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Trikarus/firmware_smartstepper_trikarus/stepper_nano_zero/board.h

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2020-07-20 22:21:36 +02:00
/**********************************************************************
/**********************************************************************
Copyright (C) 2018 MisfitTech LLC, All rights reserved.
MisfitTech uses a dual license model that allows the software to be used under
a standard GPL open source license, or a commercial license. The standard GPL
license requires that all software statically linked with MisfitTec Code is
also distributed under the same GPL V2 license terms. Details of both license
options follow:
- Open source licensing -
MisfitTech is a free download and may be used, modified, evaluated and
distributed without charge provided the user adheres to version two of the GNU
General Public License (GPL) and does not remove the copyright notice or this
text. The GPL V2 text is available on the gnu.org web site
- Commercial licensing -
Businesses and individuals that for commercial or other reasons cannot comply
with the terms of the GPL V2 license must obtain a low cost commercial license
before incorporating MisfitTech code into proprietary software for distribution in
any form. Commercial licenses can be purchased from www.misfittech.net
and do not require any source files to be changed.
This code is distributed in the hope that it will be useful. You cannot
use MisfitTech's code unless you agree that you use the software 'as is'.
MisfitTech's code is provided WITHOUT ANY WARRANTY; without even the implied
warranties of NON-INFRINGEMENT, MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. MisfitTech LLC disclaims all conditions and terms, be they
implied, expressed, or statutory.
Written by Trampas Stern for MisfitTech.
Misfit Tech invests time and resources providing this open source code,
please support MisfitTech and open-source hardware by purchasing
products from MisfitTech, www.misifittech.net!
*********************************************************************/
#ifndef __BOARD_H__
#define __BOARD_H__
#include <Arduino.h>
//uncomment this if you are using the Mechaduino hardware
//#define MECHADUINO_HARDWARE
//uncomment the follow lines if using the NEMA 23 10A hardware
//#define NEMA_23_10A_HW
//uncomment the following if the board uses the A5995 driver (NEMA 23 3.2A boards)
//#define A5995_DRIVER
//The March 21 2017 NEMA 17 Smart Stepper has changed some pin outs
// A1 was changed to read motor voltage, hence SW4 is now using D4
// comment out this next line if using the older hardware
#define NEMA17_SMART_STEPPER_3_21_2017
#if defined(MECHADUINO_HARDWARE) && defined(NEMA17_SMART_STEPPER_3_21_2017)
#error "Cannot have both MECHADUINO_HARDWARE and NEMA17_SMART_STEPPER_3_21_2017 defined in board.h"
#endif
//The MKS Servo42 uses the A1333_Encoder
// Please uncomment this line and make sure the NEMA17_SMART_STEPPER_3_21_2017 is
// uncommented for the Servo42
//#define A1333_ENCODER
#ifdef A5995_DRIVER
#ifdef NEMA17_SMART_STEPPER_3_21_2017
#error "Only NEMA17_SMART_STEPPER_3_21_2017 or A5595_DRIVER may be defined"
#endif
#endif
#define NZS_FAST_CAL // define this to use 32k of flash for fast calibration table
#define NZS_FAST_SINE //uses 2048 extra bytes to implement faster sine tables
#define NZS_AS5047_PIPELINE //does a pipeline read of encoder, which is slightly faster
#define NZS_CONTROL_LOOP_HZ (6000) //update rate of control loop
#define NZS_LCD_ABSOULTE_ANGLE //define this to show angle from zero in positive and negative direction
// for example 2 rotations from start will be angle of 720 degrees
//#define ENABLE_PHASE_PREDICTION //this enables prediction of phase at high velocity to increase motor speed
//as of FW0.11 it is considered development only
#define VERSION "FW: 0.40" //this is what prints on LCD during splash screen
//Define this to allow command out serial port, else hardware serial is debug log
//#define CMD_SERIAL_PORT
#define SERIAL_BAUD (115200) //baud rate for the serial ports
//This section is for using the step and dir pins as serial port
// when the enable pin is inactive.
#ifndef MECHADUINO_HARDWARE
#define USE_STEP_DIR_SERIAL
#define STEP_DIR_BAUD (19200) //this is the baud rate we will use
#endif
// These are used as an attempt to use TC4 to count steps
// currently this is not working.
//#define USE_NEW_STEP //define this to use new step method
#define USE_TC_STEP //use timer counter for step pin
#ifndef F_CPU
#define F_CPU (48000000UL)
#endif
/* TODO are flaged with TODO
* TODO - add detection of magnet to make sure PCB is on motor
*/
/* change log
* 0.02 added fixes for 0.9 degree motor
* 0.03 added code for using error pin as an enable pin, enable feedback by default
* 0.04
* 0.05 added different modes added support for mechaduino
* 0.06 added time out pipeline read, add some error logging on encoder failure for mechaduino
* 0.07 many changes including
* - fixed error on display when doing a move 99999
* - added velocity and position PID modes
* - fixed LCD menu and put LCD code in own file
* - include LCD source files from adafruit as that ssd1306 need lcd resoultion fix
* - added motor parameters to NVM such step size and rotation are only check on first boot
* - added test on power up to see if motor power is applied.
* - added factory reset command
* - pPID is not stable in my testing.
* 0.08
* - moved enable pin processing out of interrupt context
* - added mode for inverted logic on the enable pin
* - added pin definitions for NEMA23 10A hardware
* - Changed enable such that it does not move motor but just sets current posistion
* 0.09
* - enabled auto detection of LCD
* - cleaned up the commands, made motorparams and systemparams individual commands
* - added the option to the move command to move at a constant RPM
* - Added the setzero command to zero the relative location of motor
* - Added the stop command to stop the planner based moves.
* 0.10
* -Fixed bug in switching control mode to 3
* 0.11
* - Fixed bug where output current was half of what it should have been (sine.h)
* - Added #define for phase predictive advancement
* - Changed calibration to be done with one coil/phase on
* - Added smoothing for calibration
* - Continue to work on the Fet Driver code.
* 0.12
* - Continue to work on the FET driver code
* - fixed a constant issue with the DAC for the A4954 driver
* - added command for setting the operational mode of the enable pin
* - added the start of the A5995 driver.
* 0.13
* - Added delay in for the 0.9 degree motor calibration and testing
* - changed calibration to move 1/2 step at time as it was causing problems on A5995 due to current ramp down
* 0.14 - Added in data logging
* - Averaged the encoder when the motor is stationary to reduce noise/vibrations
* 0.15 - Fixed some fet driver code
* - Added support for the NEMA17 smart stepper
* - Fixed RPM display bug on the LCD
* 0.16 - Added support for enable and error pins on the 3-21-2017 hardware
*
* 0.17 - Added the ability for the command line to go over the hardwired serial port
* - Fixed a bug where step and direction pin were setup as pulled down pins
* which could cause false stepping in nosiey environments
* 0.18 - Added support for EEPROM writting of last location during brown out - currently brown out is too fast to write
* - Added commands to support reading and restoring location from eeprom
* - Check for pull up on SDA/SCL before doing a I2C read as that SERCOM driver has not time outs and locks.
* - Added faster detection of USB not being plugged in, reduces power up time with no USB
* 0.19 - removed debug information in the ssd1306 driver which caused LCD not always to be found
* 0.20 - Fixed bug in calibration, thanks to Oliver E.
* 0.21 - Fixed issues compiling for mechaduino, including disabling LCD for MEchaduino
* 0.22 - Added home command;
* 0.23 -- added motor voltage sense to remove stepping on power up
* 0.24 - Disabled the home command which used the enable pin if you do not have enable pin
* 0.25 - Added pin read command
* 0.26 - changed the step/dir pins to be input_pullups
* 0.27 - added the option to make the step/dir uart when enable is low.
* - fixed enable to line to disable the A4954 driver
* 0.28 - Enabled some homing options (still under development)
* 0.29 - fixed rounding bug in ANGLE_T0_DEGREES
* 0.30 - Added support for the AS5048A encoder
* 0.31 - Added reading enable pin on during main loop
* 0.32 - Fixed issue where steps were not being counted correctly
* 0.33 - changed sPID parameters back to 0.9 0.0001 0.01
* 0.34 - Added board type to the splash screen
* 0.35 - fixed usign TC4 (USE_TC_STEP) for counting steps. We can measure steps
* - at over 125khz, however the dir pin has ~8us setup time due to interrupt latency.
* - Added debug command to allow debug messages out the USB serial port
* 0.36 - eeprom set location math was wrong.
* 0.37 - fixed bug where the motor would pause periodically do the the TC4 counter.
* 0.38 - fixed bug in the velocity feedback mode.
* 0.39 - changed step count to TCC2, improved the dir pin setup/hold times
* - added support for the MKS Servo42 (A1333 encoder)
* 0.40 - fixed compiling errors for Mechaduino. Added sanity checks for different hardware boards (AK)
*/
/*
* Typedefs that are used across multiple files/modules
*/
typedef enum {
CW_ROTATION=0,
CCW_ROTATION=1,
} RotationDir_t;
typedef enum {
ERROR_PIN_MODE_ENABLE=0, //error pin works like enable on step sticks
ERROR_PIN_MODE_ACTIVE_LOW_ENABLE=1, //error pin works like enable on step sticks
ERROR_PIN_MODE_ERROR=2, //error pin is low when there is angle error
ERROR_PIN_MODE_BIDIR=3, //error pin is bidirection open collector
} ErrorPinMode_t;
typedef enum {
CTRL_OFF =0, //controller is disabled
CTRL_OPEN=1, //controller is in open loop mode
CTRL_SIMPLE = 2, //simple error controller
CTRL_POS_PID =3, //PID Position controller
CTRL_POS_VELOCITY_PID =4, //PID Velocity controller
CTRL_TORQUE =5
} feedbackCtrl_t;
// ******** EVENT SYS USAGAE ************
// Channel 0 - Step pin event
// ******** TIMER USAGE A4954 versions ************
//TCC1 is used for DAC PWM to the A4954
//TCC0 can be used as PWM for the input pins on the A4954
//TCC2 is used for the step count
//D0 step input could use TCC1 or TCC0 if not used
//TC3 is used for planner tick
//TC5 is use for timing the control loop
// ******** TIMER USAGE NEMA23 10A versions ************
//TCC0 PWM for the FET IN pins
//D10 step input could use TC3 or TCC0 if not used
//TC3 is used for planner tick
//TC4 is used for step count
//TC5 is use for timing the control loop
//mechaduio and Arduino Zero has defined serial ports differently than NZS
#ifdef MECHADUINO_HARDWARE
#warning "Compiling source for Mechaduino NOT NZS"
#define DISABLE_LCD
#undef Serial5
#define Serial5 Serial
#else
#define SerialUSB Serial
#endif
#define PIN_TXD (30)
#define PIN_RXD (31)
#define PIN_STEP_INPUT (0)
#define PIN_DIR_INPUT (1)
#define PIN_MOSI (23)
#define PIN_SCK (24)
#define PIN_MISO (22)
#ifdef MECHADUINO_HARDWARE
#ifdef USE_STEP_DIR_SERIAL
#error "Step/Dir UART not supported on Mechaduino yet"
#endif
#define PIN_ERROR (19) //analogInputToDigitalPin(PIN_A5))
#else //not Mechaduino hardware
#ifdef NEMA17_SMART_STEPPER_3_21_2017
#define PIN_SW1 (19)//analogInputToDigitalPin(PIN_A5))
#define PIN_SW3 (14)//analogInputToDigitalPin(PIN_A0))
#ifdef A1333_ENCODER //the MKS Servo42 uses A1 for this switch
#define PIN_SW4 (15)//analogInputToDigitalPin(PIN_A1))
#else
#define PIN_SW4 (2)//D2
#endif
#define PIN_ENABLE (10)
#define PIN_ERROR (3)
#define PIN_VMOTOR (A1) //analog pin for the motor
#else
#define PIN_SW1 (19)//analogInputToDigitalPin(PIN_A5))
#define PIN_SW3 (14)//analogInputToDigitalPin(PIN_A0))
#define PIN_SW4 (15)//analogInputToDigitalPin(PIN_A1))
#define PIN_ERROR (10)
#endif
#endif
#ifdef A5995_DRIVER
#define PIN_ENABLE (3)
#endif
#define PIN_SCL (21)
#define PIN_SDA (20)
#define PIN_USB_PWR (38) // this pin is high when usb is connected
#define PIN_AS5047D_CS (16)//analogInputToDigitalPin(PIN_A2))
#ifndef MECHADUINO_HARDWARE
#define PIN_AS5047D_PWR (11) //pull low to power on AS5047D
#endif
//these pins use the TIMER in the A4954 driver
// changing the pin definitions here may require changes in the A4954.cpp file
#define PIN_FET_IN1 (5) //PA15 TC3/WO[1] TCC0/WO[5]1
#define PIN_FET_IN2 (6) //PA20 TC7/W0[0] TCC0/WO[6]2
#define PIN_FET_IN3 (7) //PA21 TC7/WO[1] TCC0/WO[7]3
#define PIN_FET_IN4 (2) //PA14 TC3/W0[0] TCC0/WO[4] 0
#define PIN_FET_VREF1 (4)
#define PIN_FET_VREF2 (3)
#define PIN_FET_ENABLE (12)
//current sense pin from each H-bridge
#define ISENSE_FET_A (17) //analogInputToDigitalPin(PIN_A3)
#define ISENSE_FET_B (8)
//Comparators analog inputs
//#define COMP_FET_A (18)//analogInputToDigitalPin(PIN_A4))
//#define COMP_FET_B (9)
//these are the pins used on the A5995 driver
#define PIN_A5995_ENABLE1 (2) //PA14
#define PIN_A5995_ENABLE2 (18) //PA05 analogInputToDigitalPin(PIN_A4))
#define PIN_A5995_MODE1 (8) //PA06 TCC1 WO[0]
#define PIN_A5995_MODE2 (7) //PA21 TCC0 WO[4] //3
#define PIN_A5995_PHASE1 (6) //PA20 TCC0 WO[6] //2
#define PIN_A5995_PHASE2 (5) //PA15 TCC0 W0[5] //1
#define PIN_A5995_VREF1 (4) //PA08
#define PIN_A5995_VREF2 (9) //PA07
#define PIN_A5995_SLEEPn (25) //RXLED
#ifndef MECHADUINO_HARDWARE
#define PIN_YELLOW_LED (8)
#endif
#ifdef NEMA_23_10A_HW
#undef PIN_YELLOW_LED
#define PIN_YELLOW_LED (26) //TXLED (PA27)
#endif //NEMA_23_10A_HW
#define PIN_RED_LED (13)
#define PIN_A4954_IN3 (5)
#define PIN_A4954_IN4 (6)
#define PIN_A4954_IN2 (7)
#ifdef MECHADUINO_HARDWARE
#define PIN_A4954_IN1 (8)
#else
#define PIN_A4954_IN1 (18) //analogInputToDigitalPin(PIN_A4))
#endif
#define PIN_A4954_VREF34 (4)
#define PIN_A4954_VREF12 (9)
//Here are some useful macros
#define DIVIDE_WITH_ROUND(x,y) (((x)+(y)/2)/(y))
#define GPIO_LOW(pin) {PORT->Group[g_APinDescription[(pin)].ulPort].OUTCLR.reg = (1ul << g_APinDescription[(pin)].ulPin);}
#define GPIO_HIGH(pin) {PORT->Group[g_APinDescription[(pin)].ulPort].OUTSET.reg = (1ul << g_APinDescription[(pin)].ulPin);}
#define GPIO_OUTPUT(pin) {PORT->Group[g_APinDescription[(pin)].ulPort].PINCFG[g_APinDescription[(pin)].ulPin].reg &=~(uint8_t)(PORT_PINCFG_INEN) ; PORT->Group[g_APinDescription[(pin)].ulPort].DIRSET.reg = (uint32_t)(1<<g_APinDescription[(pin)].ulPin) ;}
#define PIN_GPIO_OUTPUT(pin) {PORT->Group[g_APinDescription[(pin)].ulPort].PINCFG[g_APinDescription[(pin)].ulPin].reg &=~(uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PMUXEN) ; PORT->Group[g_APinDescription[(pin)].ulPort].DIRSET.reg = (uint32_t)(1<<g_APinDescription[(pin)].ulPin) ;}
#define PIN_GPIO(pin) {PORT->Group[g_APinDescription[(pin)].ulPort].PINCFG[g_APinDescription[(pin)].ulPin].reg &=~(uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PMUXEN);}
#define GPIO_READ(ulPin) {(PORT->Group[g_APinDescription[ulPin].ulPort].IN.reg & (1ul << g_APinDescription[ulPin].ulPin)) != 0}
#define PIN_PERIPH(pin) {PORT->Group[g_APinDescription[(pin)].ulPort].PINCFG[g_APinDescription[(pin)].ulPin].reg |= PORT_PINCFG_PMUXEN;}
//sets up the pins for the board
static void boardSetupPins(void)
{
//setup switch pins
#ifdef PIN_SW1
pinMode(PIN_SW1, INPUT_PULLUP);
pinMode(PIN_SW3, INPUT_PULLUP);
pinMode(PIN_SW4, INPUT_PULLUP);
#endif
pinMode(PIN_STEP_INPUT, INPUT_PULLUP);
pinMode(PIN_DIR_INPUT, INPUT_PULLUP);
#ifdef PIN_ENABLE
pinMode(PIN_ENABLE, INPUT_PULLUP); //default error pin as enable pin with pull up
#endif
pinMode(PIN_ERROR, INPUT_PULLUP); //default error pin as enable pin with pull up
pinMode(PIN_AS5047D_CS,OUTPUT);
digitalWrite(PIN_AS5047D_CS,LOW); //pull CS LOW by default (chip powered off)
//turn the AS5047D off by default
#ifdef PIN_AS5047D_PWR
pinMode(PIN_AS5047D_PWR,OUTPUT);
digitalWrite(PIN_AS5047D_PWR,HIGH);
#endif
pinMode(PIN_MOSI,OUTPUT);
digitalWrite(PIN_MOSI,LOW);
pinMode(PIN_SCK,OUTPUT);
digitalWrite(PIN_SCK,LOW);
pinMode(PIN_MISO,INPUT);
//setup the A4954 pins
digitalWrite(PIN_A4954_IN3,LOW);
pinMode(PIN_A4954_IN3,OUTPUT);
digitalWrite(PIN_A4954_IN4,LOW);
pinMode(PIN_A4954_IN4,OUTPUT);
digitalWrite(PIN_A4954_IN2,LOW);
pinMode(PIN_A4954_IN2,OUTPUT);
digitalWrite(PIN_A4954_IN1,LOW);
pinMode(PIN_A4954_IN1,OUTPUT);
//setup the PWM for current on the A4954, set for low current
digitalWrite(PIN_A4954_VREF12,LOW);
digitalWrite(PIN_A4954_VREF34,LOW);
pinMode(PIN_A4954_VREF34, OUTPUT);
pinMode(PIN_A4954_VREF12, OUTPUT);
pinMode(PIN_RED_LED,OUTPUT);
#ifdef PIN_YELLOW_LED
pinMode(PIN_YELLOW_LED,OUTPUT);
digitalWrite(PIN_YELLOW_LED,HIGH);
#endif
}
#ifdef NEMA17_SMART_STEPPER_3_21_2017
static float GetMotorVoltage(void)
{
uint32_t x;
float f;
//the motor voltage is 1/101 of the adc
x=analogRead(PIN_VMOTOR); //this should be a 10bit value mapped to 3.3V
f=(float)x*3.3/1024.0*101.0;
return f;
}
#endif
static void inline YELLOW_LED(bool state)
{
#ifdef PIN_YELLOW_LED
digitalWrite(PIN_YELLOW_LED,!state);
#endif
}
static void inline RED_LED(bool state)
{
digitalWrite(PIN_RED_LED,state);
}
#define MIN(a,b) (((a)<(b))?(a):(b))
#define MAX(a,b) (((a)>(b))?(a):(b))
#define ABS(a) (((a)>(0))?(a):(-(a)))
#define DIV(x,y) (((y)>(0))?((x)/(y)):(4294967295))
#define SIGN(x) (((x) > 0) - ((x) < 0))
#define NVIC_IS_IRQ_ENABLED(x) (NVIC->ISER[0] & (1 << ((uint32_t)(x) & 0x1F)))!=0
static inline uint8_t getPinMux(uint16_t ulPin)
{
uint8_t temp;
if ((ulPin & 0x01)==0)
{
temp = (PORT->Group[g_APinDescription[ulPin].ulPort].PMUX[g_APinDescription[ulPin].ulPin >> 1].reg) & PORT_PMUX_PMUXE( 0xF ) ;
}else
{
temp = (PORT->Group[g_APinDescription[ulPin].ulPort].PMUX[g_APinDescription[ulPin].ulPin >> 1].reg)>>4 & 0xF;
}
return temp;
}
static inline uint8_t getPinCfg(uint16_t ulPin)
{
uint8_t temp;
temp = PORT->Group[g_APinDescription[ulPin].ulPort].PINCFG[g_APinDescription[ulPin].ulPin].reg;
return temp;
}
static inline void setPinCfg(uint16_t ulPin, uint8_t val)
{
PORT->Group[g_APinDescription[ulPin].ulPort].PINCFG[g_APinDescription[ulPin].ulPin].reg=val;
}
static inline void setPinMux(uint16_t ulPin, uint8_t val)
{
uint8_t temp;
temp = (PORT->Group[g_APinDescription[ulPin].ulPort].PMUX[g_APinDescription[ulPin].ulPin >> 1].reg);
if ((ulPin & 0x01)==0)
{
//if an even pin
temp = (temp & 0xF0) | (val & 0x0F);
}else
{
temp = (temp & 0x0F) | ((val<<4) & 0x0F);
}
PORT->Group[g_APinDescription[ulPin].ulPort].PMUX[g_APinDescription[ulPin].ulPin >> 1].reg=temp;
PORT->Group[g_APinDescription[ulPin].ulPort].PINCFG[g_APinDescription[ulPin].ulPin].reg |= PORT_PINCFG_PMUXEN ; // Enable port mux
}
static inline void SET_PIN_PERHERIAL(uint16_t ulPin,EPioType ulPeripheral)
{
if ( g_APinDescription[ulPin].ulPin & 1 ) // is pin odd?
{
uint32_t temp ;
// Get whole current setup for both odd and even pins and remove odd one
temp = (PORT->Group[g_APinDescription[ulPin].ulPort].PMUX[g_APinDescription[ulPin].ulPin >> 1].reg) & PORT_PMUX_PMUXE( 0xF ) ;
// Set new muxing
PORT->Group[g_APinDescription[ulPin].ulPort].PMUX[g_APinDescription[ulPin].ulPin >> 1].reg = temp|PORT_PMUX_PMUXO( ulPeripheral ) ;
// Enable port mux
PORT->Group[g_APinDescription[ulPin].ulPort].PINCFG[g_APinDescription[ulPin].ulPin].reg |= PORT_PINCFG_PMUXEN ;
}
else // even pin
{
uint32_t temp ;
temp = (PORT->Group[g_APinDescription[ulPin].ulPort].PMUX[g_APinDescription[ulPin].ulPin >> 1].reg) & PORT_PMUX_PMUXO( 0xF ) ;
PORT->Group[g_APinDescription[ulPin].ulPort].PMUX[g_APinDescription[ulPin].ulPin >> 1].reg = temp|PORT_PMUX_PMUXE( ulPeripheral ) ;
PORT->Group[g_APinDescription[ulPin].ulPort].PINCFG[g_APinDescription[ulPin].ulPin].reg |= PORT_PINCFG_PMUXEN ; // Enable port mux
}
}
//the Arduino delay function requires interrupts to work.
// if interrupts are disabled use the delayMicroseconds which is a spin loop
static inline void DelayMs(uint32_t ms)
{
uint32_t prim;
/* Read PRIMASK register, check interrupt status before you disable them */
/* Returns 0 if they are enabled, or non-zero if disabled */
prim = __get_PRIMASK();
if (prim==0)
{
delay(ms);
}else
{
while(ms)
{
delayMicroseconds(1000);
ms--;
}
}
}
#endif//__BOARD_H__
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