diff --git a/2020-08_psu-breakout/2020-08_psu-breakout.brd b/2020-08_psu-breakout/2020-08_psu-breakout.brd
index 431f2ca78e99aae59e30f2244159925e29e6f4e7..839e1c55767dcdfcd87489d7aeb7b9c4bcc8d1f9 100644
--- a/2020-08_psu-breakout/2020-08_psu-breakout.brd
+++ b/2020-08_psu-breakout/2020-08_psu-breakout.brd
@@ -1067,7 +1067,7 @@ design rules under a new name.</description>
<attribute name="NAME" x="27.686" y="41.402" size="1.016" layer="25"/>
<attribute name="VALUE" x="27.559" y="37.592" size="1.016" layer="27" ratio="10"/>
</element>
-<element name="R8" library="passives" package="1206" value="1k" x="33.655" y="40.005" smashed="yes" rot="R180">
+<element name="R8" library="passives" package="1206" value="470R" x="33.655" y="40.005" smashed="yes" rot="R180">
<attribute name="NAME" x="34.417" y="39.1795" size="1.016" layer="25" rot="R180"/>
<attribute name="PACKAGE" value="1206" x="33.655" y="40.005" size="1.016" layer="27" rot="R180" display="off"/>
<attribute name="PRECISION" value="" x="33.655" y="40.005" size="1.016" layer="27" rot="R180" display="off"/>
@@ -1081,7 +1081,7 @@ design rules under a new name.</description>
<attribute name="NAME" x="27.686" y="38.862" size="1.016" layer="25"/>
<attribute name="VALUE" x="27.559" y="35.052" size="1.016" layer="27" ratio="10"/>
</element>
-<element name="R9" library="passives" package="1206" value="1k" x="33.655" y="37.465" smashed="yes" rot="R180">
+<element name="R9" library="passives" package="1206" value="470R" x="33.655" y="37.465" smashed="yes" rot="R180">
<attribute name="NAME" x="34.417" y="36.6395" size="1.016" layer="25" rot="R180"/>
<attribute name="PACKAGE" value="1206" x="33.655" y="37.465" size="1.016" layer="27" rot="R180" display="off"/>
<attribute name="PRECISION" value="" x="33.655" y="37.465" size="1.016" layer="27" rot="R180" display="off"/>
@@ -1095,7 +1095,7 @@ design rules under a new name.</description>
<attribute name="NAME" x="27.686" y="36.322" size="1.016" layer="25"/>
<attribute name="VALUE" x="27.559" y="32.512" size="1.016" layer="27" ratio="10"/>
</element>
-<element name="R10" library="passives" package="1206" value="1k" x="33.655" y="34.925" smashed="yes" rot="R180">
+<element name="R10" library="passives" package="1206" value="470R" x="33.655" y="34.925" smashed="yes" rot="R180">
<attribute name="NAME" x="34.417" y="34.0995" size="1.016" layer="25" rot="R180"/>
<attribute name="PACKAGE" value="1206" x="33.655" y="34.925" size="1.016" layer="27" rot="R180" display="off"/>
<attribute name="PRECISION" value="" x="33.655" y="34.925" size="1.016" layer="27" rot="R180" display="off"/>
@@ -1109,7 +1109,7 @@ design rules under a new name.</description>
<attribute name="NAME" x="27.686" y="33.782" size="1.016" layer="25"/>
<attribute name="VALUE" x="27.559" y="29.972" size="1.016" layer="27" ratio="10"/>
</element>
-<element name="R11" library="passives" package="1206" value="1k" x="33.655" y="32.385" smashed="yes" rot="R180">
+<element name="R11" library="passives" package="1206" value="470R" x="33.655" y="32.385" smashed="yes" rot="R180">
<attribute name="NAME" x="34.417" y="31.5595" size="1.016" layer="25" rot="R180"/>
<attribute name="PACKAGE" value="1206" x="33.655" y="32.385" size="1.016" layer="27" rot="R180" display="off"/>
<attribute name="PRECISION" value="" x="33.655" y="32.385" size="1.016" layer="27" rot="R180" display="off"/>
@@ -1209,7 +1209,7 @@ design rules under a new name.</description>
<attribute name="NAME" x="27.305" y="31.115" size="1.27" layer="25"/>
<attribute name="VALUE" x="27.305" y="27.305" size="1.27" layer="27"/>
</element>
-<element name="R7" library="passives" package="1206" value="1k" x="33.655" y="29.845" smashed="yes" rot="R180">
+<element name="R7" library="passives" package="1206" value="470R" x="33.655" y="29.845" smashed="yes" rot="R180">
<attribute name="NAME" x="34.925" y="28.702" size="1.016" layer="25" rot="R180"/>
<attribute name="PACKAGE" value="1206" x="33.655" y="29.845" size="1.778" layer="27" font="vector" rot="R180" display="off"/>
<attribute name="PRECISION" value="" x="33.655" y="29.845" size="1.778" layer="27" font="vector" rot="R180" display="off"/>
diff --git a/2020-08_psu-breakout/2020-08_psu-breakout.sch b/2020-08_psu-breakout/2020-08_psu-breakout.sch
index c8fcd248597077d894ecd61f405760bdc1548fdf..7d589fc8e7378aa39d5966fff6a8473539ddc561 100644
--- a/2020-08_psu-breakout/2020-08_psu-breakout.sch
+++ b/2020-08_psu-breakout/2020-08_psu-breakout.sch
@@ -6325,22 +6325,22 @@ chip</description>
<part name="GND11" library="supply1" deviceset="GND" device=""/>
<part name="GND12" library="supply1" deviceset="GND" device=""/>
<part name="D2" library="lights" deviceset="LED" device="1206" value="LED1206"/>
-<part name="R8" library="passives" deviceset="RESISTOR" device="1206" value="1k"/>
+<part name="R8" library="passives" deviceset="RESISTOR" device="1206" value="470R"/>
<part name="+3V4" library="supply1" deviceset="+3V3" device=""/>
<part name="J15" library="SparkFun-Connectors" deviceset="CONN_02" device="LOCK"/>
<part name="GND17" library="supply1" deviceset="GND" device=""/>
<part name="D3" library="lights" deviceset="LED" device="1206" value="LED1206"/>
-<part name="R9" library="passives" deviceset="RESISTOR" device="1206" value="1k"/>
+<part name="R9" library="passives" deviceset="RESISTOR" device="1206" value="470R"/>
<part name="+3V5" library="supply1" deviceset="+3V3" device=""/>
<part name="J16" library="SparkFun-Connectors" deviceset="CONN_02" device="LOCK"/>
<part name="GND18" library="supply1" deviceset="GND" device=""/>
<part name="D4" library="lights" deviceset="LED" device="1206" value="LED1206"/>
-<part name="R10" library="passives" deviceset="RESISTOR" device="1206" value="1k"/>
+<part name="R10" library="passives" deviceset="RESISTOR" device="1206" value="470R"/>
<part name="+3V6" library="supply1" deviceset="+3V3" device=""/>
<part name="J17" library="SparkFun-Connectors" deviceset="CONN_02" device="LOCK"/>
<part name="GND19" library="supply1" deviceset="GND" device=""/>
<part name="D5" library="lights" deviceset="LED" device="1206" value="LED1206"/>
-<part name="R11" library="passives" deviceset="RESISTOR" device="1206" value="1k"/>
+<part name="R11" library="passives" deviceset="RESISTOR" device="1206" value="470R"/>
<part name="+3V7" library="supply1" deviceset="+3V3" device=""/>
<part name="J18" library="SparkFun-Connectors" deviceset="CONN_02" device="LOCK"/>
<part name="GND20" library="supply1" deviceset="GND" device=""/>
@@ -6390,7 +6390,7 @@ chip</description>
<part name="P+5" library="supply1" deviceset="+5V" device=""/>
<part name="P+6" library="supply1" deviceset="+5V" device=""/>
<part name="D9" library="lights" deviceset="LED" device="1206" value="LED1206"/>
-<part name="R7" library="passives" deviceset="RESISTOR" device="1206" value="1k"/>
+<part name="R7" library="passives" deviceset="RESISTOR" device="1206" value="470R"/>
<part name="+3V3" library="supply1" deviceset="+3V3" device=""/>
<part name="J20" library="SparkFun-Connectors" deviceset="CONN_02" device="LOCK"/>
<part name="GND7" library="supply1" deviceset="GND" device=""/>
diff --git a/2020-08_psu-breakout/eagle.epf b/2020-08_psu-breakout/eagle.epf
index feb367dcc15c27b094bce4a5c72d7d3eda413b49..a2531fdcf2f0a0e9e7cea3795e9aea20bf786a62 100644
--- a/2020-08_psu-breakout/eagle.epf
+++ b/2020-08_psu-breakout/eagle.epf
@@ -19,7 +19,7 @@ UsedLibrary="C:/Dropbox/CBA/circuits/eagle/parts/SparkFun-Eagle-Libraries/SparkF
Type="Schematic Editor"
Number=1
File="2020-08_psu-breakout.sch"
-View="-45.293 31.146 556.518 211.07"
+View="191.998 139.609 359.952 189.822"
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"
@@ -58,14 +58,14 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
-Views=" 1: -45.293 31.146 556.518 211.07"
+Views=" 1: 191.998 139.609 359.952 189.822"
Sheet="1"
[Win_2]
Type="Board Editor"
Number=2
File="2020-08_psu-breakout.brd"
-View="12.384 -7.24152 122.016 84.5385"
+View="22.6761 -7.9544 114.036 68.529"
WireWidths=" 0.1016 0.15 0.2 2.54 0 0.508 0.2032 0.254 0.3048 0.4064 0.1524 1.016 1.27 0.127 0.6096 0.8128"
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 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.45"
diff --git a/README.md b/README.md
index 7b27c117f331c72eec7c0397999c0a1d3c8c70ef..4b0b884e2996a33952c1dca1fc547a0de054a4b6 100644
--- a/README.md
+++ b/README.md
@@ -18,4 +18,21 @@ This is a circuit & mount for a small power supply and embedded system bus-head
### Firmware
-I use this board mostly as the 'coordinator' for modular motion systems, firmware is [here](firmware) and uses platform.io to run, see [this guide](https://mtm.cba.mit.edu/2021/2021-10_microcontroller-primer/fab-platformio/) to build and load code.
\ No newline at end of file
+I use this board mostly as the 'coordinator' for modular motion systems, firmware is [here](firmware) and uses platform.io to run, see [this guide](https://mtm.cba.mit.edu/2021/2021-10_microcontroller-primer/fab-platformio/) to build and load code.
+
+### Shorthand BOM
+
+- 7x 470R / 120R / LED Choice R
+- 3x 1k
+- 2x 4k7
+- 2x 10k
+- 4x 1uF
+- 4x 10uF
+- 8x LED,
+- TVS Diode
+- 2x Hi-Side Gate DRV MIC5014
+- 3x NFET TPW4R008NH
+- Optional I2C Display
+- Optional 4x Pushbutton
+- Optional Pololu D36V50F5 Regulator (PSU -> RPI)
+- Optional RPI
\ No newline at end of file
diff --git a/firmware/motion-head/src/indicators.h b/firmware/motion-head/src/indicators.h
index e95b9991def2041a1aa24c658bbc6c09b9adf279..5de5ba9fb781ee179d87d937e937fcf6afbc3750 100644
--- a/firmware/motion-head/src/indicators.h
+++ b/firmware/motion-head/src/indicators.h
@@ -1,61 +1,55 @@
-// indicators for the module
-// older module (with smt debug) these are *not routed* my mistake
-// newer module they are PA27 and PB08 respectively
-#define CLKLIGHT_PIN 27
-#define CLKLIGHT_PORT PORT->Group[0]
-#define CLKLIGHT_BM (uint32_t)(1 << CLKLIGHT_PIN)
-#define CLKLIGHT_ON CLKLIGHT_PORT.OUTCLR.reg = CLKLIGHT_BM
-#define CLKLIGHT_OFF CLKLIGHT_PORT.OUTSET.reg = CLKLIGHT_BM
-#define CLKLIGHT_TOGGLE CLKLIGHT_PORT.OUTTGL.reg = CLKLIGHT_BM
-#define CLKLIGHT_SETUP CLKLIGHT_PORT.DIRSET.reg = CLKLIGHT_BM; CLKLIGHT_OFF
-
-#define ERRLIGHT_PIN 8
-#define ERRLIGHT_PORT PORT->Group[1]
-#define ERRLIGHT_BM (uint32_t)(1 << ERRLIGHT_PIN)
-#define ERRLIGHT_ON ERRLIGHT_PORT.OUTCLR.reg = ERRLIGHT_BM
-#define ERRLIGHT_OFF ERRLIGHT_PORT.OUTSET.reg = ERRLIGHT_BM
-#define ERRLIGHT_TOGGLE ERRLIGHT_PORT.OUTTGL.reg = ERRLIGHT_BM
-#define ERRLIGHT_SETUP ERRLIGHT_PORT.DIRSET.reg = ERRLIGHT_BM; ERRLIGHT_OFF
-
-// PSU-breakout board lights,
-
-#define DEBUG1PIN_PIN 13
-#define DEBUG1PIN_PORT PORT->Group[0]
-#define DEBUG1PIN_BM (uint32_t)(1 << DEBUG1PIN_PIN)
-#define DEBUG1PIN_HI DEBUG1PIN_PORT.OUTSET.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_LO DEBUG1PIN_PORT.OUTCLR.reg = DEBUG1PIN_BM
-// in the case of the psu-breakout-board, where this code probably lives, pin-hi is led-off, pin-lo is led-on,
-#define DEBUG1PIN_ON DEBUG1PIN_LO
-#define DEBUG1PIN_OFF DEBUG1PIN_HI
-#define DEBUG1PIN_TOGGLE DEBUG1PIN_PORT.OUTTGL.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_SETUP DEBUG1PIN_PORT.DIRSET.reg = DEBUG1PIN_BM; DEBUG1PIN_HI
-
-#define DEBUG2PIN_PIN 12
-#define DEBUG2PIN_PORT PORT->Group[0]
-#define DEBUG2PIN_BM (uint32_t)(1 << DEBUG2PIN_PIN)
-#define DEBUG2PIN_HI DEBUG2PIN_PORT.OUTSET.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_LO DEBUG2PIN_PORT.OUTCLR.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_ON DEBUG2PIN_LO
-#define DEBUG2PIN_OFF DEBUG2PIN_HI
-#define DEBUG2PIN_TOGGLE DEBUG2PIN_PORT.OUTTGL.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_SETUP DEBUG2PIN_PORT.DIRSET.reg = DEBUG2PIN_BM; DEBUG2PIN_HI
-
-#define DEBUG3PIN_PIN 15
-#define DEBUG3PIN_PORT PORT->Group[1]
-#define DEBUG3PIN_BM (uint32_t)(1 << DEBUG3PIN_PIN)
-#define DEBUG3PIN_HI DEBUG3PIN_PORT.OUTSET.reg = DEBUG3PIN_BM
-#define DEBUG3PIN_LO DEBUG3PIN_PORT.OUTCLR.reg = DEBUG3PIN_BM
-#define DEBUG3PIN_ON DEBUG3PIN_LO
-#define DEBUG3PIN_OFF DEBUG3PIN_HI
-#define DEBUG3PIN_TOGGLE DEBUG3PIN_PORT.OUTTGL.reg = DEBUG3PIN_BM
-#define DEBUG3PIN_SETUP DEBUG3PIN_PORT.DIRSET.reg = DEBUG3PIN_BM; DEBUG3PIN_HI
-
-#define DEBUG4PIN_PIN 14
-#define DEBUG4PIN_PORT PORT->Group[1]
-#define DEBUG4PIN_BM (uint32_t)(1 << DEBUG4PIN_PIN)
-#define DEBUG4PIN_HI DEBUG4PIN_PORT.OUTSET.reg = DEBUG4PIN_BM
-#define DEBUG4PIN_LO DEBUG4PIN_PORT.OUTCLR.reg = DEBUG4PIN_BM
-#define DEBUG4PIN_ON DEBUG4PIN_LO
-#define DEBUG4PIN_OFF DEBUG4PIN_HI
-#define DEBUG4PIN_TOGGLE DEBUG4PIN_PORT.OUTTGL.reg = DEBUG4PIN_BM
-#define DEBUG4PIN_SETUP DEBUG4PIN_PORT.DIRSET.reg = DEBUG4PIN_BM; DEBUG4PIN_HI
\ No newline at end of file
+// circuit specific indicators: modular-motion-head 2021-08-26
+
+#define PIN_BM(pin) (uint32_t)(1 << pin)
+#define PIN_HI(port, pin) PORT->Group[port].OUTSET.reg = PIN_BM(pin)
+#define PIN_LO(port, pin) PORT->Group[port].OUTCLR.reg = PIN_BM(pin)
+#define PIN_TGL(port, pin) PORT->Group[port].OUTTGL.reg = PIN_BM(pin)
+#define PIN_SETUP_OUTPUT(port, pin) PORT->Group[port].DIRSET.reg = PIN_BM(pin)
+
+#define CLKLIGHT_ON PIN_LO(0, 27)
+#define CLKLIGHT_OFF PIN_HI(0, 27)
+#define CLKLIGHT_TOGGLE PIN_TGL(0, 27)
+#define CLKLIGHT_SETUP PIN_SETUP_OUTPUT(0, 27); CLKLIGHT_OFF
+
+#define ERRLIGHT_ON PIN_LO(1, 8)
+#define ERRLIGHT_OFF PIN_HI(1, 8)
+#define ERRLIGHT_TOGGLE PIN_TGL(1, 8)
+#define ERRLIGHT_SETUP PIN_SETUP_OUTPUT(1, 8); ERRLIGHT_OFF
+
+// breakout debugs are pin-to-gnd,
+// PA13, PA12, PB15, PB14, PA04
+
+#define DEBUG1PIN_ON PIN_LO(0, 13)
+#define DEBUG1PIN_OFF PIN_HI(0, 13)
+#define DEBUG1PIN_HI PIN_HI(0, 13)
+#define DEBUG1PIN_LO PIN_LO(0, 13)
+#define DEBUG1PIN_TOGGLE PIN_TGL(0, 13)
+#define DEBUG1PIN_SETUP PIN_SETUP_OUTPUT(0, 13); PIN_HI(0, 13)
+
+#define DEBUG2PIN_ON PIN_LO(0, 13)
+#define DEBUG2PIN_OFF PIN_HI(0, 13)
+#define DEBUG2PIN_HI PIN_HI(0, 13)
+#define DEBUG2PIN_LO PIN_LO(0, 13)
+#define DEBUG2PIN_TOGGLE PIN_TGL(0, 13)
+#define DEBUG2PIN_SETUP PIN_SETUP_OUTPUT(0, 13); PIN_HI(0, 13)
+
+#define DEBUG3PIN_ON PIN_LO(1, 15)
+#define DEBUG3PIN_OFF PIN_HI(1, 15)
+#define DEBUG3PIN_HI PIN_HI(1, 15)
+#define DEBUG3PIN_LO PIN_LO(1, 15)
+#define DEBUG3PIN_TOGGLE PIN_TGL(1, 15)
+#define DEBUG3PIN_SETUP PIN_SETUP_OUTPUT(1, 15); PIN_HI(1, 15)
+
+#define DEBUG4PIN_ON PIN_LO(1, 14)
+#define DEBUG4PIN_OFF PIN_HI(1, 14)
+#define DEBUG4PIN_HI PIN_HI(1, 14)
+#define DEBUG4PIN_LO PIN_LO(1, 14)
+#define DEBUG4PIN_TOGGLE PIN_TGL(1, 14)
+#define DEBUG4PIN_SETUP PIN_SETUP_OUTPUT(1, 14); PIN_HI(1, 14)
+
+#define DEBUG5PIN_ON PIN_LO(0, 4)
+#define DEBUG5PIN_OFF PIN_HI(0, 4)
+#define DEBUG5PIN_HI PIN_HI(0, 4)
+#define DEBUG5PIN_LO PIN_LO(0, 4)
+#define DEBUG5PIN_TOGGLE PIN_TGL(0, 4)
+#define DEBUG5PIN_SETUP PIN_SETUP_OUTPUT(0, 4); PIN_HI(0, 4)
diff --git a/firmware/motion-head/src/main.cpp b/firmware/motion-head/src/main.cpp
index 03a3fbe8232456bd11184b6129e01f8903dc7de3..7df92b750df60481e32e22e3a513a5d0dd823727 100644
--- a/firmware/motion-head/src/main.cpp
+++ b/firmware/motion-head/src/main.cpp
@@ -51,7 +51,7 @@ EP_ONDATA_RESPONSES onMoveData(uint8_t* data, uint16_t len){
// do load
float target[3] = {targetChunks[0].f, targetChunks[1].f, targetChunks[2].f };
//sysError("targets, rate: " + String(target[0], 6) + ", " + String(target[1], 6) + ", " + String(target[2], 6) + ", " + String(feedrateChunk.f, 6));
- planner->append_move(target, SR_NUM_MOTORS, feedrateChunk.f, targetChunks[3].f); // mm/min -> mm/sec
+ planner->append_move(target, SR_NUM_MOTORS, feedrateChunk.f, targetChunks[3].f); // it's mm/sec
return EP_ONDATA_ACCEPT;
}
} else {
@@ -60,15 +60,10 @@ EP_ONDATA_RESPONSES onMoveData(uint8_t* data, uint16_t len){
}
}
-vertex_t* moveQueueEp = osapBuildEndpoint("moveQueue", onMoveData, nullptr); // 2
+endpoint_t* moveQueueEp = osapBuildEndpoint("moveQueue", onMoveData); // 2
// -------------------------------------------------------- POSITION ENDPOINT
-EP_ONDATA_RESPONSES onPositionSet(uint8_t* data, uint16_t len);
-boolean beforePositionQuery(void);
-
-vertex_t* positionEp = osapBuildEndpoint("position", onPositionSet, beforePositionQuery); // 3
-
EP_ONDATA_RESPONSES onPositionSet(uint8_t* data, uint16_t len){
// only if it's not moving,
if(smoothie_is_moving()){
@@ -88,55 +83,47 @@ EP_ONDATA_RESPONSES onPositionSet(uint8_t* data, uint16_t len){
}
}
-boolean beforePositionQuery(void){
+endpoint_t* positionEp = osapBuildEndpoint("positions", onPositionSet); // 3
+
+uint8_t posData[16];
+
+void updatePositions(void){
// write new pos data periodically,
- uint8_t posData[16];
uint16_t poswptr = 0;
ts_writeFloat32(smoothieRoll->actuators[0]->floating_position, posData, &poswptr);
ts_writeFloat32(smoothieRoll->actuators[1]->floating_position, posData, &poswptr);
ts_writeFloat32(smoothieRoll->actuators[2]->floating_position, posData, &poswptr);
ts_writeFloat32(smoothieRoll->actuators[3]->floating_position, posData, &poswptr);
- memcpy(positionEp->ep->data, posData, 16);
- positionEp->ep->dataLen = 16;
- return true;
+ endpointWrite(positionEp, posData, 16);
}
// -------------------------------------------------------- CURRENT SPEEDS
-boolean beforeSpeedQuery(void);
-
-vertex_t* speedEp = osapBuildEndpoint("speed", nullptr, beforeSpeedQuery);
+endpoint_t* speedEp = osapBuildEndpoint("speeds");
+uint8_t speedData[16];
-boolean beforeSpeedQuery(void){
+void updateSpeeds(void){
// collect actuator speeds,
- uint8_t speedData[16];
uint16_t wptr = 0;
ts_writeFloat32(smoothieRoll->actuators[0]->get_current_speed(), speedData, &wptr);
ts_writeFloat32(smoothieRoll->actuators[1]->get_current_speed(), speedData, &wptr);
ts_writeFloat32(smoothieRoll->actuators[2]->get_current_speed(), speedData, &wptr);
ts_writeFloat32(smoothieRoll->actuators[3]->get_current_speed(), speedData, &wptr);
- memcpy(speedEp->ep->data, speedData, 16);
- speedEp->ep->dataLen = 16;
- return true;
+ endpointWrite(speedEp, speedData, 16);
}
// -------------------------------------------------------- MOTION STATE EP
-boolean beforeMotionStateQuery(void);
+endpoint_t* motionStateEp = osapBuildEndpoint("motionState"); // 4
+uint8_t motionData[1];
-vertex_t* motionStateEp = osapBuildEndpoint("motionState", nullptr, beforeMotionStateQuery); // 4
-
-boolean beforeMotionStateQuery(void){
- uint8_t motion;
+void updateMotionState(void){
if(smoothieRoll->actuators[0]->is_moving() || smoothieRoll->actuators[1]->is_moving() || smoothieRoll->actuators[2]->is_moving() || !smoothie_is_queue_empty()){
- motion = 1;
+ motionData[0] = 1;
} else {
- motion = 0;
+ motionData[0] = 0;
}
- motionStateEp->ep->data[0] = motion;
- motionStateEp->ep->dataLen = 1;
- //sysError("motion query " + String(motion));
- return true;
+ endpointWrite(motionStateEp, motionData, 1);
}
// -------------------------------------------------------- WAIT TIME EP
@@ -152,7 +139,7 @@ EP_ONDATA_RESPONSES onWaitTimeData(uint8_t* data, uint16_t len){
return EP_ONDATA_ACCEPT;
}
-vertex_t* waitTimeEp = osapBuildEndpoint("waitTime", onWaitTimeData, nullptr); // 5
+endpoint_t* waitTimeEp = osapBuildEndpoint("waitTime", onWaitTimeData); // 5
// -------------------------------------------------------- ACCEL SETTTINGS
@@ -172,7 +159,7 @@ EP_ONDATA_RESPONSES onAccelSettingsData(uint8_t* data, uint16_t len){
return EP_ONDATA_ACCEPT;
}
-vertex_t* accelSettingsEp = osapBuildEndpoint("accelSettings", onAccelSettingsData, nullptr);
+endpoint_t* accelSettingsEp = osapBuildEndpoint("accelSettings", onAccelSettingsData);
// -------------------------------------------------------- RATES SETTINGS
@@ -192,7 +179,7 @@ EP_ONDATA_RESPONSES onRateSettingsData(uint8_t* data, uint16_t len){
return EP_ONDATA_ACCEPT;
}
-vertex_t* rateSettingsEp = osapBuildEndpoint("rateSettings", onRateSettingsData, nullptr);
+endpoint_t* rateSettingsEp = osapBuildEndpoint("rateSettings", onRateSettingsData);
// -------------------------------------------------------- SETUP
@@ -203,29 +190,30 @@ void setup() {
DEBUG2PIN_SETUP;
DEBUG3PIN_SETUP;
DEBUG4PIN_SETUP;
+ DEBUG5PIN_SETUP;
// osap
- osapSetup();
+ osapSetup("modularMotionHead");
// ports
vt_usbSerial_setup();
osapAddVertex(vt_usbSerial); // 0
vt_ucBusHead_setup();
osapAddVertex(vt_ucBusHead); // 1
// move to queue
- osapAddVertex(moveQueueEp); // 2
+ osapAddEndpoint(moveQueueEp); // 2
// position
- osapAddVertex(positionEp); // 3
+ osapAddEndpoint(positionEp); // 3
// speed
- osapAddVertex(speedEp); // 4
+ osapAddEndpoint(speedEp); // 4
// motion state
- osapAddVertex(motionStateEp); // 5
+ osapAddEndpoint(motionStateEp); // 5
// set wait time (ms)
- osapAddVertex(waitTimeEp); // 6
+ osapAddEndpoint(waitTimeEp); // 6
// acceler8 settings
- osapAddVertex(accelSettingsEp); // 7
+ osapAddEndpoint(accelSettingsEp); // 7
// r8 settings
- osapAddVertex(rateSettingsEp); // 8
+ osapAddEndpoint(rateSettingsEp); // 8
// smoothie (and frequency of loop below)
- smoothieRoll->init(20000);
+ smoothieRoll->init(10000);
// 25kHz base (40us period) or
// 20kHz base (50us period)
// 10kHz base (100us period)
@@ -233,11 +221,23 @@ void setup() {
d51ClockBoss->start_ticker_a(100);
}
+unsigned long epUpdateInterval = 100; // ms
+unsigned long lastUpdate = 0;
+
void loop() {
- // write ~ every second, transmit on chb to drop 1
- // check indices on the way down / up ... was shifting, are not anymore
+ // main recursive osap loop:
osapLoop();
- conveyor->on_idle(nullptr);
+ // smoothie checks / etc:
+ //conveyor->on_idle(nullptr);
+ // run 10Hz endpoint update:
+ if(millis() > lastUpdate + epUpdateInterval){
+ DEBUG5PIN_TOGGLE;
+ lastUpdate = millis();
+ updatePositions();
+ updateSpeeds();
+ updateMotionState();
+ }
+
} // end loop
// runs on period defined by timer_a setup:
@@ -262,7 +262,7 @@ void TC0_Handler(void){
// each of these ticks drops 10 data bytes, so if we have 17 byte packet, can do every 2nd packet
// which would occupy the full bus - notgood - or we can do every 3rd... I'll pick every 4th.
timeTick ++;
- if(timeTick > 3){
+ if(timeTick > 2){
DEBUG2PIN_HI;
timeTick = 0;
uint16_t mpptr = 0; // motion packet pointer
@@ -290,4 +290,4 @@ void TC0_Handler(void){
timeBlink = 0;
}
DEBUG1PIN_LO;
-}
+}
\ No newline at end of file
diff --git a/firmware/motion-head/src/osape-d51 b/firmware/motion-head/src/osape-d51
index 23064339e200c3819af8bc55988b57d3eaa28a2e..acbff5f3f0333d072780d32246ac15a6aa7f1a62 160000
--- a/firmware/motion-head/src/osape-d51
+++ b/firmware/motion-head/src/osape-d51
@@ -1 +1 @@
-Subproject commit 23064339e200c3819af8bc55988b57d3eaa28a2e
+Subproject commit acbff5f3f0333d072780d32246ac15a6aa7f1a62
diff --git a/firmware/motion-head/src/smoothie/libs/StepTicker.cpp b/firmware/motion-head/src/smoothie/libs/StepTicker.cpp
index b426dc0f15cc342341fb817dac94c106ebfc7358..25a2a597b8cc1c9541fca7d81f80e6771f3ce2be 100644
--- a/firmware/motion-head/src/smoothie/libs/StepTicker.cpp
+++ b/firmware/motion-head/src/smoothie/libs/StepTicker.cpp
@@ -62,7 +62,6 @@ void StepTicker::start(){
#warning This leaves config as is, see startup to 'make proper'.
void StepTicker::set_frequency( float frequency ){
this->frequency = frequency;
- this->period = 80; // set manually above, floorf((SystemCoreClock / 4.0F) / frequency); // SystemCoreClock/4 = Timer increments in a second
}
// step clock
diff --git a/firmware/motion-head/src/smoothie/libs/StepTicker.h b/firmware/motion-head/src/smoothie/libs/StepTicker.h
index aec03660ee69fc6121ea7f2ff5fbee23e574234c..8cb4ecf462a8e240264c2f4b264b13dfb993f462 100644
--- a/firmware/motion-head/src/smoothie/libs/StepTicker.h
+++ b/firmware/motion-head/src/smoothie/libs/StepTicker.h
@@ -40,7 +40,6 @@ class StepTicker{
bool start_next_block();
float frequency;
- uint32_t period;
// not using motor refs, direct stepping std::array<StepperMotor*, k_max_actuators> motor;
// do adhoc hack
StepInterface* motor[SR_NUM_MOTORS];
diff --git a/firmware/motion-head/src/smoothie/modules/robot/Planner.cpp b/firmware/motion-head/src/smoothie/modules/robot/Planner.cpp
index 4cfea947c72c0cd117b94d5f34dc178fe6e6603a..9e83530f7fc364d7ddd0b467c41e445aeefd1e21 100644
--- a/firmware/motion-head/src/smoothie/modules/robot/Planner.cpp
+++ b/firmware/motion-head/src/smoothie/modules/robot/Planner.cpp
@@ -229,7 +229,8 @@ bool Planner::append_block( ActuatorCoordinates &actuator_pos, uint8_t n_motors,
block->nominal_speed = rate_mm_s; // (mm/s) Always > 0
block->nominal_rate = block->steps_event_count * rate_mm_s / distance; // (step/s) Always > 0
} else {
- sysError("now distance, nominal rate and speed to zero...");
+ sysError("bad move call! rejecting");
+ return false;
block->nominal_speed = 0.0F;
block->nominal_rate = 0;
}
diff --git a/firmware/motion-head/src/smoothie/modules/robot/StepInterface.h b/firmware/motion-head/src/smoothie/modules/robot/StepInterface.h
index 990f1ce4bc538c3f78a00d50fec2140b0aec3249..5e4813d1881a182dd41dfa0a895b2b7a5f151bd5 100644
--- a/firmware/motion-head/src/smoothie/modules/robot/StepInterface.h
+++ b/firmware/motion-head/src/smoothie/modules/robot/StepInterface.h
@@ -47,7 +47,7 @@ class StepInterface {
float max_rate = 10.0F; // in mm/sec ?
float accel = 100.0F; // in mm/sec/sec
- float steps_per_mm = 400.0F; // for everyone: this is a hack... actually we send floating posns to steppers, who deal with this config
+ float steps_per_mm = 25.0F; // for everyone: this is a hack... actually we send floating posns to steppers, who deal with this config
float mm_per_step = 1 / steps_per_mm;
int32_t last_milestone_steps = 0;
float last_milestone_mm = 0;
diff --git a/log/ucbus-psu-breakout-log.md b/log/ucbus-psu-breakout-log.md
index d71886aba7a75f0f7fb0b3388c8d5a2e7ee11506..c4d84a9a8b743d33d8e7854894d7b98ed018791f 100644
--- a/log/ucbus-psu-breakout-log.md
+++ b/log/ucbus-psu-breakout-log.md
@@ -97,6 +97,20 @@ Then the scheme here is to pin the face of the PSU (backside, I guess: where the
Alright, this is fine. Not the most beautiful of devices. Onwards.
+## 2022 01 09
+
+Finally - sheesh - bringing this up, so that I can remotely switch 24V and 5V, better resetting system state. This is kind of ... not a necessary piece of kit, but is "nice". Arguably the system should go either to a fab-able SAMD21 board, for accessibility, or to a Teensy, for performance. I suppose the teensy version could be accessible as well...
+
+In any case, code... then a test of the switching stuff... then the fab-step work, and maybe we make the step-tick stuff a little better, i.e. actually issuing steps (?) rather than this floating point work, which is awkwards anyways. Maybe this'll be a little bit fun, and maybe it'll get us to the fab-abble motion system that we want as a stopgap! Or maybe all failure, too soon to tell.
+
+Arg it seems like something I've done w/ the new endpoint API is bricking this.
+
+God bless, just a recursive overloaded function that was calling itself, when I meant to call a different version of the same name. Whoop!
+
+OK I can try a 5v turn-on-off code. I guess I'll build my little one-motor-single-page-demo controller as well, sheesh.
+
+- 5v src / sinks ?
+
## Part Purchase
- pololu https://www.pololu.com/product/4091 5vreg 7a