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Mario Voigt 2021-08-08 14:43:38 +02:00
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commit 0fdd5dcf9e
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firmware_smartstepper_trikarus/stepper_nano_zero/.cproject
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68
firmware_smartstepper_trikarus/stepper_nano_zero/.project
View File

@ -1,34 +1,34 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>NZS</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
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<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
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<nature>org.eclipse.cdt.core.cnature</nature>
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</natures>
<linkedResources>
<link>
<name>arduino</name>
<type>2</type>
<location>C:/Users/tramp_000/AppData/Local/Arduino15/packages/arduino/hardware/samd/1.6.8/cores/arduino</location>
</link>
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<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>NZS</name>
<comment></comment>
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304
firmware_smartstepper_trikarus/stepper_nano_zero/A1333.cpp
View File

@ -1,152 +1,152 @@
/**********************************************************************
Copyright (C) 2019 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!
*********************************************************************/
#include <Arduino.h>
#include "syslog.h"
#include "A1333.h"
#include "SPI.h"
#include <stdio.h>
#include "board.h"
#define A1333_CMD_NOP (0x0000)
#define A1333_ANG15 (0x3200)
SPISettings settingsA(500000, MSBFIRST, SPI_MODE3); ///400000, MSBFIRST, SPI_MODE1);
boolean A1333::begin(int csPin)
{
digitalWrite(PIN_AS5047D_CS,LOW); //pull CS LOW by default (chip powered off)
digitalWrite(PIN_MOSI,LOW);
digitalWrite(PIN_SCK,LOW);
digitalWrite(PIN_MISO,LOW);
pinMode(PIN_MISO,OUTPUT);
delay(1000);
digitalWrite(PIN_AS5047D_CS,HIGH); //pull CS high
pinMode(PIN_MISO,INPUT);
chipSelectPin=csPin;
LOG("csPin is %d",csPin);
pinMode(chipSelectPin,OUTPUT);
digitalWrite(chipSelectPin,HIGH); //pull CS high by default
delay(1);
SPI.begin(); //AS5047D SPI uses mode=1 (CPOL=0, CPHA=1)
LOG("Begin A1333...");
LOG("Address is 0x%04X",readAddress(A1333_ANG15));
}
//read the encoders
int16_t A1333::readAddress(uint16_t addr)
{
uint16_t data;
//make sure it is a write by setting bit 14
//addr=addr | 0x4000;
SPI.beginTransaction(settingsA);
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out the address to read
//LOG("address 0x%04X",addr);
SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
delayMicroseconds(1);
digitalWrite(chipSelectPin, LOW);
//clock out zeros to read in the data from address
data=SPI.transfer16(0x00);
digitalWrite(chipSelectPin, HIGH);
SPI.endTransaction();
return data;
}
//read the encoders
int16_t A1333::readEncoderAngle(void)
{
return readAddress(A1333_ANG15)>>1;
}
int16_t A1333::readEncoderAnglePipeLineRead(void)
{
static bool first=true;
uint16_t addr = A1333_ANG15;
uint16_t addr2;
uint16_t data;
if (first)
{
//make sure it is a write by setting bit 14
//addr2=addr | 0x4000;
SPI.beginTransaction(settingsA);
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out the address to read
SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
delayMicroseconds(1);
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out zeros to read in the data from address
data=SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
SPI.endTransaction();
first=false;
return data>>1;
}
SPI.beginTransaction(settingsA);
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out zeros to read in the data from address
data=SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
SPI.endTransaction();
return data>>1;
}
/**********************************************************************
Copyright (C) 2019 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!
*********************************************************************/
#include <Arduino.h>
#include "syslog.h"
#include "A1333.h"
#include "SPI.h"
#include <stdio.h>
#include "board.h"
#define A1333_CMD_NOP (0x0000)
#define A1333_ANG15 (0x3200)
SPISettings settingsA(500000, MSBFIRST, SPI_MODE3); ///400000, MSBFIRST, SPI_MODE1);
boolean A1333::begin(int csPin)
{
digitalWrite(PIN_AS5047D_CS,LOW); //pull CS LOW by default (chip powered off)
digitalWrite(PIN_MOSI,LOW);
digitalWrite(PIN_SCK,LOW);
digitalWrite(PIN_MISO,LOW);
pinMode(PIN_MISO,OUTPUT);
delay(1000);
digitalWrite(PIN_AS5047D_CS,HIGH); //pull CS high
pinMode(PIN_MISO,INPUT);
chipSelectPin=csPin;
LOG("csPin is %d",csPin);
pinMode(chipSelectPin,OUTPUT);
digitalWrite(chipSelectPin,HIGH); //pull CS high by default
delay(1);
SPI.begin(); //AS5047D SPI uses mode=1 (CPOL=0, CPHA=1)
LOG("Begin A1333...");
LOG("Address is 0x%04X",readAddress(A1333_ANG15));
}
//read the encoders
int16_t A1333::readAddress(uint16_t addr)
{
uint16_t data;
//make sure it is a write by setting bit 14
//addr=addr | 0x4000;
SPI.beginTransaction(settingsA);
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out the address to read
//LOG("address 0x%04X",addr);
SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
delayMicroseconds(1);
digitalWrite(chipSelectPin, LOW);
//clock out zeros to read in the data from address
data=SPI.transfer16(0x00);
digitalWrite(chipSelectPin, HIGH);
SPI.endTransaction();
return data;
}
//read the encoders
int16_t A1333::readEncoderAngle(void)
{
return readAddress(A1333_ANG15)>>1;
}
int16_t A1333::readEncoderAnglePipeLineRead(void)
{
static bool first=true;
uint16_t addr = A1333_ANG15;
uint16_t addr2;
uint16_t data;
if (first)
{
//make sure it is a write by setting bit 14
//addr2=addr | 0x4000;
SPI.beginTransaction(settingsA);
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out the address to read
SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
delayMicroseconds(1);
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out zeros to read in the data from address
data=SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
SPI.endTransaction();
first=false;
return data>>1;
}
SPI.beginTransaction(settingsA);
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out zeros to read in the data from address
data=SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
SPI.endTransaction();
return data>>1;
}

118
firmware_smartstepper_trikarus/stepper_nano_zero/A1333.h
View File

@ -1,59 +1,59 @@
/**********************************************************************
Copyright (C) 2019 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 A1333_H_
#define A1333_H_
#include <Arduino.h>
#define A1333_DEGREES_PER_BIT (360.0/(float)(0x7FFF))
class A1333 {
private:
int chipSelectPin;
public:
boolean begin(int csPin);
int16_t readEncoderAngle(void);
int16_t readAddress(uint16_t addr);
int16_t readEncoderAnglePipeLineRead(void);
void diagnostics(char *ptrStr) {return;};
bool getError(void) {return false;};
};
#endif /* A1333_H_ */
/**********************************************************************
Copyright (C) 2019 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 A1333_H_
#define A1333_H_
#include <Arduino.h>
#define A1333_DEGREES_PER_BIT (360.0/(float)(0x7FFF))
class A1333 {
private:
int chipSelectPin;
public:
boolean begin(int csPin);
int16_t readEncoderAngle(void);
int16_t readAddress(uint16_t addr);
int16_t readEncoderAnglePipeLineRead(void);
void diagnostics(char *ptrStr) {return;};
bool getError(void) {return false;};
};
#endif /* A1333_H_ */

824
firmware_smartstepper_trikarus/stepper_nano_zero/A4954.cpp
View File

@ -1,412 +1,412 @@
/**********************************************************************
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!
*********************************************************************/
#include "A4954.h"
#include "wiring_private.h"
#include "syslog.h"
#include "angle.h"
#include "Arduino.h"
#include "sine.h"
static uint8_t pinState=0;
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
#define DAC_MAX (0x01FFL)
// Wait for synchronization of registers between the clock domains
static __inline__ void syncTCC(Tcc* TCCx) __attribute__((always_inline, unused));
static void syncTCC(Tcc* TCCx) {
//int32_t t0=1000;
while (TCCx->SYNCBUSY.reg & TCC_SYNCBUSY_MASK)
{
// t0--;
// if (t0==0)
// {
// break;
// }
// delay(1);
}
}
static inline void bridge1(int state)
{
if (state==0)
{
PORT->Group[g_APinDescription[PIN_A4954_IN1].ulPort].PINCFG[g_APinDescription[PIN_A4954_IN1].ulPin].bit.PMUXEN = 0;
GPIO_OUTPUT(PIN_A4954_IN1);//pinMode(PIN_A4954_IN1,OUTPUT);
GPIO_OUTPUT(PIN_A4954_IN2);//pinMode(PIN_A4954_IN2,OUTPUT);
GPIO_HIGH(PIN_A4954_IN1);// digitalWrite(PIN_A4954_IN1, HIGH);
GPIO_LOW(PIN_A4954_IN2);//digitalWrite(PIN_A4954_IN2, LOW);
//pinPeripheral(PIN_A4954_IN2, PIO_TIMER_ALT);
pinState=(pinState & 0x0C) | 0x1;
}
if (state==1)
{
PORT->Group[g_APinDescription[PIN_A4954_IN2].ulPort].PINCFG[g_APinDescription[PIN_A4954_IN2].ulPin].bit.PMUXEN = 0;
GPIO_OUTPUT(PIN_A4954_IN2);//pinMode(PIN_A4954_IN2,OUTPUT);
GPIO_OUTPUT(PIN_A4954_IN1);pinMode(PIN_A4954_IN1,OUTPUT);
GPIO_LOW(PIN_A4954_IN1);//digitalWrite(PIN_A4954_IN1, LOW);
GPIO_HIGH(PIN_A4954_IN2);//digitalWrite(PIN_A4954_IN2, HIGH);
//pinPeripheral(PIN_A4954_IN1, PIO_TIMER);
pinState=(pinState & 0x0C) | 0x2;
}
if (state==3)
{
GPIO_LOW(PIN_A4954_IN1);
GPIO_LOW(PIN_A4954_IN2);
//digitalWrite(PIN_A4954_IN1, LOW);
//digitalWrite(PIN_A4954_IN2, LOW);
}
}
static inline void bridge2(int state)
{
if (state==0)
{
PORT->Group[g_APinDescription[PIN_A4954_IN3].ulPort].PINCFG[g_APinDescription[PIN_A4954_IN3].ulPin].bit.PMUXEN = 0;
GPIO_OUTPUT(PIN_A4954_IN3); //pinMode(PIN_A4954_IN3,OUTPUT);
GPIO_OUTPUT(PIN_A4954_IN4);//pinMode(PIN_A4954_IN4,OUTPUT);
GPIO_HIGH(PIN_A4954_IN3);//digitalWrite(PIN_A4954_IN3, HIGH);
GPIO_LOW(PIN_A4954_IN4);//digitalWrite(PIN_A4954_IN4, LOW);
//pinPeripheral(PIN_A4954_IN4, PIO_TIMER_ALT);
pinState=(pinState & 0x03) | 0x4;
}
if (state==1)
{
PORT->Group[g_APinDescription[PIN_A4954_IN4].ulPort].PINCFG[g_APinDescription[PIN_A4954_IN4].ulPin].bit.PMUXEN = 0;
GPIO_OUTPUT(PIN_A4954_IN4);//pinMode(PIN_A4954_IN4,OUTPUT);
GPIO_OUTPUT(PIN_A4954_IN3);//pinMode(PIN_A4954_IN3,OUTPUT);
GPIO_LOW(PIN_A4954_IN3);//digitalWrite(PIN_A4954_IN3, LOW);
GPIO_HIGH(PIN_A4954_IN4);//digitalWrite(PIN_A4954_IN4, HIGH);
//pinPeripheral(PIN_A4954_IN3, PIO_TIMER_ALT);
pinState=(pinState & 0x03) | 0x8;
}
if (state==3)
{
GPIO_LOW(PIN_A4954_IN3);
GPIO_LOW(PIN_A4954_IN4);
//digitalWrite(PIN_A4954_IN3, LOW);
//digitalWrite(PIN_A4954_IN4, LOW);
}
}
static void enableTCC0(uint8_t percent)
{
#ifdef MECHADUINO_HARDWARE
return;
#else
Tcc* TCCx = TCC0 ;
uint32_t ulValue=((uint32_t)(100-percent)*480)/100;
//ERROR("Enable TCC0");
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
//ERROR("Setting TCC %d %d",ulValue,ulPin);
TCCx->CTRLA.reg &= ~TCC_CTRLA_ENABLE;
syncTCC(TCCx);
// Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
syncTCC(TCCx);
// Set TCx in waveform mode Normal PWM
TCCx->CC[1].reg = (uint32_t)ulValue; //ch5 //IN3
syncTCC(TCCx);
TCCx->CC[2].reg = (uint32_t)ulValue; //ch6 //IN4
syncTCC(TCCx);
TCCx->CC[3].reg = (uint32_t)ulValue; //ch7 //IN2
syncTCC(TCCx);
TCCx->CC[1].reg = (uint32_t)ulValue; //ch1 == ch5 //IN1
syncTCC(TCCx);
// Set PER to maximum counter value (resolution : 0xFF)
TCCx->PER.reg = DAC_MAX;
syncTCC(TCCx);
// Enable TCCx
TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ;
syncTCC(TCCx);
//ERROR("Enable TCC0 DONE");
#endif
}
static void setDAC(uint32_t DAC1, uint32_t DAC2)
{
TCC1->CC[1].reg = (uint32_t)DAC1; //D9 PA07 - VREF12
syncTCC(TCC1);
TCC1->CC[0].reg = (uint32_t)DAC2; //D4 - VREF34
syncTCC(TCC1);
}
static void setupDAC(void)
{
Tcc* TCCx = TCC1 ;
pinPeripheral(PIN_A4954_VREF34, PIO_TIMER_ALT);
pinPeripheral(PIN_A4954_VREF12, PIO_TIMER);
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
//ERROR("Setting TCC %d %d",ulValue,ulPin);
TCCx->CTRLA.reg &= ~TCC_CTRLA_ENABLE;
syncTCC(TCCx);
// Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
syncTCC(TCCx);
// Set TCx in waveform mode Normal PWM
TCCx->CC[1].reg = (uint32_t)0;
syncTCC(TCCx);
TCCx->CC[0].reg = (uint32_t)0;
syncTCC(TCCx);
// Set PER to maximum counter value (resolution : 0xFFF = 12 bits)
// =48e6/2^12=11kHz frequency
TCCx->PER.reg = DAC_MAX;
syncTCC(TCCx);
// Enable TCCx
TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ;
syncTCC(TCCx);
}
void A4954::begin()
{
//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);
enabled=true;
lastStepMicros=0;
forwardRotation=true;
enableTCC0(90);
setupDAC();
//
// int i=0;
// bridge1(0);
// bridge2(0);
//while (1)
// {
// int32_t x;
// WARNING("MA %d",i);
// x=(int32_t)((int64_t)i*(DAC_MAX))/3300;
// setDAC(x,x);
// delay(1000);
// i=i+10;
// if (i>1000)
// {
// i=0;
// }
//
// }
//
// WARNING("Setting DAC for 500mA output");
// setDAC((int32_t)((int64_t)1000*(DAC_MAX))/3300,(int32_t)((int64_t)1000*(DAC_MAX))/3300);
// bridge1(0);
// bridge2(0);
// while(1)
// {
//
// }
return;
}
void A4954::limitCurrent(uint8_t percent)
{
#ifdef MECHADUINO_HARDWARE
return;
#else
//WARNING("current limit %d",percent);
enableTCC0(percent);
if (pinState & 0x01)
{
pinPeripheral(PIN_A4954_IN2, PIO_TIMER_ALT); //TCC0 WO[7]
}
if (pinState & 0x02)
{
pinPeripheral(PIN_A4954_IN1, PIO_TIMER); //TCC0 WO[1]
}
if (pinState & 0x04)
{
pinPeripheral(PIN_A4954_IN4, PIO_TIMER_ALT);
}
if (pinState & 0x08)
{
pinPeripheral(PIN_A4954_IN3, PIO_TIMER_ALT);
}
#endif
}
void A4954::enable(bool enable)
{
enabled=enable;
if (enabled == false)
{
WARNING("A4954 disabled");
setDAC(0,0); //turn current off
bridge1(3); //tri state bridge outputs
bridge2(3); //tri state bridge outputs
}
}
//this is precise move and modulo of A4954_NUM_MICROSTEPS is a full step.
// stepAngle is in A4954_NUM_MICROSTEPS units..
// The A4954 has no idea where the motor is, so the calling function has to
// to tell the A4954 what phase to drive motor coils.
// A4954_NUM_MICROSTEPS is 256 by default so stepAngle of 1024 is 360 degrees
// Note you can only move up to +/-A4954_NUM_MICROSTEPS from where you
// currently are.
int32_t A4954::move(int32_t stepAngle, uint32_t mA)
{
uint16_t angle;
int32_t cos,sin;
int32_t dacSin,dacCos;
//static int i=0;
if (enabled == false)
{
//WARNING("A4954 disabled");
setDAC(0,0); //turn current off
bridge1(3); //tri state bridge outputs
bridge2(3); //tri state bridge outputs
return stepAngle;
}
//WARNING("move %d %d",stepAngle,mA);
//handle roll overs, could do with modulo operator
stepAngle=stepAngle%SINE_STEPS;
//figure out our sine Angle
// note our SINE_STEPS is 4x of microsteps for a reason
//angle=(stepAngle+(SINE_STEPS/8)) % SINE_STEPS;
angle=(stepAngle);
//calculate the sine and cosine of our angle
sin=sine(angle);
cos=cosine(angle);
//if we are reverse swap the sign of one of the angels
if (false == forwardRotation)
{
cos=-cos;
}
//scale sine result by current(mA)
dacSin=((int32_t)mA*(int64_t)abs(sin))/SINE_MAX;
//scale cosine result by current(mA)
dacCos=((int32_t)mA*(int64_t)abs(cos))/SINE_MAX;
// if (i==0)
// {
// WARNING("dacs are %d %d",dacSin,dacCos);
// }
//convert value into DAC scaled to 3300mA max
dacCos=(int32_t)((int64_t)dacCos*(DAC_MAX))/3300;
//convert value into DAC scaled to 3300mA max
dacSin=(int32_t)((int64_t)dacSin*(DAC_MAX))/3300;
//WARNING("dacs are %d %d ",dacSin,dacCos);
setDAC(dacSin,dacCos);
if (sin>0)
{
bridge1(1);
}else
{
bridge1(0);
}
if (cos>0)
{
bridge2(1);
}else
{
bridge2(0);
}
// if (i++>3000)
// {
// i=0;
// }
// YELLOW_LED(led);
// led=(led+1) & 0x01;
lastStepMicros=micros();
return stepAngle;
}
#pragma GCC pop_options
/**********************************************************************
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!
*********************************************************************/
#include "A4954.h"
#include "wiring_private.h"
#include "syslog.h"
#include "angle.h"
#include "Arduino.h"
#include "sine.h"
static uint8_t pinState=0;
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
#define DAC_MAX (0x01FFL)
// Wait for synchronization of registers between the clock domains
static __inline__ void syncTCC(Tcc* TCCx) __attribute__((always_inline, unused));
static void syncTCC(Tcc* TCCx) {
//int32_t t0=1000;
while (TCCx->SYNCBUSY.reg & TCC_SYNCBUSY_MASK)
{
// t0--;
// if (t0==0)
// {
// break;
// }
// delay(1);
}
}
static inline void bridge1(int state)
{
if (state==0)
{
PORT->Group[g_APinDescription[PIN_A4954_IN1].ulPort].PINCFG[g_APinDescription[PIN_A4954_IN1].ulPin].bit.PMUXEN = 0;
GPIO_OUTPUT(PIN_A4954_IN1);//pinMode(PIN_A4954_IN1,OUTPUT);
GPIO_OUTPUT(PIN_A4954_IN2);//pinMode(PIN_A4954_IN2,OUTPUT);
GPIO_HIGH(PIN_A4954_IN1);// digitalWrite(PIN_A4954_IN1, HIGH);
GPIO_LOW(PIN_A4954_IN2);//digitalWrite(PIN_A4954_IN2, LOW);
//pinPeripheral(PIN_A4954_IN2, PIO_TIMER_ALT);
pinState=(pinState & 0x0C) | 0x1;
}
if (state==1)
{
PORT->Group[g_APinDescription[PIN_A4954_IN2].ulPort].PINCFG[g_APinDescription[PIN_A4954_IN2].ulPin].bit.PMUXEN = 0;
GPIO_OUTPUT(PIN_A4954_IN2);//pinMode(PIN_A4954_IN2,OUTPUT);
GPIO_OUTPUT(PIN_A4954_IN1);pinMode(PIN_A4954_IN1,OUTPUT);
GPIO_LOW(PIN_A4954_IN1);//digitalWrite(PIN_A4954_IN1, LOW);
GPIO_HIGH(PIN_A4954_IN2);//digitalWrite(PIN_A4954_IN2, HIGH);
//pinPeripheral(PIN_A4954_IN1, PIO_TIMER);
pinState=(pinState & 0x0C) | 0x2;
}
if (state==3)
{
GPIO_LOW(PIN_A4954_IN1);
GPIO_LOW(PIN_A4954_IN2);
//digitalWrite(PIN_A4954_IN1, LOW);
//digitalWrite(PIN_A4954_IN2, LOW);
}
}
static inline void bridge2(int state)
{
if (state==0)
{
PORT->Group[g_APinDescription[PIN_A4954_IN3].ulPort].PINCFG[g_APinDescription[PIN_A4954_IN3].ulPin].bit.PMUXEN = 0;
GPIO_OUTPUT(PIN_A4954_IN3); //pinMode(PIN_A4954_IN3,OUTPUT);
GPIO_OUTPUT(PIN_A4954_IN4);//pinMode(PIN_A4954_IN4,OUTPUT);
GPIO_HIGH(PIN_A4954_IN3);//digitalWrite(PIN_A4954_IN3, HIGH);
GPIO_LOW(PIN_A4954_IN4);//digitalWrite(PIN_A4954_IN4, LOW);
//pinPeripheral(PIN_A4954_IN4, PIO_TIMER_ALT);
pinState=(pinState & 0x03) | 0x4;
}
if (state==1)
{
PORT->Group[g_APinDescription[PIN_A4954_IN4].ulPort].PINCFG[g_APinDescription[PIN_A4954_IN4].ulPin].bit.PMUXEN = 0;
GPIO_OUTPUT(PIN_A4954_IN4);//pinMode(PIN_A4954_IN4,OUTPUT);
GPIO_OUTPUT(PIN_A4954_IN3);//pinMode(PIN_A4954_IN3,OUTPUT);
GPIO_LOW(PIN_A4954_IN3);//digitalWrite(PIN_A4954_IN3, LOW);
GPIO_HIGH(PIN_A4954_IN4);//digitalWrite(PIN_A4954_IN4, HIGH);
//pinPeripheral(PIN_A4954_IN3, PIO_TIMER_ALT);
pinState=(pinState & 0x03) | 0x8;
}
if (state==3)
{
GPIO_LOW(PIN_A4954_IN3);
GPIO_LOW(PIN_A4954_IN4);
//digitalWrite(PIN_A4954_IN3, LOW);
//digitalWrite(PIN_A4954_IN4, LOW);
}
}
static void enableTCC0(uint8_t percent)
{
#ifdef MECHADUINO_HARDWARE
return;
#else
Tcc* TCCx = TCC0 ;
uint32_t ulValue=((uint32_t)(100-percent)*480)/100;
//ERROR("Enable TCC0");
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
//ERROR("Setting TCC %d %d",ulValue,ulPin);
TCCx->CTRLA.reg &= ~TCC_CTRLA_ENABLE;
syncTCC(TCCx);
// Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
syncTCC(TCCx);
// Set TCx in waveform mode Normal PWM
TCCx->CC[1].reg = (uint32_t)ulValue; //ch5 //IN3
syncTCC(TCCx);
TCCx->CC[2].reg = (uint32_t)ulValue; //ch6 //IN4
syncTCC(TCCx);
TCCx->CC[3].reg = (uint32_t)ulValue; //ch7 //IN2
syncTCC(TCCx);
TCCx->CC[1].reg = (uint32_t)ulValue; //ch1 == ch5 //IN1
syncTCC(TCCx);
// Set PER to maximum counter value (resolution : 0xFF)
TCCx->PER.reg = DAC_MAX;
syncTCC(TCCx);
// Enable TCCx
TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ;
syncTCC(TCCx);
//ERROR("Enable TCC0 DONE");
#endif
}
static void setDAC(uint32_t DAC1, uint32_t DAC2)
{
TCC1->CC[1].reg = (uint32_t)DAC1; //D9 PA07 - VREF12
syncTCC(TCC1);
TCC1->CC[0].reg = (uint32_t)DAC2; //D4 - VREF34
syncTCC(TCC1);
}
static void setupDAC(void)
{
Tcc* TCCx = TCC1 ;
pinPeripheral(PIN_A4954_VREF34, PIO_TIMER_ALT);
pinPeripheral(PIN_A4954_VREF12, PIO_TIMER);
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
//ERROR("Setting TCC %d %d",ulValue,ulPin);
TCCx->CTRLA.reg &= ~TCC_CTRLA_ENABLE;
syncTCC(TCCx);
// Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
syncTCC(TCCx);
// Set TCx in waveform mode Normal PWM
TCCx->CC[1].reg = (uint32_t)0;
syncTCC(TCCx);
TCCx->CC[0].reg = (uint32_t)0;
syncTCC(TCCx);
// Set PER to maximum counter value (resolution : 0xFFF = 12 bits)
// =48e6/2^12=11kHz frequency
TCCx->PER.reg = DAC_MAX;
syncTCC(TCCx);
// Enable TCCx
TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ;
syncTCC(TCCx);
}
void A4954::begin()
{
//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);
enabled=true;
lastStepMicros=0;
forwardRotation=true;
enableTCC0(90);
setupDAC();
//
// int i=0;
// bridge1(0);
// bridge2(0);
//while (1)
// {
// int32_t x;
// WARNING("MA %d",i);
// x=(int32_t)((int64_t)i*(DAC_MAX))/3300;
// setDAC(x,x);
// delay(1000);
// i=i+10;
// if (i>1000)
// {
// i=0;
// }
//
// }
//
// WARNING("Setting DAC for 500mA output");
// setDAC((int32_t)((int64_t)1000*(DAC_MAX))/3300,(int32_t)((int64_t)1000*(DAC_MAX))/3300);
// bridge1(0);
// bridge2(0);
// while(1)
// {
//
// }
return;
}
void A4954::limitCurrent(uint8_t percent)
{
#ifdef MECHADUINO_HARDWARE
return;
#else
//WARNING("current limit %d",percent);
enableTCC0(percent);
if (pinState & 0x01)
{
pinPeripheral(PIN_A4954_IN2, PIO_TIMER_ALT); //TCC0 WO[7]
}
if (pinState & 0x02)
{
pinPeripheral(PIN_A4954_IN1, PIO_TIMER); //TCC0 WO[1]
}
if (pinState & 0x04)
{
pinPeripheral(PIN_A4954_IN4, PIO_TIMER_ALT);
}
if (pinState & 0x08)
{
pinPeripheral(PIN_A4954_IN3, PIO_TIMER_ALT);
}
#endif
}
void A4954::enable(bool enable)
{
enabled=enable;
if (enabled == false)
{
WARNING("A4954 disabled");
setDAC(0,0); //turn current off
bridge1(3); //tri state bridge outputs
bridge2(3); //tri state bridge outputs
}
}
//this is precise move and modulo of A4954_NUM_MICROSTEPS is a full step.
// stepAngle is in A4954_NUM_MICROSTEPS units..
// The A4954 has no idea where the motor is, so the calling function has to
// to tell the A4954 what phase to drive motor coils.
// A4954_NUM_MICROSTEPS is 256 by default so stepAngle of 1024 is 360 degrees
// Note you can only move up to +/-A4954_NUM_MICROSTEPS from where you
// currently are.
int32_t A4954::move(int32_t stepAngle, uint32_t mA)
{
uint16_t angle;
int32_t cos,sin;
int32_t dacSin,dacCos;
//static int i=0;
if (enabled == false)
{
//WARNING("A4954 disabled");
setDAC(0,0); //turn current off
bridge1(3); //tri state bridge outputs
bridge2(3); //tri state bridge outputs
return stepAngle;
}
//WARNING("move %d %d",stepAngle,mA);
//handle roll overs, could do with modulo operator
stepAngle=stepAngle%SINE_STEPS;
//figure out our sine Angle
// note our SINE_STEPS is 4x of microsteps for a reason
//angle=(stepAngle+(SINE_STEPS/8)) % SINE_STEPS;
angle=(stepAngle);
//calculate the sine and cosine of our angle
sin=sine(angle);
cos=cosine(angle);
//if we are reverse swap the sign of one of the angels
if (false == forwardRotation)
{
cos=-cos;
}
//scale sine result by current(mA)
dacSin=((int32_t)mA*(int64_t)abs(sin))/SINE_MAX;
//scale cosine result by current(mA)
dacCos=((int32_t)mA*(int64_t)abs(cos))/SINE_MAX;
// if (i==0)
// {
// WARNING("dacs are %d %d",dacSin,dacCos);
// }
//convert value into DAC scaled to 3300mA max
dacCos=(int32_t)((int64_t)dacCos*(DAC_MAX))/3300;
//convert value into DAC scaled to 3300mA max
dacSin=(int32_t)((int64_t)dacSin*(DAC_MAX))/3300;
//WARNING("dacs are %d %d ",dacSin,dacCos);
setDAC(dacSin,dacCos);
if (sin>0)
{
bridge1(1);
}else
{
bridge1(0);
}
if (cos>0)
{
bridge2(1);
}else
{
bridge2(0);
}
// if (i++>3000)
// {
// i=0;
// }
// YELLOW_LED(led);
// led=(led+1) & 0x01;
lastStepMicros=micros();
return stepAngle;
}
#pragma GCC pop_options

180
firmware_smartstepper_trikarus/stepper_nano_zero/A4954.h
View File

@ -1,90 +1,90 @@
/**********************************************************************
Copyright (C) 2019 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 __A4954__H__
#define __A4954__H__
#include <Arduino.h>
#include "board.h"
#include "angle.h"
#include "sine.h"
#define A4954_NUM_MICROSTEPS (256)
#define A4954_MIN_TIME_BETWEEN_STEPS_MICROS (1000)
//prevent someone for making a mistake with the code
#if ((A4954_NUM_MICROSTEPS*4) != SINE_STEPS)
#error "SINE_STEPS must be 4x of Micro steps for the move function"
#endif
/*
* When it comes to the stepper driver if we use angles
* we will always have a rounding error. For example
* a 0-65536(360) angle for 1.8 degree step is 327.68 so
* if you increment 200 of these as 327 you have a 13.6 error
* after one rotation.
* If you use floating point the effect is the same but takes longer.
*
* The only error-less accumulation system is to use native units, ie full
* steps and microsteps.
*
*/
class A4954
{
private:
uint32_t lastStepMicros; // time in microseconds that last step happened
bool forwardRotation=true;
volatile bool enabled=true;
public:
void begin(void);
//moves motor where the modulo of A4954_NUM_MICROSTEPS is a full step.
int32_t move(int32_t stepAngle, uint32_t mA);
uint32_t microsSinceStep(void) {return micros()-lastStepMicros;};
void setRotationDirection(bool forward) {forwardRotation=forward;};
void enable(bool enable);
void limitCurrent(uint8_t percent); //higher more current
};
#endif //__A4954__H__
/**********************************************************************
Copyright (C) 2019 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 __A4954__H__
#define __A4954__H__
#include <Arduino.h>
#include "board.h"
#include "angle.h"
#include "sine.h"
#define A4954_NUM_MICROSTEPS (256)
#define A4954_MIN_TIME_BETWEEN_STEPS_MICROS (1000)
//prevent someone for making a mistake with the code
#if ((A4954_NUM_MICROSTEPS*4) != SINE_STEPS)
#error "SINE_STEPS must be 4x of Micro steps for the move function"
#endif
/*
* When it comes to the stepper driver if we use angles
* we will always have a rounding error. For example
* a 0-65536(360) angle for 1.8 degree step is 327.68 so
* if you increment 200 of these as 327 you have a 13.6 error
* after one rotation.
* If you use floating point the effect is the same but takes longer.
*
* The only error-less accumulation system is to use native units, ie full
* steps and microsteps.
*
*/
class A4954
{
private:
uint32_t lastStepMicros; // time in microseconds that last step happened
bool forwardRotation=true;
volatile bool enabled=true;
public:
void begin(void);
//moves motor where the modulo of A4954_NUM_MICROSTEPS is a full step.
int32_t move(int32_t stepAngle, uint32_t mA);
uint32_t microsSinceStep(void) {return micros()-lastStepMicros;};
void setRotationDirection(bool forward) {forwardRotation=forward;};
void enable(bool enable);
void limitCurrent(uint8_t percent); //higher more current
};
#endif //__A4954__H__

674
firmware_smartstepper_trikarus/stepper_nano_zero/A5995.cpp
View File

@ -1,337 +1,337 @@
/**********************************************************************
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!
*********************************************************************/
#include "A5995.h"
#include "wiring_private.h"
#include "syslog.h"
#include "angle.h"
#include "Arduino.h"
#include "sine.h"
static uint8_t pinState=0;
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
#define DAC_MAX (0x01FFL)
// Wait for synchronization of registers between the clock domains
static __inline__ void syncTCC(Tcc* TCCx) __attribute__((always_inline, unused));
static void syncTCC(Tcc* TCCx) {
//int32_t t0=1000;
while (TCCx->SYNCBUSY.reg & TCC_SYNCBUSY_MASK)
{
// t0--;
// if (t0==0)
// {
// break;
// }
// delay(1);
}
}
static void setDAC(uint32_t DAC1, uint32_t DAC2)
{
TCC1->CC[1].reg = (uint32_t)DAC1; //D9 PA07 - VREF2
syncTCC(TCC1);
TCC1->CC[0].reg = (uint32_t)DAC2; //D4 - VREF1
syncTCC(TCC1);
}
static void setupDAC(void)
{
Tcc* TCCx = TCC1 ;
pinPeripheral(PIN_A5995_VREF1, PIO_TIMER_ALT);
pinPeripheral(PIN_A5995_VREF2, PIO_TIMER);
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
//ERROR("Setting TCC %d %d",ulValue,ulPin);
TCCx->CTRLA.reg &= ~TCC_CTRLA_ENABLE;
syncTCC(TCCx);
// Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
syncTCC(TCCx);
// Set TCx in waveform mode Normal PWM
TCCx->CC[1].reg = (uint32_t)0;
syncTCC(TCCx);
TCCx->CC[0].reg = (uint32_t)0;
syncTCC(TCCx);
// Set PER to maximum counter value (resolution : 0xFFF = 12 bits)
// =48e6/2^12=11kHz frequency
TCCx->PER.reg = DAC_MAX;
syncTCC(TCCx);
// Enable TCCx
TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ;
syncTCC(TCCx);
}
void A5995::begin()
{
//setup the A5995 pins
digitalWrite(PIN_A5995_ENABLE1,LOW);
pinMode(PIN_A5995_ENABLE1,OUTPUT);
digitalWrite(PIN_A5995_ENABLE2,LOW);
pinMode(PIN_A5995_ENABLE2,OUTPUT);
digitalWrite(PIN_A5995_MODE1,LOW);
pinMode(PIN_A5995_MODE1,OUTPUT);
digitalWrite(PIN_A5995_MODE2,LOW);
pinMode(PIN_A5995_MODE2,OUTPUT);
digitalWrite(PIN_A5995_PHASE1,LOW);
pinMode(PIN_A5995_PHASE1,OUTPUT);
digitalWrite(PIN_A5995_PHASE2,LOW);
pinMode(PIN_A5995_PHASE2,OUTPUT);
digitalWrite(PIN_A5995_SLEEPn,HIGH);
pinMode(PIN_A5995_SLEEPn,OUTPUT);
//setup the PWM for current on the A4954, set for low current
digitalWrite(PIN_A5995_VREF1,LOW);
digitalWrite(PIN_A5995_VREF2,LOW);
pinMode(PIN_A5995_VREF1, OUTPUT);
pinMode(PIN_A5995_VREF2, OUTPUT);
enabled=true;
lastStepMicros=0;
forwardRotation=true;
setupDAC();
//
// GPIO_HIGH(PIN_A5995_ENABLE1);
// GPIO_HIGH(PIN_A5995_ENABLE2);
// GPIO_LOW(PIN_A5995_MODE1);
// GPIO_LOW(PIN_A5995_MODE2);
// GPIO_HIGH(PIN_A5995_PHASE1);
// GPIO_HIGH(PIN_A5995_PHASE2);
// int i=0;;
// while (1)
// {
// int32_t x;
// WARNING("MA %d",i);
// x=(int32_t)((int64_t)i*(DAC_MAX))/3300;
// setDAC(x,x);
// delay(1000);
// i=i+10;
// if (i>1000)
// {
// i=0;
// }
//
// }
return;
}
void A5995::enable(bool enable)
{
enabled=enable;
if (enabled == false)
{
WARNING("A4954 disabled");
setDAC(0,0); //turn current off
GPIO_LOW(PIN_A5995_ENABLE1);
GPIO_LOW(PIN_A5995_ENABLE2);
GPIO_LOW(PIN_A5995_MODE1);
GPIO_LOW(PIN_A5995_MODE2);
GPIO_LOW(PIN_A5995_PHASE1);
GPIO_LOW(PIN_A5995_PHASE2);
}
}
//this is precise move and modulo of A4954_NUM_MICROSTEPS is a full step.
// stepAngle is in A4954_NUM_MICROSTEPS units..
// The A4954 has no idea where the motor is, so the calling function has to
// to tell the A4954 what phase to drive motor coils.
// A4954_NUM_MICROSTEPS is 256 by default so stepAngle of 1024 is 360 degrees
// Note you can only move up to +/-A4954_NUM_MICROSTEPS from where you
// currently are.
int32_t A5995::move(int32_t stepAngle, uint32_t mA)
{
uint16_t angle;
int32_t cos,sin;
int32_t dacSin,dacCos;
static int32_t lastSin=0,lastCos=0;
static int i=1;
if (enabled == false)
{
WARNING("A4954 disabled");
setDAC(0,0); //turn current off
GPIO_LOW(PIN_A5995_ENABLE1);
GPIO_LOW(PIN_A5995_ENABLE2);
GPIO_LOW(PIN_A5995_MODE1);
GPIO_LOW(PIN_A5995_MODE2);
GPIO_LOW(PIN_A5995_PHASE1);
GPIO_LOW(PIN_A5995_PHASE2);
return stepAngle;
}
//WARNING("move %d %d",stepAngle,mA);
stepAngle=(stepAngle) % SINE_STEPS;
//figure out our sine Angle
// note our SINE_STEPS is 4x of microsteps for a reason
//angle=(stepAngle+(SINE_STEPS/8)) % SINE_STEPS;
angle=stepAngle;
if (i==0)
{
WARNING("angle %d ",angle);
}
//calculate the sine and cosine of our angle
sin=sine(angle);
cos=cosine(angle);
//if we are reverse swap the sign of one of the angels
if (false == forwardRotation)
{
cos=-cos;
}
//scale sine result by current(mA)
dacSin=((int32_t)mA*(int64_t)(sin))/SINE_MAX;
if (i==0)
{
WARNING("dacsine %d ",dacSin);
}
// if ((lastSin-dacSin)>100) //decreasing current
// {
// GPIO_LOW(PIN_A5995_MODE2); //fast decay
// } else
// {
// GPIO_HIGH(PIN_A5995_MODE2); //slow decay
// }
lastSin=dacSin;
//convert value into DAC scaled to 3300mA max
dacSin=(int32_t)((int64_t)abs(dacSin)*(DAC_MAX))/3300;
//scale cosine result by current(mA)
dacCos=((int32_t)mA*(int64_t)(cos))/SINE_MAX;
if (i==0)
{
WARNING("daccos %d ",dacCos);
}
// if ((lastCos-dacCos)>100) //decreasing current
// {
// GPIO_LOW(PIN_A5995_MODE1); //fast decay
// } else
// {
// GPIO_HIGH(PIN_A5995_MODE1); //slow decay
// }
lastCos=dacCos;
//convert value into DAC scaled to 3300mA max
dacCos=(int32_t)((int64_t)abs(dacCos)*(DAC_MAX))/3300;
if (i==0)
{
WARNING("dacs are %d %d",dacSin,dacCos);
}
setDAC(dacSin,dacCos);
GPIO_HIGH(PIN_A5995_ENABLE1);
GPIO_HIGH(PIN_A5995_ENABLE2);
GPIO_LOW(PIN_A5995_MODE1);
GPIO_LOW(PIN_A5995_MODE2);
if (i==0)
{
WARNING("sins are %d %d",sin,cos);
}
if (sin>0)
{
GPIO_HIGH(PIN_A5995_PHASE2);
}else
{
GPIO_LOW(PIN_A5995_PHASE2);
}
if (cos>0)
{
GPIO_HIGH(PIN_A5995_PHASE1);
}else
{
GPIO_LOW(PIN_A5995_PHASE1);
}
// i++;
// if (i>3000) i=0;
// YELLOW_LED(led);
// led=(led+1) & 0x01;
lastStepMicros=micros();
return stepAngle;
}
#pragma GCC pop_options
/**********************************************************************
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!
*********************************************************************/
#include "A5995.h"
#include "wiring_private.h"
#include "syslog.h"
#include "angle.h"
#include "Arduino.h"
#include "sine.h"
static uint8_t pinState=0;
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
#define DAC_MAX (0x01FFL)
// Wait for synchronization of registers between the clock domains
static __inline__ void syncTCC(Tcc* TCCx) __attribute__((always_inline, unused));
static void syncTCC(Tcc* TCCx) {
//int32_t t0=1000;
while (TCCx->SYNCBUSY.reg & TCC_SYNCBUSY_MASK)
{
// t0--;
// if (t0==0)
// {
// break;
// }
// delay(1);
}
}
static void setDAC(uint32_t DAC1, uint32_t DAC2)
{
TCC1->CC[1].reg = (uint32_t)DAC1; //D9 PA07 - VREF2
syncTCC(TCC1);
TCC1->CC[0].reg = (uint32_t)DAC2; //D4 - VREF1
syncTCC(TCC1);
}
static void setupDAC(void)
{
Tcc* TCCx = TCC1 ;
pinPeripheral(PIN_A5995_VREF1, PIO_TIMER_ALT);
pinPeripheral(PIN_A5995_VREF2, PIO_TIMER);
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
while ( GCLK->STATUS.bit.SYNCBUSY == 1 ) ;
//ERROR("Setting TCC %d %d",ulValue,ulPin);
TCCx->CTRLA.reg &= ~TCC_CTRLA_ENABLE;
syncTCC(TCCx);
// Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
syncTCC(TCCx);
// Set TCx in waveform mode Normal PWM
TCCx->CC[1].reg = (uint32_t)0;
syncTCC(TCCx);
TCCx->CC[0].reg = (uint32_t)0;
syncTCC(TCCx);
// Set PER to maximum counter value (resolution : 0xFFF = 12 bits)
// =48e6/2^12=11kHz frequency
TCCx->PER.reg = DAC_MAX;
syncTCC(TCCx);
// Enable TCCx
TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ;
syncTCC(TCCx);
}
void A5995::begin()
{
//setup the A5995 pins
digitalWrite(PIN_A5995_ENABLE1,LOW);
pinMode(PIN_A5995_ENABLE1,OUTPUT);
digitalWrite(PIN_A5995_ENABLE2,LOW);
pinMode(PIN_A5995_ENABLE2,OUTPUT);
digitalWrite(PIN_A5995_MODE1,LOW);
pinMode(PIN_A5995_MODE1,OUTPUT);
digitalWrite(PIN_A5995_MODE2,LOW);
pinMode(PIN_A5995_MODE2,OUTPUT);
digitalWrite(PIN_A5995_PHASE1,LOW);
pinMode(PIN_A5995_PHASE1,OUTPUT);
digitalWrite(PIN_A5995_PHASE2,LOW);
pinMode(PIN_A5995_PHASE2,OUTPUT);
digitalWrite(PIN_A5995_SLEEPn,HIGH);
pinMode(PIN_A5995_SLEEPn,OUTPUT);
//setup the PWM for current on the A4954, set for low current
digitalWrite(PIN_A5995_VREF1,LOW);
digitalWrite(PIN_A5995_VREF2,LOW);
pinMode(PIN_A5995_VREF1, OUTPUT);
pinMode(PIN_A5995_VREF2, OUTPUT);
enabled=true;
lastStepMicros=0;
forwardRotation=true;
setupDAC();
//
// GPIO_HIGH(PIN_A5995_ENABLE1);
// GPIO_HIGH(PIN_A5995_ENABLE2);
// GPIO_LOW(PIN_A5995_MODE1);
// GPIO_LOW(PIN_A5995_MODE2);
// GPIO_HIGH(PIN_A5995_PHASE1);
// GPIO_HIGH(PIN_A5995_PHASE2);
// int i=0;;
// while (1)
// {
// int32_t x;
// WARNING("MA %d",i);
// x=(int32_t)((int64_t)i*(DAC_MAX))/3300;
// setDAC(x,x);
// delay(1000);
// i=i+10;
// if (i>1000)
// {
// i=0;
// }
//
// }
return;
}
void A5995::enable(bool enable)
{
enabled=enable;
if (enabled == false)
{
WARNING("A4954 disabled");
setDAC(0,0); //turn current off
GPIO_LOW(PIN_A5995_ENABLE1);
GPIO_LOW(PIN_A5995_ENABLE2);
GPIO_LOW(PIN_A5995_MODE1);
GPIO_LOW(PIN_A5995_MODE2);
GPIO_LOW(PIN_A5995_PHASE1);
GPIO_LOW(PIN_A5995_PHASE2);
}
}
//this is precise move and modulo of A4954_NUM_MICROSTEPS is a full step.
// stepAngle is in A4954_NUM_MICROSTEPS units..
// The A4954 has no idea where the motor is, so the calling function has to
// to tell the A4954 what phase to drive motor coils.
// A4954_NUM_MICROSTEPS is 256 by default so stepAngle of 1024 is 360 degrees
// Note you can only move up to +/-A4954_NUM_MICROSTEPS from where you
// currently are.
int32_t A5995::move(int32_t stepAngle, uint32_t mA)
{
uint16_t angle;
int32_t cos,sin;
int32_t dacSin,dacCos;
static int32_t lastSin=0,lastCos=0;
static int i=1;
if (enabled == false)
{
WARNING("A4954 disabled");
setDAC(0,0); //turn current off
GPIO_LOW(PIN_A5995_ENABLE1);
GPIO_LOW(PIN_A5995_ENABLE2);
GPIO_LOW(PIN_A5995_MODE1);
GPIO_LOW(PIN_A5995_MODE2);
GPIO_LOW(PIN_A5995_PHASE1);
GPIO_LOW(PIN_A5995_PHASE2);
return stepAngle;
}
//WARNING("move %d %d",stepAngle,mA);
stepAngle=(stepAngle) % SINE_STEPS;
//figure out our sine Angle
// note our SINE_STEPS is 4x of microsteps for a reason
//angle=(stepAngle+(SINE_STEPS/8)) % SINE_STEPS;
angle=stepAngle;
if (i==0)
{
WARNING("angle %d ",angle);
}
//calculate the sine and cosine of our angle
sin=sine(angle);
cos=cosine(angle);
//if we are reverse swap the sign of one of the angels
if (false == forwardRotation)
{
cos=-cos;
}
//scale sine result by current(mA)
dacSin=((int32_t)mA*(int64_t)(sin))/SINE_MAX;
if (i==0)
{
WARNING("dacsine %d ",dacSin);
}
// if ((lastSin-dacSin)>100) //decreasing current
// {
// GPIO_LOW(PIN_A5995_MODE2); //fast decay
// } else
// {
// GPIO_HIGH(PIN_A5995_MODE2); //slow decay
// }
lastSin=dacSin;
//convert value into DAC scaled to 3300mA max
dacSin=(int32_t)((int64_t)abs(dacSin)*(DAC_MAX))/3300;
//scale cosine result by current(mA)
dacCos=((int32_t)mA*(int64_t)(cos))/SINE_MAX;
if (i==0)
{
WARNING("daccos %d ",dacCos);
}
// if ((lastCos-dacCos)>100) //decreasing current
// {
// GPIO_LOW(PIN_A5995_MODE1); //fast decay
// } else
// {
// GPIO_HIGH(PIN_A5995_MODE1); //slow decay
// }
lastCos=dacCos;
//convert value into DAC scaled to 3300mA max
dacCos=(int32_t)((int64_t)abs(dacCos)*(DAC_MAX))/3300;
if (i==0)
{
WARNING("dacs are %d %d",dacSin,dacCos);
}
setDAC(dacSin,dacCos);
GPIO_HIGH(PIN_A5995_ENABLE1);
GPIO_HIGH(PIN_A5995_ENABLE2);
GPIO_LOW(PIN_A5995_MODE1);
GPIO_LOW(PIN_A5995_MODE2);
if (i==0)
{
WARNING("sins are %d %d",sin,cos);
}
if (sin>0)
{
GPIO_HIGH(PIN_A5995_PHASE2);
}else
{
GPIO_LOW(PIN_A5995_PHASE2);
}
if (cos>0)
{
GPIO_HIGH(PIN_A5995_PHASE1);
}else
{
GPIO_LOW(PIN_A5995_PHASE1);
}
// i++;
// if (i>3000) i=0;
// YELLOW_LED(led);
// led=(led+1) & 0x01;
lastStepMicros=micros();
return stepAngle;
}
#pragma GCC pop_options

184
firmware_smartstepper_trikarus/stepper_nano_zero/A5995.h
View File

@ -1,92 +1,92 @@
/**********************************************************************
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 A5995_H_
#define A5995_H_
#include <Arduino.h>
#include "board.h"
#include "angle.h"
#include "sine.h"
#define A5995_NUM_MICROSTEPS (256)
//prevent someone for making a mistake with the code
#if ((A5995_NUM_MICROSTEPS*4) != SINE_STEPS)
#error "SINE_STEPS must be 4x of Micro steps for the move function"
#endif
/*
* When it comes to the stepper driver if we use angles
* we will always have a rounding error. For example
* a 0-65536(360) angle for 1.8 degree step is 327.68 so
* if you increment 200 of these as 327 you have a 13.6 error
* after one rotation.
* If you use floating point the effect is the same but takes longer.
*
* The only error-less accumulation system is to use native units, ie full
* steps and microsteps.
*
*/
class A5995
{
private:
uint32_t lastStepMicros; // time in microseconds that last step happened
bool forwardRotation=true;
volatile bool enabled=true;
public:
void begin(void);
//moves motor where the modulo of A4954_NUM_MICROSTEPS is a full step.
int32_t move(int32_t stepAngle, uint32_t mA);
uint32_t microsSinceStep(void) {return micros()-lastStepMicros;};
void setRotationDirection(bool forward) {forwardRotation=forward;};
void enable(bool enable);
void limitCurrent(uint8_t percent) {return;}; //Not used
};
#endif /* A5995_H_ */
/**********************************************************************
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 A5995_H_
#define A5995_H_
#include <Arduino.h>
#include "board.h"
#include "angle.h"
#include "sine.h"
#define A5995_NUM_MICROSTEPS (256)
//prevent someone for making a mistake with the code
#if ((A5995_NUM_MICROSTEPS*4) != SINE_STEPS)
#error "SINE_STEPS must be 4x of Micro steps for the move function"
#endif
/*
* When it comes to the stepper driver if we use angles
* we will always have a rounding error. For example
* a 0-65536(360) angle for 1.8 degree step is 327.68 so
* if you increment 200 of these as 327 you have a 13.6 error
* after one rotation.
* If you use floating point the effect is the same but takes longer.
*
* The only error-less accumulation system is to use native units, ie full
* steps and microsteps.
*
*/
class A5995
{
private:
uint32_t lastStepMicros; // time in microseconds that last step happened
bool forwardRotation=true;
volatile bool enabled=true;
public:
void begin(void);
//moves motor where the modulo of A4954_NUM_MICROSTEPS is a full step.
int32_t move(int32_t stepAngle, uint32_t mA);
uint32_t microsSinceStep(void) {return micros()-lastStepMicros;};
void setRotationDirection(bool forward) {forwardRotation=forward;};
void enable(bool enable);
void limitCurrent(uint8_t percent) {return;}; //Not used
};
#endif /* A5995_H_ */

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#ifndef _ADAFRUIT_GFX_H
#define _ADAFRUIT_GFX_H
#if ARDUINO >= 100
#include "Arduino.h"
#include "Print.h"
#else
#include "WProgram.h"
#endif
#include "gfxfont.h"
class Adafruit_GFX : public Print {
public:
Adafruit_GFX(int16_t w, int16_t h); // Constructor
// This MUST be defined by the subclass:
virtual void drawPixel(int16_t x, int16_t y, uint16_t color) = 0;
// These MAY be overridden by the subclass to provide device-specific
// optimized code. Otherwise 'generic' versions are used.
virtual void
drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color),
drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color),
drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color),
drawRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color),
fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color),
fillScreen(uint16_t color),
invertDisplay(boolean i);
// These exist only with Adafruit_GFX (no subclass overrides)
void
drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color),
drawCircleHelper(int16_t x0, int16_t y0, int16_t r, uint8_t cornername,
uint16_t color),
fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color),
fillCircleHelper(int16_t x0, int16_t y0, int16_t r, uint8_t cornername,
int16_t delta, uint16_t color),
drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1,
int16_t x2, int16_t y2, uint16_t color),
fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1,
int16_t x2, int16_t y2, uint16_t color),
drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h,
int16_t radius, uint16_t color),
fillRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h,
int16_t radius, uint16_t color),
drawBitmap(int16_t x, int16_t y, const uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color),
drawBitmap(int16_t x, int16_t y, const uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color, uint16_t bg),
drawBitmap(int16_t x, int16_t y, uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color),
drawBitmap(int16_t x, int16_t y, uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color, uint16_t bg),
drawXBitmap(int16_t x, int16_t y, const uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color),
drawChar(int16_t x, int16_t y, unsigned char c, uint16_t color,
uint16_t bg, uint8_t size),
setCursor(int16_t x, int16_t y),
setTextColor(uint16_t c),
setTextColor(uint16_t c, uint16_t bg),
setTextSize(uint8_t s),
setTextWrap(boolean w),
setRotation(uint8_t r),
cp437(boolean x=true),
setFont(const GFXfont *f = NULL),
getTextBounds(char *string, int16_t x, int16_t y,
int16_t *x1, int16_t *y1, uint16_t *w, uint16_t *h),
getTextBounds(const __FlashStringHelper *s, int16_t x, int16_t y,
int16_t *x1, int16_t *y1, uint16_t *w, uint16_t *h);
#if ARDUINO >= 100
virtual size_t write(uint8_t);
#else
virtual void write(uint8_t);
#endif
int16_t height(void) const;
int16_t width(void) const;
uint8_t getRotation(void) const;
// get current cursor position (get rotation safe maximum values, using: width() for x, height() for y)
int16_t getCursorX(void) const;
int16_t getCursorY(void) const;
protected:
const int16_t
WIDTH, HEIGHT; // This is the 'raw' display w/h - never changes
int16_t
_width, _height, // Display w/h as modified by current rotation
cursor_x, cursor_y;
uint16_t
textcolor, textbgcolor;
uint8_t
textsize,
rotation;
boolean
wrap, // If set, 'wrap' text at right edge of display
_cp437; // If set, use correct CP437 charset (default is off)
GFXfont
*gfxFont;
};
class Adafruit_GFX_Button {
public:
Adafruit_GFX_Button(void);
void initButton(Adafruit_GFX *gfx, int16_t x, int16_t y,
uint8_t w, uint8_t h, uint16_t outline, uint16_t fill,
uint16_t textcolor, char *label, uint8_t textsize);
void drawButton(boolean inverted = false);
boolean contains(int16_t x, int16_t y);
void press(boolean p);
boolean isPressed();
boolean justPressed();
boolean justReleased();
private:
Adafruit_GFX *_gfx;
int16_t _x, _y;
uint16_t _w, _h;
uint8_t _textsize;
uint16_t _outlinecolor, _fillcolor, _textcolor;
char _label[10];
boolean currstate, laststate;
};
class GFXcanvas1 : public Adafruit_GFX {
public:
GFXcanvas1(uint16_t w, uint16_t h);
~GFXcanvas1(void);
void drawPixel(int16_t x, int16_t y, uint16_t color),
fillScreen(uint16_t color);
uint8_t *getBuffer(void);
private:
uint8_t *buffer;
};
class GFXcanvas16 : public Adafruit_GFX {
GFXcanvas16(uint16_t w, uint16_t h);
~GFXcanvas16(void);
void drawPixel(int16_t x, int16_t y, uint16_t color),
fillScreen(uint16_t color);
uint16_t *getBuffer(void);
private:
uint16_t *buffer;
};
#endif // _ADAFRUIT_GFX_H
#ifndef _ADAFRUIT_GFX_H
#define _ADAFRUIT_GFX_H
#if ARDUINO >= 100
#include "Arduino.h"
#include "Print.h"
#else
#include "WProgram.h"
#endif
#include "gfxfont.h"
class Adafruit_GFX : public Print {
public:
Adafruit_GFX(int16_t w, int16_t h); // Constructor
// This MUST be defined by the subclass:
virtual void drawPixel(int16_t x, int16_t y, uint16_t color) = 0;
// These MAY be overridden by the subclass to provide device-specific
// optimized code. Otherwise 'generic' versions are used.
virtual void
drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color),
drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color),
drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color),
drawRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color),
fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color),
fillScreen(uint16_t color),
invertDisplay(boolean i);
// These exist only with Adafruit_GFX (no subclass overrides)
void
drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color),
drawCircleHelper(int16_t x0, int16_t y0, int16_t r, uint8_t cornername,
uint16_t color),
fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color),
fillCircleHelper(int16_t x0, int16_t y0, int16_t r, uint8_t cornername,
int16_t delta, uint16_t color),
drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1,
int16_t x2, int16_t y2, uint16_t color),
fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1,
int16_t x2, int16_t y2, uint16_t color),
drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h,
int16_t radius, uint16_t color),
fillRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h,
int16_t radius, uint16_t color),
drawBitmap(int16_t x, int16_t y, const uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color),
drawBitmap(int16_t x, int16_t y, const uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color, uint16_t bg),
drawBitmap(int16_t x, int16_t y, uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color),
drawBitmap(int16_t x, int16_t y, uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color, uint16_t bg),
drawXBitmap(int16_t x, int16_t y, const uint8_t *bitmap,
int16_t w, int16_t h, uint16_t color),
drawChar(int16_t x, int16_t y, unsigned char c, uint16_t color,
uint16_t bg, uint8_t size),
setCursor(int16_t x, int16_t y),
setTextColor(uint16_t c),
setTextColor(uint16_t c, uint16_t bg),
setTextSize(uint8_t s),
setTextWrap(boolean w),
setRotation(uint8_t r),
cp437(boolean x=true),
setFont(const GFXfont *f = NULL),
getTextBounds(char *string, int16_t x, int16_t y,
int16_t *x1, int16_t *y1, uint16_t *w, uint16_t *h),
getTextBounds(const __FlashStringHelper *s, int16_t x, int16_t y,
int16_t *x1, int16_t *y1, uint16_t *w, uint16_t *h);
#if ARDUINO >= 100
virtual size_t write(uint8_t);
#else
virtual void write(uint8_t);
#endif
int16_t height(void) const;
int16_t width(void) const;
uint8_t getRotation(void) const;
// get current cursor position (get rotation safe maximum values, using: width() for x, height() for y)
int16_t getCursorX(void) const;
int16_t getCursorY(void) const;
protected:
const int16_t
WIDTH, HEIGHT; // This is the 'raw' display w/h - never changes
int16_t
_width, _height, // Display w/h as modified by current rotation
cursor_x, cursor_y;
uint16_t
textcolor, textbgcolor;
uint8_t
textsize,
rotation;
boolean
wrap, // If set, 'wrap' text at right edge of display
_cp437; // If set, use correct CP437 charset (default is off)
GFXfont
*gfxFont;
};
class Adafruit_GFX_Button {
public:
Adafruit_GFX_Button(void);
void initButton(Adafruit_GFX *gfx, int16_t x, int16_t y,
uint8_t w, uint8_t h, uint16_t outline, uint16_t fill,
uint16_t textcolor, char *label, uint8_t textsize);
void drawButton(boolean inverted = false);
boolean contains(int16_t x, int16_t y);
void press(boolean p);
boolean isPressed();
boolean justPressed();
boolean justReleased();
private:
Adafruit_GFX *_gfx;
int16_t _x, _y;
uint16_t _w, _h;
uint8_t _textsize;
uint16_t _outlinecolor, _fillcolor, _textcolor;
char _label[10];
boolean currstate, laststate;
};
class GFXcanvas1 : public Adafruit_GFX {
public:
GFXcanvas1(uint16_t w, uint16_t h);
~GFXcanvas1(void);
void drawPixel(int16_t x, int16_t y, uint16_t color),
fillScreen(uint16_t color);
uint8_t *getBuffer(void);
private:
uint8_t *buffer;
};
class GFXcanvas16 : public Adafruit_GFX {
GFXcanvas16(uint16_t w, uint16_t h);
~GFXcanvas16(void);
void drawPixel(int16_t x, int16_t y, uint16_t color),
fillScreen(uint16_t color);
uint16_t *getBuffer(void);
private:
uint16_t *buffer;
};
#endif // _ADAFRUIT_GFX_H

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/*********************************************************************
This is a library for our Monochrome OLEDs based on SSD1306 drivers
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/category/63_98
These displays use SPI to communicate, 4 or 5 pins are required to
interface
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, check license.txt for more information
All text above, and the splash screen must be included in any redistribution
*********************************************************************/
#ifndef _Adafruit_SSD1306_H_
#define _Adafruit_SSD1306_H_
#if ARDUINO >= 100
#include "Arduino.h"
#define WIRE_WRITE Wire.write
#else
#include "WProgram.h"
#define WIRE_WRITE Wire.send
#endif
#if defined(__SAM3X8E__)
typedef volatile RwReg PortReg;
typedef uint32_t PortMask;
#define HAVE_PORTREG
#elif defined(ARDUINO_ARCH_SAMD)
// not supported
#elif defined(ESP8266) || defined(ARDUINO_STM32_FEATHER)
typedef volatile uint32_t PortReg;
typedef uint32_t PortMask;
#else
typedef volatile uint8_t PortReg;
typedef uint8_t PortMask;
#define HAVE_PORTREG
#endif
#include <SPI.h>
#include "Adafruit_GFX.h"
#define BLACK 0
#define WHITE 1
#define INVERSE 2
#define SSD1306_I2C_ADDRESS 0x3C // 011110+SA0+RW - 0x3C or 0x3D
// Address for 128x32 is 0x3C
// Address for 128x64 is 0x3D (default) or 0x3C (if SA0 is grounded)
/*=========================================================================
SSD1306 Displays
-----------------------------------------------------------------------
The driver is used in multiple displays (128x64, 128x32, etc.).
Select the appropriate display below to create an appropriately
sized framebuffer, etc.
SSD1306_128_64 128x64 pixel display
SSD1306_128_32 128x32 pixel display
SSD1306_96_16
-----------------------------------------------------------------------*/
#define SSD1306_128_64
// #define SSD1306_128_32
// #define SSD1306_96_16
/*=========================================================================*/
#if defined SSD1306_128_64 && defined SSD1306_128_32
#error "Only one SSD1306 display can be specified at once in SSD1306.h"
#endif
#if !defined SSD1306_128_64 && !defined SSD1306_128_32 && !defined SSD1306_96_16
#error "At least one SSD1306 display must be specified in SSD1306.h"
#endif
#if defined SSD1306_128_64
#define SSD1306_LCDWIDTH 128
#define SSD1306_LCDHEIGHT 64
#endif
#if defined SSD1306_128_32
#define SSD1306_LCDWIDTH 128
#define SSD1306_LCDHEIGHT 32
#endif
#if defined SSD1306_96_16
#define SSD1306_LCDWIDTH 96
#define SSD1306_LCDHEIGHT 16
#endif
#define SSD1306_SETCONTRAST 0x81
#define SSD1306_DISPLAYALLON_RESUME 0xA4
#define SSD1306_DISPLAYALLON 0xA5
#define SSD1306_NORMALDISPLAY 0xA6
#define SSD1306_INVERTDISPLAY 0xA7
#define SSD1306_DISPLAYOFF 0xAE
#define SSD1306_DISPLAYON 0xAF
#define SSD1306_SETDISPLAYOFFSET 0xD3
#define SSD1306_SETCOMPINS 0xDA
#define SSD1306_SETVCOMDETECT 0xDB
#define SSD1306_SETDISPLAYCLOCKDIV 0xD5
#define SSD1306_SETPRECHARGE 0xD9
#define SSD1306_SETMULTIPLEX 0xA8
#define SSD1306_SETLOWCOLUMN 0x00
#define SSD1306_SETHIGHCOLUMN 0x10
#define SSD1306_SETSTARTLINE 0x40
#define SSD1306_MEMORYMODE 0x20
#define SSD1306_COLUMNADDR 0x21
#define SSD1306_PAGEADDR 0x22
#define SSD1306_COMSCANINC 0xC0
#define SSD1306_COMSCANDEC 0xC8
#define SSD1306_SEGREMAP 0xA0
#define SSD1306_CHARGEPUMP 0x8D
#define SSD1306_EXTERNALVCC 0x1
#define SSD1306_SWITCHCAPVCC 0x2
// Scrolling #defines
#define SSD1306_ACTIVATE_SCROLL 0x2F
#define SSD1306_DEACTIVATE_SCROLL 0x2E
#define SSD1306_SET_VERTICAL_SCROLL_AREA 0xA3
#define SSD1306_RIGHT_HORIZONTAL_SCROLL 0x26
#define SSD1306_LEFT_HORIZONTAL_SCROLL 0x27
#define SSD1306_VERTICAL_AND_RIGHT_HORIZONTAL_SCROLL 0x29
#define SSD1306_VERTICAL_AND_LEFT_HORIZONTAL_SCROLL 0x2A
class Adafruit_SSD1306 : public Adafruit_GFX {
public:
Adafruit_SSD1306(int8_t SID, int8_t SCLK, int8_t DC, int8_t RST, int8_t CS);
Adafruit_SSD1306(int8_t DC, int8_t RST, int8_t CS);
Adafruit_SSD1306(int8_t RST = -1);
bool begin(uint8_t switchvcc = SSD1306_SWITCHCAPVCC, uint8_t i2caddr = SSD1306_I2C_ADDRESS, bool reset=true);
uint8_t ssd1306_command(uint8_t c);
void clearDisplay(void);
void invertDisplay(uint8_t i);
void display();
void startscrollright(uint8_t start, uint8_t stop);
void startscrollleft(uint8_t start, uint8_t stop);
void startscrolldiagright(uint8_t start, uint8_t stop);
void startscrolldiagleft(uint8_t start, uint8_t stop);
void stopscroll(void);
void dim(boolean dim);
void drawPixel(int16_t x, int16_t y, uint16_t color);
virtual void drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color);
virtual void drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color);
private:
int8_t _i2caddr, _vccstate, sid, sclk, dc, rst, cs;
void fastSPIwrite(uint8_t c);
boolean hwSPI;
#ifdef HAVE_PORTREG
PortReg *mosiport, *clkport, *csport, *dcport;
PortMask mosipinmask, clkpinmask, cspinmask, dcpinmask;
#endif
inline void drawFastVLineInternal(int16_t x, int16_t y, int16_t h, uint16_t color) __attribute__((always_inline));
inline void drawFastHLineInternal(int16_t x, int16_t y, int16_t w, uint16_t color) __attribute__((always_inline));
};
#endif /* _Adafruit_SSD1306_H_ */
/*********************************************************************
This is a library for our Monochrome OLEDs based on SSD1306 drivers
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/category/63_98
These displays use SPI to communicate, 4 or 5 pins are required to
interface
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, check license.txt for more information
All text above, and the splash screen must be included in any redistribution
*********************************************************************/
#ifndef _Adafruit_SSD1306_H_
#define _Adafruit_SSD1306_H_
#if ARDUINO >= 100
#include "Arduino.h"
#define WIRE_WRITE Wire.write
#else
#include "WProgram.h"
#define WIRE_WRITE Wire.send
#endif
#if defined(__SAM3X8E__)
typedef volatile RwReg PortReg;
typedef uint32_t PortMask;
#define HAVE_PORTREG
#elif defined(ARDUINO_ARCH_SAMD)
// not supported
#elif defined(ESP8266) || defined(ARDUINO_STM32_FEATHER)
typedef volatile uint32_t PortReg;
typedef uint32_t PortMask;
#else
typedef volatile uint8_t PortReg;
typedef uint8_t PortMask;
#define HAVE_PORTREG
#endif
#include <SPI.h>
#include "Adafruit_GFX.h"
#define BLACK 0
#define WHITE 1
#define INVERSE 2
#define SSD1306_I2C_ADDRESS 0x3C // 011110+SA0+RW - 0x3C or 0x3D
// Address for 128x32 is 0x3C
// Address for 128x64 is 0x3D (default) or 0x3C (if SA0 is grounded)
/*=========================================================================
SSD1306 Displays
-----------------------------------------------------------------------
The driver is used in multiple displays (128x64, 128x32, etc.).
Select the appropriate display below to create an appropriately
sized framebuffer, etc.
SSD1306_128_64 128x64 pixel display
SSD1306_128_32 128x32 pixel display
SSD1306_96_16
-----------------------------------------------------------------------*/
#define SSD1306_128_64
// #define SSD1306_128_32
// #define SSD1306_96_16
/*=========================================================================*/
#if defined SSD1306_128_64 && defined SSD1306_128_32
#error "Only one SSD1306 display can be specified at once in SSD1306.h"
#endif
#if !defined SSD1306_128_64 && !defined SSD1306_128_32 && !defined SSD1306_96_16
#error "At least one SSD1306 display must be specified in SSD1306.h"
#endif
#if defined SSD1306_128_64
#define SSD1306_LCDWIDTH 128
#define SSD1306_LCDHEIGHT 64
#endif
#if defined SSD1306_128_32
#define SSD1306_LCDWIDTH 128
#define SSD1306_LCDHEIGHT 32
#endif
#if defined SSD1306_96_16
#define SSD1306_LCDWIDTH 96
#define SSD1306_LCDHEIGHT 16
#endif
#define SSD1306_SETCONTRAST 0x81
#define SSD1306_DISPLAYALLON_RESUME 0xA4
#define SSD1306_DISPLAYALLON 0xA5
#define SSD1306_NORMALDISPLAY 0xA6
#define SSD1306_INVERTDISPLAY 0xA7
#define SSD1306_DISPLAYOFF 0xAE
#define SSD1306_DISPLAYON 0xAF
#define SSD1306_SETDISPLAYOFFSET 0xD3
#define SSD1306_SETCOMPINS 0xDA
#define SSD1306_SETVCOMDETECT 0xDB
#define SSD1306_SETDISPLAYCLOCKDIV 0xD5
#define SSD1306_SETPRECHARGE 0xD9
#define SSD1306_SETMULTIPLEX 0xA8
#define SSD1306_SETLOWCOLUMN 0x00
#define SSD1306_SETHIGHCOLUMN 0x10
#define SSD1306_SETSTARTLINE 0x40
#define SSD1306_MEMORYMODE 0x20
#define SSD1306_COLUMNADDR 0x21
#define SSD1306_PAGEADDR 0x22
#define SSD1306_COMSCANINC 0xC0
#define SSD1306_COMSCANDEC 0xC8
#define SSD1306_SEGREMAP 0xA0
#define SSD1306_CHARGEPUMP 0x8D
#define SSD1306_EXTERNALVCC 0x1
#define SSD1306_SWITCHCAPVCC 0x2
// Scrolling #defines
#define SSD1306_ACTIVATE_SCROLL 0x2F
#define SSD1306_DEACTIVATE_SCROLL 0x2E
#define SSD1306_SET_VERTICAL_SCROLL_AREA 0xA3
#define SSD1306_RIGHT_HORIZONTAL_SCROLL 0x26
#define SSD1306_LEFT_HORIZONTAL_SCROLL 0x27
#define SSD1306_VERTICAL_AND_RIGHT_HORIZONTAL_SCROLL 0x29
#define SSD1306_VERTICAL_AND_LEFT_HORIZONTAL_SCROLL 0x2A
class Adafruit_SSD1306 : public Adafruit_GFX {
public:
Adafruit_SSD1306(int8_t SID, int8_t SCLK, int8_t DC, int8_t RST, int8_t CS);
Adafruit_SSD1306(int8_t DC, int8_t RST, int8_t CS);
Adafruit_SSD1306(int8_t RST = -1);
bool begin(uint8_t switchvcc = SSD1306_SWITCHCAPVCC, uint8_t i2caddr = SSD1306_I2C_ADDRESS, bool reset=true);
uint8_t ssd1306_command(uint8_t c);
void clearDisplay(void);
void invertDisplay(uint8_t i);
void display();
void startscrollright(uint8_t start, uint8_t stop);
void startscrollleft(uint8_t start, uint8_t stop);
void startscrolldiagright(uint8_t start, uint8_t stop);
void startscrolldiagleft(uint8_t start, uint8_t stop);
void stopscroll(void);
void dim(boolean dim);
void drawPixel(int16_t x, int16_t y, uint16_t color);
virtual void drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color);
virtual void drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color);
private:
int8_t _i2caddr, _vccstate, sid, sclk, dc, rst, cs;
void fastSPIwrite(uint8_t c);
boolean hwSPI;
#ifdef HAVE_PORTREG
PortReg *mosiport, *clkport, *csport, *dcport;
PortMask mosipinmask, clkpinmask, cspinmask, dcpinmask;
#endif
inline void drawFastVLineInternal(int16_t x, int16_t y, int16_t h, uint16_t color) __attribute__((always_inline));
inline void drawFastHLineInternal(int16_t x, int16_t y, int16_t w, uint16_t color) __attribute__((always_inline));
};
#endif /* _Adafruit_SSD1306_H_ */

384
firmware_smartstepper_trikarus/stepper_nano_zero/Flash.cpp
View File

@ -1,192 +1,192 @@
/**********************************************************************
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!
*********************************************************************/
#include "Flash.h"
#include "syslog.h"
bool flashInit(void){
if (NVMCTRL->PARAM.bit.PSZ != 3)
{
ERROR("FLASH PAGE SIZE is not 64 bytes");
return false;
}
return true;
}
static void erase(const volatile void *flash_ptr)
{
NVMCTRL->ADDR.reg = ((uint32_t)flash_ptr) / 2;
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_ER;
while (!NVMCTRL->INTFLAG.bit.READY) { }
}
bool flashErase(const volatile void *flash_ptr, uint32_t size)
{
const uint8_t *ptr = (const uint8_t *)flash_ptr;
while (size > FLASH_ROW_SIZE) {
erase(ptr);
ptr += FLASH_ROW_SIZE;
size -= FLASH_ROW_SIZE;
}
if (size>0)
{
erase(ptr);
}
return true; //TODO should verify the erase
}
static inline uint32_t read_unaligned_uint32(const void *data)
{
union {
uint32_t u32;
uint8_t u8[4];
} res;
const uint8_t *d = (const uint8_t *)data;
res.u8[0] = d[0];
res.u8[1] = d[1];
res.u8[2] = d[2];
res.u8[3] = d[3];
return res.u32;
}
void flashWrite(const volatile void *flash_ptr,const void *data, uint32_t size)
{
uint32_t *ptrPage;
uint8_t *destPtr;
uint8_t *srcPtr;
uint32_t bytesInBlock;
__attribute__((__aligned__(4))) uint8_t buffer[FLASH_ROW_SIZE];
uint32_t offset;
destPtr=(uint8_t *)flash_ptr;
srcPtr=(uint8_t *)data;
//LOG("flash write called");
while(size>0)
{
uint32_t i,j;
//calculate the maximum number of bytes we can write in page
offset=((uint32_t)destPtr)%(FLASH_ROW_SIZE); //offset into page
bytesInBlock=FLASH_ROW_SIZE-offset; //this is how many bytes we need to overwrite in this page
//LOG("offset %d, bytesInBlock %d size %d", offset, bytesInBlock,size);
//get pointer to start of page
ptrPage=(uint32_t *) ((((uint32_t)destPtr)/(FLASH_ROW_SIZE)) * FLASH_ROW_SIZE);
//LOG("pointer to page %d(0x%08x) %d",(uint32_t)ptrPage,(uint32_t)ptrPage,destPtr);
//fill page buffer with data from flash
memcpy(buffer,ptrPage,FLASH_ROW_SIZE);
//now fill buffer with new data that needs changing
i=bytesInBlock;
if (size<i)
{
i=size;
}
//LOG("changing %d bytes",i);
memcpy(&buffer[offset],srcPtr,i);
//erase page
flashErase(ptrPage,FLASH_ROW_SIZE);
//write new data to flash
flashWritePage(ptrPage,buffer,FLASH_ROW_SIZE);
uint32_t *ptr=(uint32_t *)buffer;
for (j=0; j<FLASH_ROW_SIZE/4; j++)
{
if (*ptrPage != *ptr)
{
ERROR("write failed on byte %d %x %x",j,*ptrPage, *ptr);
}
ptrPage++;
ptr++;
}
size=size-i; //decrease number of bytes to write
srcPtr+=i; //increase pointer to next bytes to read
destPtr+=i; //increment destination pointer
}
}
void flashWritePage(const volatile void *flash_ptr, const void *data, uint32_t size)
{
// Calculate data boundaries
size = (size + 3) / 4; //convert bytes to words with rounding
volatile uint32_t *dst_addr = (volatile uint32_t *)flash_ptr;
const uint8_t *src_addr = (uint8_t *)data;
if (0 != ((uint32_t)flash_ptr)%(FLASH_PAGE_SIZE))
{
ERROR("Flash page write must be on boundry");
return;
}
// Disable automatic page write
NVMCTRL->CTRLB.bit.MANW = 1;
// Do writes in pages
while (size)
{
// Execute "PBC" Page Buffer Clear
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
while (NVMCTRL->INTFLAG.bit.READY == 0) { }
// Fill page buffer
uint32_t i;
for (i=0; i<(FLASH_PAGE_SIZE/4) && size; i++) //we write 4 bytes at a time
{
*dst_addr = read_unaligned_uint32(src_addr);
src_addr += 4;
dst_addr++;
size--; //size is set to number of 32bit words in first line above
}
// Execute "WP" Write Page
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_WP;
while (NVMCTRL->INTFLAG.bit.READY == 0) { }
}
}
/**********************************************************************
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!
*********************************************************************/
#include "Flash.h"
#include "syslog.h"
bool flashInit(void){
if (NVMCTRL->PARAM.bit.PSZ != 3)
{
ERROR("FLASH PAGE SIZE is not 64 bytes");
return false;
}
return true;
}
static void erase(const volatile void *flash_ptr)
{
NVMCTRL->ADDR.reg = ((uint32_t)flash_ptr) / 2;
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_ER;
while (!NVMCTRL->INTFLAG.bit.READY) { }
}
bool flashErase(const volatile void *flash_ptr, uint32_t size)
{
const uint8_t *ptr = (const uint8_t *)flash_ptr;
while (size > FLASH_ROW_SIZE) {
erase(ptr);
ptr += FLASH_ROW_SIZE;
size -= FLASH_ROW_SIZE;
}
if (size>0)
{
erase(ptr);
}
return true; //TODO should verify the erase
}
static inline uint32_t read_unaligned_uint32(const void *data)
{
union {
uint32_t u32;
uint8_t u8[4];
} res;
const uint8_t *d = (const uint8_t *)data;
res.u8[0] = d[0];
res.u8[1] = d[1];
res.u8[2] = d[2];
res.u8[3] = d[3];
return res.u32;
}
void flashWrite(const volatile void *flash_ptr,const void *data, uint32_t size)
{
uint32_t *ptrPage;
uint8_t *destPtr;
uint8_t *srcPtr;
uint32_t bytesInBlock;
__attribute__((__aligned__(4))) uint8_t buffer[FLASH_ROW_SIZE];
uint32_t offset;
destPtr=(uint8_t *)flash_ptr;
srcPtr=(uint8_t *)data;
//LOG("flash write called");
while(size>0)
{
uint32_t i,j;
//calculate the maximum number of bytes we can write in page
offset=((uint32_t)destPtr)%(FLASH_ROW_SIZE); //offset into page
bytesInBlock=FLASH_ROW_SIZE-offset; //this is how many bytes we need to overwrite in this page
//LOG("offset %d, bytesInBlock %d size %d", offset, bytesInBlock,size);
//get pointer to start of page
ptrPage=(uint32_t *) ((((uint32_t)destPtr)/(FLASH_ROW_SIZE)) * FLASH_ROW_SIZE);
//LOG("pointer to page %d(0x%08x) %d",(uint32_t)ptrPage,(uint32_t)ptrPage,destPtr);
//fill page buffer with data from flash
memcpy(buffer,ptrPage,FLASH_ROW_SIZE);
//now fill buffer with new data that needs changing
i=bytesInBlock;
if (size<i)
{
i=size;
}
//LOG("changing %d bytes",i);
memcpy(&buffer[offset],srcPtr,i);
//erase page
flashErase(ptrPage,FLASH_ROW_SIZE);
//write new data to flash
flashWritePage(ptrPage,buffer,FLASH_ROW_SIZE);
uint32_t *ptr=(uint32_t *)buffer;
for (j=0; j<FLASH_ROW_SIZE/4; j++)
{
if (*ptrPage != *ptr)
{
ERROR("write failed on byte %d %x %x",j,*ptrPage, *ptr);
}
ptrPage++;
ptr++;
}
size=size-i; //decrease number of bytes to write
srcPtr+=i; //increase pointer to next bytes to read
destPtr+=i; //increment destination pointer
}
}
void flashWritePage(const volatile void *flash_ptr, const void *data, uint32_t size)
{
// Calculate data boundaries
size = (size + 3) / 4; //convert bytes to words with rounding
volatile uint32_t *dst_addr = (volatile uint32_t *)flash_ptr;
const uint8_t *src_addr = (uint8_t *)data;
if (0 != ((uint32_t)flash_ptr)%(FLASH_PAGE_SIZE))
{
ERROR("Flash page write must be on boundry");
return;
}
// Disable automatic page write
NVMCTRL->CTRLB.bit.MANW = 1;
// Do writes in pages
while (size)
{
// Execute "PBC" Page Buffer Clear
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
while (NVMCTRL->INTFLAG.bit.READY == 0) { }
// Fill page buffer
uint32_t i;
for (i=0; i<(FLASH_PAGE_SIZE/4) && size; i++) //we write 4 bytes at a time
{
*dst_addr = read_unaligned_uint32(src_addr);
src_addr += 4;
dst_addr++;
size--; //size is set to number of 32bit words in first line above
}
// Execute "WP" Write Page
NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_WP;
while (NVMCTRL->INTFLAG.bit.READY == 0) { }
}
}

136
firmware_smartstepper_trikarus/stepper_nano_zero/Flash.h
View File

@ -1,68 +1,68 @@
/**********************************************************************
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 __FLASH__H__
#define __FLASH__H__
#include <Arduino.h>
#include "syslog.h"
#define FLASH_PAGE_SIZE_NZS (64) //bytes
#define FLASH_ROW_SIZE (FLASH_PAGE_SIZE_NZS*4) //defined in the datasheet as 4x page size
#define FLASH_ERASE_VALUE (0xFF) //value of flash after an erase
#define FLASH_ALLOCATE(name, size) \
__attribute__((__aligned__(FLASH_ROW_SIZE))) \
const uint8_t name[(size+(FLASH_ROW_SIZE-1))/FLASH_ROW_SIZE*FLASH_ROW_SIZE] = { };
bool flashInit(void); //this checks that our assumptions are true
bool flashErase(const volatile void *flash_ptr, uint32_t size);
void flashWrite(const volatile void *flash_ptr,const void *data,uint32_t size);
void flashWritePage(const volatile void *flash_ptr, const void *data, uint32_t size);
//you can read by dereferencing pointer but we will add a read
static inline int32_t flashRead(const volatile void *flash_ptr, void *data, uint32_t size)
{
memcpy(data, (const void *)flash_ptr, size);
}
#endif //__FLASH__H__
/**********************************************************************
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 __FLASH__H__
#define __FLASH__H__
#include <Arduino.h>
#include "syslog.h"
#define FLASH_PAGE_SIZE_NZS (64) //bytes
#define FLASH_ROW_SIZE (FLASH_PAGE_SIZE_NZS*4) //defined in the datasheet as 4x page size
#define FLASH_ERASE_VALUE (0xFF) //value of flash after an erase
#define FLASH_ALLOCATE(name, size) \
__attribute__((__aligned__(FLASH_ROW_SIZE))) \
const uint8_t name[(size+(FLASH_ROW_SIZE-1))/FLASH_ROW_SIZE*FLASH_ROW_SIZE] = { };
bool flashInit(void); //this checks that our assumptions are true
bool flashErase(const volatile void *flash_ptr, uint32_t size);
void flashWrite(const volatile void *flash_ptr,const void *data,uint32_t size);
void flashWritePage(const volatile void *flash_ptr, const void *data, uint32_t size);
//you can read by dereferencing pointer but we will add a read
static inline int32_t flashRead(const volatile void *flash_ptr, void *data, uint32_t size)
{
memcpy(data, (const void *)flash_ptr, size);
}
#endif //__FLASH__H__

294
firmware_smartstepper_trikarus/stepper_nano_zero/angle.h
View File

@ -1,147 +1,147 @@
/**********************************************************************
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 ANGLE_H_
#define ANGLE_H_
#include <stdlib.h>
#include <stdint.h>
#include <math.h>
#define ANGLE_STEPS (0x010000UL)
#define ANGLE_MAX ((uint16_t)0x0FFFF)
#define ANGLE_FROM_DEGREES(x) ((int32_t) ( ((float)ANGLE_STEPS*(float)(x)+180.0)/360.0 ) )
#define ANGLE_T0_DEGREES(x) ( (float) ((float(x)*360.0)/((float)ANGLE_STEPS) ))
class Angle
{
private:
uint16_t angle;
public:
Angle(void) {angle=0;}
Angle(int32_t x) {angle=(uint16_t)x;}
Angle(const Angle &x) {angle=x.angle;}
int16_t operator-( const Angle &a2)
{
int32_t x,y,dx;
x=(int32_t)angle;
y=(int32_t)a2.angle;
dx=x-y;
if (abs(x-y)>ANGLE_STEPS/2)
{
//we have a wrap condition
if (x>y)
{
dx=x-(y+ANGLE_STEPS);
}else if (x<y)
{
dx=(ANGLE_STEPS+x)-y;
}
}
return (int16_t)dx;
}
//
// int16_t operator-( const int32_t y)
// {
// int32_t x,y,dx;
// x=(int32_t)angle;
// while(y>ANGLE_MAX)
// {
// y=y-ANGLE_STEPS;
// }
// while(y<-ANGLE_MAX)
// {
// y=y+ANGLE_STEPS;
// }
//
// dx=x-y;
// if (abs(x-y)>ANGLE_STEPS/2)
// {
// //we have a wrap condition
// if (x>y)
// {
// dx=x-(y+ANGLE_STEPS);
// }else if (x<y)
// {
// dx=(ANGLE_STEPS+x)-y;
// }
// }
// return (int16_t)dx;
// }
Angle operator+(const Angle &y)
{
uint16_t a;
a=angle+ (uint16_t)y.angle;
return Angle(a);
}
Angle operator+(const long int x)
{
int32_t a;
a=(int32_t)angle+ x;
while (a>=ANGLE_STEPS)
{
a=a-ANGLE_STEPS;
}
while (a<0)
{
a=a+ANGLE_STEPS;
}
return Angle((uint16_t)a);
}
Angle operator+(const unsigned long int x)
{
uint32_t a;
a=(uint32_t)angle+ x;
while (a>=ANGLE_STEPS)
{
a=a-ANGLE_STEPS;
}
return Angle((uint16_t)a);
}
operator uint16_t() const {return angle;}
operator uint32_t() const {return (uint32_t)angle;}
operator int32_t() const {return (int32_t)angle;}
};
#endif /* ANGLE_H_ */
/**********************************************************************
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 ANGLE_H_
#define ANGLE_H_
#include <stdlib.h>
#include <stdint.h>
#include <math.h>
#define ANGLE_STEPS (0x010000UL)
#define ANGLE_MAX ((uint16_t)0x0FFFF)
#define ANGLE_FROM_DEGREES(x) ((int32_t) ( ((float)ANGLE_STEPS*(float)(x)+180.0)/360.0 ) )
#define ANGLE_T0_DEGREES(x) ( (float) ((float(x)*360.0)/((float)ANGLE_STEPS) ))
class Angle
{
private:
uint16_t angle;
public:
Angle(void) {angle=0;}
Angle(int32_t x) {angle=(uint16_t)x;}
Angle(const Angle &x) {angle=x.angle;}
int16_t operator-( const Angle &a2)
{
int32_t x,y,dx;
x=(int32_t)angle;
y=(int32_t)a2.angle;
dx=x-y;
if (abs(x-y)>ANGLE_STEPS/2)
{
//we have a wrap condition
if (x>y)
{
dx=x-(y+ANGLE_STEPS);
}else if (x<y)
{
dx=(ANGLE_STEPS+x)-y;
}
}
return (int16_t)dx;
}
//
// int16_t operator-( const int32_t y)
// {
// int32_t x,y,dx;
// x=(int32_t)angle;
// while(y>ANGLE_MAX)
// {
// y=y-ANGLE_STEPS;
// }
// while(y<-ANGLE_MAX)
// {
// y=y+ANGLE_STEPS;
// }
//
// dx=x-y;
// if (abs(x-y)>ANGLE_STEPS/2)
// {
// //we have a wrap condition
// if (x>y)
// {
// dx=x-(y+ANGLE_STEPS);
// }else if (x<y)
// {
// dx=(ANGLE_STEPS+x)-y;
// }
// }
// return (int16_t)dx;
// }
Angle operator+(const Angle &y)
{
uint16_t a;
a=angle+ (uint16_t)y.angle;
return Angle(a);
}
Angle operator+(const long int x)
{
int32_t a;
a=(int32_t)angle+ x;
while (a>=ANGLE_STEPS)
{
a=a-ANGLE_STEPS;
}
while (a<0)
{
a=a+ANGLE_STEPS;
}
return Angle((uint16_t)a);
}
Angle operator+(const unsigned long int x)
{
uint32_t a;
a=(uint32_t)angle+ x;
while (a>=ANGLE_STEPS)
{
a=a-ANGLE_STEPS;
}
return Angle((uint16_t)a);
}
operator uint16_t() const {return angle;}
operator uint32_t() const {return (uint32_t)angle;}
operator int32_t() const {return (int32_t)angle;}
};
#endif /* ANGLE_H_ */

644
firmware_smartstepper_trikarus/stepper_nano_zero/as5047d.cpp
View File

@ -1,322 +1,322 @@
/**********************************************************************
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!
*********************************************************************/
#include <Arduino.h>
#include "syslog.h"
#include "as5047d.h"
#include "SPI.h"
#include <stdio.h>
#include "board.h"
#define AS5047D_CMD_NOP (0x0000)
#define AS5047D_CMD_ERRFL (0x0001)
#define AS5047D_CMD_PROG (0x0003)
#define AS5047D_CMD_DIAAGC (0x3FFC)
#define AS5047D_CMD_MAG (0x3FFD)
#define AS5047D_CMD_ANGLEUNC (0x3FFE)
#define AS5047D_CMD_ANGLECOM (0x3FFF)
#define AS5048A_CMD_NOP (0x0000)
#define AS5048A_CMD_ERRFL (0x0001)
#define AS5048A_CMD_PROG (0x0003)
#define AS5048A_CMD_DIAAGC (0x3FFD)
#define AS5048A_CMD_MAG (0x3FFE)
#define AS5048A_CMD_ANGLE (0x3FFF)
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
static int getBit(int16_t data, int bit)
{
return (data>>bit) & 0x01;
}
static int getParity(uint16_t data)
{
int i,bits;
data=data & 0x7FFF; //mask out upper bit
//count number of bits, brute force
bits=0;
for(i=0; i<16; i++)
{
if (0 != (data & ((0x0001)<<i)))
{
bits++;
}
}
return (bits & 0x01); //return 1 if odd
}
boolean AS5047D::begin(int csPin)
{
#ifdef PIN_AS5047D_PWR
digitalWrite(PIN_AS5047D_PWR,HIGH);
#endif
digitalWrite(PIN_AS5047D_CS,LOW); //pull CS LOW by default (chip powered off)
digitalWrite(PIN_MOSI,LOW);
digitalWrite(PIN_SCK,LOW);
digitalWrite(PIN_MISO,LOW);
pinMode(PIN_MISO,OUTPUT);
delay(1000);
digitalWrite(PIN_AS5047D_CS,HIGH); //pull CS high
#ifdef PIN_AS5047D_PWR
digitalWrite(PIN_AS5047D_PWR,LOW);
#endif
pinMode(PIN_MISO,INPUT);
error=false;
SPISettings settingsA(5000000, MSBFIRST, SPI_MODE1); ///400000, MSBFIRST, SPI_MODE1);
chipSelectPin=csPin;
LOG("csPin is %d",csPin);
pinMode(chipSelectPin,OUTPUT);
digitalWrite(chipSelectPin,HIGH); //pull CS high by default
delay(1);
SPI.begin(); //AS5047D SPI uses mode=1 (CPOL=0, CPHA=1)
LOG("Begin AS5047D...");
SPI.beginTransaction(settingsA);
SPI.transfer16(AS5047D_CMD_NOP);
delay(10);
//wait for the LF bit to be set
uint16_t data=0,t0=100;
while (getBit(data,8)==0 && t0>0)
{
delay(1);
t0--;
if (t0==0)
{
ERROR("LF bit not set");
error=true;
break;
//return false;
}
LOG("AS5047D diag data is 0x%04X",data);
data=readAddress(AS5047D_CMD_DIAAGC);
}
if (error)
{
error=false;
uint16_t data=0,t0=100;
while (getBit(data,8)==0 && t0>0)
{
delay(1);
t0--;
if (t0==0)
{
ERROR("AS5048A OCF bit not set");
error=true;
return false;
}
data=readAddress(AS5048A_CMD_DIAAGC);
LOG("AS5048A diag data is 0x%04X",data);
}
as5047d=false;
}
#ifdef NZS_AS5047_PIPELINE
//read encoder a few times to flush the pipeline
readEncoderAnglePipeLineRead();
readEncoderAnglePipeLineRead();
#endif
return true;
}
//read the encoders
int16_t AS5047D::readAddress(uint16_t addr)
{
uint16_t data;
error=false;
//make sure it is a read by setting bit 14
addr=addr | 0x4000;
//add the parity to the command
if (1 == getParity(addr))
{
addr=(addr & 0x7FFF) | 0x8000; //add parity bit to make command even number of bits
}
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out the address to read
SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
delayMicroseconds(1);
digitalWrite(chipSelectPin, LOW);
//clock out zeros to read in the data from address
data=SPI.transfer16(0x00);
digitalWrite(chipSelectPin, HIGH);
if (data & (1<<14))
{
//if bit 14 is set then we have an error
ERROR("read command 0x%04X failed",addr);
error=true;
return -1;
}
if (data>>15 != getParity(data))
{
//parity did not match
ERROR("read command parity error 0x%04X ",addr);
error=true;
return -2;
}
data=data & 0x3FFF; //mask off the error and parity bits
return data;
}
//read the encoders
int16_t AS5047D::readEncoderAngle(void)
{
if (as5047d)
{
return readAddress(AS5047D_CMD_ANGLECOM);
}
return readAddress(AS5048A_CMD_ANGLE);
}
//pipelined read of the encoder angle used for high speed reads, but value is always one read behind
int16_t AS5047D::readEncoderAnglePipeLineRead(void)
{
int16_t data;
int error, t0=10;
GPIO_LOW(chipSelectPin);//(chipSelectPin, LOW);
//delayMicroseconds(1);
do {
// doing two 8 bit transfers is faster than one 16 bit
data =(uint16_t)SPI.transfer(0xFF)<<8 | ((uint16_t)SPI.transfer(0xFF) & 0x0FF);
t0--;
if (t0<=0)
{
ERROR("AS5047D problem");
break;
}
//data=SPI.transfer16(0xFFFF); //to speed things up we know the parity and address for the read
}while(data & (1<<14)); //while error bit is set
data=data & 0x3FFF; //mask off the error and parity bits
GPIO_HIGH(chipSelectPin);
//digitalWrite(chipSelectPin, HIGH);
//TODO we really should check for errors and return a negative result or something
return data;
}
void AS5047D::diagnostics(char *ptrStr)
{
int16_t data;
int m,d;
if (as5047d)
{
data=readAddress(AS5047D_CMD_DIAAGC);
if (NULL == ptrStr)
{
LOG("DIAAGC: 0x%04X", data);
LOG("MAGL: %d", getBit(data,11));
LOG("MAGH: %d", getBit(data,10));
LOG("COF: %d", getBit(data,9));
LOG("LFGL: %d", getBit(data,8));
LOG("AGC: %d", data & 0x0FF);
data=readAddress(AS5047D_CMD_MAG);
LOG("CMAG: 0x%04X(%d)",data,data);
data=readAddress(AS5047D_CMD_ANGLEUNC);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
LOG("CORDICANG: 0x%04X(%d) %d.%02d deg(est)",data,data,m,d);
data=readAddress(AS5047D_CMD_ANGLECOM);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
LOG("DAECANG: 0x%04X(%d) %d.%02d deg(est)",data,data,m,d);
}else
{
sprintf(ptrStr,"DIAAGC: 0x%04X\n\r", data);
sprintf(ptrStr,"%sMAGL: %d\n\r", ptrStr,getBit(data,11));
sprintf(ptrStr,"%sMAGH: %d\n\r", ptrStr,getBit(data,10));
sprintf(ptrStr,"%sCOF: %d\n\r", ptrStr, getBit(data,9));
sprintf(ptrStr,"%sLFGL: %d\n\r", ptrStr, getBit(data,8));
sprintf(ptrStr,"%sAGC: %d\n\r", ptrStr,data & 0x0FF);
data=readAddress(AS5047D_CMD_MAG);
sprintf(ptrStr,"%sCMAG: 0x%04X(%d)\n\r", ptrStr,data,data);
data=readAddress(AS5047D_CMD_ANGLEUNC);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
sprintf(ptrStr,"%sCORDICANG: 0x%04X(%d) %d.%02d deg(est)\n\r", ptrStr,data,data,m,d);
data=readAddress(AS5047D_CMD_ANGLECOM);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
sprintf(ptrStr,"%sDAECANG: 0x%04X(%d) %d.%02d deg(est)\n\r", ptrStr,data,data,m,d);
}
} else
{
data=readAddress(AS5048A_CMD_DIAAGC);
sprintf(ptrStr,"AS5048A DIAAGC: 0x%04X\n\r", data);
data=readAddress(AS5048A_CMD_MAG);
sprintf(ptrStr,"%sMagnitude: %d\n\r", ptrStr,data);
data=readAddress(AS5048A_CMD_ANGLE);
sprintf(ptrStr,"%sAngle: %d\n\r", ptrStr,data);
}
}
#pragma GCC pop_options
/**********************************************************************
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!
*********************************************************************/
#include <Arduino.h>
#include "syslog.h"
#include "as5047d.h"
#include "SPI.h"
#include <stdio.h>
#include "board.h"
#define AS5047D_CMD_NOP (0x0000)
#define AS5047D_CMD_ERRFL (0x0001)
#define AS5047D_CMD_PROG (0x0003)
#define AS5047D_CMD_DIAAGC (0x3FFC)
#define AS5047D_CMD_MAG (0x3FFD)
#define AS5047D_CMD_ANGLEUNC (0x3FFE)
#define AS5047D_CMD_ANGLECOM (0x3FFF)
#define AS5048A_CMD_NOP (0x0000)
#define AS5048A_CMD_ERRFL (0x0001)
#define AS5048A_CMD_PROG (0x0003)
#define AS5048A_CMD_DIAAGC (0x3FFD)
#define AS5048A_CMD_MAG (0x3FFE)
#define AS5048A_CMD_ANGLE (0x3FFF)
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
static int getBit(int16_t data, int bit)
{
return (data>>bit) & 0x01;
}
static int getParity(uint16_t data)
{
int i,bits;
data=data & 0x7FFF; //mask out upper bit
//count number of bits, brute force
bits=0;
for(i=0; i<16; i++)
{
if (0 != (data & ((0x0001)<<i)))
{
bits++;
}
}
return (bits & 0x01); //return 1 if odd
}
boolean AS5047D::begin(int csPin)
{
#ifdef PIN_AS5047D_PWR
digitalWrite(PIN_AS5047D_PWR,HIGH);
#endif
digitalWrite(PIN_AS5047D_CS,LOW); //pull CS LOW by default (chip powered off)
digitalWrite(PIN_MOSI,LOW);
digitalWrite(PIN_SCK,LOW);
digitalWrite(PIN_MISO,LOW);
pinMode(PIN_MISO,OUTPUT);
delay(1000);
digitalWrite(PIN_AS5047D_CS,HIGH); //pull CS high
#ifdef PIN_AS5047D_PWR
digitalWrite(PIN_AS5047D_PWR,LOW);
#endif
pinMode(PIN_MISO,INPUT);
error=false;
SPISettings settingsA(5000000, MSBFIRST, SPI_MODE1); ///400000, MSBFIRST, SPI_MODE1);
chipSelectPin=csPin;
LOG("csPin is %d",csPin);
pinMode(chipSelectPin,OUTPUT);
digitalWrite(chipSelectPin,HIGH); //pull CS high by default
delay(1);
SPI.begin(); //AS5047D SPI uses mode=1 (CPOL=0, CPHA=1)
LOG("Begin AS5047D...");
SPI.beginTransaction(settingsA);
SPI.transfer16(AS5047D_CMD_NOP);
delay(10);
//wait for the LF bit to be set
uint16_t data=0,t0=100;
while (getBit(data,8)==0 && t0>0)
{
delay(1);
t0--;
if (t0==0)
{
ERROR("LF bit not set");
error=true;
break;
//return false;
}
LOG("AS5047D diag data is 0x%04X",data);
data=readAddress(AS5047D_CMD_DIAAGC);
}
if (error)
{
error=false;
uint16_t data=0,t0=100;
while (getBit(data,8)==0 && t0>0)
{
delay(1);
t0--;
if (t0==0)
{
ERROR("AS5048A OCF bit not set");
error=true;
return false;
}
data=readAddress(AS5048A_CMD_DIAAGC);
LOG("AS5048A diag data is 0x%04X",data);
}
as5047d=false;
}
#ifdef NZS_AS5047_PIPELINE
//read encoder a few times to flush the pipeline
readEncoderAnglePipeLineRead();
readEncoderAnglePipeLineRead();
#endif
return true;
}
//read the encoders
int16_t AS5047D::readAddress(uint16_t addr)
{
uint16_t data;
error=false;
//make sure it is a read by setting bit 14
addr=addr | 0x4000;
//add the parity to the command
if (1 == getParity(addr))
{
addr=(addr & 0x7FFF) | 0x8000; //add parity bit to make command even number of bits
}
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out the address to read
SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
delayMicroseconds(1);
digitalWrite(chipSelectPin, LOW);
//clock out zeros to read in the data from address
data=SPI.transfer16(0x00);
digitalWrite(chipSelectPin, HIGH);
if (data & (1<<14))
{
//if bit 14 is set then we have an error
ERROR("read command 0x%04X failed",addr);
error=true;
return -1;
}
if (data>>15 != getParity(data))
{
//parity did not match
ERROR("read command parity error 0x%04X ",addr);
error=true;
return -2;
}
data=data & 0x3FFF; //mask off the error and parity bits
return data;
}
//read the encoders
int16_t AS5047D::readEncoderAngle(void)
{
if (as5047d)
{
return readAddress(AS5047D_CMD_ANGLECOM);
}
return readAddress(AS5048A_CMD_ANGLE);
}
//pipelined read of the encoder angle used for high speed reads, but value is always one read behind
int16_t AS5047D::readEncoderAnglePipeLineRead(void)
{
int16_t data;
int error, t0=10;
GPIO_LOW(chipSelectPin);//(chipSelectPin, LOW);
//delayMicroseconds(1);
do {
// doing two 8 bit transfers is faster than one 16 bit
data =(uint16_t)SPI.transfer(0xFF)<<8 | ((uint16_t)SPI.transfer(0xFF) & 0x0FF);
t0--;
if (t0<=0)
{
ERROR("AS5047D problem");
break;
}
//data=SPI.transfer16(0xFFFF); //to speed things up we know the parity and address for the read
}while(data & (1<<14)); //while error bit is set
data=data & 0x3FFF; //mask off the error and parity bits
GPIO_HIGH(chipSelectPin);
//digitalWrite(chipSelectPin, HIGH);
//TODO we really should check for errors and return a negative result or something
return data;
}
void AS5047D::diagnostics(char *ptrStr)
{
int16_t data;
int m,d;
if (as5047d)
{
data=readAddress(AS5047D_CMD_DIAAGC);
if (NULL == ptrStr)
{
LOG("DIAAGC: 0x%04X", data);
LOG("MAGL: %d", getBit(data,11));
LOG("MAGH: %d", getBit(data,10));
LOG("COF: %d", getBit(data,9));
LOG("LFGL: %d", getBit(data,8));
LOG("AGC: %d", data & 0x0FF);
data=readAddress(AS5047D_CMD_MAG);
LOG("CMAG: 0x%04X(%d)",data,data);
data=readAddress(AS5047D_CMD_ANGLEUNC);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
LOG("CORDICANG: 0x%04X(%d) %d.%02d deg(est)",data,data,m,d);
data=readAddress(AS5047D_CMD_ANGLECOM);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
LOG("DAECANG: 0x%04X(%d) %d.%02d deg(est)",data,data,m,d);
}else
{
sprintf(ptrStr,"DIAAGC: 0x%04X\n\r", data);
sprintf(ptrStr,"%sMAGL: %d\n\r", ptrStr,getBit(data,11));
sprintf(ptrStr,"%sMAGH: %d\n\r", ptrStr,getBit(data,10));
sprintf(ptrStr,"%sCOF: %d\n\r", ptrStr, getBit(data,9));
sprintf(ptrStr,"%sLFGL: %d\n\r", ptrStr, getBit(data,8));
sprintf(ptrStr,"%sAGC: %d\n\r", ptrStr,data & 0x0FF);
data=readAddress(AS5047D_CMD_MAG);
sprintf(ptrStr,"%sCMAG: 0x%04X(%d)\n\r", ptrStr,data,data);
data=readAddress(AS5047D_CMD_ANGLEUNC);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
sprintf(ptrStr,"%sCORDICANG: 0x%04X(%d) %d.%02d deg(est)\n\r", ptrStr,data,data,m,d);
data=readAddress(AS5047D_CMD_ANGLECOM);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
sprintf(ptrStr,"%sDAECANG: 0x%04X(%d) %d.%02d deg(est)\n\r", ptrStr,data,data,m,d);
}
} else
{
data=readAddress(AS5048A_CMD_DIAAGC);
sprintf(ptrStr,"AS5048A DIAAGC: 0x%04X\n\r", data);
data=readAddress(AS5048A_CMD_MAG);
sprintf(ptrStr,"%sMagnitude: %d\n\r", ptrStr,data);
data=readAddress(AS5048A_CMD_ANGLE);
sprintf(ptrStr,"%sAngle: %d\n\r", ptrStr,data);
}
}
#pragma GCC pop_options

116
firmware_smartstepper_trikarus/stepper_nano_zero/as5047d.h
View File

@ -1,58 +1,58 @@
/**********************************************************************
Copyright (C) 2019 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 __AS5047D_H__
#define __AS5047D_H__
#include <Arduino.h>
#define AS5047D_DEGREES_PER_BIT (360.0/(float)(0x3FFF))
class AS5047D {
private:
int chipSelectPin;
int16_t readAddress(uint16_t addr);
bool error=false;
bool as5047d=true;
public:
boolean begin(int csPin);
int16_t readEncoderAngle(void);
void diagnostics(char *ptrStr);
int16_t readEncoderAnglePipeLineRead(void);
bool getError(void) {return error;};
};
#endif //__AS5047D_H__
/**********************************************************************
Copyright (C) 2019 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 __AS5047D_H__
#define __AS5047D_H__
#include <Arduino.h>
#define AS5047D_DEGREES_PER_BIT (360.0/(float)(0x3FFF))
class AS5047D {
private:
int chipSelectPin;
int16_t readAddress(uint16_t addr);
bool error=false;
bool as5047d=true;
public:
boolean begin(int csPin);
int16_t readEncoderAngle(void);
void diagnostics(char *ptrStr);
int16_t readEncoderAnglePipeLineRead(void);
bool getError(void) {return error;};
};
#endif //__AS5047D_H__

1128
firmware_smartstepper_trikarus/stepper_nano_zero/board.h
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File diff suppressed because it is too large Load Diff

1198
firmware_smartstepper_trikarus/stepper_nano_zero/calibration.cpp
View File

File diff suppressed because it is too large Load Diff

208
firmware_smartstepper_trikarus/stepper_nano_zero/calibration.h
View File

@ -1,104 +1,104 @@
/**********************************************************************
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 __CALIBRAITON_H__
#define __CALIBRAITON_H__
#include <Arduino.h>
#include "syslog.h"
#include "angle.h"
//this file implements a table that is linearly interpolated circular calibration table
// it is assumed the data wraps around, ie you interpolated 65536==0
//we want this to be "whole" steps, for 1.8 degree motors this should be 200.
// 200 will work for 0.9 degree too, but could be 400. However 400 is not good for 1.8 degree motors
#define CALIBRATION_TABLE_SIZE (200)
#define CALIBRATION_STEPS ((uint32_t)ANGLE_STEPS) // this is one rotation ie 0-65535 aka 65536 steps is 0-360 degrees
#define CALIBRATION_ERROR_NOT_SET (-1) //indicated that the calibration value is not set.
#define CALIBRATION_UPDATE_RATE (32) //number of samples to keep 1 pole running average
#define CALIBRATION_MIN_ERROR (4) //the minimal expected error on our calibration 4 ~=+/0.2 degrees
typedef struct {
uint16_t table[CALIBRATION_TABLE_SIZE];
bool status;
} FlashCalData_t;
typedef struct {
Angle value; //cal value
int16_t error; //error assuming it is constantly updated
} CalData_t;
class CalibrationTable
{
private:
CalData_t table[CALIBRATION_TABLE_SIZE];
bool fastCalVaild=false;
void loadFromFlash(void);
bool flashGood(void); //returns true if the flash copy of calibration is valid
void updateFastCal(void);
void createFastCal(void);
public:
void init(void);
void saveToFlash(void); //saves the calibration to flash
bool updateTableValue(int32_t index, int32_t value);
void updateTable(Angle actualAngle, Angle encoderValue);
int getValue(Angle actualAngle, CalData_t *ptrData);
Angle getCal(Angle actualAngle);
bool calValid(void);
Angle reverseLookup(Angle encoderAngle); //this turns encoder angle into real angle
void printCalTable(void);
void smoothTable(void);
Angle fastReverseLookup(Angle encoderAngle);
};
#endif //__CALIBRAITON_H__
/**********************************************************************
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 __CALIBRAITON_H__
#define __CALIBRAITON_H__
#include <Arduino.h>
#include "syslog.h"
#include "angle.h"
//this file implements a table that is linearly interpolated circular calibration table
// it is assumed the data wraps around, ie you interpolated 65536==0
//we want this to be "whole" steps, for 1.8 degree motors this should be 200.
// 200 will work for 0.9 degree too, but could be 400. However 400 is not good for 1.8 degree motors
#define CALIBRATION_TABLE_SIZE (200)
#define CALIBRATION_STEPS ((uint32_t)ANGLE_STEPS) // this is one rotation ie 0-65535 aka 65536 steps is 0-360 degrees
#define CALIBRATION_ERROR_NOT_SET (-1) //indicated that the calibration value is not set.
#define CALIBRATION_UPDATE_RATE (32) //number of samples to keep 1 pole running average
#define CALIBRATION_MIN_ERROR (4) //the minimal expected error on our calibration 4 ~=+/0.2 degrees
typedef struct {
uint16_t table[CALIBRATION_TABLE_SIZE];
bool status;
} FlashCalData_t;
typedef struct {
Angle value; //cal value
int16_t error; //error assuming it is constantly updated
} CalData_t;
class CalibrationTable
{
private:
CalData_t table[CALIBRATION_TABLE_SIZE];
bool fastCalVaild=false;
void loadFromFlash(void);
bool flashGood(void); //returns true if the flash copy of calibration is valid
void updateFastCal(void);
void createFastCal(void);
public:
void init(void);
void saveToFlash(void); //saves the calibration to flash
bool updateTableValue(int32_t index, int32_t value);
void updateTable(Angle actualAngle, Angle encoderValue);
int getValue(Angle actualAngle, CalData_t *ptrData);
Angle getCal(Angle actualAngle);
bool calValid(void);
Angle reverseLookup(Angle encoderAngle); //this turns encoder angle into real angle
void printCalTable(void);
void smoothTable(void);
Angle fastReverseLookup(Angle encoderAngle);
};
#endif //__CALIBRAITON_H__

762
firmware_smartstepper_trikarus/stepper_nano_zero/command.cpp
View File

@ -1,381 +1,381 @@
/**********************************************************************
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!
*********************************************************************/
#include "command.h"
#include <string.h>
#define ASCII_BACKSPACE 0x08
#define ASCII_ESC 0x1B
#define ASCII_UP_ARROW 0x9b
//const char CMD_ANSI_UP[]= {ASCII_ESC,'[','A',0};
int strcicmp(char const *a, char const *b)
{
for (;; a++, b++) {
int d = tolower(*a) - tolower(*b);
if (d != 0 || !*a)
return d;
}
}
int CommandInit(sCmdUart *ptrUart, uint8_t (*kbhit)(void), uint8_t (*getch)(void),uint8_t (*putch)(char data),uint8_t (*puts)(uint8_t *buffer, uint8_t size) )
{
ptrUart->kbhit=kbhit;
ptrUart->getch=getch;
ptrUart->putch=putch;
ptrUart->puts=puts;
ptrUart->histIndex=0;
ptrUart->buffIndex=0;
return 0;
}
#ifdef PGM_P //check and see if the PGM_P is defined for the AVR
int CommandPrintf(sCmdUart *ptrUart, const char *fmt, ...)
{
int ret=0;
char vastr[MAX_STRING]={0};
//char str[MAX_STRING]={0};
char *ptr;
va_list ap;
//LOG("Command printf");
memset(vastr,0,MAX_STRING);
va_start(ap,fmt);
ret=vsprintf(vastr,(const char *)fmt,ap);
//ret=sprintf(vastr,"%s\r\n",str);
//LOG("%s",vastr);
if (ptrUart->puts!=NULL)
{
return ptrUart->puts((uint8_t *)vastr, (uint8_t)ret);
}
if (ptrUart->putch!=NULL)
{
ptr=vastr;
while(*ptr)
{
ptrUart->putch(*ptr++);
}
return ret;
}
return 0;
}
#else
int CommandPrintf(sCmdUart *ptrUart, char *fmt, ...)
{
int ret=0;
char vastr[MAX_STRING]={0};
char *ptr;
va_list ap;
memset(vastr,0,MAX_STRING);
va_start(ap,fmt);
ret=vsprintf(vastr,(char *)fmt,ap);
if (ptrUart->puts!=NULL)
{
return ptrUart->puts((uint8_t *)vastr, (uint8_t)ret);
}
if (ptrUart->putch!=NULL)
{
ptr=vastr;
while(*ptr)
{
ptrUart->putch(*ptr++);
}
return ret;
}
return 0;
}
#endif
// the delimiter is command/parameter delimiter
// by default a ' '0x20 is used but for the TDR with GUI a ':' was preferred, not sure why
// set to ' '/0x20 if you want normal command parsing, like DOS
unsigned int CommandParse(sCmdUart *ptrUart,sCommand *ptrCmds, char *str, char delimitor )
{
char *ptr;
char *ptr2;
unsigned int i;
//char cmd[MAX_STRING];
char buff[MAX_CMD_LENGTH];
char argv[MAX_ARGS][MAX_ARG_LENGTH];
char *ptrArgv[MAX_ARGS];
unsigned int numArgs;
int emptyArg=0;
sCommand cmd_list;
while (*str==0x20 || *str=='\n' || *str=='\r' || *str=='\t') str++;
//first we need find command and arguments
ptr=strchr(str,delimitor); //find first char
//LOG("2parsing %s",str);
if (ptr==0)
{
//we have two options, frist whole thing is command
//second bad command
if(strlen(str)>0)
ptr=str+strlen(str);
else
return 0; //bad command
}
//copy string to command buffer.
i=0;
ptr2=str;
while(ptr!=0 && ptr!=ptr2 && i<(MAX_CMD_LENGTH-1))
{
//if (*ptr2!='\n' && *ptr2!='\r') //do not include newlines
{
buff[i++]=*ptr2;
}
ptr2++;
}
buff[i]=0;
//now buff contains the command let's get the args
numArgs=0;
while(*ptr!=0 && (*ptr==' ' || *ptr==delimitor))
ptr++; //increment pointer past ' '
if (*ptr!=0)
{
if (*ptr==34) // " char
{
ptr++;
ptr2=strchr(ptr,34); //find match
} else if (*ptr==39) // 'char
{
ptr++;
ptr2=strchr(ptr,39); //find match
} else
{
ptr2=strchr(ptr,delimitor);
}
if (ptr2==0)
{
//we have two options, frist whole thing is command
//second bad command
//LOG("strlen ptr is %d",strlen(ptr));
if(strlen(ptr)>0)
ptr2=ptr+strlen(ptr);
}
emptyArg=0;
while((ptr2!=0 && numArgs<MAX_ARGS) || emptyArg==1)
{
int j;
emptyArg=0;
j=0;
//LOG("arg %s",ptr);
while (ptr2!=ptr && j<(MAX_ARG_LENGTH-1) && ptr2!=0)
{
argv[numArgs][j++]=*ptr++;
}
argv[numArgs][j++]=0;
numArgs++;
ptr2=0;
if (*ptr!=0)
{
if (*ptr==34 || *ptr==39) ptr++;
if (*ptr==delimitor && strlen(ptr)==1)
{
//LOG("Empty arg");
emptyArg=1;
}
while(*ptr!=0 && (*ptr==' ' || *ptr==delimitor))//p || *ptr==34 || *ptr==39))
ptr++; //increment pointer past ' '
if (*ptr==34) // " char
{
ptr++;
ptr2=strchr(ptr,34); //find match
} else if (*ptr==39) // 'char
{
ptr++;
ptr2=strchr(ptr,39); //find match
} else
{
ptr2=strchr(ptr,delimitor);
}
if (ptr2==0)
{
//we have two options, frist whole thing is command
//second bad command
if(strlen(ptr)>0)
ptr2=ptr+strlen(ptr);
}
}
}
}
for(i=0; i<MAX_ARGS; i++)
{
ptrArgv[i]=argv[i];
}
//now let's parse the command
i=0;
memcpy(&cmd_list, &ptrCmds[i], sizeof(sCommand));
//LOG("command is %s %d",buff,numArgs);
while(cmd_list.function!=0)
{
/*char str[20];
strcpy_P(str,cmd_list.name);
LOG("checkign '%s' to '%s'",buff,str);
LOG("comapre is %d",strcmp_P(buff,cmd_list.name));
*/
//memcpy_P(&p, cmd_list.name, sizeof(PGM_P));
#ifdef PGM_P //check and see if the PGM_P is defined for the AVR
if (strlen(buff)==strlen_P(cmd_list.name))
{
if (strcicmp(buff,cmd_list.name)==0) //ignore device ID
#else
if (strlen(buff)==strlen(cmd_list.name))
{
if (strcicmp(buff,cmd_list.name)==0) //ignore device ID
#endif
{
//LOG("calling function");
//return 1;
return (*cmd_list.function)(ptrUart,numArgs,ptrArgv);
}
}
i=i+1;
memcpy(&cmd_list, &ptrCmds[i], sizeof(sCommand));
}
CommandPrintf(ptrUart,PSTR("Unknown command (try 'help')\n\r"));
return -1;
}
//This function will process commands from the UART
int CommandProcess(sCmdUart *ptrUart,sCommand *ptrCmds, char delimitor, char *cmdPrompt)
{
if(ptrUart->kbhit())
{
ptrUart->data=ptrUart->getch();
//echo the data
ptrUart->putch(ptrUart->data);
//if the data is the CR we need to process buffer
if (ptrUart->data==0x0D)
{
ptrUart->putch(0x0A);
if (strlen(ptrUart->buffer)>0)
{
if (ptrUart->lastChar!=ASCII_UP_ARROW)
{
strcpy(ptrUart->bufferHist[ptrUart->histIndex],ptrUart->buffer);
ptrUart->histIndex=(ptrUart->histIndex+1) % CMD_HISTORY;
}
CommandParse(ptrUart,ptrCmds,ptrUart->buffer,delimitor);
}
CommandPrintf(ptrUart,PSTR("\n\r%s"),cmdPrompt);
ptrUart->buffIndex=0;
ptrUart->buffer[ptrUart->buffIndex]=0;
}
if (ptrUart->data==ASCII_BACKSPACE) //backspace
{
if (ptrUart->buffIndex>0)
{
ptrUart->buffIndex--;
ptrUart->buffer[ptrUart->buffIndex]='\0';
//Echo the backspace
ptrUart->putch(' ');
ptrUart->putch(ASCII_BACKSPACE);
}
}else if (ptrUart->data != 0x0A && ptrUart->data !=0x0D && ptrUart->data<127)
{
ptrUart->buffer[ptrUart->buffIndex++]=ptrUart->data;
ptrUart->buffer[ptrUart->buffIndex]=0;
}
if (ptrUart->buffIndex>=(MAX_CMD_LENGTH-1))
{
CommandPrintf(ptrUart,PSTR("\n\rERROR: Command buffer overflow\n\r"));\
ERROR("Command buffer overflow");
ptrUart->buffIndex=0;
ptrUart->buffer[0]=0;
CommandPrintf(ptrUart,PSTR("\n\r%s"),cmdPrompt);
}
}
if (strstr(ptrUart->buffer,ANSI_UP)) //up arrow
{
uint8_t i;
CommandPrintf(ptrUart,PSTR("\n\r%s"),cmdPrompt);
i=CMD_HISTORY-1;
if (ptrUart->histIndex>0)
{
i=ptrUart->histIndex-1;
}
if (strlen(ptrUart->bufferHist[i])>0)
{
strcpy(ptrUart->buffer,ptrUart->bufferHist[i]);
ptrUart->buffIndex=strlen(ptrUart->buffer);
CommandPrintf(ptrUart,PSTR("%s"),ptrUart->buffer);
}else
{
ptrUart->buffIndex=0;
ptrUart->buffer[0]=0;
}
ptrUart->data=ASCII_UP_ARROW;
}
ptrUart->lastChar=ptrUart->data;
return 0;
}
/**********************************************************************
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!
*********************************************************************/
#include "command.h"
#include <string.h>
#define ASCII_BACKSPACE 0x08
#define ASCII_ESC 0x1B
#define ASCII_UP_ARROW 0x9b
//const char CMD_ANSI_UP[]= {ASCII_ESC,'[','A',0};
int strcicmp(char const *a, char const *b)
{
for (;; a++, b++) {
int d = tolower(*a) - tolower(*b);
if (d != 0 || !*a)
return d;
}
}
int CommandInit(sCmdUart *ptrUart, uint8_t (*kbhit)(void), uint8_t (*getch)(void),uint8_t (*putch)(char data),uint8_t (*puts)(uint8_t *buffer, uint8_t size) )
{
ptrUart->kbhit=kbhit;
ptrUart->getch=getch;
ptrUart->putch=putch;
ptrUart->puts=puts;
ptrUart->histIndex=0;
ptrUart->buffIndex=0;
return 0;
}
#ifdef PGM_P //check and see if the PGM_P is defined for the AVR
int CommandPrintf(sCmdUart *ptrUart, const char *fmt, ...)
{
int ret=0;
char vastr[MAX_STRING]={0};
//char str[MAX_STRING]={0};
char *ptr;
va_list ap;
//LOG("Command printf");
memset(vastr,0,MAX_STRING);
va_start(ap,fmt);
ret=vsprintf(vastr,(const char *)fmt,ap);
//ret=sprintf(vastr,"%s\r\n",str);
//LOG("%s",vastr);
if (ptrUart->puts!=NULL)
{
return ptrUart->puts((uint8_t *)vastr, (uint8_t)ret);
}
if (ptrUart->putch!=NULL)
{
ptr=vastr;
while(*ptr)
{
ptrUart->putch(*ptr++);
}
return ret;
}
return 0;
}
#else
int CommandPrintf(sCmdUart *ptrUart, char *fmt, ...)
{
int ret=0;
char vastr[MAX_STRING]={0};
char *ptr;
va_list ap;
memset(vastr,0,MAX_STRING);
va_start(ap,fmt);
ret=vsprintf(vastr,(char *)fmt,ap);
if (ptrUart->puts!=NULL)
{
return ptrUart->puts((uint8_t *)vastr, (uint8_t)ret);
}
if (ptrUart->putch!=NULL)
{
ptr=vastr;
while(*ptr)
{
ptrUart->putch(*ptr++);
}
return ret;
}
return 0;
}
#endif
// the delimiter is command/parameter delimiter
// by default a ' '0x20 is used but for the TDR with GUI a ':' was preferred, not sure why
// set to ' '/0x20 if you want normal command parsing, like DOS
unsigned int CommandParse(sCmdUart *ptrUart,sCommand *ptrCmds, char *str, char delimitor )
{
char *ptr;
char *ptr2;
unsigned int i;
//char cmd[MAX_STRING];
char buff[MAX_CMD_LENGTH];
char argv[MAX_ARGS][MAX_ARG_LENGTH];
char *ptrArgv[MAX_ARGS];
unsigned int numArgs;
int emptyArg=0;
sCommand cmd_list;
while (*str==0x20 || *str=='\n' || *str=='\r' || *str=='\t') str++;
//first we need find command and arguments
ptr=strchr(str,delimitor); //find first char
//LOG("2parsing %s",str);
if (ptr==0)
{
//we have two options, frist whole thing is command
//second bad command
if(strlen(str)>0)
ptr=str+strlen(str);
else
return 0; //bad command
}
//copy string to command buffer.
i=0;
ptr2=str;
while(ptr!=0 && ptr!=ptr2 && i<(MAX_CMD_LENGTH-1))
{
//if (*ptr2!='\n' && *ptr2!='\r') //do not include newlines
{
buff[i++]=*ptr2;
}
ptr2++;
}
buff[i]=0;
//now buff contains the command let's get the args
numArgs=0;
while(*ptr!=0 && (*ptr==' ' || *ptr==delimitor))
ptr++; //increment pointer past ' '
if (*ptr!=0)
{
if (*ptr==34) // " char
{
ptr++;
ptr2=strchr(ptr,34); //find match
} else if (*ptr==39) // 'char
{
ptr++;
ptr2=strchr(ptr,39); //find match
} else
{
ptr2=strchr(ptr,delimitor);
}
if (ptr2==0)
{
//we have two options, frist whole thing is command
//second bad command
//LOG("strlen ptr is %d",strlen(ptr));
if(strlen(ptr)>0)
ptr2=ptr+strlen(ptr);
}
emptyArg=0;
while((ptr2!=0 && numArgs<MAX_ARGS) || emptyArg==1)
{
int j;
emptyArg=0;
j=0;
//LOG("arg %s",ptr);
while (ptr2!=ptr && j<(MAX_ARG_LENGTH-1) && ptr2!=0)
{
argv[numArgs][j++]=*ptr++;
}
argv[numArgs][j++]=0;
numArgs++;
ptr2=0;
if (*ptr!=0)
{
if (*ptr==34 || *ptr==39) ptr++;
if (*ptr==delimitor && strlen(ptr)==1)
{
//LOG("Empty arg");
emptyArg=1;
}
while(*ptr!=0 && (*ptr==' ' || *ptr==delimitor))//p || *ptr==34 || *ptr==39))
ptr++; //increment pointer past ' '
if (*ptr==34) // " char
{
ptr++;
ptr2=strchr(ptr,34); //find match
} else if (*ptr==39) // 'char
{
ptr++;
ptr2=strchr(ptr,39); //find match
} else
{
ptr2=strchr(ptr,delimitor);
}
if (ptr2==0)
{
//we have two options, frist whole thing is command
//second bad command
if(strlen(ptr)>0)
ptr2=ptr+strlen(ptr);
}
}
}
}
for(i=0; i<MAX_ARGS; i++)
{
ptrArgv[i]=argv[i];
}
//now let's parse the command
i=0;
memcpy(&cmd_list, &ptrCmds[i], sizeof(sCommand));
//LOG("command is %s %d",buff,numArgs);
while(cmd_list.function!=0)
{
/*char str[20];
strcpy_P(str,cmd_list.name);
LOG("checkign '%s' to '%s'",buff,str);
LOG("comapre is %d",strcmp_P(buff,cmd_list.name));
*/
//memcpy_P(&p, cmd_list.name, sizeof(PGM_P));
#ifdef PGM_P //check and see if the PGM_P is defined for the AVR
if (strlen(buff)==strlen_P(cmd_list.name))
{
if (strcicmp(buff,cmd_list.name)==0) //ignore device ID
#else
if (strlen(buff)==strlen(cmd_list.name))
{
if (strcicmp(buff,cmd_list.name)==0) //ignore device ID
#endif
{
//LOG("calling function");
//return 1;
return (*cmd_list.function)(ptrUart,numArgs,ptrArgv);
}
}
i=i+1;
memcpy(&cmd_list, &ptrCmds[i], sizeof(sCommand));
}
CommandPrintf(ptrUart,PSTR("Unknown command (try 'help')\n\r"));
return -1;
}
//This function will process commands from the UART
int CommandProcess(sCmdUart *ptrUart,sCommand *ptrCmds, char delimitor, char *cmdPrompt)
{
if(ptrUart->kbhit())
{
ptrUart->data=ptrUart->getch();
//echo the data
ptrUart->putch(ptrUart->data);
//if the data is the CR we need to process buffer
if (ptrUart->data==0x0D)
{
ptrUart->putch(0x0A);
if (strlen(ptrUart->buffer)>0)
{
if (ptrUart->lastChar!=ASCII_UP_ARROW)
{
strcpy(ptrUart->bufferHist[ptrUart->histIndex],ptrUart->buffer);
ptrUart->histIndex=(ptrUart->histIndex+1) % CMD_HISTORY;
}
CommandParse(ptrUart,ptrCmds,ptrUart->buffer,delimitor);
}
CommandPrintf(ptrUart,PSTR("\n\r%s"),cmdPrompt);
ptrUart->buffIndex=0;
ptrUart->buffer[ptrUart->buffIndex]=0;
}
if (ptrUart->data==ASCII_BACKSPACE) //backspace
{
if (ptrUart->buffIndex>0)
{
ptrUart->buffIndex--;
ptrUart->buffer[ptrUart->buffIndex]='\0';
//Echo the backspace
ptrUart->putch(' ');
ptrUart->putch(ASCII_BACKSPACE);
}
}else if (ptrUart->data != 0x0A && ptrUart->data !=0x0D && ptrUart->data<127)
{
ptrUart->buffer[ptrUart->buffIndex++]=ptrUart->data;
ptrUart->buffer[ptrUart->buffIndex]=0;
}
if (ptrUart->buffIndex>=(MAX_CMD_LENGTH-1))
{
CommandPrintf(ptrUart,PSTR("\n\rERROR: Command buffer overflow\n\r"));\
ERROR("Command buffer overflow");
ptrUart->buffIndex=0;
ptrUart->buffer[0]=0;
CommandPrintf(ptrUart,PSTR("\n\r%s"),cmdPrompt);
}
}
if (strstr(ptrUart->buffer,ANSI_UP)) //up arrow
{
uint8_t i;
CommandPrintf(ptrUart,PSTR("\n\r%s"),cmdPrompt);
i=CMD_HISTORY-1;
if (ptrUart->histIndex>0)
{
i=ptrUart->histIndex-1;
}
if (strlen(ptrUart->bufferHist[i])>0)
{
strcpy(ptrUart->buffer,ptrUart->bufferHist[i]);
ptrUart->buffIndex=strlen(ptrUart->buffer);
CommandPrintf(ptrUart,PSTR("%s"),ptrUart->buffer);
}else
{
ptrUart->buffIndex=0;
ptrUart->buffer[0]=0;
}
ptrUart->data=ASCII_UP_ARROW;
}
ptrUart->lastChar=ptrUart->data;
return 0;
}

358
firmware_smartstepper_trikarus/stepper_nano_zero/command.h
View File

@ -1,179 +1,179 @@
/**********************************************************************
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 __COMMAND_H
#define __COMMAND_H
#include <Arduino.h>
#include <stdarg.h>
#include "syslog.h"
/*
* Usage:
*
#include <command.h>
#include "uart_e0.h"
sCmdUart KeyfobCmdUart; // UART used for the keyfob command line interface
CMD_STR(help,"Displays this message");
//List of supported commands
sCommand KeyfobCmds[] =
{
COMMAND(help),
{"",0,""}, //End of list signal
};
// print out the help strings for the commands
static int help_cmd(sCmdUart *ptrUart,int argc, char * argv[])
{
sCommand cmd_list;
int i;
//now let's parse the command
i=0;
memcpy(&cmd_list, &KeyfobCmds[i], sizeof(sCommand));
while(cmd_list.function!=0)
{
CommandPrintf(ptrUart,(cmd_list.name));
CommandPrintf(ptrUart,PSTR(" - "));
CommandPrintf(ptrUart,(cmd_list.help));
CommandPrintf(ptrUart,PSTR("\n\r"));
i=i+1;
memcpy(&cmd_list, &KeyfobCmds[i], sizeof(sCommand));
}
return 0;
}
uint8_t KeyfobCmdGetChar(void)
{
uint8_t c;
if (UARTE0_getc(&c)!=0)
{
ERROR("Uart getchar failed");
return 0;
}
return c;
}
int KeyfobCmdInit(PIN tx_pin, PIN rx_pin, uint32_t baud)
{
LOG("UARTE0 init");
UARTE0_Init(tx_pin, rx_pin, baud);
CommandInit(&KeyfobCmdUart, UARTE0_kbhit, KeyfobCmdGetChar, UARTE0_putc,NULL); //set up the UART structure
return 0;
}
int KeyfobCmdProcess(void)
{
return CommandProcess(&KeyfobCmdUart,KeyfobCmds,' ',KEYFOB_CMD_PROMPT);
}
Advantages:
1. You can actually have more than one UART/device connected to same command line interface.
2. works with harvard machines to save SRAM space using the PSTR functionality
3. You can swap out commands "on the fly"
*/
#define MAX_CMD_LENGTH 60
#define MAX_ARGS 10
#define MAX_ARG_LENGTH 40
#define CMD_HISTORY 3 //number of commands in history buffer
#define ASCII_BACKSPACE 0x08
#define ASCII_ESC 0x1B
#define ASCII_UP_ARROW 0x9b
#define ANSI_UP "\x1B[A\0"
#define MAX_STRING 255
//const char ANSI_UP[]= {ASCII_ESC,'[','A',0};
typedef struct {
uint8_t (*kbhit)(void);
uint8_t (*getch)(void);
uint8_t (*putch)(char data);
uint8_t (*puts)(uint8_t *buffer, uint8_t size);
uint8_t data;
char buffer[MAX_CMD_LENGTH];
char bufferHist[CMD_HISTORY][MAX_CMD_LENGTH];
uint8_t histIndex;
uint8_t buffIndex;
uint8_t lastChar;
}sCmdUart;
#define COMMAND(NAME) { NAME ## _str, NAME ## _cmd, NAME ## _help}
#ifdef PGM_P //check and see if the PGM_P is defined for the AVR
//If so then we use the strings in flash not SRAM
#define CMD_STR(NAME,STR) static const char NAME ## _help[] PROGMEM = STR; static const char NAME ## _str[] PROGMEM = #NAME; static int NAME ##_cmd(sCmdUart *ptrUart,int, char **);
//Command structure
typedef struct
{
PGM_P name;
int (*function) (sCmdUart *ptrUart,int, char **);
PGM_P help;
} sCommand;
int CommandPrintf(sCmdUart *ptrUart, const char *fmt, ...);
#else
#define CMD_STR(NAME,STR) static char NAME ## _help[] = STR; static char NAME ## _str[] = #NAME; static int NAME ##_cmd(sCmdUart *ptrUart,int, char **);
//Command structure
typedef struct
{
char *name;
int (*function) (sCmdUart *ptrUart,int, char **);
char *help;
} sCommand;
int CommandPrintf(sCmdUart *ptrUart, char *fmt, ...);
#endif
int CommandInit(sCmdUart *ptrUart, uint8_t (*kbhit)(void), uint8_t (*getch)(void),uint8_t (*putch)(char data),uint8_t (*puts)(uint8_t *buffer, uint8_t size));
unsigned int CommandParse(sCmdUart *ptrUart,sCommand *ptrCmds, char *str, char delimitor);
int CommandProcess(sCmdUart *ptrUart,sCommand *ptrCmds, char delimitor, char *cmdPrompt);
#endif
/**********************************************************************
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 __COMMAND_H
#define __COMMAND_H
#include <Arduino.h>
#include <stdarg.h>
#include "syslog.h"
/*
* Usage:
*
#include <command.h>
#include "uart_e0.h"
sCmdUart KeyfobCmdUart; // UART used for the keyfob command line interface
CMD_STR(help,"Displays this message");
//List of supported commands
sCommand KeyfobCmds[] =
{
COMMAND(help),
{"",0,""}, //End of list signal
};
// print out the help strings for the commands
static int help_cmd(sCmdUart *ptrUart,int argc, char * argv[])
{
sCommand cmd_list;
int i;
//now let's parse the command
i=0;
memcpy(&cmd_list, &KeyfobCmds[i], sizeof(sCommand));
while(cmd_list.function!=0)
{
CommandPrintf(ptrUart,(cmd_list.name));
CommandPrintf(ptrUart,PSTR(" - "));
CommandPrintf(ptrUart,(cmd_list.help));
CommandPrintf(ptrUart,PSTR("\n\r"));
i=i+1;
memcpy(&cmd_list, &KeyfobCmds[i], sizeof(sCommand));
}
return 0;
}
uint8_t KeyfobCmdGetChar(void)
{
uint8_t c;
if (UARTE0_getc(&c)!=0)
{
ERROR("Uart getchar failed");
return 0;
}
return c;
}
int KeyfobCmdInit(PIN tx_pin, PIN rx_pin, uint32_t baud)
{
LOG("UARTE0 init");
UARTE0_Init(tx_pin, rx_pin, baud);
CommandInit(&KeyfobCmdUart, UARTE0_kbhit, KeyfobCmdGetChar, UARTE0_putc,NULL); //set up the UART structure
return 0;
}
int KeyfobCmdProcess(void)
{
return CommandProcess(&KeyfobCmdUart,KeyfobCmds,' ',KEYFOB_CMD_PROMPT);
}
Advantages:
1. You can actually have more than one UART/device connected to same command line interface.
2. works with harvard machines to save SRAM space using the PSTR functionality
3. You can swap out commands "on the fly"
*/
#define MAX_CMD_LENGTH 60
#define MAX_ARGS 10
#define MAX_ARG_LENGTH 40
#define CMD_HISTORY 3 //number of commands in history buffer
#define ASCII_BACKSPACE 0x08
#define ASCII_ESC 0x1B
#define ASCII_UP_ARROW 0x9b
#define ANSI_UP "\x1B[A\0"
#define MAX_STRING 255
//const char ANSI_UP[]= {ASCII_ESC,'[','A',0};
typedef struct {
uint8_t (*kbhit)(void);
uint8_t (*getch)(void);
uint8_t (*putch)(char data);
uint8_t (*puts)(uint8_t *buffer, uint8_t size);
uint8_t data;
char buffer[MAX_CMD_LENGTH];
char bufferHist[CMD_HISTORY][MAX_CMD_LENGTH];
uint8_t histIndex;
uint8_t buffIndex;
uint8_t lastChar;
}sCmdUart;
#define COMMAND(NAME) { NAME ## _str, NAME ## _cmd, NAME ## _help}
#ifdef PGM_P //check and see if the PGM_P is defined for the AVR
//If so then we use the strings in flash not SRAM
#define CMD_STR(NAME,STR) static const char NAME ## _help[] PROGMEM = STR; static const char NAME ## _str[] PROGMEM = #NAME; static int NAME ##_cmd(sCmdUart *ptrUart,int, char **);
//Command structure
typedef struct
{
PGM_P name;
int (*function) (sCmdUart *ptrUart,int, char **);
PGM_P help;
} sCommand;
int CommandPrintf(sCmdUart *ptrUart, const char *fmt, ...);
#else
#define CMD_STR(NAME,STR) static char NAME ## _help[] = STR; static char NAME ## _str[] = #NAME; static int NAME ##_cmd(sCmdUart *ptrUart,int, char **);
//Command structure
typedef struct
{
char *name;
int (*function) (sCmdUart *ptrUart,int, char **);
char *help;
} sCommand;
int CommandPrintf(sCmdUart *ptrUart, char *fmt, ...);
#endif
int CommandInit(sCmdUart *ptrUart, uint8_t (*kbhit)(void), uint8_t (*getch)(void),uint8_t (*putch)(char data),uint8_t (*puts)(uint8_t *buffer, uint8_t size));
unsigned int CommandParse(sCmdUart *ptrUart,sCommand *ptrCmds, char *str, char delimitor);
int CommandProcess(sCmdUart *ptrUart,sCommand *ptrCmds, char delimitor, char *cmdPrompt);
#endif

3316
firmware_smartstepper_trikarus/stepper_nano_zero/commands.cpp
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102
firmware_smartstepper_trikarus/stepper_nano_zero/commands.h
View File

@ -1,51 +1,51 @@
/**********************************************************************
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 __COMMANDS_H__
#define __COMMANDS_H__
#include <Arduino.h>
#include "stepper_controller.h"
#include "nzs.h"
extern StepperCtrl stepperCtrl;
extern eepromData_t PowerupEEPROM;
void commandsInit(void);
int commandsProcess(void);
void torqueSetToZeroSpecialBehaviour(void);
#endif //__COMMANDS_H__
/**********************************************************************
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 __COMMANDS_H__
#define __COMMANDS_H__
#include <Arduino.h>
#include "stepper_controller.h"
#include "nzs.h"
extern StepperCtrl stepperCtrl;
extern eepromData_t PowerupEEPROM;
void commandsInit(void);
int commandsProcess(void);
void torqueSetToZeroSpecialBehaviour(void);
#endif //__COMMANDS_H__

618
firmware_smartstepper_trikarus/stepper_nano_zero/eeprom.cpp
View File

@ -1,309 +1,309 @@
/**********************************************************************
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!
*********************************************************************/
#include "eeprom.h"
#include "calibration.h"
#include "Flash.h"
#include "board.h" //for divide with rounding macro
#include <Arduino.h>
#include "syslog.h"
//since we will write the following structure into each page, we need to find our latest page
// to do this we will use the header to contain a checksum and write counter.
#define EEPROM_SIZE (FLASH_ROW_SIZE*2)
typedef struct {
uint16_t checksum;
uint16_t count;
}eepromHeader_t;
#define EEPROM_DATA_SIZE (FLASH_PAGE_SIZE_NZS-sizeof(eepromHeader_t))
typedef struct {
eepromHeader_t header;
uint8_t data[EEPROM_DATA_SIZE];
} eepromData_t;
static eepromData_t EEPROMCache;
static int32_t NextPageWrite=-1;
//we need to reserve two pages for EEPROM
__attribute__((__aligned__(FLASH_ROW_SIZE))) const uint8_t NVM_eeprom[EEPROM_SIZE]={0xFF};
static uint16_t checksum(uint8_t *ptrData, uint32_t nBytes)
{
uint16_t sum=0;
uint32_t i;
i=0;
//LOG("running checksum %d",nBytes);
while(i<nBytes)
{
sum += ptrData[i];
i++;
}
return sum;
}
static bool isPageGood(uint32_t page)
{
eepromData_t *ptrData;
uint16_t cs;
ptrData=(eepromData_t *)&NVM_eeprom[page];
cs=checksum(ptrData->data, EEPROM_DATA_SIZE);
//LOG("checksum is %d %d",cs,ptrData->header.checksum);
if (cs==ptrData->header.checksum)
{
//LOG("Page good %d",page);
return true;
}
//LOG("page bad %d",page);
return false;
}
static void printEEPROM(uint32_t page)
{
eepromData_t *ptrData;
int i;
ptrData=(eepromData_t *)&NVM_eeprom[page];
LOG("count %d", ptrData->header.count);
LOG("checksum %d", ptrData->header.checksum);
for (i=0; i<10; i++)
{
LOG("Data[%d]=%02X",i,ptrData->data[i]);
}
}
static uint32_t findLastGoodPage(void)
{
uint32_t lastGoodPage=0;
uint32_t page;
uint16_t lastCnt=0;
eepromData_t *ptrData;
page=0;
while(page < (EEPROM_SIZE))
{
//LOG("checking page %d",page);
if (isPageGood(page))
{
ptrData=(eepromData_t *)&NVM_eeprom[page];
//check for roll over which is OK
if (lastCnt==16534 && ptrData->header.count==1)
{
lastCnt=ptrData->header.count;
lastGoodPage=page;
}
if (ptrData->header.count>lastCnt)
{
//make sure we have not rolled over.
if ((ptrData->header.count-lastCnt)<(16534/2))
{
lastCnt=ptrData->header.count;
lastGoodPage=page;
}
}
}
page=page + FLASH_PAGE_SIZE_NZS;
}
//LOG("last good page %d",lastGoodPage);
return lastGoodPage;
}
//find the next page to write
static uint32_t eepromGetNextWritPage(void)
{
eepromHeader_t *ptrHeader;
uint32_t page;
uint32_t row;
int blockCount;
int done=0;
//start at first address:
page=0;
while(page < (EEPROM_SIZE))
{
//LOG("checking page %d",page);
ptrHeader=(eepromHeader_t *) &NVM_eeprom[page];
if (ptrHeader->count == 0xFFFF)
{
uint32_t i;
uint8_t *ptrData;
//uint8_t erasedByte=(uint8_t)ptrHeader->count;
bool erased=true;
//verify page is erased
ptrData= (uint8_t *)&NVM_eeprom[page];
for (i=0; i<FLASH_PAGE_SIZE_NZS; i++)
{
if (ptrData[i] != FLASH_ERASE_VALUE)
{
erased=false;
break;
}
}
if (erased)
{
//LOG("Found Page %d erased",page);
return page;
}
}
page=page+FLASH_PAGE_SIZE_NZS;
}
//if we get get here all the pages are full...
// we need to find the page with last good data.
page=findLastGoodPage();
//find which row the page is in
row=page/FLASH_ROW_SIZE;
//increment to next row for erase
row++;
if ((row*FLASH_ROW_SIZE)>=EEPROM_SIZE)
{
row=0;
//TODO we should make sure this not where good data is
// however if it is what should we do?
}
//now we need to erase that row
//WARNING("Erasing page %d",row*FLASH_ROW_SIZE);
flashErase(&NVM_eeprom[row*FLASH_ROW_SIZE],FLASH_ROW_SIZE);
page=row*FLASH_ROW_SIZE;
//LOG("Next free page is %d",page);
return page;
}
eepromError_t eepromInit(void)
{
uint32_t page;
//find the last good page offset in flash
page=findLastGoodPage();
LOG("EEPROM Init found page %d",page);
if (isPageGood(page))
{
LOG("EEPROM page good %d",page);
memcpy(&EEPROMCache, &NVM_eeprom[page], sizeof(EEPROMCache));
NextPageWrite=eepromGetNextWritPage();
return EEPROM_OK;
}
//ERROR("page is bad");
memset(&EEPROMCache, 0, sizeof(EEPROMCache));
NextPageWrite=eepromGetNextWritPage();
return EEPROM_CORRUPT;
}
int eepromWriteCache(uint8_t *ptrData, uint32_t size)
{
//LOG("Cache write %d",size);
if (NextPageWrite==-1) //some one did not init the module
{
//lets handle gracefully and do it ourselves
eepromInit();
}
if (size>EEPROM_DATA_SIZE)
{
size =EEPROM_DATA_SIZE;
}
memcpy(EEPROMCache.data, ptrData, size);
EEPROMCache.header.checksum=checksum(EEPROMCache.data,EEPROM_DATA_SIZE);
return size;
}
int eepromRead(uint8_t *ptrData, uint32_t size) //returns number of bytes actually read, whcih could be less than size requested
{
if (NextPageWrite==-1) //some one did not init the module
{
//lets handle gracefully and do it ourselves
eepromInit();
}
if (size>EEPROM_DATA_SIZE)
{
size =EEPROM_DATA_SIZE;
}
if (EEPROMCache.header.count == 0)
{
return 0; //cache is new/corrupt
}
memcpy(ptrData, EEPROMCache.data, size);
return size;
}
eepromError_t eepromFlush(void) //flush the cache to flash memory
{
if (NextPageWrite==-1)
{
ERROR("EEPROM WRITE FAILED");
return EEPROM_FAILED; //most likely no one has written to cache
}
EEPROMCache.header.count++;
if (EEPROMCache.header.count>=16535)
{
EEPROMCache.header.count=1;
}
//WARNING("Writting to Page %d",NextPageWrite);
flashWrite(&NVM_eeprom[NextPageWrite], &EEPROMCache, sizeof(EEPROMCache));
// printEEPROM(NextPageWrite);
if (!SYSCTRL->PCLKSR.bit.BOD33DET) //if not in brown out condition find next write location
{
//LOG("getting next page to write");
NextPageWrite=eepromGetNextWritPage(); //find next write location and erase if needed
} else
{
//LOG("BOD active");
NextPageWrite=-1; //else we will just clear NextPageWrite location just in case we recover from brown out
}
return EEPROM_OK;
}
/**********************************************************************
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!
*********************************************************************/
#include "eeprom.h"
#include "calibration.h"
#include "Flash.h"
#include "board.h" //for divide with rounding macro
#include <Arduino.h>
#include "syslog.h"
//since we will write the following structure into each page, we need to find our latest page
// to do this we will use the header to contain a checksum and write counter.
#define EEPROM_SIZE (FLASH_ROW_SIZE*2)
typedef struct {
uint16_t checksum;
uint16_t count;
}eepromHeader_t;
#define EEPROM_DATA_SIZE (FLASH_PAGE_SIZE_NZS-sizeof(eepromHeader_t))
typedef struct {
eepromHeader_t header;
uint8_t data[EEPROM_DATA_SIZE];
} eepromData_t;
static eepromData_t EEPROMCache;
static int32_t NextPageWrite=-1;
//we need to reserve two pages for EEPROM
__attribute__((__aligned__(FLASH_ROW_SIZE))) const uint8_t NVM_eeprom[EEPROM_SIZE]={0xFF};
static uint16_t checksum(uint8_t *ptrData, uint32_t nBytes)
{
uint16_t sum=0;
uint32_t i;
i=0;
//LOG("running checksum %d",nBytes);
while(i<nBytes)
{
sum += ptrData[i];
i++;
}
return sum;
}
static bool isPageGood(uint32_t page)
{
eepromData_t *ptrData;
uint16_t cs;
ptrData=(eepromData_t *)&NVM_eeprom[page];
cs=checksum(ptrData->data, EEPROM_DATA_SIZE);
//LOG("checksum is %d %d",cs,ptrData->header.checksum);
if (cs==ptrData->header.checksum)
{
//LOG("Page good %d",page);
return true;
}
//LOG("page bad %d",page);
return false;
}
static void printEEPROM(uint32_t page)
{
eepromData_t *ptrData;
int i;
ptrData=(eepromData_t *)&NVM_eeprom[page];
LOG("count %d", ptrData->header.count);
LOG("checksum %d", ptrData->header.checksum);
for (i=0; i<10; i++)
{
LOG("Data[%d]=%02X",i,ptrData->data[i]);
}
}
static uint32_t findLastGoodPage(void)
{
uint32_t lastGoodPage=0;
uint32_t page;
uint16_t lastCnt=0;
eepromData_t *ptrData;
page=0;
while(page < (EEPROM_SIZE))
{
//LOG("checking page %d",page);
if (isPageGood(page))
{
ptrData=(eepromData_t *)&NVM_eeprom[page];
//check for roll over which is OK
if (lastCnt==16534 && ptrData->header.count==1)
{
lastCnt=ptrData->header.count;
lastGoodPage=page;
}
if (ptrData->header.count>lastCnt)
{
//make sure we have not rolled over.
if ((ptrData->header.count-lastCnt)<(16534/2))
{
lastCnt=ptrData->header.count;
lastGoodPage=page;
}
}
}
page=page + FLASH_PAGE_SIZE_NZS;
}
//LOG("last good page %d",lastGoodPage);
return lastGoodPage;
}
//find the next page to write
static uint32_t eepromGetNextWritPage(void)
{
eepromHeader_t *ptrHeader;
uint32_t page;
uint32_t row;
int blockCount;
int done=0;
//start at first address:
page=0;
while(page < (EEPROM_SIZE))
{
//LOG("checking page %d",page);
ptrHeader=(eepromHeader_t *) &NVM_eeprom[page];
if (ptrHeader->count == 0xFFFF)
{
uint32_t i;
uint8_t *ptrData;
//uint8_t erasedByte=(uint8_t)ptrHeader->count;
bool erased=true;
//verify page is erased
ptrData= (uint8_t *)&NVM_eeprom[page];
for (i=0; i<FLASH_PAGE_SIZE_NZS; i++)
{
if (ptrData[i] != FLASH_ERASE_VALUE)
{
erased=false;
break;
}
}
if (erased)
{
//LOG("Found Page %d erased",page);
return page;
}
}
page=page+FLASH_PAGE_SIZE_NZS;
}
//if we get get here all the pages are full...
// we need to find the page with last good data.
page=findLastGoodPage();
//find which row the page is in
row=page/FLASH_ROW_SIZE;
//increment to next row for erase
row++;
if ((row*FLASH_ROW_SIZE)>=EEPROM_SIZE)
{
row=0;
//TODO we should make sure this not where good data is
// however if it is what should we do?
}
//now we need to erase that row
//WARNING("Erasing page %d",row*FLASH_ROW_SIZE);
flashErase(&NVM_eeprom[row*FLASH_ROW_SIZE],FLASH_ROW_SIZE);
page=row*FLASH_ROW_SIZE;
//LOG("Next free page is %d",page);
return page;
}
eepromError_t eepromInit(void)
{
uint32_t page;
//find the last good page offset in flash
page=findLastGoodPage();
LOG("EEPROM Init found page %d",page);
if (isPageGood(page))
{
LOG("EEPROM page good %d",page);
memcpy(&EEPROMCache, &NVM_eeprom[page], sizeof(EEPROMCache));
NextPageWrite=eepromGetNextWritPage();
return EEPROM_OK;
}
//ERROR("page is bad");
memset(&EEPROMCache, 0, sizeof(EEPROMCache));
NextPageWrite=eepromGetNextWritPage();
return EEPROM_CORRUPT;
}
int eepromWriteCache(uint8_t *ptrData, uint32_t size)
{
//LOG("Cache write %d",size);
if (NextPageWrite==-1) //some one did not init the module
{
//lets handle gracefully and do it ourselves
eepromInit();
}
if (size>EEPROM_DATA_SIZE)
{
size =EEPROM_DATA_SIZE;
}
memcpy(EEPROMCache.data, ptrData, size);
EEPROMCache.header.checksum=checksum(EEPROMCache.data,EEPROM_DATA_SIZE);
return size;
}
int eepromRead(uint8_t *ptrData, uint32_t size) //returns number of bytes actually read, whcih could be less than size requested
{
if (NextPageWrite==-1) //some one did not init the module
{
//lets handle gracefully and do it ourselves
eepromInit();
}
if (size>EEPROM_DATA_SIZE)
{
size =EEPROM_DATA_SIZE;
}
if (EEPROMCache.header.count == 0)
{
return 0; //cache is new/corrupt
}
memcpy(ptrData, EEPROMCache.data, size);
return size;
}
eepromError_t eepromFlush(void) //flush the cache to flash memory
{
if (NextPageWrite==-1)
{
ERROR("EEPROM WRITE FAILED");
return EEPROM_FAILED; //most likely no one has written to cache
}
EEPROMCache.header.count++;
if (EEPROMCache.header.count>=16535)
{
EEPROMCache.header.count=1;
}
//WARNING("Writting to Page %d",NextPageWrite);
flashWrite(&NVM_eeprom[NextPageWrite], &EEPROMCache, sizeof(EEPROMCache));
// printEEPROM(NextPageWrite);
if (!SYSCTRL->PCLKSR.bit.BOD33DET) //if not in brown out condition find next write location
{
//LOG("getting next page to write");
NextPageWrite=eepromGetNextWritPage(); //find next write location and erase if needed
} else
{
//LOG("BOD active");
NextPageWrite=-1; //else we will just clear NextPageWrite location just in case we recover from brown out
}
return EEPROM_OK;
}

124
firmware_smartstepper_trikarus/stepper_nano_zero/eeprom.h
View File

@ -1,62 +1,62 @@
/**********************************************************************
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 EEPROM_H_
#define EEPROM_H_
#include "Flash.h"
#include "calibration.h"
#include "board.h"
/*
* This EEPROM implementation provides 60bytes of "eeprom space" (we reserve 4 bytes for overhead)
* The EEPROM uses two rows of flash (256 bytes per row), which
* for the SAMD21G18A this allows a minimual 200k writes, but typically 1200k
*/
typedef enum {
EEPROM_OK =0,
EEPROM_FAILED=1,
EEPROM_CORRUPT=2,
} eepromError_t;
eepromError_t eepromInit(void);
int eepromWriteCache(uint8_t *ptrData, uint32_t size); //returns number bytes written to cache
eepromError_t eepromFlush(void); //flush the cache to flash memory
int eepromRead(uint8_t *ptrData, uint32_t size); //returns number of bytes actually read, whcih could be less than size requested
#endif /* EEPROM_H_ */
/**********************************************************************
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 EEPROM_H_
#define EEPROM_H_
#include "Flash.h"
#include "calibration.h"
#include "board.h"
/*
* This EEPROM implementation provides 60bytes of "eeprom space" (we reserve 4 bytes for overhead)
* The EEPROM uses two rows of flash (256 bytes per row), which
* for the SAMD21G18A this allows a minimual 200k writes, but typically 1200k
*/
typedef enum {
EEPROM_OK =0,
EEPROM_FAILED=1,
EEPROM_CORRUPT=2,
} eepromError_t;
eepromError_t eepromInit(void);
int eepromWriteCache(uint8_t *ptrData, uint32_t size); //returns number bytes written to cache
eepromError_t eepromFlush(void); //flush the cache to flash memory
int eepromRead(uint8_t *ptrData, uint32_t size); //returns number of bytes actually read, whcih could be less than size requested
#endif /* EEPROM_H_ */

3370
firmware_smartstepper_trikarus/stepper_nano_zero/fet_driver.cpp
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File diff suppressed because it is too large Load Diff

248
firmware_smartstepper_trikarus/stepper_nano_zero/fet_driver.h
View File

@ -1,124 +1,124 @@
/**********************************************************************
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 FET_DRIVER_H_
#define FET_DRIVER_H_
#include <Arduino.h>
#include "board.h"
#include "angle.h"
#include "sine.h"
#ifdef NEMA_23_10A_HW
#define FET_DRIVER_NUM_MICROSTEPS (SINE_STEPS/4) //number of steps to use for microstepping, default is 256
#define FET_DRIVER_NUM_ZERO_AVG (100)
#define FET_ADC_TO_MA(x) (((x)*2537)/1000)
#define FET_MA_TO_ADC(x) (((x)*1000)/2537)
//prvent someone for making a mistake with the code
#if ((FET_DRIVER_NUM_MICROSTEPS*4) != SINE_STEPS)
#error "SINE_STEPS must be 4x of Micro steps for the move function"
#endif
/*
* When it comes to the stepper driver if we use angles
* we will always have a rounding error. For example
* a 0-65536(360) angle for 1.8 degree step is 327.68 so
* if you increment 200 of these as 327 you have a 13.6 error
* after one rotation.
* If you use floating point the effect is the same but takes longer.
*
* The only error-less accumulation system is to use native units, ie full
* steps and microsteps.
*
*/
class FetDriver
{
static FetDriver *ptrInstance;
private:
uint32_t lastStepMicros; // time in microseconds that last step happened
int32_t PWM_Table_B[512];
int32_t PWM_Table_A[512];
bool forwardRotation=true;
volatile bool enabled=true;
volatile int32_t adc;
volatile int32_t coilB_value=0;
volatile int32_t coilB_Zero=-1;
volatile int32_t coilB_SetPoint=100;
volatile int32_t coilB_error=0;
volatile int32_t coilA_value=0;
volatile int32_t coilA_Zero=-1;
volatile int32_t coilA_SetPoint=200;
volatile int32_t coilA_error=0;
void ctrl_update(uint16_t channel, uint16_t value);
void measureCoilB_zero(void);
void measureCoilA_zero(void);
void CalTableB(int32_t maxMA);
void CalTableA(int32_t maxMA);
int coilA_PWM(int32_t value);
void coilB_PWM(int32_t value);
int32_t getCoilB_mA(void);
int32_t getCoilA_mA(void);
public:
static void ADC_Callback(uint16_t channel, uint16_t value);
void begin(void);
//moves motor where the modulo of A4954_NUM_MICROSTEPS is a full step.
int32_t move(int32_t stepAngle, uint32_t mA);
uint32_t microsSinceStep(void) {return micros()-lastStepMicros;};
void setRotationDirection(bool forward) {forwardRotation=forward;};
void enable(bool enable) {enabled=enable;};
void limitCurrent(uint8_t x) {return;};
};
#endif //#ifdef NEMA_23_10A_HW
#endif /* FET_DRIVER_H_ */
/**********************************************************************
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 FET_DRIVER_H_
#define FET_DRIVER_H_
#include <Arduino.h>
#include "board.h"
#include "angle.h"
#include "sine.h"
#ifdef NEMA_23_10A_HW
#define FET_DRIVER_NUM_MICROSTEPS (SINE_STEPS/4) //number of steps to use for microstepping, default is 256
#define FET_DRIVER_NUM_ZERO_AVG (100)
#define FET_ADC_TO_MA(x) (((x)*2537)/1000)
#define FET_MA_TO_ADC(x) (((x)*1000)/2537)
//prvent someone for making a mistake with the code
#if ((FET_DRIVER_NUM_MICROSTEPS*4) != SINE_STEPS)
#error "SINE_STEPS must be 4x of Micro steps for the move function"
#endif
/*
* When it comes to the stepper driver if we use angles
* we will always have a rounding error. For example
* a 0-65536(360) angle for 1.8 degree step is 327.68 so
* if you increment 200 of these as 327 you have a 13.6 error
* after one rotation.
* If you use floating point the effect is the same but takes longer.
*
* The only error-less accumulation system is to use native units, ie full
* steps and microsteps.
*
*/
class FetDriver
{
static FetDriver *ptrInstance;
private:
uint32_t lastStepMicros; // time in microseconds that last step happened
int32_t PWM_Table_B[512];
int32_t PWM_Table_A[512];
bool forwardRotation=true;
volatile bool enabled=true;
volatile int32_t adc;
volatile int32_t coilB_value=0;
volatile int32_t coilB_Zero=-1;
volatile int32_t coilB_SetPoint=100;
volatile int32_t coilB_error=0;
volatile int32_t coilA_value=0;
volatile int32_t coilA_Zero=-1;
volatile int32_t coilA_SetPoint=200;
volatile int32_t coilA_error=0;
void ctrl_update(uint16_t channel, uint16_t value);
void measureCoilB_zero(void);
void measureCoilA_zero(void);
void CalTableB(int32_t maxMA);
void CalTableA(int32_t maxMA);
int coilA_PWM(int32_t value);
void coilB_PWM(int32_t value);
int32_t getCoilB_mA(void);
int32_t getCoilA_mA(void);
public:
static void ADC_Callback(uint16_t channel, uint16_t value);
void begin(void);
//moves motor where the modulo of A4954_NUM_MICROSTEPS is a full step.
int32_t move(int32_t stepAngle, uint32_t mA);
uint32_t microsSinceStep(void) {return micros()-lastStepMicros;};
void setRotationDirection(bool forward) {forwardRotation=forward;};
void enable(bool enable) {enabled=enable;};
void limitCurrent(uint8_t x) {return;};
};
#endif //#ifdef NEMA_23_10A_HW
#endif /* FET_DRIVER_H_ */

386
firmware_smartstepper_trikarus/stepper_nano_zero/ftoa.cpp
View File

@ -1,193 +1,193 @@
/**********************************************************************
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!
*********************************************************************/
#include "board.h"
#include "ftoa.h"
/*******************************************************************
* FUNCTION: ftoa
* AUTHOR = TRAMPAS STERN
* FILE = strio.c
* DATE = 2/6/2003 4:27:14 PM
*
* PARAMETERS: long,*str, int count
*
* DESCRIPTION: Convets an float to string
* format 'f', 'E', or 'e'
*
*
* RETURNS:
*
* NOTE this code was found on the web and modified to actually work
*******************************************************************/
int ftoa (float x, char *str, char prec, char format)
{
int ie, i, k, ndig, fstyle;
double y;
char *start;
start=str;
//based on percission set number digits
ndig=prec+1;
if (prec<0)
ndig=7;
if (prec>22)
ndig=23;
fstyle = 0; //exponent 'e'
if (format == 'f' || format == 'F')
fstyle = 1; //normal 'f'
if (format=='g' || format=='G')
fstyle=2;
ie = 0;
/* if x negative, write minus and reverse */
if ( x < 0)
{
*str++ = '-';
x = -x;
}
//if (x<0.0) then increment by 10 till betwen 1.0 and 10.0
if (x!=0.0)
{
while (x < 1.0)
{
x =x* 10.0;
ie--;
}
}
//if x>10 then let's shift it down
while (x >= 10.0)
{
x = x*(1.0/10.0);
ie++;
}
if (ABS(ie)>MAX_MANTISA)
{
if (fstyle==1)
{
fstyle=0;
format='e';
//ie=2;
}
}
/* in f format, number of digits is related to size */
if (fstyle)
ndig =ndig + ie;
if(prec==0 && ie>ndig && fstyle)
{
ndig=ie;
}
/* round. x is between 1 and 10 and ndig will be printed to
right of decimal point so rounding is ... */
y=1;
for (i = 1; i < ndig; i++) //find lest significant digit
y = y *(1.0/10.0); //multiply by 1/10 is faster than divides
x = x+ y *(1.0/2.0); //add rounding
/* repair rounding disasters */
if (x >= 10.0)
{
x = 1.0;
ie++;
ndig++;
}
//check and see if the number is less than 1.0
if (fstyle && ie<0)
{
*str++ = '0';
if (prec!=0)
*str++ = '.';
if (ndig < 0)
ie = ie-ndig; /* limit zeros if underflow */
for (i = -1; i > ie; i--)
*str++ = '0';
}
//for each digit
for (i=0; i < ndig; i++)
{
float b;
k = x; //k = most significant digit
*str++ = k + '0'; //output the char representation
if (((!fstyle && i==0) || (fstyle && i==ie)) && prec!=0)
*str++ = '.'; //output a decimal point
b=(float)k;
//multiply by 10 before subtraction to remove
//errors from limited number of bits in float.
b=b*10.0;
x=x*10.0;
x =x - b; //subtract k from x
//b=x+b;
//x =x* 10.0; //get next digit
}
/* now, in estyle, put out exponent if not zero */
if (!fstyle && ie != 0)
{
*str++ = format;
if (ie < 0) //if number has negative exponent
{
ie = -ie;
*str++ = '-';
}
//now we need to convert the exponent to string
for (k=1000; k>ie; k=k/10); //find the decade of exponent
for (; k > 0; k=k/10)
{
char t;
t=DIV(ie,k);
*str++ = t + '0';
ie = ie -(t*k);
}
}
*str++ = '\0';
return (str-start); //return string length
}
/**********************************************************************
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!
*********************************************************************/
#include "board.h"
#include "ftoa.h"
/*******************************************************************
* FUNCTION: ftoa
* AUTHOR = TRAMPAS STERN
* FILE = strio.c
* DATE = 2/6/2003 4:27:14 PM
*
* PARAMETERS: long,*str, int count
*
* DESCRIPTION: Convets an float to string
* format 'f', 'E', or 'e'
*
*
* RETURNS:
*
* NOTE this code was found on the web and modified to actually work
*******************************************************************/
int ftoa (float x, char *str, char prec, char format)
{
int ie, i, k, ndig, fstyle;
double y;
char *start;
start=str;
//based on percission set number digits
ndig=prec+1;
if (prec<0)
ndig=7;
if (prec>22)
ndig=23;
fstyle = 0; //exponent 'e'
if (format == 'f' || format == 'F')
fstyle = 1; //normal 'f'
if (format=='g' || format=='G')
fstyle=2;
ie = 0;
/* if x negative, write minus and reverse */
if ( x < 0)
{
*str++ = '-';
x = -x;
}
//if (x<0.0) then increment by 10 till betwen 1.0 and 10.0
if (x!=0.0)
{
while (x < 1.0)
{
x =x* 10.0;
ie--;
}
}
//if x>10 then let's shift it down
while (x >= 10.0)
{
x = x*(1.0/10.0);
ie++;
}
if (ABS(ie)>MAX_MANTISA)
{
if (fstyle==1)
{
fstyle=0<