diff --git a/embedded/mkstepper-v011/mkstepper-v011/apahandler.c b/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
index 9be5179fe7074d119c014ced0d9d035822380666..222f13152612dd12bfd8c006892a7f33af000e74 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/apahandler.c
@@ -62,7 +62,7 @@ void apa_handle_packet(uint8_t *packet, uint8_t length){
// in steps/s
uint32_t deccellength = (packet[i+17] << 24) | (packet[i+18] << 16) | (packet[i+19] << 8) | packet[i+20];
// do the business
- stepper_block(&stepper, steps, entryspeed, accel, accellength, deccellength);
+ stepper_new_block(&stepper, steps, entryspeed, accel, accellength, deccellength);
i += 13; // ? not 12 ?
}
break;
diff --git a/embedded/mkstepper-v011/mkstepper-v011/hardware.h b/embedded/mkstepper-v011/mkstepper-v011/hardware.h
index b53743569eb4c1ee6fe8f2e50a3a9f3060c68ae5..11684d858a011a28d70b64169d3958b8ce9b6f8b 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/hardware.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/hardware.h
@@ -70,6 +70,6 @@ stepper_t stepper;
// DEBUG
-pin_t tickuptx;
+pin_t tickup0tx;
#endif /* HARDWARE_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 6bb6548f30aa11b88dc11e834eff91b328ca15dd..561ad97c9ef161b36e944bdf27b3ac402b4b1652 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/main.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/main.c
@@ -245,8 +245,10 @@ int main(void)
stepper = stepper_new(&step_pin, &dir_pin);
stepper_reset(&stepper);
- tickuptx = pin_new(&PORT->Group[0], 13);
- pin_output(&tickuptx);
+ tickup0tx = pin_new(&PORT->Group[0], 13);
+ pin_output(&tickup0tx);
+
+ //pin_clear(&stlb);
while (1)
{
@@ -265,7 +267,7 @@ next steps (haha)
void SysTick_Handler(void){
// slow ticker
- pin_toggle(&stlb);
+ //pin_toggle(&stlb);
//uart_sendchar_buffered(&up0, 120);
@@ -305,6 +307,6 @@ void TC0_Handler(void){ // fires rarely, for counting overflows of time-ticker
void TC2_Handler(void){ // fires every 8.3us, for step checking
TC2->COUNT32.INTFLAG.bit.MC0 = 1;
TC2->COUNT32.INTFLAG.bit.MC1 = 1;
- pin_toggle(&tickuptx);
+ pin_toggle(&tickup0tx);
stepper_update(&stepper);
}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.c b/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.c
index fb87a8c26b7bef0ae5c808d3670f54fb0cbad3bf..eeb5367b5c96b6b701ed74827c3d608dd1297e32 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.c
@@ -29,6 +29,8 @@ uint8_t rb_empty(ringbuffer_t *rb){
}
uint8_t rb_full(ringbuffer_t *rb){
+ // read from tail, update at head
+ // if head is 'just behind' tail (in ring) we have no extra space: the
return ((rb->head + 1) % rb->size) == rb->tail;
}
diff --git a/embedded/mkstepper-v011/mkstepper-v011/stepper.c b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
index d08d45ff56a3464341536862a3c9da4af91adca5..2b7872edad75696dce7eeb1f665ca74d717f3e8d 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/stepper.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.c
@@ -40,6 +40,7 @@ void stepper_reset(stepper_t *stepper){
}
void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed){
+ // TODO: update to ship a block
// set speed period
(speed < 1) ? speed = 1 : (0); // avoid 0 division, 1 step / s seems like reasonable lower bound step rate
stepper->speed = speed;
@@ -65,52 +66,85 @@ void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed){
stepper->last_step = now;
}
-void stepper_block(stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength){
- // or, newblock: does maths and adds to queue
+void stepper_new_block(stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength){
+ // does assignments and adds to queue
+
+ // 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 < 1) ? entryspeed = 1 : (0);
// going to have to catch blocks which cause deceleration to 0 during deceleration phases !
- stepper->speed = entryspeed;
+ stepper->block[stepper->blockhead].entry_speed = entryspeed;
// do starting speed period
- stepper->speed_period = stepper->one_minute / stepper->speed;
- stepper->accel_period = stepper->one_minute / accel;
+ stepper->block[stepper->blockhead].accel_period = stepper->one_minute / accel;
// set dir
if(steps < 0){
- pin_clear(stepper->dir_pin);
+ stepper->block[stepper->blockhead].dir = 0;
} else {
- pin_set(stepper->dir_pin);
+ stepper->block[stepper->blockhead].dir = 1;
}
// do lengths
- stepper->position_ticks_end = abs(steps);
- stepper->position_accel_to = accellength;
- stepper->position_deccel_from = deccellength;
- stepper->position_ticks = 0;
+ stepper->block[stepper->blockhead].position_end = abs(steps);
+ stepper->block[stepper->blockhead].position_accel_to = accellength;
+ stepper->block[stepper->blockhead].position_deccel_from = deccellength;
+
+ // ready set
+ stepper->block[stepper->blockhead].is_new = 1;
+
+ // increment block head ptr: should catch full queue HERE but not bothering
+ stepper->blockhead = (stepper->blockhead + 1) % stepper->blocksize;
// reset times
+ /*
TICKER_SYNC;
unsigned long now = TICKER;
stepper->last_accel = now;
stepper->last_step = now;
+ */
}
void stepper_update(stepper_t *stepper){
- if(stepper->position_ticks_end > stepper->position_ticks){ // still have somewhere to go
+ if(stepper->blockhead == stepper->blocktail){
+ // pin_clear(&stlb);
+ // bail, no steps to make, ringbuffer is empty
+ } else if(stepper->block[stepper->blocktail].position_end > stepper->position_ticks){
+ pin_set(&stlb);
+ // we have somewhere to go
TICKER_SYNC;
unsigned long now = TICKER;
- if(stepper->position_ticks < stepper->position_accel_to){
+ if(stepper->block[stepper->blocktail].is_new){
+ // if we're just starting this block, set the speed
+ stepper->speed = stepper->block[stepper->blocktail].entry_speed;
+ stepper->speed_period = stepper->one_minute / stepper->speed;
+
+ // and set the dir
+ if(stepper->block[stepper->blocktail].dir < 0){
+ pin_clear(stepper->dir_pin);
+ } else {
+ pin_set(stepper->dir_pin);
+ }
+
+ // and clear the distance
+ stepper->position_ticks = 0;
+
+ // and then clear this flag
+ stepper->block[stepper->blocktail].is_new = 0;
+ }
+
+ if(stepper->position_ticks < stepper->block[stepper->blocktail].position_accel_to){
// we're accelerating!
- if(now - stepper->last_accel > stepper->accel_period){
+ if(now - stepper->last_accel > stepper->block[stepper->blocktail].accel_period){
stepper->speed += 1;
stepper->speed_period = stepper->one_minute / stepper->speed;
stepper->last_accel = now;
}
- } else if(stepper->position_ticks > stepper->position_deccel_from){
- if(now - stepper->last_accel > stepper->accel_period){
+ } else if(stepper->position_ticks > stepper->block[stepper->blocktail].position_deccel_from){
+ if(now - stepper->last_accel > stepper->block[stepper->blocktail].accel_period){
stepper->speed -= 1;
(stepper->speed < 1) ? stepper->speed = 1 : (0); // assert no 0's
stepper->speed_period = stepper->one_minute / stepper->speed;
@@ -124,10 +158,19 @@ void stepper_update(stepper_t *stepper){
if(now - stepper->last_step >= stepper->speed_period){
pin_toggle(stepper->step_pin);
stepper->position_ticks ++;
- stepper->last_step = now; //stepper->last_step + stepper->speed_period; // last speed_period if accelerating
+ stepper->last_step = now;
+ //stepper->last_step + stepper->speed_period; // last speed_period if accelerating
// not sure why that wasn't working: for now, take for granted that over the course of many steps,
// we tend do equal amounts undershooting speed on all motors
} // end step cycle
- }// end step if not there cycle
+ } else {
+ pin_clear(&stlb);
+ // we've just finished a block, next time we'll be running with that, or call an empty queue
+ stepper->blocktail = (stepper->blocktail + 1) % stepper->blocksize;
+ stepper->position_ticks = 0;
+
+
+ // call end-block - will want to send the ack now
+ }
}
\ 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 683d9d6282711ffda5ec655d7a4823b037771ad3..d3ae30f10b59c584c018715cae6db7b2d640f583 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/stepper.h
+++ b/embedded/mkstepper-v011/mkstepper-v011/stepper.h
@@ -12,7 +12,7 @@
#include "sam.h"
#include "pin.h"
-#define BLOCKS_QUEUE_SIZE 64
+#define BLOCKS_QUEUE_SIZE 16
// one movement
typedef struct {
@@ -20,11 +20,14 @@ typedef struct {
uint8_t return_address[8]; // C quesion: how to do this properly with malloc() ? malloc() on embedded sys?
uint8_t return_address_length;
+ // tracking
+ uint8_t is_new;
+
// for what you do
uint8_t dir; // 0 or 1
- uint32_t length; // in steps
+ uint32_t position_end; // in steps
uint32_t entry_speed;
- uint32_t accel;
+ uint32_t accel_period;
uint32_t position_accel_to;
uint32_t position_deccel_from;
}block_t;
@@ -67,7 +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_block(stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength);
+void stepper_new_block(stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength);
void stepper_update(stepper_t *stepper);