migrate closed-loop fab-step out of here

circuit/2020-11_fab-step/eagle.epf

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circuit/2021-12_fab-step-cl/eagle.epf

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log/fab-step-log.md

@@ -36,162 +36,6 @@ Realized today that I had 5v, 24v lines on the plug optimistically configured fo
 ![route](images/2021-06-19_routed.png)
 ![schem](images/2021-06-19_schem.png)
 
-## 2021 10 19 
-
-Thinking about updating this w/ easier / simpler stepper hardware, have this list of new chips to try:
-
-- 296-DRV8434RGERCT-ND (stepper chip)
-- DRV8436RGERCT
-- 296-40076-1-ND (h-bridge w/ current sense output)
-- MAX14871EUE+CT-ND (A4950 a-la-moderne)  
-
-## 2021 12 05 
-
-I have a few hours today, think I might roll an update for this: I want closed loop control everywhere... and a little better mounting / encoder options. 
-
-I think I will do...
-
-- new h-bridge... also wouldn't mind a bump-stall-endstop, but that's a choice 
-- the *other* rs-485 driver: easier to solder, more in-stock 
-- samd21, ofc 
-- ... maybe a thru-hole for stepper shafts, and then connector for various encoder options ? spi, quadrature, etc 
-- delete the bus button, will use some other wake-up, 
-    - or share that pin w/ the limit 
-
-Actually that RS485 chip (ISL3176EIBZ) that *was* in stock two weeks ago is now OOS... so I suppose I am sticking with the chip that I have. It's a shame about this supply chain stuff, will make it hard to share the boards. 
-
-So! I think I just need to choose encoder pinouts / connector, and an h-bridge. 
-
-### H-Bridge Picking 
-
-**DRV8816**
-
-We have the DRV8816, which is a nice part but probably has too many control pins... 
-
-![8816](images/2021-12-05_drv8816.png)
-
-I especially like that it delivers amplified current sense output, so that one can run a real current controller externally... four input pins though, and running 2x of these I might even run out of pins. 
-
-Though I think I can just tie both EN's to the same pin - well, all four of them, so this is maybe a contender. But means rolling current controllers... simpler circuit (no RC filter -> vrefs) but more complex code. 
-
-Ship date is May of 2022, ffs. 
-
-**MAX14871** 
-
-This one is basically a modern A4950, I think, but it's unclear if the built-in current regulation is really good enough to 'point' - might be more of a 
-
-**A4954** 
-
-This is basically (?) two A4950's in one chip... yep, haha that's it: it's also out of stock. FFS. 
-
-**DRV8841**
-
-A TSSOP, long boy, kinda complex, but probably has all the whistles we want. In stock... only 146 though...
-
-Sheesh, this is a lot - but it might be the one. 
-
-![8841](images/2021-12-05_drv8841.png)
-
-It's a decent count of passives, but maybe still smaller overall. I'm going to look for single h-bridges for a minute. 
-
-**DRV8801**
-
-Same energy as the DRV8816, slightly different? 
-
-### The DRV8841
-
-I am tempted to try this one out... I want to see about pins. I should only need 6: 2 for each h-bridge to set state / dir, and 1 for each vref. 
-
-Yeah there's xI0 and xI1, which are current scalars: I can tie them all together and either ^ logic, to set full current all the time, or set them to a digital pin, and use them as en/disable. 
-
-Alright then, this might be it, or I'll give it a go at least.
-
-This becomes crowded... thinking about -> 0805s. 
-
-- 0805's 
-- thru-hole jtag bb 
-- thru-hole bus conn. 
-
-Now, I came to this party because I wanted to see better encoder / board mounting to motors. I am still thinking, I guess, that part of this maybe means punching a thru-hole in the circuit so that it can mount more or less to the motor face, then the encoder part can float above... 
-
-So I think we assume the existence of an interposer, then this mounts to the interposer with whatever hole pattern I'd like... and I can do a stack / standoff thing for the magnetic encoder, if we go that route. 
-
-Moving along... I think I need to find my cable. 
-
-For that, I'm tempted to just lay down two sets of solder-on pads... the limit,we want a connector for, but the other stuff... it'll be bundled in here together. A little ribbon-with-soldered-ends makes sense for a prototype thing. 
-
-JST-XH seems like a common plug; it's the LiPO balance plug. There are pre-crimped leads available, or even on amazon. 
-
-The through hole in the circuit causes all kind of routing trouble, I am thinking perhaps... I need to look at dual-shaft motors to get a sense for how necessary this is. 
-
-Many of the rear shafts are quite long, so this would be real nice. Though I won't use it with pulse encoders... 
-
-Damn and I can line this encoder pinup straight through with just a liiitle more pinch... 
-
-And then the mounting is just another little bit of complicated because of the USB, which I am thinking I might use the vertical mount for... 
-
-OK it's more of a monster than I had thought, but it's nearly done. 
-
-I think I am going to put it (and myself) to bed for now, I'll probably get at it tomorrow AM, do the ~ 2 hours to finish it off, always good to do fresh eyes anyways. 
-
-## 2021 12 06
-
-More or less done w/ this now;
-
-![routed](images/2021-12-06_routed.png)
-![schematic](images/2021-12-06_schematic.png)
-
-Sending these to fab, doing orders, then we're off. I leave the actual CAD design of the mount, etc, to myself in the future. 
-
-### Quadrature Decoding 
-
-Ah - one last thing. Dave pointed out that I should have paid attention to the rate of quadrature signal generation - so I had an ohshit moment for this...
-
-There's a sheet now, basically I wanted to know how long between pulses at certain rates. This is kind of punishing... I can do 1024 PPR @ 1K RPM makes for 5.8us between pulse, if I go to the encoder's full 4096 PPR I get 1.46us: a lot. 
-
-So I have ordered this part `LS7366R-S` which is a hardware counter (SPI interface) that I could inter-pose between the encoder, my circuit, etc... and I just noticed that simpleFOC uses interrupts, seems fine. Here's [their doc](https://docs.simplefoc.com/encoder). 
-
-For the interrupts - my beef is that I have some i.e. ~ 4us (?) interrupts happening pretty regularely on the UCBus, so adding this additional requirement is troublesome.
-
-I need to know if interrupts can interrupt others - haha - otherwise a 2us QDEC interrupt spacing on top of a 5us comms interrupt will miss a tick. 
-
-ARM has the NVIC - nested vector interrupt controller - so long as I put the quadrature interrupts as higher priority, it should be fine. Nice, this project goes back to bed... 
-
-## 2022 01 07 
-
-Assembling this now, 
-
-| part | qty / brd |
-| --- | --- |
-| 0.1uF | 4 |
-| 1uF | 5 |
-| 10uF 1206 | 2 |
-| 10uF 0805 | 1 | 
-| LED 0805 | 2 |
-| 300mOhm 1206 | 2 |
-| 470R | 2 |
-| 10k | 2 |
-| 1M | 1 | 
-| RST | 1 |
-| VREG | 1 |
-| Bulk Cap | 1 |
-| RS485 | 2 | 
-| DRV | 1 | 
-| D21 | 1 | 
-| Vertical USB | 1 | 
-
-The two sizes of 10uf was a mistake, corrected that now. 
-
-VREF... calculation says `I = Vref / (5 * R)` so if I want max I = ~ 2a, VREF 0-3.3, I have ~ `2 = 3.3 / (5 * R)` 
-
-10R = 3.3, R = 330mOhm, dang. In the example they spec a 250mOhm sense R. 
-
-Well as it turns out I have only 100mOhm sense resistors, so I might just be sending a digikey order in tonight. 
-
-I could probably get a hello world with a 100mOhm resistor, that'd do
-
-I = 3.3 / (0.5) -> I = 6.6 -> a lot of amps at full spec, decreasing my effective pointing resolution for current control... clamping it by about 70%. So I should probably do something else with my time! 
-
 ## 2022 01 10 
 
 Back here but I am not working on the closed-loop version now... need to split these repos... writing code for the actually-fab-abble version. 
@@ -338,7 +182,3 @@ OK I've diffed all that... need to make a microstep update actually do something
 12520 / 24976
 
 Done, for the time being. Probably needs in-mcu guards against large rates. 
-
-## 2022 01 11 
-
-Back to assembling the -cl versions here. 
\ No newline at end of file