diff --git a/circuit/atkstepper23/eagle.epf b/circuit/atkstepper23/eagle.epf
index 1395bd7184795f1334db2e9628cda30d04ad9db3..90bd6d0a4c19ce990ea37fdc7436a4aec7d2e992 100644
--- a/circuit/atkstepper23/eagle.epf
+++ b/circuit/atkstepper23/eagle.epf
@@ -82,15 +82,15 @@ PadsSameType=0
Layer=94
[Win_2]
-Type="Board Editor"
-Number=2
-File="atkstepper23.brd"
-View="11.8246 -10.9832 87.2971 69.364"
-WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.254 0.508 1.016 1.27 2.54 0.8128 0.6096 0.4064 0.2032 0.3048 0.1524"
+Type="Schematic Editor"
+Number=1
+File="atkstepper23.sch"
+View="5.426 53.633 499.565 372.052"
+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"
@@ -101,14 +101,14 @@ 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=4
+WireBendSet=31
WireCap=1
MiterStyle=0
PadShape=0
ViaShape=1
PolygonPour=0
-PolygonRank=1
+PolygonRank=0
PolygonThermals=1
PolygonOrphans=0
TextRatio=8
@@ -123,18 +123,20 @@ SwapLevel=0
ArcDirection=0
AddLevel=2
PadsSameType=0
-Layer=1
+Layer=97
+Views=" 1: 5.426 53.633 499.565 372.052"
+Sheet="1"
[Win_3]
-Type="Schematic Editor"
-Number=1
-File="atkstepper23.sch"
-View="25.599 215.424 140.52 289.478"
-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="atkstepper23.brd"
+View="28.8704 27.3598 39.0281 38.1736"
+WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.254 0.508 1.016 1.27 2.54 0.8128 0.6096 0.4064 0.2032 0.3048 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"
@@ -145,14 +147,14 @@ 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=4
-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
@@ -167,16 +169,14 @@ SwapLevel=0
ArcDirection=0
AddLevel=2
PadsSameType=0
-Layer=97
-Views=" 1: 25.599 215.424 140.52 289.478"
-Sheet="1"
+Layer=1
[Win_4]
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/atkstepper23/atkstepper23/atkhandler.c b/embedded/atkstepper23/atkstepper23/atkhandler.c
index c854651fa60f6a72c9088af1b51e62e37851972b..0e73fedd11a19288d62b363b2dec15be37ce0a68 100644
--- a/embedded/atkstepper23/atkstepper23/atkhandler.c
+++ b/embedded/atkstepper23/atkstepper23/atkhandler.c
@@ -39,6 +39,7 @@ void atk_handle_packet(uint8_t *packet, uint8_t length){
case DELIM_KEY_RESET:
CCP = CCP_IOREG_gc;
RST.CTRL = RST_SWRST_bm;
+ i ++;
break;
case DELIM_KEY_TRAPEZOID:
@@ -46,6 +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
@@ -58,7 +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;
@@ -66,11 +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/atkstepper23/atkstepper23/stepper.c b/embedded/atkstepper23/atkstepper23/stepper.c
index a7d08a2408ce5e591b347431b6d1f1a5f7cfecae..b2da8ea9db138e9b1dec0c02cbaa02ef4a889fcf 100644
--- a/embedded/atkstepper23/atkstepper23/stepper.c
+++ b/embedded/atkstepper23/atkstepper23/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);
}
@@ -180,12 +143,12 @@ void stepper_updatesteps(stepper_t *stepper){
// so, we shrugman for now
// apa_return_packet(stepper->block[stepper->blocktail].packet, 25);
uint8_t reply[12];
- uint8_t replyLength = 0;
- if(stepper->block[stepper->blocktail].is_nomove){
+ int8_t replyLength;
+ 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/atkstepper23/atkstepper23/stepper.h b/embedded/atkstepper23/atkstepper23/stepper.h
index e58e77cb6114d131f10cb6536b210d20e440b617..059a5f261a2abda22ee3becb550c4e12f6d71eb3 100644
--- a/embedded/atkstepper23/atkstepper23/stepper.h
+++ b/embedded/atkstepper23/atkstepper23/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