diff --git a/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo b/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo
index 55e60fb340b458c9138b47408fd1140916de7ca5..0871b8c868f38dfd65e529bf3b267f96084d33da 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 ae796b24588979e22622fe25411d915f299abbc1..36ab2b207b6a14040d34f594d5759422b76f2673 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
@@ -31,51 +31,51 @@ void apa_handle_packet(uint8_t *packet, uint8_t length){
case APA_HANDLER_INSIDE:
switch (packet[i]){
case DELIM_KEY_POSITION_FLOAT:
- if(i + 5 < length){
- break; // broken data
+ if(i + 5 > length){
+ i ++;
} else {
float position = 0;
position = (packet[i+1] << 24) | (packet[i+2] << 16) | (packet[i+3] << 8) | packet[i+4]; // msb
stepper_targetposition_float(&stepper, position);
i += 5; // bring packet ptr to next key (should)
- break;
}
+ break;
case DELIM_KEY_POSITION_STEPS:
- if(i + 5 < length){
- break; // broken data
+ if(i + 5 > length){
+ i ++;
} else {
int32_t steps = (packet[i+1] << 24) | (packet[i+2] << 16) | (packet[i+3] << 8) | packet[i+4]; // msb
stepper_targetposition_steps(&stepper, steps);
i += 5; // bring packet ptr to next key (should)
- break;
}
+ break;
case DELIM_KEY_SPEED_FLOAT:
- if(i + 5 < length){
- break; // broken data
+ if(i + 5 > length){
+ i ++;
} else {
float speed = (packet[i+1] << 24) | (packet[i+2] << 16) | (packet[i+3] << 8) | packet[i+4]; // msb
stepper_targetspeed_float(&stepper, speed);
i += 5; // bring packet ptr to next key (should)
- break;
}
+ break;
case DELIM_KEY_SPEED_STEPS:
- if(i + 5 < length){
- break; // broken data
+ if(i + 5 > length){
+ i ++; // avoiding hangup
} else {
- int32_t speed = (packet[i+1] << 24) | (packet[i+2] << 16) | (packet[i+3] << 8) | packet[i+4]; // msb
+ uint32_t speed = (packet[i+1] << 24) | (packet[i+2] << 16) | (packet[i+3] << 8) | packet[i+4]; // msb
stepper_targetspeed_steps(&stepper, speed);
i += 5; // bring packet ptr to next key (should)
- break;
}
+ break;
default:
// probably an error
+ i ++;
break;
} // end interior switch
- i ++;
break;
default:
@@ -88,6 +88,8 @@ void apa_handle_packet(uint8_t *packet, uint8_t length){
void apa_return_packet(uint8_t *packet, uint8_t length){
+ //uart_sendchar_buffered(ups[1], 120);
+ //uart_sendchars_buffered(ups[1], packet, length);
uint8_t ackpack[length];
ackpack[0] = length;
// find route header
@@ -114,5 +116,10 @@ void apa_return_packet(uint8_t *packet, uint8_t length){
ackpack[u] = packet[u];
}
uart_sendchars_buffered(ups[ackpack[1]], ackpack, length);
+ // NOW:
+ // looking for justice: why no return packet on double length hop?
+ // debug with 2nd ftdi
+ //uart_sendchar_buffered(ups[1], 121);
+ //uart_sendchars_buffered(ups[1], ackpack, length);
}
}
\ 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 ddf48c88b602719fc010a60f059e71f7b5967a9e..80565ea457dcacdb7c86249d43e65ad8df0ab961 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/main.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/main.c
@@ -247,8 +247,9 @@ int main(void)
pin_output(&dir_pin);
stepper = stepper_new(&step_pin, &dir_pin, 360.0, 64);
+ stepper_reset(&stepper);
- stepper_targetspeed_steps(&stepper, 400);
+ stepper_targetspeed_steps(&stepper, 500); // so slow
uint8_t lpcnt = 0;
uint8_t stpcnt = 0;
@@ -260,18 +261,21 @@ int main(void)
if(stepper.position_ticks_target == stepper.position_ticks){
stpcnt ++;
- stepper_targetposition_steps(&stepper, 1000 * (stpcnt %2));
- stepper_targetspeed_steps(&stepper, 500);
+ pin_clear(&stlr);
+ //stepper_targetposition_steps(&stepper, 1000 * (stpcnt %2));
+ //stepper_targetspeed_steps(&stepper, 500);
//stepper_goto(&stepper, 360 * (stpcnt % 2), 1200);
+ } else {
+ pin_set(&stlr);
}
}
}
/*
next steps (haha)
-- 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
+- do steps, steps/s speed checking, and direction
+- unit test all commands on all ports using mkterminal
+
- this quickly so that you can mods compose
further reading:
diff --git a/embedded/mkstepper-v011/mkstepper-v011/stepper.c b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
index eabea0cebc437196e5c59e0e003e28960a24321b..53d2df978b03ea8e33dd947eb374c7ec88dc91d3 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/stepper.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
@@ -59,14 +59,19 @@ void stepper_targetspeed_float(stepper_t *stepper, float speed){
// do more business
}
-void stepper_targetspeed_steps(stepper_t *stepper, int32_t speed){
- stepper->speed_period = 3000000 / ((speed / (stepper->position_per_200_steps / 200)) * stepper->microsteps);
+void stepper_targetspeed_steps(stepper_t *stepper, uint32_t speed){
+ uint32_t speedmin = ((speed / (stepper->position_per_200_steps / 200)) * stepper->microsteps); // enforce no division by 0
+ (speedmin < 1) ? speedmin = 1 : (0);
+ // timing not accurate to real-world yet
+ stepper->speed_period = 300000000 / speedmin;
}
void stepper_update(stepper_t *stepper){
if(stepper->position_ticks_target != stepper->position_ticks){ // still have somewhere to go
TICKER_SYNC;
uint32_t now = TICKER;
+ // check if it's time to step
+ // todo: do timer update to fire this f'n at precisely the right time: nice for accel, deccel etc
if(now - stepper->last_time > stepper->speed_period){
int32_t gap = stepper->position_ticks_target - stepper->position_ticks;
if(gap < 0){
@@ -82,5 +87,6 @@ void stepper_update(stepper_t *stepper){
}
stepper->last_time = now;
} // end step cycle
- }
+
+ }// end step if not there cycle
}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/stepper.h b/embedded/mkstepper-v011/mkstepper-v011/stepper.h
index e9462d1a1c34470a86a2c020439a98d0f3930891..581023aefb96254b423f5aae2a37f17d89067692 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/stepper.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.h
@@ -24,6 +24,7 @@ typedef struct {
uint32_t last_time;
// float conversions
+ // not used in runtime, only during command calls
float position_per_200_steps; // units (mm or deg, probably) moved per full rotation
uint32_t microsteps;
float position;
@@ -40,7 +41,7 @@ void stepper_reset(stepper_t *stepper);
void stepper_goto(stepper_t *stepper, float position, float speed);
void stepper_targetposition_steps(stepper_t *stepper, int32_t steps);
void stepper_targetposition_float(stepper_t *stepper, float position);
-void stepper_targetspeed_steps(stepper_t *stepper, int32_t speed);
+void stepper_targetspeed_steps(stepper_t *stepper, uint32_t speed);
void stepper_targetspeed_float(stepper_t *stepper, float speed);
void stepper_update(stepper_t *stepper);