="no" active="no"/>
<layer number="51" name="tDocu" color="7" fill="1" visible="yes" active="yes"/>
@@ -1090,15 +1090,15 @@ design rules under a new name.</description>
<attribute name="TYPE" value="" x="21.15" y="41.05" size="1.778" layer="27" rot="R180" display="off"/>
<attribute name="VOLTAGE" value="" x="21.15" y="41.05" size="1.778" layer="27" rot="R180" display="off"/>
</element>
-<element name="R4" library="borkedlabs-passives" package="0805" value="3k3" x="18.75" y="47.7" rot="R90">
+<element name="R4" library="borkedlabs-passives" package="0805" value="150R" x="18.75" y="47.7" rot="R90">
<attribute name="PACKAGE" value="0805" x="18.75" y="47.7" size="1.778" layer="27" rot="R90" display="off"/>
<attribute name="PRECISION" value="" x="18.75" y="47.7" size="1.778" layer="27" rot="R90" display="off"/>
</element>
-<element name="R5" library="borkedlabs-passives" package="0805" value="1k8" x="17.35" y="47.7" rot="R90">
+<element name="R5" library="borkedlabs-passives" package="0805" value="10R" x="17.35" y="47.7" rot="R90">
<attribute name="PACKAGE" value="0805" x="17.35" y="47.7" size="1.778" layer="27" rot="R90" display="off"/>
<attribute name="PRECISION" value="" x="17.35" y="47.7" size="1.778" layer="27" rot="R90" display="off"/>
</element>
-<element name="R6" library="borkedlabs-passives" package="0805" value="3k3" x="15.95" y="47.7" rot="R90">
+<element name="R6" library="borkedlabs-passives" package="0805" value="100R" x="15.95" y="47.7" rot="R90">
<attribute name="PACKAGE" value="0805" x="15.95" y="47.7" size="1.778" layer="27" rot="R90" display="off"/>
<attribute name="PRECISION" value="" x="15.95" y="47.7" size="1.778" layer="27" rot="R90" display="off"/>
</element>
@@ -1225,22 +1225,22 @@ design rules under a new name.</description>
<element name="U$10" library="lights" package="LED0805" value="LED0805" x="15.95" y="50.6" rot="R270"/>
<element name="J8" library="connector" package="RJ12-6-SMT-TOPENTRY" value="RJ12-6-SMTTOP" x="19.75" y="8.75" rot="MR270"/>
<element name="J10" library="connector" package="RJ12-6-SMT-TOPENTRY" value="RJ12-6-SMTTOP" x="40.5" y="8.75" rot="MR270"/>
-<element name="R9" library="borkedlabs-passives" package="0805" value="3k3" x="11" y="17" rot="R270">
+<element name="R9" library="borkedlabs-passives" package="0805" value="150R" x="11" y="17" rot="R270">
<attribute name="PACKAGE" value="0805" x="16.9" y="17" size="0.6096" layer="27" rot="R270" display="off"/>
<attribute name="PRECISION" value="" x="16.9" y="17" size="0.6096" layer="27" rot="R270" display="off"/>
</element>
<element name="U$11" library="lights" package="LED0805" value="LED0805" x="3.25" y="3.5" rot="R90"/>
-<element name="R10" library="borkedlabs-passives" package="0805" value="3k3" x="9.5" y="17" rot="R270">
+<element name="R10" library="borkedlabs-passives" package="0805" value="10R" x="9.5" y="17" rot="R270">
<attribute name="PACKAGE" value="0805" x="15.4" y="17" size="0.6096" layer="27" rot="R270" display="off"/>
<attribute name="PRECISION" value="" x="15.4" y="17" size="0.6096" layer="27" rot="R270" display="off"/>
</element>
<element name="U$12" library="lights" package="LED0805" value="LED0805" x="3.25" y="14" rot="R270"/>
-<element name="R11" library="borkedlabs-passives" package="0805" value="3k3" x="12.5" y="17" rot="R270">
+<element name="R11" library="borkedlabs-passives" package="0805" value="150R" x="12.5" y="17" rot="R270">
<attribute name="PACKAGE" value="0805" x="24.2" y="17" size="0.6096" layer="27" rot="R270" display="off"/>
<attribute name="PRECISION" value="" x="24.2" y="17" size="0.6096" layer="27" rot="R270" display="off"/>
</element>
<element name="U$13" library="lights" package="LED0805" value="LED0805" x="24" y="3.5" rot="R90"/>
-<element name="R12" library="borkedlabs-passives" package="0805" value="3k3" x="14" y="17" rot="R270">
+<element name="R12" library="borkedlabs-passives" package="0805" value="10R" x="14" y="17" rot="R270">
<attribute name="PACKAGE" value="0805" x="14.9" y="20.6" size="0.6096" layer="27" rot="R270" display="off"/>
<attribute name="PRECISION" value="" x="14.9" y="20.6" size="0.6096" layer="27" rot="R270" display="off"/>
</element>
diff --git a/circuit/mkstepper/mkstepper.sch b/circuit/mkstepper/mkstepper.sch
index aeb0ce7a25c2eba07b150d26e448a8379aa55f93..e76a19a6653326a8a607c29b2ae5968bf85c452e 100644
--- a/circuit/mkstepper/mkstepper.sch
+++ b/circuit/mkstepper/mkstepper.sch
@@ -3481,9 +3481,9 @@ PTH and SMD connector options available.</p>
<part name="+3V6" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
<part name="C14" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
<part name="GND13" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="R4" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="3k3"/>
-<part name="R5" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="1k8"/>
-<part name="R6" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="3k3"/>
+<part name="R4" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="150R"/>
+<part name="R5" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="10R"/>
+<part name="R6" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="100R"/>
<part name="+3V7" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
<part name="GND14" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
<part name="GND15" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
@@ -3533,14 +3533,14 @@ PTH and SMD connector options available.</p>
<part name="J10" library="connector" deviceset="RJ12-6-SMT" device="TOP" value="RJ12-6-SMTTOP"/>
<part name="+3V1" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
<part name="GND10" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="R9" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="3k3"/>
+<part name="R9" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="150R"/>
<part name="U$11" library="lights" deviceset="LED" device="0805"/>
-<part name="R10" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="3k3"/>
+<part name="R10" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="10R"/>
<part name="U$12" library="lights" deviceset="LED" device="0805"/>
<part name="+3V8" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
-<part name="R11" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="3k3"/>
+<part name="R11" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="150R"/>
<part name="U$13" library="lights" deviceset="LED" device="0805"/>
-<part name="R12" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="3k3"/>
+<part name="R12" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="10R"/>
<part name="U$14" library="lights" deviceset="LED" device="0805"/>
<part name="+3V9" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
<part name="J5" library="power" deviceset="PWRPAD" device="M3"/>
diff --git a/datasheet/AS5045B_Datasheet_EN_v2.pdf b/datasheet/AS5045B_Datasheet_EN_v2.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..da240c1d2980aa0f487ae831919aaa52c03d1393
Binary files /dev/null and b/datasheet/AS5045B_Datasheet_EN_v2.pdf differ
diff --git a/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo b/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo
index 2a163195ec2d360f156b89f2e032ad41f585a747..55e60fb340b458c9138b47408fd1140916de7ca5 100644
Binary files a/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo and b/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo differ
diff --git a/embedded/mkstepper-v011/mkstepper-v011/apahandler.c b/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
index ac9c4b80a0709ac7785d7f038f8ebd7f828d4309..ae796b24588979e22622fe25411d915f299abbc1 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
@@ -11,7 +11,7 @@
void apa_handle_packet(uint8_t *packet, uint8_t length){
// dirty debug reply
- uart_sendchars_buffered(&up0, packet, length);
+ apa_return_packet(packet, length);
// through packet
int i = 0;
int apa_handler_state = APA_HANDLER_OUTSIDE;
@@ -20,7 +20,7 @@ void apa_handle_packet(uint8_t *packet, uint8_t length){
pin_clear(&stlr);
switch (apa_handler_state){
case APA_HANDLER_OUTSIDE:
- if (packet[i] == APA_END_ADDR_DELIMITER){
+ if (packet[i] == APA_END_ROUTE_DELIMITER){
apa_handler_state = APA_HANDLER_INSIDE;
} else {
//
@@ -84,4 +84,35 @@ void apa_handle_packet(uint8_t *packet, uint8_t length){
} // end y/n switch
}
pin_set(&stlr);
+}
+
+
+void apa_return_packet(uint8_t *packet, uint8_t length){
+ uint8_t ackpack[length];
+ ackpack[0] = length;
+ // find route header
+ int i = 2;
+ int stop = 0;
+ while(i < length){
+ if(packet[i] == APA_END_ROUTE_DELIMITER){
+ stop = i;
+ break;
+ }
+ i ++;
+ }
+ // do the business
+ if(!stop){
+ // error if stop == 0
+ } else {
+ // reverse the address header
+ for(int a = stop - 1, b = 1; a >= 1; a--, b++){
+ ackpack[b] = packet[a];
+ }
+ // fill the rest with same packet data
+ ackpack[stop] = APA_END_ROUTE_DELIMITER;
+ for(int u = stop; u < length; u ++){
+ ackpack[u] = packet[u];
+ }
+ uart_sendchars_buffered(ups[ackpack[1]], ackpack, length);
+ }
}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/apahandler.h b/embedded/mkstepper-v011/mkstepper-v011/apahandler.h
index fbda15f6e56d2bda5ed75adbb3f0d5e82018105a..1f7c5dc67fe1b75a2f07b6d632c87a57df0689c9 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apahandler.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/apahandler.h
@@ -20,5 +20,6 @@
#define DELIM_KEY_SPEED_STEPS 130 // is 32 bit int
void apa_handle_packet(uint8_t *packet, uint8_t length);
+void apa_return_packet(uint8_t *packet, uint8_t length);
#endif /* APAHANDLER_H_ */
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/apaport.c b/embedded/mkstepper-v011/mkstepper-v011/apaport.c
index 40a6e260eb3eed24d27a50d88697561fb5ef632c..fc4701bf3a83fbfd7311fd29d16cbb58bf96354b 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apaport.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/apaport.c
@@ -8,11 +8,9 @@
#include "apaport.h"
#include "hardware.h"
-void apaport_build(apaport_t *apap, uint8_t portnum, uartport_t *uart, uartport_t **uarts, uint8_t numports, pin_t *stlr, pin_t *stlb){
+void apaport_build(apaport_t *apap, uint8_t portnum, uartport_t *uart, pin_t *stlr, pin_t *stlb){
apap->uart = uart;
- apap->uarts = uarts;
apap->portnum = portnum;
- apap->numports = numports;
apap->stlr = stlr;
apap->stlb = stlb;
}
@@ -32,7 +30,7 @@ void apaport_scan(apaport_t *apap, uint32_t maxpackets){
while(apap->packets_ready <= maxpackets){
// check that we have bytes to read out of the buffer
if(rb_empty(apap->uart->rbrx)){
- //pin_set(apap->stlr);
+ pin_set(apap->stlr);
break;
}
// pull bytes out of buffer into the packet structure
@@ -56,35 +54,31 @@ void apaport_scan(apaport_t *apap, uint32_t maxpackets){
while(apap->packets_ready > 0){
// the particular packet index
uint32_t p = (apap->packet_num + APAPORT_NUM_STATIC_PACKETS - apap->packets_ready) % APAPORT_NUM_STATIC_PACKETS;
+ // first we shift the old pointer out (p[1] is, at the moment, the port the last node tx'd on)
+ apapacket_shift_pointer(apap->packets[p], apap->portnum);
+ // now p[1] is next port
// now to handle
// [p][0] is length of packet
- if(apap->packets[p][1] == APA_ADDR_POINTER){
+ if(apap->packets[p][1] == APA_ROUTE_POINTER){
apa_handle_packet(apap->packets[p], apap->packets[p][0]);
- } else if(apap->packets[p][1] == APA_ADDR_FLOOD){
+ } else if(apap->packets[p][1] == APA_ROUTE_FLOOD){
// loop through bytes to find pointer and increment
- apapacket_increment_pointer(apap->packets[p], apap->portnum);
// now ship it out on all ports
for(int i = 0; i < APAPORT_NUM_PORTS; i ++){
if(i == apap->portnum){
// don't flood back
} else {
- uart_sendchars_buffered(apap->uarts[i], apap->packets[p], apap->packets[p][0]);
+ uart_sendchars_buffered(ups[i], apap->packets[p], apap->packets[p][0]);
}
}
} else {
// packet is for a particular port,
- // we pull that out of the packet now in case the pointer decrements into [1]
- uint8_t port = apap->packets[p][1];
- // and check that we're sending it out on a port that exists
- if (port >= APAPORT_NUM_PORTS){
- port = APAPORT_NUM_PORTS - 1;
+ if(apap->packets[p][1] > APAPORT_NUM_PORTS){
+ // port does not exist, throw error
+ // pin_clear(&stlr);
+ } else {
+ uart_sendchars_buffered(ups[apap->packets[p][1]], apap->packets[p], apap->packets[p][0]);
}
- // now we can increment, safely moving pointer
- apapacket_increment_pointer(apap->packets[p], apap->portnum);
- // send on next port
- // HERE: failing on send to other ports?
- // double / triple check pointer to pointer
- uart_sendchars_buffered(apap->uarts[port], apap->packets[p], apap->packets[p][0]);
}
// debug reply (at the moment, reply is handled in apa_handle_packet
// uart_sendchars_buffered(apap->uart, apap->packets[p], apap->packets[p][0]);
@@ -92,13 +86,29 @@ void apaport_scan(apaport_t *apap, uint32_t maxpackets){
}
}
-void apapacket_increment_pointer(uint8_t *packet, uint8_t portnum){
- for(int i = 2; i < packet[0]; i ++){
- // loop through bytes to find pointer and increment
- if(packet[i] == APA_ADDR_POINTER){
- packet[i-1] = APA_ADDR_POINTER; // increment pointer forwards
- packet[i] = portnum; // port received on is this one
- break; // we can finish scan now, not looping senselessly through rest of packet
+void apapacket_shift_pointer(uint8_t *packet, uint8_t portnum){
+ int i = 2;
+ while(i < packet[0]){ // while less than length
+ if(packet[i] == APA_END_ROUTE_DELIMITER){
+ // put our port in tail
+ packet[i-1] = portnum;
+ break;
+ } else {
+ // shift 'em down
+ packet[i-1] = packet[i];
}
+ i ++;
}
-}
\ No newline at end of file
+}
+
+// UNIT TESTS:
+/*
+ flood packets
+ multiple receptions? handle in app?
+ packets no end addr bar delimiter, packets no pointer, general white noise
+ packets varying length
+ packets wrong length ? very hard to catch w/o hella state ... timeout?
+ packets no end addr delimiter?
+ packets to ports not existing
+ // next: write javascript terminal packet builder for unit tests!
+*/
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/apaport.h b/embedded/mkstepper-v011/mkstepper-v011/apaport.h
index 248733a29a249885d243c300f01643aba913cd34..5ff68b400fb92c709e1a0b159bb64efadea64866 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apaport.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/apaport.h
@@ -14,23 +14,21 @@
#include "pin.h"
#define APAPORT_NUM_STATIC_PACKETS 4
-#define APAPORT_NUM_PORTS 5
+#define APAPORT_NUM_PORTS 2
#define APAPORT_OUTSIDE_PACKET 0
#define APAPORT_INSIDE_PACKET 1
-#define APA_END_ADDR_DELIMITER 255
-#define APA_ADDR_POINTER 254
-#define APA_ADDR_FLOOD 253
+#define APA_END_ROUTE_DELIMITER 255
+#define APA_ROUTE_POINTER 254
+#define APA_ROUTE_FLOOD 253
typedef struct{
uartport_t *uart;
- uartport_t **uarts; // ptr to array of ptrs ?
pin_t *stlr;
pin_t *stlb;
uint8_t portnum; // which port are we
- uint8_t numports; // how many in the array we got
uint32_t packet_num;
uint32_t packet_position;
@@ -39,12 +37,12 @@ typedef struct{
uint8_t packets[APAPORT_NUM_STATIC_PACKETS][256]; // packets for handling by app
}apaport_t;
-void apaport_build(apaport_t *apap, uint8_t portnum, uartport_t *uart, uartport_t **uarts, uint8_t numports, pin_t *stlr, pin_t *stlb);
+void apaport_build(apaport_t *apap, uint8_t portnum, uartport_t *uart, pin_t *stlr, pin_t *stlb);
void apaport_reset(apaport_t *apap);
void apaport_scan(apaport_t *apap, uint32_t maxpackets);
-void apapacket_increment_pointer(uint8_t *packet, uint8_t portnum);
+void apapacket_shift_pointer(uint8_t *packet, uint8_t portnum);
#endif /* APAPORT_H_ */
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/main.c b/embedded/mkstepper-v011/mkstepper-v011/main.c
index 25747e0b3df7ad7ff2e8d392cbebf22efd29f50b..ddf48c88b602719fc010a60f059e71f7b5967a9e 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/main.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/main.c
@@ -202,8 +202,10 @@ int main(void)
ups[0] = &up0;
ups[1] = &up1;
- apaport_build(&apap0, 0, &up0, ups, 2, &up0_stlr, &up0_stlb);
+ apaport_build(&apap0, 0, &up0, &up0_stlr, &up0_stlb);
apaport_reset(&apap0);
+ apaport_build(&apap1, 1, &up1, &up1_stlr, &up1_stlb);
+ apaport_reset(&apap1);
// SPI
// TMC_MOSI PA07 / SER0-3
@@ -254,13 +256,12 @@ int main(void)
while (1)
{
apaport_scan(&apap0, 2);
- lpcnt ++;
- pin_toggle(&stlb);
+ apaport_scan(&apap1, 2);
if(stepper.position_ticks_target == stepper.position_ticks){
stpcnt ++;
- //stepper_targetposition_steps(&stepper, 1000 * (stpcnt %2));
- //stepper_targetspeed_steps(&stepper, 10000);
+ stepper_targetposition_steps(&stepper, 1000 * (stpcnt %2));
+ stepper_targetspeed_steps(&stepper, 500);
//stepper_goto(&stepper, 360 * (stpcnt % 2), 1200);
}
}
@@ -268,10 +269,10 @@ int main(void)
/*
next steps (haha)
-- plug into mods
-- do float positions / conversions
+- mkteriminal to write float values for keys ...
+- do float positions / conversions / speeds / etc -> setup and doc values, types, what units are
- make sure you can run -ve positions
-- mostly, build the thing, put it together so that you can test
+- this quickly so that you can mods compose
further reading:
- quadratic interpolation for position @ time w/ velocity @ endpoint step commands
@@ -280,14 +281,10 @@ minors:
- bring baud rate to 1M, at least! what the heck, FTDI!
*/
-
-
void SysTick_Handler(void){
// slow ticker
- /*
- lpcnt ++;
pin_toggle(&stlb);
-
+ /*
if(stepper.position_ticks_target == stepper.position_ticks){
stpcnt ++;
stepper_targetposition_steps(&stepper, 500 * (stpcnt %2));
diff --git a/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.componentinfo.xml b/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.componentinfo.xml
index 4c98a9531734e0eb51472ba69b7e1fd2ceb317d2..517a711ec4290c071de610dc1471e5cb9e8d7912 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.componentinfo.xml
+++ b/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.componentinfo.xml
@@ -91,7 +91,7 @@
<Attribute>template</Attribute>
<Category>source</Category>
<Condition>C Exe</Condition>
- <FileContentHash>AkDwjED0tMpIjyJPo6itfg==</FileContentHash>
+ <FileContentHash>o0ncidL5gR0Z0YwWJ1YroQ==</FileContentHash>
<FileVersion></FileVersion>
<Name>templates/main.c</Name>
<SelectString>Main file (.c)</SelectString>
diff --git a/embedded/mkstepper-v011/mkstepper-v011/tmc26.c b/embedded/mkstepper-v011/mkstepper-v011/tmc26.c
index ab250780528e5716fcf7c6062df6aa20aea727fd..23fc47cfa184ecc894e8c099e6dce15237429c91 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/tmc26.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/tmc26.c
@@ -41,7 +41,7 @@ void tmc26_init(tmc26_t *tmc){
uint32_t sgthresh_mask = 0b00000111111100000000;
int32_t sgthres_val = 60;
uint32_t cscale_mask = 0b00000000000000011111;
- uint32_t cscale_val = 28;
+ uint32_t cscale_val = 9;
uint32_t sgcsconf = 0b11010000000000000000 | ((sgthres_val << 8) & sgthresh_mask) | (cscale_val & cscale_mask);
tmc26_write(tmc, sgcsconf);