From 4d34a3398daa5ede4819f998ae142eba99d0958f Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Mon, 10 Jan 2022 22:54:57 -0500
Subject: [PATCH] microstep
---
firmware/fab-step/src/drivers/step_a4950.cpp | 53 +++++++++++++++-----
firmware/fab-step/src/drivers/step_a4950.h | 9 ++++
firmware/fab-step/src/main.cpp | 17 ++-----
log/fab-step-log.md | 27 +++++++---
4 files changed, 72 insertions(+), 34 deletions(-)
diff --git a/firmware/fab-step/src/drivers/step_a4950.cpp b/firmware/fab-step/src/drivers/step_a4950.cpp
index 8dde6b9..5106cee 100644
--- a/firmware/fab-step/src/drivers/step_a4950.cpp
+++ b/firmware/fab-step/src/drivers/step_a4950.cpp
@@ -16,6 +16,9 @@ is; no warranty is provided, and users accept all liability.
#include "../indicators.h"
// LUT, 0-1022, 64 entries, sin w/ 511 at midpoint
+// full sweep of electrical phase is actually 4 'steps' -
+// so making a full step means incrementing 16 times through this LUT,
+// half step is 8, quarter step 4, eighth step 2, sixteenth microstepping is one, fin
uint16_t LUT_1022[64] = {
511,561,611,659,707,752,795,835,872,906,936,962,983,1000,1012,1020,
1022,1020,1012,1000,983,962,936,906,872,835,795,752,707,659,611,561,
@@ -104,24 +107,50 @@ void step_a4950_set_cscale(float scale){
step_a4950_publish_currents();
}
+// step states
+boolean _dir = true; // current direction
+boolean _dirInvert = false; // invert directions ?
+uint8_t _microstep_count = MICROSTEP_16_COUNT; // default to 16th microstepping
+uint8_t lutptra = 16; // current pt. in microstep phase
+uint8_t lutptrb = 0; // A leads B by 1/4 period
+
void step_a4950_set_microstep(uint8_t microstep){
- //
+ switch(microstep){
+ case 64:
+ _microstep_count = MICROSTEP_64_COUNT;
+ break;
+ case 32:
+ _microstep_count = MICROSTEP_32_COUNT;
+ break;
+ case 16:
+ _microstep_count = MICROSTEP_16_COUNT;
+ break;
+ case 8:
+ _microstep_count = MICROSTEP_8_COUNT;
+ break;
+ case 4:
+ _microstep_count = MICROSTEP_4_COUNT;
+ break;
+ case 2:
+ _microstep_count = MICROSTEP_2_COUNT;
+ break;
+ case 1:
+ _microstep_count = MICROSTEP_1_COUNT;
+ break;
+ default:
+ _microstep_count = MICROSTEP_1_COUNT;
+ break;
+ }
}
-// step states
-boolean _dir = true; // current direction
-boolean _dirInvert = false; // invert directions ?
-uint8_t lutptra = 16; // current pt. in microstep phase
-uint8_t lutptrb = 0; // A leads B by 1/4 period
-
void step_a4950_step(){
- // step LUT ptrs thru table,
+ // step LUT ptrs thru table, increment and wrap w/ bit logic
if(_dir){
- lutptra ++; if(lutptra >= 64) lutptra = 0;
- lutptrb ++; if(lutptrb >= 64) lutptrb = 0;
+ lutptra += _microstep_count; lutptra = lutptra & 0b00111111;
+ lutptrb += _microstep_count; lutptrb = lutptrb & 0b00111111;
} else {
- (lutptra == 0) ? lutptra = 63 : lutptra --;
- (lutptrb == 0) ? lutptrb = 63 : lutptrb --;
+ lutptra -= _microstep_count; lutptra = lutptra & 0b00111111;
+ lutptrb -= _microstep_count; lutptrb = lutptrb & 0b00111111;
}
// depending on sign of phase, set up / down on gates
if(LUT_1022[lutptra] > 511){
diff --git a/firmware/fab-step/src/drivers/step_a4950.h b/firmware/fab-step/src/drivers/step_a4950.h
index 2e57475..ae4da2c 100644
--- a/firmware/fab-step/src/drivers/step_a4950.h
+++ b/firmware/fab-step/src/drivers/step_a4950.h
@@ -17,6 +17,15 @@ is; no warranty is provided, and users accept all liability.
#include <Arduino.h>
+// lol
+#define MICROSTEP_64_COUNT 1
+#define MICROSTEP_32_COUNT 1
+#define MICROSTEP_16_COUNT 1
+#define MICROSTEP_8_COUNT 2
+#define MICROSTEP_4_COUNT 4
+#define MICROSTEP_2_COUNT 8
+#define MICROSTEP_1_COUNT 16
+
// AIN1 PA14
// AIN2 PA15
// BIN1 PA05
diff --git a/firmware/fab-step/src/main.cpp b/firmware/fab-step/src/main.cpp
index a2ab555..70f62e0 100644
--- a/firmware/fab-step/src/main.cpp
+++ b/firmware/fab-step/src/main.cpp
@@ -44,15 +44,6 @@ EP_ONDATA_RESPONSES onMicrostepData(uint8_t* data, uint16_t len){
endpoint_t* microstepEp = osapBuildEndpoint("microstep", onMicrostepData);
-// -------------------------------------------------------- SPU EP
-
-EP_ONDATA_RESPONSES onSPUData(uint8_t* data, uint16_t len){
- // doesn't do anything w/ step-on-tick situation
- return EP_ONDATA_ACCEPT;
-}
-
-endpoint_t* spuEp = osapBuildEndpoint("SPU", onSPUData, nullptr);
-
// -------------------------------------------------------- CSCALE DATA
EP_ONDATA_RESPONSES onCScaleData(uint8_t* data, uint16_t len){
@@ -117,13 +108,11 @@ void setup() {
osapAddEndpoint(axisInvertEp); // 3
// microstep
osapAddEndpoint(microstepEp); // 4
- // SPU
- osapAddEndpoint(spuEp); // 5
// cscale
- osapAddEndpoint(cScaleEp); // 6
+ osapAddEndpoint(cScaleEp); // 5
// homing
- osapAddEndpoint(homeEp); // 7
- osapAddEndpoint(homeStateEp); // 8
+ osapAddEndpoint(homeEp); // 6
+ osapAddEndpoint(homeStateEp); // 7
// step hardware init
step_a4950_init();
}
diff --git a/log/fab-step-log.md b/log/fab-step-log.md
index df4fc87..232345f 100644
--- a/log/fab-step-log.md
+++ b/log/fab-step-log.md
@@ -314,15 +314,26 @@ Now I just want to touch up the motor APIs in JS, and add the steps-per-unit adj
### Power State API
-- do need this, and it needs to be part of the 'setup' routine
+Just a bunch of buttons, turns out to not be so bad. Done.
### New Motor API and JS Config
-- check that 'microstep' config does what it claims (?)
-- now ... we need to reconsider how / whomst makes SPU / dir configs, etc
- - inversion is per-motor
- - so is microstepping
- - so is the axis pick
- - spu is per-axis in the head
+This should actually be chill... it's working after all, right?
-A final treat would be reconfiguring the ucbus-stepper firmware to match this. Another treat would be a tiny demo video for Donny.
\ No newline at end of file
+I'm setting the SPUs in the motion-head now... meaning I could also calculate / guard against max rates there.
+
+- motion-head things
+ - steps per unit
+ - max accels
+ - max rates
+- motor things
+ - direction inversion
+ - microstepping
+ - axis picking
+
+OK I've diffed all that... need to make a microstep update actually do something, then this adventure is over.
+
+11752 / 24584
+12520 / 24976
+
+Done, for the time being. Probably needs in-mcu guards against large rates.
\ No newline at end of file
--
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