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Mario Voigt 2020-07-20 22:21:36 +02:00
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/**********************************************************************
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;
}

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/**********************************************************************
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_ */

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/**********************************************************************
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

90
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/**********************************************************************
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__

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/**********************************************************************
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

92
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/**********************************************************************
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

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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 below must be included in any redistribution
*********************************************************************/
#ifdef __AVR__
#include <avr/pgmspace.h>
#elif defined(ESP8266)
#include <pgmspace.h>
#else
#define pgm_read_byte(addr) (*(const unsigned char *)(addr))
#endif
#if !defined(__ARM_ARCH) && !defined(ENERGIA) && !defined(ESP8266)
#include <util/delay.h>
#endif
#include <stdlib.h>
#include <Wire.h>
#include <SPI.h>
#include "Adafruit_GFX.h"
#include "Adafruit_SSD1306.h"
#include "syslog.h"
// the memory buffer for the LCD
static uint8_t buffer[SSD1306_LCDHEIGHT * SSD1306_LCDWIDTH / 8] = {
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80,
0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x80, 0x80, 0xC0, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC, 0xF8, 0xE0, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x80,
0x80, 0x80, 0x00, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x00, 0xFF,
#if (SSD1306_LCDHEIGHT * SSD1306_LCDWIDTH > 96*16)
0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x00, 0x00, 0x80, 0x80, 0x00, 0x00,
0x80, 0xFF, 0xFF, 0x80, 0x80, 0x00, 0x80, 0x80, 0x00, 0x80, 0x80, 0x80, 0x80, 0x00, 0x80, 0x80,
0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x00, 0x00, 0x8C, 0x8E, 0x84, 0x00, 0x00, 0x80, 0xF8,
0xF8, 0xF8, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xE0, 0xE0, 0xC0, 0x80,
0x00, 0xE0, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFF, 0xC7, 0x01, 0x01,
0x01, 0x01, 0x83, 0xFF, 0xFF, 0x00, 0x00, 0x7C, 0xFE, 0xC7, 0x01, 0x01, 0x01, 0x01, 0x83, 0xFF,
0xFF, 0xFF, 0x00, 0x38, 0xFE, 0xC7, 0x83, 0x01, 0x01, 0x01, 0x83, 0xC7, 0xFF, 0xFF, 0x00, 0x00,
0x01, 0xFF, 0xFF, 0x01, 0x01, 0x00, 0xFF, 0xFF, 0x07, 0x01, 0x01, 0x01, 0x00, 0x00, 0x7F, 0xFF,
0x80, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x7F, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x01, 0xFF,
0xFF, 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x03, 0x0F, 0x3F, 0x7F, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE7, 0xC7, 0xC7, 0x8F,
0x8F, 0x9F, 0xBF, 0xFF, 0xFF, 0xC3, 0xC0, 0xF0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0xFC, 0xFC,
0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xF8, 0xF8, 0xF0, 0xF0, 0xE0, 0xC0, 0x00, 0x01, 0x03, 0x03, 0x03,
0x03, 0x03, 0x01, 0x03, 0x03, 0x00, 0x00, 0x00, 0x00, 0x01, 0x03, 0x03, 0x03, 0x03, 0x01, 0x01,
0x03, 0x01, 0x00, 0x00, 0x00, 0x01, 0x03, 0x03, 0x03, 0x03, 0x01, 0x01, 0x03, 0x03, 0x00, 0x00,
0x00, 0x03, 0x03, 0x00, 0x00, 0x00, 0x03, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
0x03, 0x03, 0x03, 0x03, 0x03, 0x01, 0x00, 0x00, 0x00, 0x01, 0x03, 0x01, 0x00, 0x00, 0x00, 0x03,
0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
#if (SSD1306_LCDHEIGHT == 64)
0x00, 0x00, 0x00, 0x80, 0xC0, 0xE0, 0xF0, 0xF9, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x3F, 0x1F, 0x0F,
0x87, 0xC7, 0xF7, 0xFF, 0xFF, 0x1F, 0x1F, 0x3D, 0xFC, 0xF8, 0xF8, 0xF8, 0xF8, 0x7C, 0x7D, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x0F, 0x07, 0x00, 0x30, 0x30, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xFE, 0xFE, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xC0, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x30, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0xC0, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x7F, 0x3F, 0x1F,
0x0F, 0x07, 0x1F, 0x7F, 0xFF, 0xFF, 0xF8, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xF8, 0xE0,
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFE, 0x00, 0x00,
0x00, 0xFC, 0xFE, 0xFC, 0x0C, 0x06, 0x06, 0x0E, 0xFC, 0xF8, 0x00, 0x00, 0xF0, 0xF8, 0x1C, 0x0E,
0x06, 0x06, 0x06, 0x0C, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0xFE, 0xFE, 0x00, 0x00, 0x00, 0x00, 0xFC,
0xFE, 0xFC, 0x00, 0x18, 0x3C, 0x7E, 0x66, 0xE6, 0xCE, 0x84, 0x00, 0x00, 0x06, 0xFF, 0xFF, 0x06,
0x06, 0xFC, 0xFE, 0xFC, 0x0C, 0x06, 0x06, 0x06, 0x00, 0x00, 0xFE, 0xFE, 0x00, 0x00, 0xC0, 0xF8,
0xFC, 0x4E, 0x46, 0x46, 0x46, 0x4E, 0x7C, 0x78, 0x40, 0x18, 0x3C, 0x76, 0xE6, 0xCE, 0xCC, 0x80,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x07, 0x0F, 0x1F, 0x1F, 0x3F, 0x3F, 0x3F, 0x3F, 0x1F, 0x0F, 0x03,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x0F, 0x00, 0x00,
0x00, 0x0F, 0x0F, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x0F, 0x00, 0x00, 0x03, 0x07, 0x0E, 0x0C,
0x18, 0x18, 0x0C, 0x06, 0x0F, 0x0F, 0x0F, 0x00, 0x00, 0x01, 0x0F, 0x0E, 0x0C, 0x18, 0x0C, 0x0F,
0x07, 0x01, 0x00, 0x04, 0x0E, 0x0C, 0x18, 0x0C, 0x0F, 0x07, 0x00, 0x00, 0x00, 0x0F, 0x0F, 0x00,
0x00, 0x0F, 0x0F, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x0F, 0x00, 0x00, 0x00, 0x07,
0x07, 0x0C, 0x0C, 0x18, 0x1C, 0x0C, 0x06, 0x06, 0x00, 0x04, 0x0E, 0x0C, 0x18, 0x0C, 0x0F, 0x07,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
#endif
#endif
};
#define ssd1306_swap(a, b) { int16_t t = a; a = b; b = t; }
// the most basic function, set a single pixel
void Adafruit_SSD1306::drawPixel(int16_t x, int16_t y, uint16_t color) {
if ((x < 0) || (x >= width()) || (y < 0) || (y >= height()))
return;
// check rotation, move pixel around if necessary
switch (getRotation()) {
case 1:
ssd1306_swap(x, y);
x = WIDTH - x - 1;
break;
case 2:
x = WIDTH - x - 1;
y = HEIGHT - y - 1;
break;
case 3:
ssd1306_swap(x, y);
y = HEIGHT - y - 1;
break;
}
// x is which column
switch (color)
{
case WHITE: buffer[x+ (y/8)*SSD1306_LCDWIDTH] |= (1 << (y&7)); break;
case BLACK: buffer[x+ (y/8)*SSD1306_LCDWIDTH] &= ~(1 << (y&7)); break;
case INVERSE: buffer[x+ (y/8)*SSD1306_LCDWIDTH] ^= (1 << (y&7)); break;
}
}
Adafruit_SSD1306::Adafruit_SSD1306(int8_t SID, int8_t SCLK, int8_t DC, int8_t RST, int8_t CS) : Adafruit_GFX(SSD1306_LCDWIDTH, SSD1306_LCDHEIGHT) {
cs = CS;
rst = RST;
dc = DC;
sclk = SCLK;
sid = SID;
hwSPI = false;
}
// constructor for hardware SPI - we indicate DataCommand, ChipSelect, Reset
Adafruit_SSD1306::Adafruit_SSD1306(int8_t DC, int8_t RST, int8_t CS) : Adafruit_GFX(SSD1306_LCDWIDTH, SSD1306_LCDHEIGHT) {
dc = DC;
rst = RST;
cs = CS;
hwSPI = true;
}
// initializer for I2C - we only indicate the reset pin!
Adafruit_SSD1306::Adafruit_SSD1306(int8_t reset) :
Adafruit_GFX(SSD1306_LCDWIDTH, SSD1306_LCDHEIGHT) {
sclk = dc = cs = sid = -1;
rst = reset;
}
bool Adafruit_SSD1306::begin(uint8_t vccstate, uint8_t i2caddr, bool reset) {
_vccstate = vccstate;
_i2caddr = i2caddr;
// set pin directions
if (sid != -1){
pinMode(dc, OUTPUT);
pinMode(cs, OUTPUT);
#ifdef HAVE_PORTREG
csport = portOutputRegister(digitalPinToPort(cs));
cspinmask = digitalPinToBitMask(cs);
dcport = portOutputRegister(digitalPinToPort(dc));
dcpinmask = digitalPinToBitMask(dc);
#endif
if (!hwSPI){
// set pins for software-SPI
pinMode(sid, OUTPUT);
pinMode(sclk, OUTPUT);
#ifdef HAVE_PORTREG
clkport = portOutputRegister(digitalPinToPort(sclk));
clkpinmask = digitalPinToBitMask(sclk);
mosiport = portOutputRegister(digitalPinToPort(sid));
mosipinmask = digitalPinToBitMask(sid);
#endif
}
if (hwSPI){
SPI.begin();
#ifdef SPI_HAS_TRANSACTION
SPI.beginTransaction(SPISettings(8000000, MSBFIRST, SPI_MODE0));
#else
SPI.setClockDivider (4);
#endif
}
}
else
{
// I2C Init
Wire.begin();
#ifdef __SAM3X8E__
// Force 400 KHz I2C, rawr! (Uses pins 20, 21 for SDA, SCL)
TWI1->TWI_CWGR = 0;
TWI1->TWI_CWGR = ((VARIANT_MCK / (2 * 400000)) - 4) * 0x101;
#endif
}
if ((reset) && (rst >= 0)) {
// Setup reset pin direction (used by both SPI and I2C)
pinMode(rst, OUTPUT);
digitalWrite(rst, HIGH);
// VDD (3.3V) goes high at start, lets just chill for a ms
delay(1);
// bring reset low
digitalWrite(rst, LOW);
// wait 10ms
delay(10);
// bring out of reset
digitalWrite(rst, HIGH);
// turn on VCC (9V?)
}
uint8_t ret;
// Init sequence
LOG("Sending LCD display off");
ret=ssd1306_command(SSD1306_DISPLAYOFF); // 0xAE
LOG("Display off returned %d",ret);
if (ret != 0)
{
return false;
}
ssd1306_command(SSD1306_SETDISPLAYCLOCKDIV); // 0xD5
ssd1306_command(0x80); // the suggested ratio 0x80
ssd1306_command(SSD1306_SETMULTIPLEX); // 0xA8
ssd1306_command(SSD1306_LCDHEIGHT - 1);
ssd1306_command(SSD1306_SETDISPLAYOFFSET); // 0xD3
ssd1306_command(0x0); // no offset
ssd1306_command(SSD1306_SETSTARTLINE | 0x0); // line #0
ssd1306_command(SSD1306_CHARGEPUMP); // 0x8D
if (vccstate == SSD1306_EXTERNALVCC)
{ ssd1306_command(0x10); }
else
{ ssd1306_command(0x14); }
ssd1306_command(SSD1306_MEMORYMODE); // 0x20
ssd1306_command(0x00); // 0x0 act like ks0108
ssd1306_command(SSD1306_SEGREMAP | 0x1);
ssd1306_command(SSD1306_COMSCANDEC);
#if defined SSD1306_128_32
ssd1306_command(SSD1306_SETCOMPINS); // 0xDA
ssd1306_command(0x02);
ssd1306_command(SSD1306_SETCONTRAST); // 0x81
ssd1306_command(0x8F);
#elif defined SSD1306_128_64
ssd1306_command(SSD1306_SETCOMPINS); // 0xDA
ssd1306_command(0x12);
ssd1306_command(SSD1306_SETCONTRAST); // 0x81
if (vccstate == SSD1306_EXTERNALVCC)
{ ssd1306_command(0x9F); }
else
{ ssd1306_command(0xCF); }
#elif defined SSD1306_96_16
ssd1306_command(SSD1306_SETCOMPINS); // 0xDA
ssd1306_command(0x2); //ada x12
ssd1306_command(SSD1306_SETCONTRAST); // 0x81
if (vccstate == SSD1306_EXTERNALVCC)
{ ssd1306_command(0x10); }
else
{ ssd1306_command(0xAF); }
#endif
ssd1306_command(SSD1306_SETPRECHARGE); // 0xd9
if (vccstate == SSD1306_EXTERNALVCC)
{ ssd1306_command(0x22); }
else
{ ssd1306_command(0xF1); }
ssd1306_command(SSD1306_SETVCOMDETECT); // 0xDB
ssd1306_command(0x40);
ssd1306_command(SSD1306_DISPLAYALLON_RESUME); // 0xA4
ssd1306_command(SSD1306_NORMALDISPLAY); // 0xA6
ssd1306_command(SSD1306_DEACTIVATE_SCROLL);
ssd1306_command(SSD1306_DISPLAYON);//--turn on oled panel
return true;
}
void Adafruit_SSD1306::invertDisplay(uint8_t i) {
if (i) {
ssd1306_command(SSD1306_INVERTDISPLAY);
} else {
ssd1306_command(SSD1306_NORMALDISPLAY);
}
}
// Errors:
// 0 : Success
// 1 : Data too long
// 2 : NACK on transmit of address
// 3 : NACK on transmit of data
// 4 : Other error
uint8_t Adafruit_SSD1306::ssd1306_command(uint8_t c) {
if (sid != -1)
{
// SPI
#ifdef HAVE_PORTREG
*csport |= cspinmask;
*dcport &= ~dcpinmask;
*csport &= ~cspinmask;
#else
digitalWrite(cs, HIGH);
digitalWrite(dc, LOW);
digitalWrite(cs, LOW);
#endif
fastSPIwrite(c);
#ifdef HAVE_PORTREG
*csport |= cspinmask;
#else
digitalWrite(cs, HIGH);
#endif
}
else
{
// I2C
uint8_t control = 0x00; // Co = 0, D/C = 0
//LOG("wire begin");
Wire.beginTransmission(_i2caddr);
//LOG("wire write");
Wire.write(control);
//LOG("wire write c");
Wire.write(c);
//LOG("wire end");
Wire.endTransmission();
//LOG("wire done");
}
}
// startscrollright
// Activate a right handed scroll for rows start through stop
// Hint, the display is 16 rows tall. To scroll the whole display, run:
// display.scrollright(0x00, 0x0F)
void Adafruit_SSD1306::startscrollright(uint8_t start, uint8_t stop){
ssd1306_command(SSD1306_RIGHT_HORIZONTAL_SCROLL);
ssd1306_command(0X00);
ssd1306_command(start);
ssd1306_command(0X00);
ssd1306_command(stop);
ssd1306_command(0X00);
ssd1306_command(0XFF);
ssd1306_command(SSD1306_ACTIVATE_SCROLL);
}
// startscrollleft
// Activate a right handed scroll for rows start through stop
// Hint, the display is 16 rows tall. To scroll the whole display, run:
// display.scrollright(0x00, 0x0F)
void Adafruit_SSD1306::startscrollleft(uint8_t start, uint8_t stop){
ssd1306_command(SSD1306_LEFT_HORIZONTAL_SCROLL);
ssd1306_command(0X00);
ssd1306_command(start);
ssd1306_command(0X00);
ssd1306_command(stop);
ssd1306_command(0X00);
ssd1306_command(0XFF);
ssd1306_command(SSD1306_ACTIVATE_SCROLL);
}
// startscrolldiagright
// Activate a diagonal scroll for rows start through stop
// Hint, the display is 16 rows tall. To scroll the whole display, run:
// display.scrollright(0x00, 0x0F)
void Adafruit_SSD1306::startscrolldiagright(uint8_t start, uint8_t stop){
ssd1306_command(SSD1306_SET_VERTICAL_SCROLL_AREA);
ssd1306_command(0X00);
ssd1306_command(SSD1306_LCDHEIGHT);
ssd1306_command(SSD1306_VERTICAL_AND_RIGHT_HORIZONTAL_SCROLL);
ssd1306_command(0X00);
ssd1306_command(start);
ssd1306_command(0X00);
ssd1306_command(stop);
ssd1306_command(0X01);
ssd1306_command(SSD1306_ACTIVATE_SCROLL);
}
// startscrolldiagleft
// Activate a diagonal scroll for rows start through stop
// Hint, the display is 16 rows tall. To scroll the whole display, run:
// display.scrollright(0x00, 0x0F)
void Adafruit_SSD1306::startscrolldiagleft(uint8_t start, uint8_t stop){
ssd1306_command(SSD1306_SET_VERTICAL_SCROLL_AREA);
ssd1306_command(0X00);
ssd1306_command(SSD1306_LCDHEIGHT);
ssd1306_command(SSD1306_VERTICAL_AND_LEFT_HORIZONTAL_SCROLL);
ssd1306_command(0X00);
ssd1306_command(start);
ssd1306_command(0X00);
ssd1306_command(stop);
ssd1306_command(0X01);
ssd1306_command(SSD1306_ACTIVATE_SCROLL);
}
void Adafruit_SSD1306::stopscroll(void){
ssd1306_command(SSD1306_DEACTIVATE_SCROLL);
}
// Dim the display
// dim = true: display is dimmed
// dim = false: display is normal
void Adafruit_SSD1306::dim(boolean dim) {
uint8_t contrast;
if (dim) {
contrast = 0; // Dimmed display
} else {
if (_vccstate == SSD1306_EXTERNALVCC) {
contrast = 0x9F;
} else {
contrast = 0xCF;
}
}
// the range of contrast to too small to be really useful
// it is useful to dim the display
ssd1306_command(SSD1306_SETCONTRAST);
ssd1306_command(contrast);
}
void Adafruit_SSD1306::display(void) {
ssd1306_command(SSD1306_COLUMNADDR);
ssd1306_command(0); // Column start address (0 = reset)
ssd1306_command(SSD1306_LCDWIDTH-1); // Column end address (127 = reset)
ssd1306_command(SSD1306_PAGEADDR);
ssd1306_command(0); // Page start address (0 = reset)
#if SSD1306_LCDHEIGHT == 64
ssd1306_command(7); // Page end address
#endif
#if SSD1306_LCDHEIGHT == 32
ssd1306_command(3); // Page end address
#endif
#if SSD1306_LCDHEIGHT == 16
ssd1306_command(1); // Page end address
#endif
if (sid != -1)
{
// SPI
#ifdef HAVE_PORTREG
*csport |= cspinmask;
*dcport |= dcpinmask;
*csport &= ~cspinmask;
#else
digitalWrite(cs, HIGH);
digitalWrite(dc, HIGH);
digitalWrite(cs, LOW);
#endif
for (uint16_t i=0; i<(SSD1306_LCDWIDTH*SSD1306_LCDHEIGHT/8); i++) {
fastSPIwrite(buffer[i]);
}
#ifdef HAVE_PORTREG
*csport |= cspinmask;
#else
digitalWrite(cs, HIGH);
#endif
}
else
{
// save I2C bitrate
#ifdef TWBR
uint8_t twbrbackup = TWBR;
TWBR = 12; // upgrade to 400KHz!
#endif
//Serial.println(TWBR, DEC);
//Serial.println(TWSR & 0x3, DEC);
// I2C
for (uint16_t i=0; i<(SSD1306_LCDWIDTH*SSD1306_LCDHEIGHT/8); i++) {
// send a bunch of data in one xmission
Wire.beginTransmission(_i2caddr);
WIRE_WRITE(0x40);
for (uint8_t x=0; x<16; x++) {
WIRE_WRITE(buffer[i]);
i++;
}
i--;
Wire.endTransmission();
}
#ifdef TWBR
TWBR = twbrbackup;
#endif
}
}
// clear everything
void Adafruit_SSD1306::clearDisplay(void) {
memset(buffer, 0, (SSD1306_LCDWIDTH*SSD1306_LCDHEIGHT/8));
}
inline void Adafruit_SSD1306::fastSPIwrite(uint8_t d) {
if(hwSPI) {
(void)SPI.transfer(d);
} else {
for(uint8_t bit = 0x80; bit; bit >>= 1) {
#ifdef HAVE_PORTREG
*clkport &= ~clkpinmask;
if(d & bit) *mosiport |= mosipinmask;
else *mosiport &= ~mosipinmask;
*clkport |= clkpinmask;
#else
digitalWrite(sclk, LOW);
if(d & bit) digitalWrite(sid, HIGH);
else digitalWrite(sid, LOW);
digitalWrite(sclk, HIGH);
#endif
}
}
}
void Adafruit_SSD1306::drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color) {
boolean bSwap = false;
switch(rotation) {
case 0:
// 0 degree rotation, do nothing
break;
case 1:
// 90 degree rotation, swap x & y for rotation, then invert x
bSwap = true;
ssd1306_swap(x, y);
x = WIDTH - x - 1;
break;
case 2:
// 180 degree rotation, invert x and y - then shift y around for height.
x = WIDTH - x - 1;
y = HEIGHT - y - 1;
x -= (w-1);
break;
case 3:
// 270 degree rotation, swap x & y for rotation, then invert y and adjust y for w (not to become h)
bSwap = true;
ssd1306_swap(x, y);
y = HEIGHT - y - 1;
y -= (w-1);
break;
}
if(bSwap) {
drawFastVLineInternal(x, y, w, color);
} else {
drawFastHLineInternal(x, y, w, color);
}
}
void Adafruit_SSD1306::drawFastHLineInternal(int16_t x, int16_t y, int16_t w, uint16_t color) {
// Do bounds/limit checks
if(y < 0 || y >= HEIGHT) { return; }
// make sure we don't try to draw below 0
if(x < 0) {
w += x;
x = 0;
}
// make sure we don't go off the edge of the display
if( (x + w) > WIDTH) {
w = (WIDTH - x);
}
// if our width is now negative, punt
if(w <= 0) { return; }
// set up the pointer for movement through the buffer
register uint8_t *pBuf = buffer;
// adjust the buffer pointer for the current row
pBuf += ((y/8) * SSD1306_LCDWIDTH);
// and offset x columns in
pBuf += x;
register uint8_t mask = 1 << (y&7);
switch (color)
{
case WHITE: while(w--) { *pBuf++ |= mask; }; break;
case BLACK: mask = ~mask; while(w--) { *pBuf++ &= mask; }; break;
case INVERSE: while(w--) { *pBuf++ ^= mask; }; break;
}
}
void Adafruit_SSD1306::drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color) {
bool bSwap = false;
switch(rotation) {
case 0:
break;
case 1:
// 90 degree rotation, swap x & y for rotation, then invert x and adjust x for h (now to become w)
bSwap = true;
ssd1306_swap(x, y);
x = WIDTH - x - 1;
x -= (h-1);
break;
case 2:
// 180 degree rotation, invert x and y - then shift y around for height.
x = WIDTH - x - 1;
y = HEIGHT - y - 1;
y -= (h-1);
break;
case 3:
// 270 degree rotation, swap x & y for rotation, then invert y
bSwap = true;
ssd1306_swap(x, y);
y = HEIGHT - y - 1;
break;
}
if(bSwap) {
drawFastHLineInternal(x, y, h, color);
} else {
drawFastVLineInternal(x, y, h, color);
}
}
void Adafruit_SSD1306::drawFastVLineInternal(int16_t x, int16_t __y, int16_t __h, uint16_t color) {
// do nothing if we're off the left or right side of the screen
if(x < 0 || x >= WIDTH) { return; }
// make sure we don't try to draw below 0
if(__y < 0) {
// __y is negative, this will subtract enough from __h to account for __y being 0
__h += __y;
__y = 0;
}
// make sure we don't go past the height of the display
if( (__y + __h) > HEIGHT) {
__h = (HEIGHT - __y);
}
// if our height is now negative, punt
if(__h <= 0) {
return;
}
// this display doesn't need ints for coordinates, use local byte registers for faster juggling
register uint8_t y = __y;
register uint8_t h = __h;
// set up the pointer for fast movement through the buffer
register uint8_t *pBuf = buffer;
// adjust the buffer pointer for the current row
pBuf += ((y/8) * SSD1306_LCDWIDTH);
// and offset x columns in
pBuf += x;
// do the first partial byte, if necessary - this requires some masking
register uint8_t mod = (y&7);
if(mod) {
// mask off the high n bits we want to set
mod = 8-mod;
// note - lookup table results in a nearly 10% performance improvement in fill* functions
// register uint8_t mask = ~(0xFF >> (mod));
static uint8_t premask[8] = {0x00, 0x80, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC, 0xFE };
register uint8_t mask = premask[mod];
// adjust the mask if we're not going to reach the end of this byte
if( h < mod) {
mask &= (0XFF >> (mod-h));
}
switch (color)
{
case WHITE: *pBuf |= mask; break;
case BLACK: *pBuf &= ~mask; break;
case INVERSE: *pBuf ^= mask; break;
}
// fast exit if we're done here!
if(h<mod) { return; }
h -= mod;
pBuf += SSD1306_LCDWIDTH;
}
// write solid bytes while we can - effectively doing 8 rows at a time
if(h >= 8) {
if (color == INVERSE) { // separate copy of the code so we don't impact performance of the black/white write version with an extra comparison per loop
do {
*pBuf=~(*pBuf);
// adjust the buffer forward 8 rows worth of data
pBuf += SSD1306_LCDWIDTH;
// adjust h & y (there's got to be a faster way for me to do this, but this should still help a fair bit for now)
h -= 8;
} while(h >= 8);
}
else {
// store a local value to work with
register uint8_t val = (color == WHITE) ? 255 : 0;
do {
// write our value in
*pBuf = val;
// adjust the buffer forward 8 rows worth of data
pBuf += SSD1306_LCDWIDTH;
// adjust h & y (there's got to be a faster way for me to do this, but this should still help a fair bit for now)
h -= 8;
} while(h >= 8);
}
}
// now do the final partial byte, if necessary
if(h) {
mod = h & 7;
// this time we want to mask the low bits of the byte, vs the high bits we did above
// register uint8_t mask = (1 << mod) - 1;
// note - lookup table results in a nearly 10% performance improvement in fill* functions
static uint8_t postmask[8] = {0x00, 0x01, 0x03, 0x07, 0x0F, 0x1F, 0x3F, 0x7F };
register uint8_t mask = postmask[mod];
switch (color)
{
case WHITE: *pBuf |= mask; break;
case BLACK: *pBuf &= ~mask; break;
case INVERSE: *pBuf ^= mask; break;
}
}
}

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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_ */

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/**********************************************************************
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) { }
}
}

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/**********************************************************************
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__

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/**********************************************************************
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_ */

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/**********************************************************************
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

58
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/**********************************************************************
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__

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

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firmware_smartstepper_trikarus/stepper_nano_zero/calibration.cpp Normal file
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@ -0,0 +1,599 @@
/**********************************************************************
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 "calibration.h"
#include "Flash.h"
#include "nonvolatile.h"
#include "board.h" //for divide with rounding macro
#include "utils.h"
static uint16_t getTableIndex(uint16_t value)
{
int32_t x;
x=((int32_t)value*CALIBRATION_TABLE_SIZE)/CALIBRATION_STEPS; //the divide is a floor not a round which is what we want
return (uint16_t)x;
}
static uint16_t interp(Angle x1, Angle y1, Angle x2, Angle y2, Angle x)
{
int32_t dx,dy,dx2,y;
dx=x2-x1;
dy=y2-y1;
dx2=x-x1;
y=(int32_t)y1+DIVIDE_WITH_ROUND((dx2*dy),dx);
if (y<0)
{
y=y+CALIBRATION_STEPS;
}
return (uint16_t)y;
}
static void printData(int32_t *data, int32_t n)
{
int32_t i;
Serial.print("\n\r");
for (i=0; i<n; i++)
{
Serial.print(data[i]);
if (i!=(n-1))
{
Serial.print(",");
}
}
Serial.print("\n\r");
}
bool CalibrationTable::updateTableValue(int32_t index, int32_t value)
{
table[index].value=value;
table[index].error=CALIBRATION_STEPS/CALIBRATION_TABLE_SIZE; //or error is roughly like variance, so set it to span to next calibration value.
return true;
}
void CalibrationTable::printCalTable(void)
{
int i;
Serial.print("\n\r");
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
Serial.print((uint16_t)table[i].value);
Serial.print(",");
}
Serial.print("\n\r");
}
Angle CalibrationTable::fastReverseLookup(Angle encoderAngle)
{
#ifdef NZS_FAST_CAL
//assume calibration is good
if (fastCalVaild)
{
uint16_t x;
x=((uint16_t)encoderAngle)/4; //we only have 16384 values in table
return (Angle)NVM->FastCal.angle[x];
}else
{
return reverseLookup(encoderAngle);
}
#else
return reverseLookup(encoderAngle)
#endif
}
Angle CalibrationTable::reverseLookup(Angle encoderAngle)
{
int32_t i=0;
int32_t a1,a2;
int32_t x;
int16_t y;
int32_t min,max;
min=(uint16_t)table[0].value;
max=min;
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
x=(uint16_t)table[i].value;
if (x<min)
{
min=x;
}
if (x>max)
{
max=x;
}
}
x=(uint16_t)encoderAngle;
if (x<min)
{
x=x+CALIBRATION_STEPS;
}
i=0;
while (i<CALIBRATION_TABLE_SIZE)
{
a1=(uint16_t)table[i].value;
//handle index wrap around
if (i==(CALIBRATION_TABLE_SIZE-1))
{
a2=(uint16_t)table[0].value;
}else
{
a2=(uint16_t)table[i+1].value;
}
//wrap
if (abs(a1-a2)>CALIBRATION_STEPS/2)
{
if (a1<a2)
{
a1=a1+CALIBRATION_STEPS;
}else
{
a2=a2+CALIBRATION_STEPS;
}
//LOG("xxxx %d %d %d",a1,a2,x);
}
//finding matching location
if ( (x>=a1 && x<=a2) ||
(x>=a2 && x<=a1) )
{
//LOG("%d", i);
// inerpolate results and return
//LOG("%d %d %d",a1,a2,x);
//LOG("%d,%d",(i*CALIBRATION_MAX)/CALIBRATION_TABLE_SIZE,((i+2)*CALIBRATION_MAX)/CALIBRATION_TABLE_SIZE);
y=interp(a1, DIVIDE_WITH_ROUND((i*CALIBRATION_STEPS),CALIBRATION_TABLE_SIZE), a2, DIVIDE_WITH_ROUND( ((i+1)*CALIBRATION_STEPS),CALIBRATION_TABLE_SIZE), x);
return y;
}
i++;
}
ERROR("WE did some thing wrong");
}
void CalibrationTable::smoothTable(void)
{
uint16_t b[]={1,2,4,5,4,2,1};
uint16_t sum_b=19; //sum of b filter
int32_t data[CALIBRATION_TABLE_SIZE];
int32_t table2[CALIBRATION_TABLE_SIZE];
int32_t i;
int32_t offset=0;
int32_t startNum;
//first lets handle the wrap around in the table
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
if (i>0 && offset==0)
{
if(((uint16_t)table[i-1].value-(uint16_t)table[i].value) <-32768)
{
offset=-65536;
}
if (((uint16_t)table[i-1].value-(uint16_t)table[i].value) > 32768)
{
offset=65536;
}
}
table2[i]=(int32_t)((uint16_t)table[i].value)+offset;
}
//Serial.print("after wrap\n\r");
//printData(table2,CALIBRATION_TABLE_SIZE);
//remove the starting offset and compensate table for index
startNum=table2[0];
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
table2[i]=table2[i]-startNum - (i*65536)/CALIBRATION_TABLE_SIZE;
}
//Serial.print("after phase comp\n\r");
//printData(table2,CALIBRATION_TABLE_SIZE);
//filter the data
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
int j,ix,ib;;
int32_t sum=0;
ib=0;
for (j=i-3; j<i+4; j++)
{
ix=j;
if (ix<0)
{
ix=ix+CALIBRATION_TABLE_SIZE;
}
if (ix>=CALIBRATION_TABLE_SIZE)
{
ix=ix-CALIBRATION_TABLE_SIZE;
}
if (i==0)
{
LOG("index %d",ix);
}
sum=sum+table2[ix]*b[ib];
ib++;
}
sum=DIVIDE_WITH_ROUND(sum,sum_b);
data[i]=sum;
}
//Serial.print("after filter\n\r");
//printData(data,CALIBRATION_TABLE_SIZE);
//add in offset and the phase compenstation
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
data[i]=data[i]+startNum + (i*65536)/CALIBRATION_TABLE_SIZE;
}
//Serial.print("after phase comp added\n\r");
//printData(data,CALIBRATION_TABLE_SIZE);
//remove the uint16_t wrap
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
if (data[i]>=65536)
{
data[i]=data[i]-65536;
}
}
//Serial.print("after wrap added\n\r");
//printData(data,CALIBRATION_TABLE_SIZE);
//save new table
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
table[i].value=data[i];
}
}
void CalibrationTable::saveToFlash(void)
{
FlashCalData_t data;
int i;
for (i=0; i<CALIBRATION_TABLE_SIZE; i++ )
{
data.table[i]=(uint16_t)table[i].value;
}
data.status=true;
LOG("Writting Calbiration to Flash");
nvmWriteCalTable(&data,sizeof(data));
memset(&data,0,sizeof(data));
memcpy(&data, &NVM->CalibrationTable,sizeof(data));
createFastCal();
LOG("after writting status is %d",data.status);
loadFromFlash();
}
void CalibrationTable::loadFromFlash(void)
{
FlashCalData_t data;
int i;
LOG("Reading Calbiration to Flash");
memcpy(&data, &NVM->CalibrationTable,sizeof(data));
for (i=0; i<CALIBRATION_TABLE_SIZE; i++ )
{
table[i].value=Angle(data.table[i]);
table[i].error=CALIBRATION_MIN_ERROR;
}
data.status=true;
}
bool CalibrationTable::flashGood(void)
{
LOG("calibration table status is: %d",NVM->CalibrationTable.status);
return NVM->CalibrationTable.status;
}
void CalibrationTable::createFastCal(void)
{
#ifdef NZS_FAST_CAL
int32_t i;
uint16_t cs=0;
uint16_t data[256];
int32_t j;
j=0;
cs=0;
LOG("setting fast calibration");
for (i=0; i<16384; i++)
{
uint16_t x;
x=reverseLookup(i*4);
data[j]=x;
j++;
if (j>=256)
{
flashWrite(&NVM->FastCal.angle[i-255],data,256*sizeof(uint16_t));
//LOG("Wrote fastcal at index %d-%d", i-255, i);
j=0;
}
cs+=x;
}
//update the checksum
flashWrite(&NVM->FastCal.checkSum,&cs,sizeof(uint16_t));
fastCalVaild=true;
//this is a quick test
/*
for (i=0; i<16384; i++)
{
LOG("fast Cal %d,%d,%d",i,NVM->FastCal.angle[i],(uint32_t)reverseLookup(i*4));
}
*/
#endif
}
void CalibrationTable::updateFastCal(void)
{
#ifdef NZS_FAST_CAL
int32_t i;
uint16_t cs=0;
uint16_t data[256];
int32_t j;
bool NonZero=false;
for (i=0; i<16384; i++)
{
cs+=NVM->FastCal.angle[i];
if (cs != 0)
{
NonZero=true;
}
}
if (cs!=NVM->FastCal.checkSum || NonZero==false)
{
createFastCal();
}
else
{
LOG("fast cal is valid");
fastCalVaild=true;
}
#endif
}
void CalibrationTable::init(void)
{
int i;
if (true == flashGood())
{
loadFromFlash();
updateFastCal();
}else
{
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
table[i].value=0;
table[i].error=CALIBRATION_ERROR_NOT_SET;
}
}
return;
}
#if 0
//This code was removed because with micro stepping we can not assume
// our actualAngle is correct.
void CalibrationTable::updateTable(Angle actualAngle, Angle encoderValue);
{
static int32_t lastAngle=-1;
static uint16_t lastEncoderValue=0;
if (last != -1)
{
int32_t dist;
//hopefull we can use the current point and last point to interpolate and set a value or two in table.
dist=abs((int32_t)actualAngle-(int32_t)lastAngle); //distance between the two angles
//since our angles wrap the shortest distance will be one less than 32768
if (dist>CALIBRATION_STEPS/2)
{
dist=dist-CALIBRATION_STEPS;
}
//if our distance is larger than size between calibration points in table we will ignore this sample
if (dist>CALIBRATION_STEPS/CALIBRATION_TABLE_SIZE)
{
//spans two or more table calibration points for this implementation we will not use
lastIndex=(int32_t)index;
lastValue=value;
return;
}
//now lets see if the values are above and below a table calibration point
dist= abs(getTableIndex(lastAngle)-getTableIndex(actualAngle));
if (dist != 0) //if the two indexs into table are not the same it spans a calibration point in table.
{
//the two span a set calibation table point.
uint16_t newValue;
newValue=interp(lastAngle, lastEncoderValue, actualAngle, encoderValue, getTableIndex(actualAngle)*(CALIBRATION_STEPS/CALIBRATION_TABLE_SIZE))
//this new value is our best guess as to the correct calibration value.
updateTableValue(getTableIndex(actualAngle),newValue);
} else
{
//we should calibate the table value for the point the closest
}
}
lastAngle=(int32_t)actualAngle;
lastEncoderValue=encoderValue;
}
#endif
//when we are microstepping and are in between steps the probability the stepper motor did not move
// is high. That is the actualAngle will be correct but the encoderValue will be behind due to not having enough torque to move motor.
// Therefore we only want to update the calibration on whole steps where we have highest probability of things being correct.
void CalibrationTable::updateTable(Angle actualAngle, Angle encoderValue)
{
int32_t dist, index;
Angle tableAngle;
index = getTableIndex((uint32_t)actualAngle+CALIBRATION_STEPS/CALIBRATION_TABLE_SIZE/2); //add half of distance to next entry to round to closest table index
tableAngle=(index*CALIBRATION_STEPS)/CALIBRATION_TABLE_SIZE; //calculate the angle for this index
dist=tableAngle-actualAngle; //distance to calibration table angle
//LOG("Dist is %d",dist);
if (abs(dist)<CALIBRATION_MIN_ERROR) //if we are with in our minimal error we can calibrate
{
updateTableValue(index,(int32_t)encoderValue);
}
}
bool CalibrationTable::calValid(void)
{
uint32_t i;
for (i=0; i<CALIBRATION_TABLE_SIZE; i++)
{
if (table[i].error == CALIBRATION_ERROR_NOT_SET)
{
return false;
}
}
if (false == flashGood())
{
saveToFlash();
}
return true;
}
//We want to linearly interpolate between calibration table angle
int CalibrationTable::getValue(Angle actualAngle, CalData_t *ptrData)
{
int32_t indexLow,indexHigh;
int32_t angleLow,angleHigh;
uint16_t value;
int32_t y1,y2;
int16_t err;
indexLow=getTableIndex((uint16_t)actualAngle);
// LOG("index %d, actual %u",indexLow, (uint16_t)actualAngle);
indexHigh=indexLow+1;
angleLow=(indexLow*CALIBRATION_STEPS)/CALIBRATION_TABLE_SIZE;
angleHigh=(indexHigh*CALIBRATION_STEPS)/CALIBRATION_TABLE_SIZE;
if (indexHigh>=CALIBRATION_TABLE_SIZE)
{
indexHigh -= CALIBRATION_TABLE_SIZE;
}
//LOG("AngleLow %d, AngleHigh %d",angleLow,angleHigh);
//LOG("TableLow %u, TableHigh %d",(uint16_t)table[indexLow].value,(uint16_t)table[indexHigh].value);
y1=table[indexLow].value;
y2=table[indexHigh].value;
//handle the wrap condition
if (abs(y2-y1)>CALIBRATION_STEPS/2)
{
if (y2<y1)
{
y2=y2+CALIBRATION_STEPS;
}else
{
y1=y1+CALIBRATION_STEPS;
}
}
value=interp(angleLow, y1, angleHigh, y2,actualAngle);
//handle the wrap condition
if (value>=CALIBRATION_STEPS)
{
value=value-CALIBRATION_STEPS;
}
err=table[indexLow].error;
if (table[indexHigh].error > err)
{
err=table[indexHigh].error;
}
if (table[indexLow].error == CALIBRATION_ERROR_NOT_SET ||
table[indexHigh].error == CALIBRATION_ERROR_NOT_SET)
{
err=CALIBRATION_ERROR_NOT_SET;
}
ptrData->value=value;
ptrData->error=err;
return 0;
}
Angle CalibrationTable::getCal(Angle actualAngle)
{
CalData_t data;
getValue(actualAngle, &data);
return data.value;
}

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/**********************************************************************
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__

381
firmware_smartstepper_trikarus/stepper_nano_zero/command.cpp Normal file
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/**********************************************************************
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;
}

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/**********************************************************************
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

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/**********************************************************************
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__

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/**********************************************************************
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;
}

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/**********************************************************************
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_ */

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firmware_smartstepper_trikarus/stepper_nano_zero/fet_driver.h Normal file
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/**********************************************************************
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_ */

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/**********************************************************************
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
}

48
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/**********************************************************************
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 FTOA_H_
#define FTOA_H_
#define MAX_MANTISA (1000)
int ftoa (float x, char *str, char prec, char format);
#endif /* FTOA_H_ */

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// Font structures for newer Adafruit_GFX (1.1 and later).
// Example fonts are included in 'Fonts' directory.
// To use a font in your Arduino sketch, #include the corresponding .h
// file and pass address of GFXfont struct to setFont(). Pass NULL to
// revert to 'classic' fixed-space bitmap font.
#ifndef _GFXFONT_H_
#define _GFXFONT_H_
typedef struct { // Data stored PER GLYPH
uint16_t bitmapOffset; // Pointer into GFXfont->bitmap
uint8_t width, height; // Bitmap dimensions in pixels
uint8_t xAdvance; // Distance to advance cursor (x axis)
int8_t xOffset, yOffset; // Dist from cursor pos to UL corner
} GFXglyph;
typedef struct { // Data stored for FONT AS A WHOLE:
uint8_t *bitmap; // Glyph bitmaps, concatenated
GFXglyph *glyph; // Glyph array
uint8_t first, last; // ASCII extents
uint8_t yAdvance; // Newline distance (y axis)
} GFXfont;
#endif // _GFXFONT_H_

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// This is the 'classic' fixed-space bitmap font for Adafruit_GFX since 1.0.
// See gfxfont.h for newer custom bitmap font info.
#ifndef FONT5X7_H
#define FONT5X7_H
#ifdef __AVR__
#include <avr/io.h>
#include <avr/pgmspace.h>
#elif defined(ESP8266)
#include <pgmspace.h>
#else
#define PROGMEM
#endif
// Standard ASCII 5x7 font
static const unsigned char font[] PROGMEM = {
0x00, 0x00, 0x00, 0x00, 0x00,
0x3E, 0x5B, 0x4F, 0x5B, 0x3E,
0x3E, 0x6B, 0x4F, 0x6B, 0x3E,
0x1C, 0x3E, 0x7C, 0x3E, 0x1C,
0x18, 0x3C, 0x7E, 0x3C, 0x18,
0x1C, 0x57, 0x7D, 0x57, 0x1C,
0x1C, 0x5E, 0x7F, 0x5E, 0x1C,
0x00, 0x18, 0x3C, 0x18, 0x00,
0xFF, 0xE7, 0xC3, 0xE7, 0xFF,
0x00, 0x18, 0x24, 0x18, 0x00,
0xFF, 0xE7, 0xDB, 0xE7, 0xFF,
0x30, 0x48, 0x3A, 0x06, 0x0E,
0x26, 0x29, 0x79, 0x29, 0x26,
0x40, 0x7F, 0x05, 0x05, 0x07,
0x40, 0x7F, 0x05, 0x25, 0x3F,
0x5A, 0x3C, 0xE7, 0x3C, 0x5A,
0x7F, 0x3E, 0x1C, 0x1C, 0x08,
0x08, 0x1C, 0x1C, 0x3E, 0x7F,
0x14, 0x22, 0x7F, 0x22, 0x14,
0x5F, 0x5F, 0x00, 0x5F, 0x5F,
0x06, 0x09, 0x7F, 0x01, 0x7F,
0x00, 0x66, 0x89, 0x95, 0x6A,
0x60, 0x60, 0x60, 0x60, 0x60,
0x94, 0xA2, 0xFF, 0xA2, 0x94,
0x08, 0x04, 0x7E, 0x04, 0x08,
0x10, 0x20, 0x7E, 0x20, 0x10,
0x08, 0x08, 0x2A, 0x1C, 0x08,
0x08, 0x1C, 0x2A, 0x08, 0x08,
0x1E, 0x10, 0x10, 0x10, 0x10,
0x0C, 0x1E, 0x0C, 0x1E, 0x0C,
0x30, 0x38, 0x3E, 0x38, 0x30,
0x06, 0x0E, 0x3E, 0x0E, 0x06,
0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x5F, 0x00, 0x00,
0x00, 0x07, 0x00, 0x07, 0x00,
0x14, 0x7F, 0x14, 0x7F, 0x14,
0x24, 0x2A, 0x7F, 0x2A, 0x12,
0x23, 0x13, 0x08, 0x64, 0x62,
0x36, 0x49, 0x56, 0x20, 0x50,
0x00, 0x08, 0x07, 0x03, 0x00,
0x00, 0x1C, 0x22, 0x41, 0x00,
0x00, 0x41, 0x22, 0x1C, 0x00,
0x2A, 0x1C, 0x7F, 0x1C, 0x2A,
0x08, 0x08, 0x3E, 0x08, 0x08,
0x00, 0x80, 0x70, 0x30, 0x00,
0x08, 0x08, 0x08, 0x08, 0x08,
0x00, 0x00, 0x60, 0x60, 0x00,
0x20, 0x10, 0x08, 0x04, 0x02,
0x3E, 0x51, 0x49, 0x45, 0x3E,
0x00, 0x42, 0x7F, 0x40, 0x00,
0x72, 0x49, 0x49, 0x49, 0x46,
0x21, 0x41, 0x49, 0x4D, 0x33,
0x18, 0x14, 0x12, 0x7F, 0x10,
0x27, 0x45, 0x45, 0x45, 0x39,
0x3C, 0x4A, 0x49, 0x49, 0x31,
0x41, 0x21, 0x11, 0x09, 0x07,
0x36, 0x49, 0x49, 0x49, 0x36,
0x46, 0x49, 0x49, 0x29, 0x1E,
0x00, 0x00, 0x14, 0x00, 0x00,
0x00, 0x40, 0x34, 0x00, 0x00,
0x00, 0x08, 0x14, 0x22, 0x41,
0x14, 0x14, 0x14, 0x14, 0x14,
0x00, 0x41, 0x22, 0x14, 0x08,
0x02, 0x01, 0x59, 0x09, 0x06,
0x3E, 0x41, 0x5D, 0x59, 0x4E,
0x7C, 0x12, 0x11, 0x12, 0x7C,
0x7F, 0x49, 0x49, 0x49, 0x36,
0x3E, 0x41, 0x41, 0x41, 0x22,
0x7F, 0x41, 0x41, 0x41, 0x3E,
0x7F, 0x49, 0x49, 0x49, 0x41,
0x7F, 0x09, 0x09, 0x09, 0x01,
0x3E, 0x41, 0x41, 0x51, 0x73,
0x7F, 0x08, 0x08, 0x08, 0x7F,
0x00, 0x41, 0x7F, 0x41, 0x00,
0x20, 0x40, 0x41, 0x3F, 0x01,
0x7F, 0x08, 0x14, 0x22, 0x41,
0x7F, 0x40, 0x40, 0x40, 0x40,
0x7F, 0x02, 0x1C, 0x02, 0x7F,
0x7F, 0x04, 0x08, 0x10, 0x7F,
0x3E, 0x41, 0x41, 0x41, 0x3E,
0x7F, 0x09, 0x09, 0x09, 0x06,
0x3E, 0x41, 0x51, 0x21, 0x5E,
0x7F, 0x09, 0x19, 0x29, 0x46,
0x26, 0x49, 0x49, 0x49, 0x32,
0x03, 0x01, 0x7F, 0x01, 0x03,
0x3F, 0x40, 0x40, 0x40, 0x3F,
0x1F, 0x20, 0x40, 0x20, 0x1F,
0x3F, 0x40, 0x38, 0x40, 0x3F,
0x63, 0x14, 0x08, 0x14, 0x63,
0x03, 0x04, 0x78, 0x04, 0x03,
0x61, 0x59, 0x49, 0x4D, 0x43,
0x00, 0x7F, 0x41, 0x41, 0x41,
0x02, 0x04, 0x08, 0x10, 0x20,
0x00, 0x41, 0x41, 0x41, 0x7F,
0x04, 0x02, 0x01, 0x02, 0x04,
0x40, 0x40, 0x40, 0x40, 0x40,
0x00, 0x03, 0x07, 0x08, 0x00,
0x20, 0x54, 0x54, 0x78, 0x40,
0x7F, 0x28, 0x44, 0x44, 0x38,
0x38, 0x44, 0x44, 0x44, 0x28,
0x38, 0x44, 0x44, 0x28, 0x7F,
0x38, 0x54, 0x54, 0x54, 0x18,
0x00, 0x08, 0x7E, 0x09, 0x02,
0x18, 0xA4, 0xA4, 0x9C, 0x78,
0x7F, 0x08, 0x04, 0x04, 0x78,
0x00, 0x44, 0x7D, 0x40, 0x00,
0x20, 0x40, 0x40, 0x3D, 0x00,
0x7F, 0x10, 0x28, 0x44, 0x00,
0x00, 0x41, 0x7F, 0x40, 0x00,
0x7C, 0x04, 0x78, 0x04, 0x78,
0x7C, 0x08, 0x04, 0x04, 0x78,
0x38, 0x44, 0x44, 0x44, 0x38,
0xFC, 0x18, 0x24, 0x24, 0x18,
0x18, 0x24, 0x24, 0x18, 0xFC,
0x7C, 0x08, 0x04, 0x04, 0x08,
0x48, 0x54, 0x54, 0x54, 0x24,
0x04, 0x04, 0x3F, 0x44, 0x24,
0x3C, 0x40, 0x40, 0x20, 0x7C,
0x1C, 0x20, 0x40, 0x20, 0x1C,
0x3C, 0x40, 0x30, 0x40, 0x3C,
0x44, 0x28, 0x10, 0x28, 0x44,
0x4C, 0x90, 0x90, 0x90, 0x7C,
0x44, 0x64, 0x54, 0x4C, 0x44,
0x00, 0x08, 0x36, 0x41, 0x00,
0x00, 0x00, 0x77, 0x00, 0x00,
0x00, 0x41, 0x36, 0x08, 0x00,
0x02, 0x01, 0x02, 0x04, 0x02,
0x3C, 0x26, 0x23, 0x26, 0x3C,
0x1E, 0xA1, 0xA1, 0x61, 0x12,
0x3A, 0x40, 0x40, 0x20, 0x7A,
0x38, 0x54, 0x54, 0x55, 0x59,
0x21, 0x55, 0x55, 0x79, 0x41,
0x22, 0x54, 0x54, 0x78, 0x42, // a-umlaut
0x21, 0x55, 0x54, 0x78, 0x40,
0x20, 0x54, 0x55, 0x79, 0x40,
0x0C, 0x1E, 0x52, 0x72, 0x12,
0x39, 0x55, 0x55, 0x55, 0x59,
0x39, 0x54, 0x54, 0x54, 0x59,
0x39, 0x55, 0x54, 0x54, 0x58,
0x00, 0x00, 0x45, 0x7C, 0x41,
0x00, 0x02, 0x45, 0x7D, 0x42,
0x00, 0x01, 0x45, 0x7C, 0x40,
0x7D, 0x12, 0x11, 0x12, 0x7D, // A-umlaut
0xF0, 0x28, 0x25, 0x28, 0xF0,
0x7C, 0x54, 0x55, 0x45, 0x00,
0x20, 0x54, 0x54, 0x7C, 0x54,
0x7C, 0x0A, 0x09, 0x7F, 0x49,
0x32, 0x49, 0x49, 0x49, 0x32,
0x3A, 0x44, 0x44, 0x44, 0x3A, // o-umlaut
0x32, 0x4A, 0x48, 0x48, 0x30,
0x3A, 0x41, 0x41, 0x21, 0x7A,
0x3A, 0x42, 0x40, 0x20, 0x78,
0x00, 0x9D, 0xA0, 0xA0, 0x7D,
0x3D, 0x42, 0x42, 0x42, 0x3D, // O-umlaut
0x3D, 0x40, 0x40, 0x40, 0x3D,
0x3C, 0x24, 0xFF, 0x24, 0x24,
0x48, 0x7E, 0x49, 0x43, 0x66,
0x2B, 0x2F, 0xFC, 0x2F, 0x2B,
0xFF, 0x09, 0x29, 0xF6, 0x20,
0xC0, 0x88, 0x7E, 0x09, 0x03,
0x20, 0x54, 0x54, 0x79, 0x41,
0x00, 0x00, 0x44, 0x7D, 0x41,
0x30, 0x48, 0x48, 0x4A, 0x32,
0x38, 0x40, 0x40, 0x22, 0x7A,
0x00, 0x7A, 0x0A, 0x0A, 0x72,
0x7D, 0x0D, 0x19, 0x31, 0x7D,
0x26, 0x29, 0x29, 0x2F, 0x28,
0x26, 0x29, 0x29, 0x29, 0x26,
0x30, 0x48, 0x4D, 0x40, 0x20,
0x38, 0x08, 0x08, 0x08, 0x08,
0x08, 0x08, 0x08, 0x08, 0x38,
0x2F, 0x10, 0xC8, 0xAC, 0xBA,
0x2F, 0x10, 0x28, 0x34, 0xFA,
0x00, 0x00, 0x7B, 0x00, 0x00,
0x08, 0x14, 0x2A, 0x14, 0x22,
0x22, 0x14, 0x2A, 0x14, 0x08,
0x55, 0x00, 0x55, 0x00, 0x55, // #176 (25% block) missing in old code
0xAA, 0x55, 0xAA, 0x55, 0xAA, // 50% block
0xFF, 0x55, 0xFF, 0x55, 0xFF, // 75% block
0x00, 0x00, 0x00, 0xFF, 0x00,
0x10, 0x10, 0x10, 0xFF, 0x00,
0x14, 0x14, 0x14, 0xFF, 0x00,
0x10, 0x10, 0xFF, 0x00, 0xFF,
0x10, 0x10, 0xF0, 0x10, 0xF0,
0x14, 0x14, 0x14, 0xFC, 0x00,
0x14, 0x14, 0xF7, 0x00, 0xFF,
0x00, 0x00, 0xFF, 0x00, 0xFF,
0x14, 0x14, 0xF4, 0x04, 0xFC,
0x14, 0x14, 0x17, 0x10, 0x1F,
0x10, 0x10, 0x1F, 0x10, 0x1F,
0x14, 0x14, 0x14, 0x1F, 0x00,
0x10, 0x10, 0x10, 0xF0, 0x00,
0x00, 0x00, 0x00, 0x1F, 0x10,
0x10, 0x10, 0x10, 0x1F, 0x10,
0x10, 0x10, 0x10, 0xF0, 0x10,
0x00, 0x00, 0x00, 0xFF, 0x10,
0x10, 0x10, 0x10, 0x10, 0x10,
0x10, 0x10, 0x10, 0xFF, 0x10,
0x00, 0x00, 0x00, 0xFF, 0x14,
0x00, 0x00, 0xFF, 0x00, 0xFF,
0x00, 0x00, 0x1F, 0x10, 0x17,
0x00, 0x00, 0xFC, 0x04, 0xF4,
0x14, 0x14, 0x17, 0x10, 0x17,
0x14, 0x14, 0xF4, 0x04, 0xF4,
0x00, 0x00, 0xFF, 0x00, 0xF7,
0x14, 0x14, 0x14, 0x14, 0x14,
0x14, 0x14, 0xF7, 0x00, 0xF7,
0x14, 0x14, 0x14, 0x17, 0x14,
0x10, 0x10, 0x1F, 0x10, 0x1F,
0x14, 0x14, 0x14, 0xF4, 0x14,
0x10, 0x10, 0xF0, 0x10, 0xF0,
0x00, 0x00, 0x1F, 0x10, 0x1F,
0x00, 0x00, 0x00, 0x1F, 0x14,
0x00, 0x00, 0x00, 0xFC, 0x14,
0x00, 0x00, 0xF0, 0x10, 0xF0,
0x10, 0x10, 0xFF, 0x10, 0xFF,
0x14, 0x14, 0x14, 0xFF, 0x14,
0x10, 0x10, 0x10, 0x1F, 0x00,
0x00, 0x00, 0x00, 0xF0, 0x10,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
0xFF, 0xFF, 0xFF, 0x00, 0x00,
0x00, 0x00, 0x00, 0xFF, 0xFF,
0x0F, 0x0F, 0x0F, 0x0F, 0x0F,
0x38, 0x44, 0x44, 0x38, 0x44,
0xFC, 0x4A, 0x4A, 0x4A, 0x34, // sharp-s or beta
0x7E, 0x02, 0x02, 0x06, 0x06,
0x02, 0x7E, 0x02, 0x7E, 0x02,
0x63, 0x55, 0x49, 0x41, 0x63,
0x38, 0x44, 0x44, 0x3C, 0x04,
0x40, 0x7E, 0x20, 0x1E, 0x20,
0x06, 0x02, 0x7E, 0x02, 0x02,
0x99, 0xA5, 0xE7, 0xA5, 0x99,
0x1C, 0x2A, 0x49, 0x2A, 0x1C,
0x4C, 0x72, 0x01, 0x72, 0x4C,
0x30, 0x4A, 0x4D, 0x4D, 0x30,
0x30, 0x48, 0x78, 0x48, 0x30,
0xBC, 0x62, 0x5A, 0x46, 0x3D,
0x3E, 0x49, 0x49, 0x49, 0x00,
0x7E, 0x01, 0x01, 0x01, 0x7E,
0x2A, 0x2A, 0x2A, 0x2A, 0x2A,
0x44, 0x44, 0x5F, 0x44, 0x44,
0x40, 0x51, 0x4A, 0x44, 0x40,
0x40, 0x44, 0x4A, 0x51, 0x40,
0x00, 0x00, 0xFF, 0x01, 0x03,
0xE0, 0x80, 0xFF, 0x00, 0x00,
0x08, 0x08, 0x6B, 0x6B, 0x08,
0x36, 0x12, 0x36, 0x24, 0x36,
0x06, 0x0F, 0x09, 0x0F, 0x06,
0x00, 0x00, 0x18, 0x18, 0x00,
0x00, 0x00, 0x10, 0x10, 0x00,
0x30, 0x40, 0xFF, 0x01, 0x01,
0x00, 0x1F, 0x01, 0x01, 0x1E,
0x00, 0x19, 0x1D, 0x17, 0x12,
0x00, 0x3C, 0x3C, 0x3C, 0x3C,
0x00, 0x00, 0x00, 0x00, 0x00 // #255 NBSP
};
#endif // FONT5X7_H

145
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/**********************************************************************
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 "nonvolatile.h"
#include "Flash.h" //thanks to Kent Larsen for pointing out the lower case error
#include <Arduino.h>
//we use this so we can hard code calibration table
// be sure to set the last word as status flag
// this save time calibrating each time we do a code build
#ifdef NZS_FAST_CAL
__attribute__((__aligned__(FLASH_ROW_SIZE))) const uint16_t NVM_flash[16767]={ //allocates 33280 bytes
#else
__attribute__((__aligned__(FLASH_ROW_SIZE))) const uint16_t NVM_flash[256]={ //allocates 512 bytes
#endif
25758,26078,26399,26720,27043,27372,27698,28024,28353,28688,29017,29345,29671,30009,30340,30663,30997,31335,31664,31994,32325,32666,32997,33324,33661,33997,34330,34657,34986,35324,35653,35981,36303,36637,36962,37282,37605,37938,38260,38581,38901,39232,39554,39877,40198,40528,40849,41178,41500,41835,42163,42485,42815,43149,43475,43804,44139,44476,44801,45136,45460,45804,46130,46460,46790,47119,47449,47777,48103,48442,48772,49099,49424,49759,50087,50410,50735,51067,51394,51716,52045,52379,52703,53024,53348,53680,54002,54326,54648,54987,55309,55629,55958,56292,56612,56936,57262,57594,57917,58246,58569,58902,59225,59552,59873,60206,60534,60862,61192,61531,61864,62194,62529,62873,63210,63544,63878,64222,64562,64899,65241,45,384,719,1058,1398,1733,2058,2390,2732,3060,3394,3720,4056,4386,4710,5036,5366,5693,6016,6340,6665,6989,7308,7622,7952,8263,8586,8903,9232,9551,9874,10200,10534,10859,11185,11513,11852,12184,12514,12848,13185,13511,13841,14170,14504,14830,15156,15490,15827,16153,16481,16808,17143,17474,17801,18121,18458,18783,19111,19433,19765,20084,20405,20721,21045,21360,21673,21984,22305,22614,22922,23231,23551,23861,24173,24482,24808,25118,25435,
0xFFFF
};
static_assert (sizeof(nvm_t)<sizeof(NVM_flash), "nvm_t structure larger than allocated memory");
//FLASH_ALLOCATE(NVM_flash, sizeof(nvm_t));
bool nvmWriteCalTable(void *ptrData, uint32_t size)
{
bool x=true;
flashWrite(&NVM->CalibrationTable,ptrData,size);
return true;
}
bool nvmWrite_sPID(float Kp, float Ki, float Kd)
{
PIDparams_t pid;
pid.Kp=Kp;
pid.Ki=Ki;
pid.Kd=Kd;
pid.parametersVaild=true;
flashWrite((void *)&NVM->sPID,&pid,sizeof(pid));
return true;
}
bool nvmWrite_vPID(float Kp, float Ki, float Kd)
{
PIDparams_t pid;
pid.Kp=Kp;
pid.Ki=Ki;
pid.Kd=Kd;
pid.parametersVaild=true;
flashWrite((void *)&NVM->vPID,&pid,sizeof(pid));
return true;
}
bool nvmWrite_pPID(float Kp, float Ki, float Kd)
{
PIDparams_t pid;
pid.Kp=Kp;
pid.Ki=Ki;
pid.Kd=Kd;
pid.parametersVaild=true;
flashWrite((void *)&NVM->pPID,&pid,sizeof(pid));
return true;
}
bool nvmWriteSystemParms(SystemParams_t &systemParams)
{
systemParams.parametersVaild=true;
flashWrite((void *)&NVM->SystemParams,&systemParams,sizeof(systemParams));
return true;
}
bool nvmWriteMotorParms(MotorParams_t &motorParams)
{
motorParams.parametersVaild=true;
flashWrite((void *)&NVM->motorParams,&motorParams,sizeof(motorParams));
return true;
}
bool nvmErase(void)
{
bool data=false;
uint16_t cs=0;
flashWrite((void *)&NVM->CalibrationTable.status,&data,sizeof(data));
flashWrite((void *)&NVM->sPID.parametersVaild ,&data,sizeof(data));
flashWrite((void *)&NVM->vPID.parametersVaild ,&data,sizeof(data));
flashWrite((void *)&NVM->pPID.parametersVaild ,&data,sizeof(data));
flashWrite((void *)&NVM->motorParams.parametersVaild ,&data,sizeof(data));
flashWrite((void *)&NVM->SystemParams.parametersVaild ,&data,sizeof(data));
#ifdef NZS_FAST_CAL
flashWrite((void *)&NVM->FastCal.checkSum,&cs,sizeof(cs));
#endif
}

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/**********************************************************************
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 __NONVOLATILE__H__
#define __NONVOLATILE__H__
#include "calibration.h"
#include "board.h"
typedef struct {
float Kp;
float Ki;
float Kd;
bool parametersVaild;
} PIDparams_t;
typedef struct {
int32_t currentMa; //maximum current for the motor
int32_t currentHoldMa; //hold current for the motor
int32_t homeMa; //maximum current when error homing
int32_t homeHoldMa; //hold current when error homing
bool motorWiring; //forward wiring of motor or reverse
int32_t fullStepsPerRotation; //how many full steps per rotation is the motor
bool parametersVaild;
} MotorParams_t;
typedef struct {
int32_t microsteps; //number of microsteps on the dir/step pin interface from host
RotationDir_t dirPinRotation; //is the direction pin high for clockwise or counterClockWise
int32_t errorLimit; //error limit before error pin asserts 65536==360degrees
ErrorPinMode_t errorPinMode; //is error pin used for enable, error, or bidirectional
feedbackCtrl_t controllerMode; //feedback mode for the controller
int32_t homePin; //if greater than zero this is the pin we use trigger home current settings
bool errorLogic; //if high and error will be high on output pin
int32_t homeAngleDelay; //the angle to delay before switching to lower homing current
bool parametersVaild;
} SystemParams_t;
#ifdef NZS_FAST_CAL
typedef struct {
uint16_t angle[16384];
uint16_t checkSum;
}FastCal_t;
#endif
typedef struct {
FlashCalData_t CalibrationTable;
__attribute__((__aligned__(8))) PIDparams_t sPID; //simple PID parameters
__attribute__((__aligned__(8))) PIDparams_t pPID; //position PID parameters
__attribute__((__aligned__(8))) PIDparams_t vPID; //velocity PID parameters
__attribute__((__aligned__(8))) SystemParams_t SystemParams;
__attribute__((__aligned__(8))) MotorParams_t motorParams;
#ifdef NZS_FAST_CAL
__attribute__((__aligned__(8))) FastCal_t FastCal;
#endif
} nvm_t;
#ifdef NZS_FAST_CAL
extern const uint16_t NVM_flash[16767];
#else
extern const uint16_t NVM_flash[256];
#endif
#define NVM ((const nvm_t *)NVM_flash)
bool nvmWriteCalTable(void *ptrData, uint32_t size);
bool nvmWrite_sPID(float Kp, float Ki, float Kd);
bool nvmWrite_pPID(float Kp, float Ki, float Kd);
bool nvmWrite_vPID(float Kp, float Ki, float Kd);
bool nvmWriteSystemParms(SystemParams_t &systemParams);
bool nvmWriteMotorParms(MotorParams_t &motorParams);
bool nvmErase(void);
#endif // __NONVOLATILE__H__

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/*
* nzs.cpp
*
* Created on: Dec 8, 2016
* Author: trampas
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 "nzs.h"
#include "commands.h"
#include "nonvolatile.h"
#include "angle.h"
#include "eeprom.h"
#include "steppin.h"
#include "wiring_private.h"
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
eepromData_t PowerupEEPROM={0};
volatile bool enableState=true;
int32_t dataEnabled=0;
StepperCtrl stepperCtrl;
LCD Lcd;
int menuCalibrate(int argc, char *argv[])
{
stepperCtrl.calibrateEncoder();
}
int menuTestCal(int argc, char *argv[])
{
Angle error;
int32_t x,y;
char str[25];
error=stepperCtrl.maxCalibrationError();
x=(36000*(int32_t)error)/ANGLE_STEPS;
LOG("Error %d %d", (int32_t)error, x);
y=x/100;
x=x-(y*100);
x=abs(x);
sprintf(str, "%d.%02d deg",y,x);
#ifndef DISABLE_LCD
Lcd.lcdShow("Cal Error", str,"");
#endif
LOG("Calibration error %s",str);
#ifndef MECHADUINO_HARDWARE
while(digitalRead(PIN_SW3)==1)
{
//wait for button press
}
while(digitalRead(PIN_SW3)==0)
{
//wait for button release
}
#endif
}
static options_t stepOptions[] {
{"200"},
{"400"},
{""},
};
//returns the index of the stepOptions when called
// with no arguments.
int motorSteps(int argc, char *argv[])
{
if (argc==0)
{
int i;
i=NVM->motorParams.fullStepsPerRotation;
if (i==400)
{
return 1;
}
return 0; //default to 200
}
if (argc>0)
{
int32_t i;
MotorParams_t params;
memcpy((void *)&params, (void *)&NVM->motorParams, sizeof(params));
i=atol(argv[0]);
if (i!=params.fullStepsPerRotation)
{
params.fullStepsPerRotation=i;
nvmWriteMotorParms(params);
}
}
return 0;
}
static options_t currentOptions[] {
{"0"},
{"100"},
{"200"},
{"300"},
{"400"},
{"500"},
{"600"},
{"700"},
{"800"},
{"900"},
{"1000"},
{"1100"},
{"1200"},
{"1300"},
{"1400"},
{"1500"},
{"1600"},
{"1700"},
{"1800"},
{"1900"},
{"2000"},
{"2100"},
{"2200"},
{"2300"},
{"2400"},
{"2500"},
{"2600"},
{"2700"},
{"2800"},
{"2900"},
{"3000"},
{"3100"},
{"3200"},
{"3300"},
{""},
};
int motorCurrent(int argc, char *argv[])
{
LOG("called motorCurrent %d",argc);
if (argc==1)
{
int i;
LOG("called %s",argv[0]);
i=atol(argv[0]);
i=i*100;
MotorParams_t params;
memcpy((void *)&params, (void *)&NVM->motorParams, sizeof(params));
if (i!=params.currentMa)
{
params.currentMa=i;
nvmWriteMotorParms(params);
}
return i/100;
}
int i;
i=NVM->motorParams.currentMa/100;
LOG(" motorCurrent return %d",i);
return i;
}
int motorHoldCurrent(int argc, char *argv[])
{
if (argc==1)
{
int i;
i=atol(argv[0]);
i=i*100;
MotorParams_t params;
memcpy((void *)&params, (void *)&NVM->motorParams, sizeof(params));
if (i!=params.currentHoldMa)
{
params.currentHoldMa=i;
nvmWriteMotorParms(params);
}
return i/100;
}else
{
int i;
i=NVM->motorParams.currentHoldMa/100;
return i;
}
}
static options_t microstepOptions[] {
{"1"},
{"2"},
{"4"},
{"8"},
{"16"},
{"32"},
{"64"},
{"128"},
{"256"},
{""}
};
int microsteps(int argc, char *argv[])
{
if (argc==1)
{
int i,steps;
i=atol(argv[0]);
SystemParams_t params;
memcpy((void *)&params, (void *)&NVM->SystemParams, sizeof(params));
steps=0x01<<i;
if (steps!=params.microsteps)
{
params.microsteps=steps;
nvmWriteSystemParms(params);
}
return i;
}
int i,j;
i=NVM->SystemParams.microsteps;
for (j=0; j<9; j++)
{
if ((0x01<<j) == i)
{
return j;
}
}
return 0;
}
static options_t controlLoopOptions[] {
{"Off"},
{"Open"},
{"Simple"},
{"Pos PID"},
{"Vel PID"},
{""}
};
int controlLoop(int argc, char *argv[])
{
if (argc==1)
{
int i;
i=atol(argv[0]);
SystemParams_t params;
memcpy((void *)&params, (void *)&NVM->SystemParams, sizeof(params));
if (i!=params.controllerMode)
{
params.controllerMode=(feedbackCtrl_t)i;
nvmWriteSystemParms(params);
}
return i;
}
return NVM->SystemParams.controllerMode;
}
#ifndef PIN_ENABLE
static options_t errorPinOptions[] {
{"Enable"},
{"!Enable"}, //error pin works like enable on step sticks
{"Error"},
// {"BiDir"}, //12/12/2016 not implemented yet
{""}
};
int errorPin(int argc, char *argv[])
{
if (argc==1)
{
int i;
i=atol(argv[0]);
SystemParams_t params;
memcpy((void *)&params, (void *)&NVM->SystemParams, sizeof(params));
if (i!=params.errorPinMode)
{
params.errorPinMode=(ErrorPinMode_t)i;
nvmWriteSystemParms(params);
}
return i;
}
return NVM->SystemParams.errorPinMode;
}
#else
static options_t errorPinOptions[] {
{"Enable"},
{"!Enable"}, //error pin works like enable on step sticks
// {"Error"},
// {"BiDir"}, //12/12/2016 not implemented yet
{""}
};
int enablePin(int argc, char *argv[])
{
if (argc==1)
{
int i;
i=atol(argv[0]);
SystemParams_t params;
memcpy((void *)&params, (void *)&NVM->SystemParams, sizeof(params));
if (i!=params.errorPinMode)
{
params.errorPinMode=(ErrorPinMode_t)i;
nvmWriteSystemParms(params);
}
return i;
}
return NVM->SystemParams.errorPinMode;
}
#endif
static options_t dirPinOptions[] {
{"High CW"},
{"High CCW"},
{""}
};
int dirPin(int argc, char *argv[])
{
if (argc==1)
{
int i;
i=atol(argv[0]);
SystemParams_t params;
memcpy((void *)&params, (void *)&NVM->SystemParams, sizeof(params));
if (i!=params.dirPinRotation)
{
params.dirPinRotation=(RotationDir_t)i;
nvmWriteSystemParms(params);
}
return i;
}
return NVM->SystemParams.dirPinRotation;
}
static menuItem_t MenuMain[] {
{"Calibrate", menuCalibrate,NULL},
{"Test Cal", menuTestCal,NULL},
// {"Mtr steps", motorSteps,stepOptions}, NOT GOOD for user to call this
{"Motor mA", motorCurrent,currentOptions},
{"Hold mA", motorHoldCurrent,currentOptions},
{"Microstep", microsteps,microstepOptions},
// {"Ctlr Mode", controlLoop,controlLoopOptions}, //this may not be good for user to call
#ifndef PIN_ENABLE
{"Error Pin", errorPin,errorPinOptions},
#else
{"EnablePin", enablePin,errorPinOptions},
#endif
{"Dir Pin", dirPin,dirPinOptions},
{ "", NULL}
};
static menuItem_t MenuCal[] {
{"Calibrate", menuCalibrate,NULL},
//{"Test Cal", menuTestCal,NULL},
{ "", NULL}
};
//this function is called when error pin changes as enable signal
static void enableInput(void)
{
static bool lastState=true;
#ifdef PIN_ENABLE
if (NVM->SystemParams.errorPinMode == ERROR_PIN_MODE_ENABLE)
{
static int enable;
//read our enable pin
enable = digitalRead(PIN_ENABLE);
if (enable != enableState)
{
WARNING("Enable now %d",enable);
}
enableState=enable;
//stepperCtrl.enable(enable);
}
if (NVM->SystemParams.errorPinMode == ERROR_PIN_MODE_ACTIVE_LOW_ENABLE)
{
static int enable;
//read our enable pin
enable = !digitalRead(PIN_ENABLE);
if (enable != enableState)
{
WARNING("Enable now %d",enable);
}
enableState=enable;
//stepperCtrl.enable(enable);
}
#else
if (NVM->SystemParams.errorPinMode == ERROR_PIN_MODE_ENABLE)
{
static int enable;
//read our enable pin
enable = digitalRead(PIN_ERROR);
enableState=enable;
//stepperCtrl.enable(enable);
}
if (NVM->SystemParams.errorPinMode == ERROR_PIN_MODE_ACTIVE_LOW_ENABLE)
{
static int enable;
//read our enable pin
enable = !digitalRead(PIN_ERROR);
enableState=enable;
//stepperCtrl.enable(enable);
}
#endif
#ifdef USE_STEP_DIR_SERIAL
static uint8_t pinCFG[2];
static uint8_t pinMux[2];
if (enableState == false && lastState==true)
{
// turn the step/dir to serial port
//save pin config for restoring
pinCFG[0]=getPinCfg(PIN_STEP_INPUT);
pinCFG[1]=getPinCfg(PIN_DIR_INPUT);
pinMux[0]=getPinMux(PIN_STEP_INPUT);
pinMux[1]=getPinMux(PIN_DIR_INPUT);
//lets see if the step pin has interrupt enabled
if (pinMux[0] == PORT_PMUX_PMUXE_A_Val)
{
EExt_Interrupts in = g_APinDescription[PIN_STEP_INPUT].ulExtInt;
EIC->INTENCLR.reg = EIC_INTENCLR_EXTINT(1 << in); //disable the interrupt
//we need to disable the interrupt
}
//now we need to set the pins to serial port peripheral (sercom0)
setPinMux(PIN_STEP_INPUT,PORT_PMUX_PMUXE_C_Val);
setPinMux(PIN_DIR_INPUT,PORT_PMUX_PMUXE_C_Val);
//make sure that step pin is input with mux to peripheral
setPinCfg(PIN_STEP_INPUT, PORT_PINCFG_PMUXEN | PORT_PINCFG_INEN | PORT_PINCFG_PULLEN);
//make sure that dir pin is an output with mux to peripheral
setPinCfg(PIN_DIR_INPUT, PORT_PINCFG_PMUXEN );
Serial1.begin(STEP_DIR_BAUD);
}
if (enableState == true && lastState==false)
{
Serial1.end();
setPinMux(PIN_STEP_INPUT,pinMux[0]);
setPinMux(PIN_DIR_INPUT,pinMux[1]);
setPinCfg(PIN_STEP_INPUT,pinCFG[0]);
setPinCfg(PIN_DIR_INPUT,pinCFG[1]);
//turn step/dir pins back to GPIO
if (PORT_PMUX_PMUXE_A_Val == pinMux[0])
{
//if interrupt was enabled for step pin renable it.
EExt_Interrupts in = g_APinDescription[PIN_STEP_INPUT].ulExtInt;
EIC->INTENSET.reg = EIC_INTENCLR_EXTINT(1 << in); //enable the interrupt
}
}
#endif //USE_STEP_DIR_SERIAL
lastState=enableState;
}
void TC5_Handler()
{
// static bool led=false;
// YELLOW_LED(led);
// led=!led;
interrupts(); //allow other interrupts
if (TC5->COUNT16.INTFLAG.bit.OVF == 1)
{
int error=0;
error=(stepperCtrl.processFeedback()); //handle the control loop
YELLOW_LED(error);
#ifdef PIN_ENABLE
GPIO_OUTPUT(PIN_ERROR);
bool level;
level = !NVM->SystemParams.errorLogic;
if (error)
{ //assume high is inactive and low is active on error pin
digitalWrite(PIN_ERROR,level);
}else
{
digitalWrite(PIN_ERROR,!level);
}
#else
if (NVM->SystemParams.errorPinMode == ERROR_PIN_MODE_ERROR)
{
GPIO_OUTPUT(PIN_ERROR);
if (error)
{ //assume high is inactive and low is active on error pin
digitalWrite(PIN_ERROR,LOW);
}else
{
digitalWrite(PIN_ERROR,HIGH);
}
}
#endif
TC5->COUNT16.INTFLAG.bit.OVF = 1; // writing a one clears the flag ovf flag
}
}
//check the NVM and set to defaults if there is any
void validateAndInitNVMParams(void)
{
if (false == NVM->sPID.parametersVaild)
{
nvmWrite_sPID(0.9,0.0001, 0.01);
}
if (false == NVM->pPID.parametersVaild)
{
nvmWrite_pPID(1.0, 0, 0);
}
if (false == NVM->vPID.parametersVaild)
{
nvmWrite_vPID(2.0, 1.0, 1.0);
}
if (false == NVM->SystemParams.parametersVaild)
{
SystemParams_t params;
params.microsteps=16;
#if defined(CTRL_POS_PID_AS_DEFAULT)
params.controllerMode=CTRL_POS_PID;
#else
params.controllerMode=CTRL_SIMPLE;
#endif
params.dirPinRotation=CW_ROTATION; //default to clockwise rotation when dir is high
params.errorLimit=(int32_t)ANGLE_FROM_DEGREES(1.8);
params.errorPinMode=ERROR_PIN_MODE_ENABLE; //default to enable pin
params.homePin=-1;
params.errorLogic=false;
params.homeAngleDelay=ANGLE_FROM_DEGREES(10);
nvmWriteSystemParms(params);
}
//the motor parameters are check in the stepper_controller code
// as that there we can auto set much of them.
}
void SYSCTRL_Handler(void)
{
if (SYSCTRL->INTFLAG.reg & SYSCTRL_INTFLAG_BOD33DET)
{
eepromFlush(); //flush the eeprom
SYSCTRL->INTFLAG.reg |= SYSCTRL_INTFLAG_BOD33DET;
}
}
// Wait for synchronization of registers between the clock domains
static __inline__ void syncBOD33(void) __attribute__((always_inline, unused));
static void syncBOD33(void) {
//int32_t t0=1000;
while (SYSCTRL->PCLKSR.bit.BOD33RDY==1)
{
// t0--;
// if (t0==0)
// {
// break;
// }
}
}
static void configure_bod(void)
{
//syncBOD33();
//SYSCTRL->BOD33.reg=0; //disable BOD33 before starting
//syncBOD33();
SYSCTRL->BOD33.reg=SYSCTRL_BOD33_ACTION_INTERRUPT | //generate interrupt when BOD is triggered
SYSCTRL_BOD33_LEVEL(48) | //about 3.2V
//SYSCTRL_BOD33_HYST | //enable hysteresis
SYSCTRL_BOD33_ENABLE; //turn module on
LOG("BOD33 %02X", SYSCTRL->BOD33.reg );
SYSCTRL->INTENSET.reg |= SYSCTRL_INTENSET_BOD33DET;
NVIC_SetPriority(SYSCTRL_IRQn, 1); //make highest priority as we need to save eeprom
// Enable InterruptVector
NVIC_EnableIRQ(SYSCTRL_IRQn);
}
void NZS::begin(void)
{
int to=20;
stepCtrlError_t stepCtrlError;
//set up the pins correctly on the board.
boardSetupPins();
//start up the USB serial interface
//TODO check for power on USB before doing this...
#ifndef MECHADUINO_HARDWARE
SerialUSB.begin(SERIAL_BAUD);
#endif
//setup the serial port for syslog
Serial5.begin(SERIAL_BAUD);
#ifndef CMD_SERIAL_PORT
SysLogInit(&Serial5,LOG_DEBUG);
pinPeripheral(PIN_TXD, PIO_SERCOM_ALT);
pinPeripheral(PIN_RXD, PIO_SERCOM_ALT);
#else
SysLogInit(NULL, LOG_WARNING);
#endif
LOG("Power up!");
pinMode(PIN_USB_PWR, INPUT);
#ifndef MECHADUINO_HARDWARE
if (digitalRead(PIN_USB_PWR))
{
//wait for USB serial port to come alive
while (!SerialUSB)
{
to--;
if (to == 0)
{
break;
}
delay(500);
}; //wait for serial
} else
{
WARNING("USB Not connected");
}
#endif
validateAndInitNVMParams();
LOG("EEPROM INIT");
if (EEPROM_OK == eepromInit()) //init the EEPROM
{
eepromRead((uint8_t *)&PowerupEEPROM, sizeof(PowerupEEPROM));
}
configure_bod(); //configure the BOD
#ifndef DISABLE_LCD
LOG("Testing LCD");
Lcd.begin(&stepperCtrl);
#ifdef A5995_DRIVER
Lcd.lcdShow("MisfitTech","NEMA 23", VERSION);
#else
Lcd.lcdShow("MisfitTech","NEMA 17", VERSION);
#endif
#endif
LOG("command init!");
commandsInit(); //setup command handler system
stepCtrlError=STEPCTRL_NO_CAL;
while (STEPCTRL_NO_ERROR != stepCtrlError)
{
LOG("init the stepper controller");
stepCtrlError=stepperCtrl.begin(); //start controller before accepting step inputs
//todo we need to handle error on LCD and through command line
if (STEPCTRL_NO_POWER == stepCtrlError)
{
#ifndef MECHADUINO_HARDWARE
SerialUSB.println("Appears that there is no Motor Power");
SerialUSB.println("Connect motor power!");
#else
Serial5.println("Appears that there is no Motor Power");
Serial5.println("Connect motor power!");
#endif
#ifndef DISABLE_LCD
Lcd.lcdShow("Waiting", "MOTOR", "POWER");
#endif
while (STEPCTRL_NO_POWER == stepCtrlError)
{
stepCtrlError=stepperCtrl.begin(); //start controller before accepting step inputs
}
}
if (STEPCTRL_NO_CAL == stepCtrlError)
{
#ifndef MECHADUINO_HARDWARE
SerialUSB.println("You need to Calibrate");
#else
Serial5.println("You need to Calibrate");
#endif
#ifndef DISABLE_LCD
Lcd.lcdShow(" NOT ", "Calibrated", " ");
delay(1000);
Lcd.setMenu(MenuCal);
Lcd.forceMenuActive();
#endif
//TODO add code here for LCD and command line loop
while(false == stepperCtrl.calibrationValid())
{
commandsProcess(); //handle commands
#ifndef DISABLE_LCD
Lcd.process();
#endif
}
#ifndef DISABLE_LCD
Lcd.setMenu(NULL);
#endif
}
if (STEPCTRL_NO_ENCODER == stepCtrlError)
{
#ifndef MECHADUINO_HARDWARE
SerialUSB.println("AS5047D not working");
SerialUSB.println(" try disconnecting power from board for 15+mins");
SerialUSB.println(" you might have to short out power pins to ground");
#else
Serial5.println("AS5047D not working");
Serial5.println(" try disconnecting power from board for 15+mins");
Serial5.println(" you might have to short out power pins to ground");
#endif
#ifndef DISABLE_LCD
Lcd.lcdShow("Encoder", " Error!", " REBOOT");
#endif
while(1)
{
}
}
}
#ifndef DISABLE_LCD
Lcd.setMenu(MenuMain);
#endif
stepPinSetup(); //setup the step pin
#ifdef PIN_ENABLE
//attachInterrupt(digitalPinToInterrupt(PIN_ENABLE), enableInput, CHANGE);
NVIC_SetPriority(EIC_IRQn, 0); //set port A interrupt as highest priority
#else
attachInterrupt(digitalPinToInterrupt(PIN_ERROR), enableInput, CHANGE);
#endif
SmartPlanner.begin(&stepperCtrl);
RED_LED(false);
LOG("SETUP DONE!");
}
void printLocation(void)
{
char buf[128]={0};
Location_t loc;
int32_t n, i, len;
int32_t pktSize;
if (dataEnabled==0)
{
//RED_LED(false);
return;
}
//the packet length for binary print is 12bytes
// assuming rate of 6Khz this would be 72,000 baud
i=0;
n=stepperCtrl.getLocation(&loc);
if (n==-1)
{
//RED_LED(false);
return;
}
len=0;
pktSize=sizeof(Location_t)+1; //packet lenght is size location plus sync byte
// //binary write
while(n>=0 && (len)<=(128-pktSize))
{
memcpy(&buf[len],&loc,sizeof(Location_t));
len+=sizeof(Location_t);
buf[len]=0XAA; //sync
len++;
buf[len]=sizeof(Location_t); //data len
len++;
n=stepperCtrl.getLocation(&loc);
i++;
}
#ifndef MECHADUINO_HARDWARE
SerialUSB.write(buf,len);
#endif
//hex write
// hex write is 29 bytes per tick, @ 6khz this 174000 baud
// while(n>=0 && (i*29)<(200-29))
// {
// sprintf(buf,"%s%08X\t%08X\t%08X\n\r",buf,loc.microSecs,loc.desiredLoc,loc.actualLoc);
// n=stepperCtrl.getLocation(&loc);
// i++;
// }
// SerialUSB.write(buf,strlen(buf));
// if (n<=0)
// {
// RED_LED(false);
// }else
// {
// RED_LED(true);
// }
return;
}
void NZS::loop(void)
{
eepromData_t eepromData;
// if (dataEnabled==0)
// {
// LOG("loop time is %dus",stepperCtrl.getLoopTime());
// }
//read the enable pin and update
// this is also done as an edge interrupt but does not always see
// to trigger the ISR.
enableInput();
if (enableState != stepperCtrl.getEnable())
{
stepperCtrl.enable(enableState);
}
//handle EEPROM
eepromData.angle=stepperCtrl.getCurrentAngle();
eepromData.encoderAngle=stepperCtrl.getEncoderAngle();
eepromData.valid=1;
eepromWriteCache((uint8_t *)&eepromData,sizeof(eepromData));
commandsProcess(); //handle commands
#ifndef DISABLE_LCD
Lcd.process();
#endif
//stepperCtrl.PrintData(); //prints steps and angle to serial USB.
printLocation(); //print out the current location
return;
}
#pragma GCC pop_options

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firmware_smartstepper_trikarus/stepper_nano_zero/nzs.h Normal file
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/*
* nzs.h
*
* Created on: Dec 8, 2016
* Author: trampas
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 NZS_H_
#define NZS_H_
#include "board.h"
#include "nzs_lcd.h"
#include "stepper_controller.h"
#include "planner.h"
typedef struct
{
int64_t angle;
uint16_t encoderAngle;
uint8_t valid;
}eepromData_t;
class NZS //nano Zero Stepper
{
public:
void begin(void);
void loop(void);
};
#endif /* NZS_H_ */

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firmware_smartstepper_trikarus/stepper_nano_zero/nzs_lcd.cpp Normal file
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/*
* nzs_lcd.cpp
*
* Created on: Dec 8, 2016
* Author: trampas
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 "nzs_lcd.h"
#include <string.h>
#include <stdio.h>
#include <Wire.h>
#ifndef DISABLE_LCD
void LCD::begin(StepperCtrl *ptrsCtrl)
{
#ifndef MECHADUINO_HARDWARE
pinMode(PIN_SW1, INPUT_PULLUP);
pinMode(PIN_SW3, INPUT_PULLUP);
pinMode(PIN_SW4, INPUT_PULLUP);
#endif
buttonState=0;
//we need access to the stepper controller
ptrStepperCtrl=ptrsCtrl; //save a pointer to the stepper controller
ptrMenu=NULL;
menuIndex=0;
menuActive=false;
optionIndex=0;
ptrOptions=NULL;
displayEnabled=true;
//check that the SCL and SDA are pulled high
pinMode(PIN_SDA, INPUT);
pinMode(PIN_SCL, INPUT);
if (digitalRead(PIN_SDA)==0)
{
//pin is not pulled up
displayEnabled=false;
}
if (digitalRead(PIN_SCL)==0)
{
//pin is not pulled up
displayEnabled=false;
}
if (displayEnabled)
{
displayEnabled=display.begin(SSD1306_SWITCHCAPVCC, 0x3C);
}else
{
WARNING("SCL/SDA not pulled up");
}
if (false == displayEnabled)
{
WARNING("NO display found, LCD will not be used");
}
Wire.setClock(800000);
//showSplash();
}
void __attribute__ ((optimize("Ofast"))) LCD::lcdShow(const char *line1, const char *line2,const char *line3)
{
if (false == displayEnabled)
{
return;
}
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
display.setCursor(0,0);
display.println(line1);
display.setCursor(0,20);
display.println(line2);
display.setCursor(0,40);
display.println(line3);
display.display();
}
void LCD::showSplash(void)
{
if (false == displayEnabled)
{
return;
}
#ifdef A5995_DRIVER
lcdShow("MisfitTech","NEMA 23", VERSION);
#else
lcdShow("MisfitTech","NEMA 17", VERSION);
#endif
}
void LCD::setMenu(menuItem_t *pMenu)
{
if (false == displayEnabled)
{
return;
}
ptrMenu=pMenu;
menuIndex=0;
}
void LCD::showOptions(void)
{
int32_t i,j;
char str[3][26]={0};
if (false == displayEnabled)
{
return;
}
i=optionIndex;
j=0;
while(strlen(ptrOptions[i].str)>0 && j<3)
{
if (i == optionIndex)
{
sprintf(str[j],"*%s",ptrOptions[i].str);
}else
{
sprintf(str[j]," %s",ptrOptions[i].str);
}
j++;
i++;
}
lcdShow(str[0], str[1], str[2]);
return;
}
void __attribute__ ((optimize("Ofast"))) LCD::showMenu(void)
{
int32_t i,j;
char str[3][26]={0};
if (false == displayEnabled)
{
return;
}
i=menuIndex;
j=0;
while(ptrMenu[i].func!=NULL && j<3)
{
if (i == menuIndex)
{
sprintf(str[j],"*%s",ptrMenu[i].str);
}else
{
sprintf(str[j]," %s",ptrMenu[i].str);
}
j++;
i++;
}
//show exit if there is room
if (j<3)
{
if (j==0)
{
sprintf(str[j],"*Exit");
}else
{
sprintf(str[j]," Exit");
}
}
lcdShow(str[0], str[1], str[2]);
return;
}
void __attribute__ ((optimize("Ofast"))) LCD::updateMenu(void)
{
if (false == displayEnabled)
{
return;
}
if (ptrOptions != NULL)
{
showOptions();
}else
{
showMenu();
}
//handle push buttons
if (digitalRead(PIN_SW3)==0 && (buttonState & 0x02)==0)
{
buttonState |= 0x02;
LOG("SW3 pressed");
if (ptrMenu[menuIndex].func == NULL)
{
//exit pressed
menuIndex=0; //reset menu index
menuActive=false;
return;
}
if (ptrMenu[menuIndex].func != NULL)
{
LOG("Calling function for %s",ptrMenu[menuIndex].str);
if (ptrOptions != NULL)
{
char *ptrArgV[1];
char str[25]={0};
ptrArgV[0]=str;
sprintf(str,"%d",optionIndex);
LOG("Calling function for %s %s",ptrMenu[menuIndex].str,str);
ptrMenu[menuIndex].func(1,ptrArgV);
ptrOptions=NULL;
optionIndex=0;
}else
{
int i;
i=ptrMenu[menuIndex].func(0,NULL);
if (ptrMenu[menuIndex].ptrOptions != NULL)
{
LOG("displaying options for %s %d",ptrMenu[menuIndex].str,i);
ptrOptions=ptrMenu[menuIndex].ptrOptions;
optionIndex=i;
}
}
return;
}
}
if (digitalRead(PIN_SW1)==0 && (buttonState & 0x01)==0)
{
buttonState |= 0x01;
LOG("SW1 pressed");
if (ptrOptions != NULL)
{
optionIndex++;
if (strlen(ptrOptions[optionIndex].str) == 0)
{
optionIndex=0;
}
} else
{
if (ptrMenu[menuIndex].func != NULL)
{
menuIndex++;
} else
{
menuIndex=0;
}
}
}
if (digitalRead(PIN_SW1))
{
buttonState &= ~0x01;
}
if (digitalRead(PIN_SW3))
{
buttonState &= ~0x02;
}
}
void LCD::forceMenuActive(void)
{
menuActive=true;
}
void __attribute__((optimize("Ofast")))LCD::process(void)
{
if (false == displayEnabled)
{
return;
}
if (false == menuActive || ptrMenu==NULL)
{
updateLCD();
}else
{
updateMenu();
}
if (digitalRead(PIN_SW4)==0 && (buttonState & 0x04)==0)
{
buttonState |= 0x04;
menuActive=!menuActive;
}
if (digitalRead(PIN_SW4))
{
buttonState &= ~0x04;
}
}
#endif
/*
//does the LCD menu system
void StepperCtrl::menu(void)
{
bool done=false;
int menuItem=0;
char str[100];
int sw1State=0;
int sw3State=0;
pinMode(PIN_SW1, INPUT_PULLUP);
pinMode(PIN_SW3, INPUT_PULLUP);
pinMode(PIN_SW4, INPUT_PULLUP);
while (!done)
{
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
if (menuItem==0)
{
sprintf(str,"*Run Cal");
display.setCursor(0,0);
display.println(str);
}else
{
sprintf(str," Run Cal");
display.setCursor(0,0);
display.println(str);
}
if (menuItem==1)
{
sprintf(str,"*Check Cal");
display.setCursor(0,20);
display.println(str);
}else
{
sprintf(str," Check Cal");
display.setCursor(0,20);
display.println(str);
}
if (menuItem==2)
{
sprintf(str,"*Exit");
display.setCursor(0,40);
display.println(str);
}else
{
sprintf(str," Exit");
display.setCursor(0,40);
display.println(str);
}
display.display();
if (sw1State==1)
{
while (digitalRead(PIN_SW1)==0);
sw1State=0;
}
if (digitalRead(PIN_SW1)==0)
{
sw1State=1;
menuItem=(menuItem+1)%3;
}
if (sw3State==1)
{
while (digitalRead(PIN_SW3)==0);
sw3State=0;
}
if (digitalRead(PIN_SW3)==0)
{
sw3State=1;
switch(menuItem)
{
case 0:
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
display.setCursor(0,0);
display.println("Running");
display.setCursor(0,20);
display.println("Cal");
display.display();
calibrateEncoder();
break;
case 1:
{
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
display.setCursor(0,0);
display.println("Testing");
display.setCursor(0,20);
display.println("Cal");
display.display();
int32_t error,x,y,m;
error=maxCalibrationError();
x=(error*100 *360)/ANGLE_STEPS;
m=x/100;
y=abs(x-(m*100));
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
display.setCursor(0,0);
display.println("Error");
sprintf(str, "%02d.%02d deg",m,y);
display.setCursor(0,20);
display.println(str);
display.display();
while (digitalRead(PIN_SW3));
break;
}
case 2:
return;
break;
}
}
}
}
*/
void LCD::updateLCD(void)
{
if (false == displayEnabled)
{
return;
}
char str[3][25];
static int highRPM=0;
int32_t y,z,err;
static int64_t lastAngle,deg;
static int32_t RPM=0;
static int32_t lasttime=0;
bool state;
static int32_t dt=40;
static uint32_t t0=0;
static bool rpmDone=false;
if ((millis()-t0)>500)
{
int32_t x,d;
//do first half of RPM measurement
if (!rpmDone)
{
//LOG("loop time is %dus",ptrStepperCtrl->getLoopTime());
lastAngle=ptrStepperCtrl->getCurrentAngle();
lasttime=millis();
rpmDone=true;
return;
}
//do the second half of rpm measurement and update LCD.
if (rpmDone && (millis()-lasttime)>(dt))
{
rpmDone=false;
deg=ptrStepperCtrl->getCurrentAngle();
y=millis()-lasttime;
err=ptrStepperCtrl->getLoopError();
t0=millis();
d=(int64_t)(lastAngle-deg);
d=abs(d);
x=0;
if (d>0)
{
x=((int64_t)d*(60*1000UL))/((int64_t)y * ANGLE_STEPS);
}
lastAngle=deg;
RPM=(int32_t)x; //(7*RPM+x)/8; //average RPMs
if (RPM>500)
{
dt=10;
}
if (RPM<100)
{
dt=100;
}
str[0][0]='\0';
//LOG("RPMs is %d, %d, %d",(int32_t)x,(int32_t)d,(int32_t)y);
switch(ptrStepperCtrl->getControlMode())
{
case CTRL_SIMPLE:
sprintf(str[0], "%dRPM simp",RPM);
break;
case CTRL_TORQUE:
sprintf(str[0], "%dRPM torque",RPM);
break;
case CTRL_POS_PID:
sprintf(str[0], "%dRPM pPID",RPM);
break;
case CTRL_POS_VELOCITY_PID:
sprintf(str[0], "%dRPM vPID",RPM);
break;
case CTRL_OPEN:
sprintf(str[0], "%dRPM open",RPM);
break;
case CTRL_OFF:
sprintf(str[0], "%dRPM off",RPM);
break;
default:
sprintf(str[0], "error %u",ptrStepperCtrl->getControlMode());
break;
}
err=(err*360*100)/(int32_t)ANGLE_STEPS;
//LOG("error is %d %d %d",err,(int32_t)ptrStepperCtrl->getCurrentLocation(),(int32_t)ptrStepperCtrl->getDesiredLocation());
z=(err)/100;
y=abs(err-(z*100));
sprintf(str[1],"%01d.%02d err", z,y);
deg=ptrStepperCtrl->getDesiredAngle();
#ifndef NZS_LCD_ABSOULTE_ANGLE
deg=deg & ANGLE_MAX; //limit to 360 degrees
#endif
deg=(deg*360*10)/(int32_t)ANGLE_STEPS;
int K=0;
if (abs(deg)>9999)
{
K=1;
deg=deg/1000;
}
x=(deg)/10;
y=abs(deg-(x*10));
if (K==1)
{
sprintf(str[2],"%03d.%01uKdeg", x,y);
}else
{
sprintf(str[2],"%03d.%01udeg", x,y);
}
str[0][10]='\0';
str[1][10]='\0';
str[2][10]='\0';
lcdShow(str[0],str[1],str[2]);
}
}
}

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/*
* nzs_lcd.h
*
* Created on: Dec 8, 2016
* Author: trampas
*
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 NZS_LCD_H_
#define NZS_LCD_H_
#include "Arduino.h"
#include "syslog.h"
#include "board.h"
#include "stepper_controller.h"
#include "Adafruit_GFX.h"
#include "Adafruit_SSD1306.h"
#include "gfxfont.h"
typedef struct {
char str[15];
} options_t;
typedef struct {
char str[15];
//only one of the following should be not null
int (*func)(int argc, char *argv[]);
options_t *ptrOptions;
} menuItem_t;
class LCD
{
private:
bool displayEnabled;
Adafruit_SSD1306 display;
StepperCtrl *ptrStepperCtrl;
menuItem_t *ptrMenu;
int32_t menuIndex;
bool menuActive;
options_t *ptrOptions;
int32_t optionIndex;
int32_t buttonState;
void updateLCD(void);
void showMenu(void);
void updateMenu(void);
void showOptions(void);
public:
void forceMenuActive(void);
void setMenu(menuItem_t *pMenu);
void begin(StepperCtrl *ptrStepperCtrl); //sets up the LCD
void process(void); //processes the LCD and updates as needed
void showSplash(void);
void lcdShow(const char *line1, const char *line2,const char *line3);
};
#endif /* NZS_LCD_H_ */

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/**********************************************************************
* Author: tstern
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 "planner.h"
#include "board.h"
#include "wiring_private.h"
#include "syslog.h"
#include "angle.h"
#include "Arduino.h"
#define WAIT_TC16_REGS_SYNC(x) while(x->COUNT16.STATUS.bit.SYNCBUSY);
//define the planner class as being global
Planner SmartPlanner;
static bool enterTC3CriticalSection()
{
bool state=NVIC_IS_IRQ_ENABLED(TC3_IRQn);
NVIC_DisableIRQ(TC3_IRQn);
return state;
}
static void exitTC3CriticalSection(bool prevState)
{
if (prevState)
{
NVIC_EnableIRQ(TC3_IRQn);
} //else do nothing
}
void TC3_Init(void)
{
// Enable GCLK for TC3
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC2_TC3 )) ;
while (GCLK->STATUS.bit.SYNCBUSY);
TC3->COUNT16.CTRLA.reg &= ~TC_CTRLA_ENABLE; // Disable TCx
WAIT_TC16_REGS_SYNC(TC3) // wait for sync
TC3->COUNT16.CTRLA.reg |= TC_CTRLA_MODE_COUNT16; // Set Timer counter Mode to 16 bits
WAIT_TC16_REGS_SYNC(TC3)
TC3->COUNT16.CTRLA.reg |= TC_CTRLA_WAVEGEN_MFRQ; // Set TC as normal Normal Frq
WAIT_TC16_REGS_SYNC(TC3)
TC3->COUNT16.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV2; // Set perscaler
WAIT_TC16_REGS_SYNC(TC3)
TC3->COUNT16.CC[0].reg = F_CPU/PLANNER_UPDATE_RATE_HZ/2; //divide by two because of prescaler
WAIT_TC16_REGS_SYNC(TC3)
TC3->COUNT16.INTENSET.reg = 0; // disable all interrupts
TC3->COUNT16.INTENSET.bit.OVF = 1; // enable overfollow
NVIC_SetPriority(TC3_IRQn, 3);
// Enable InterruptVector
NVIC_EnableIRQ(TC3_IRQn);
// Enable TC
TC3->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE;
WAIT_TC16_REGS_SYNC(TC3);
}
void TC3_Handler(void)
{
interrupts(); //allow other interrupts
//do the planner tick
SmartPlanner.tick();
//SerialUSB.println('x');
TC3->COUNT16.INTFLAG.bit.OVF = 1; //clear interrupt by writing 1 to flag
}
void Planner::begin(StepperCtrl *ptrStepper)
{
ptrStepperCtrl=ptrStepper;
currentMode=PLANNER_NONE;
//setup the timer and interrupt as the last thing
TC3_Init();
}
void Planner::tick(void)
{
if (currentMode == PLANNER_NONE)
{
return; //do nothing
}
if (PLANNER_CV == currentMode)
{
// SerialUSB.println(currentSetAngle);
// SerialUSB.println(endAngle);
// SerialUSB.println(tickIncrement);
// SerialUSB.println(fabs(currentSetAngle-endAngle));
// SerialUSB.println(fabs(tickIncrement*2));
// SerialUSB.println();
int32_t x;
if (fabs(currentSetAngle-endAngle) >= fabs(tickIncrement))
{
currentSetAngle+=tickIncrement;
x=ANGLE_FROM_DEGREES(currentSetAngle);
ptrStepperCtrl->moveToAbsAngle(x);
}else
{
//we are done, make sure we end at the right point
//SerialUSB.println("done");
x=ANGLE_FROM_DEGREES(endAngle);
ptrStepperCtrl->moveToAbsAngle(x);
currentMode=PLANNER_NONE;
}
}
}
void Planner::stop(void)
{
bool state;
state = enterTC3CriticalSection();
currentMode=PLANNER_NONE;
exitTC3CriticalSection(state);
}
bool Planner::moveConstantVelocity(float finalAngle, float rpm)
{
bool state;
state = enterTC3CriticalSection();
//first determine if operation is in progress
if (PLANNER_NONE != currentMode)
{
#ifndef MECHADUINO_HARDWARE
//we are in operation return false
SerialUSB.println("planner operational");
#else
Serial5.println("planner operational");
#endif
exitTC3CriticalSection(state);
return false;
}
//get current posistion
startAngle = ANGLE_T0_DEGREES(ptrStepperCtrl->getCurrentAngle());
//deterime the tick increment
tickIncrement=360.0*fabs(rpm)/60/PLANNER_UPDATE_RATE_HZ;
//set the desired end angle
endAngle=finalAngle;
//set the current angle
currentSetAngle=startAngle;
if (startAngle>endAngle)
{
#ifndef MECHADUINO_HARDWARE
SerialUSB.println("reverse");
#endif
tickIncrement=-tickIncrement;
}
// SerialUSB.println(currentSetAngle);
// SerialUSB.println(endAngle);
// SerialUSB.println(tickIncrement);
// SerialUSB.println();
currentMode=PLANNER_CV;
exitTC3CriticalSection(state);
return true;
}

68
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/**********************************************************************
* Author: tstern
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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!
*********************************************************************/
/*
* This file implements a trajectory planner for use with serial
* interface. It allows the smart stepper to move at constant velocity.
* Additionally you can move to some location at constant velocity or
* with a trajectory curve
*/
#ifndef PLANNER_H_
#define PLANNER_H_
#include "board.h"
#include "stepper_controller.h"
#define PLANNER_UPDATE_RATE_HZ (3000UL) //how often planner updates PID
typedef enum {
PLANNER_NONE =0,
PLANNER_CV =1, //constant velocity
//PLANNER_CA =2, //constant accleration
//PLANNER_S_CURVE =3, //s-curve move
} PlannerMode;
class Planner
{
private:
StepperCtrl *ptrStepperCtrl;
volatile PlannerMode currentMode=PLANNER_NONE;
//todo we should not use floating point, rather use "Angle"
volatile float endAngle;
volatile float startAngle;
volatile float currentSetAngle;
volatile float tickIncrement;
public:
void begin(StepperCtrl *ptrStepper);
bool moveConstantVelocity(float finalAngle, float rpm); //moves to the final location at a constant RPM
void tick(void); //this is called on regular tick interval
void stop(void);
bool done(void) {return currentMode==PLANNER_NONE;}
};
extern Planner SmartPlanner;
#endif /* PLANNER_H_ */

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/*
* since.cpp
*
* Created on: Dec 24, 2016
* Author: tstern
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 "sine.h"
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
#ifdef NZS_FAST_SINE
static const int16_t sineTable[1280]={
0,201,402,603,804,1005,1206,1407,1608,1808,2009,2210,2410,2611,2811,3011,
3212,3412,3611,3811,4011,4210,4410,4609,4808,5007,5205,5404,5602,5800,5998,6195,
6392,6589,6786,6983,7179,7375,7571,7766,7962,8156,8351,8545,8739,8933,9126,9319,
9512,9704,9896,10087,10278,10469,10659,10849,11039,11228,11417,11605,11793,11980,12167,12353,
12539,12725,12910,13094,13278,13462,13645,13828,14010,14191,14372,14553,14732,14912,15090,15269,
15446,15623,15800,15976,16151,16325,16499,16673,16846,17018,17189,17360,17530,17700,17869,18037,
18204,18371,18537,18703,18868,19032,19195,19357,19519,19680,19841,20000,20159,20317,20475,20631,
20787,20942,21097,21250,21403,21554,21705,21856,22005,22154,22301,22448,22594,22739,22884,23027,
23170,23312,23452,23592,23732,23870,24007,24143,24279,24413,24547,24680,24812,24942,25072,25201,
25329,25456,25583,25708,25832,25955,26077,26199,26319,26438,26556,26674,26790,26905,27019,27133,
27245,27356,27466,27575,27683,27791,27897,28001,28105,28208,28310,28411,28510,28609,28706,28803,
28898,28992,29085,29178,29268,29358,29447,29535,29621,29707,29791,29874,29956,30037,30117,30195,
30273,30349,30425,30499,30572,30643,30714,30783,30852,30919,30985,31050,31113,31176,31237,31297,
31356,31414,31471,31526,31580,31633,31685,31736,31785,31834,31881,31926,31971,32015,32057,32098,
32138,32176,32214,32250,32285,32319,32351,32382,32413,32441,32469,32496,32521,32545,32568,32589,
32609,32629,32646,32663,32678,32693,32706,32717,32728,32737,32745,32752,32757,32762,32765,32767,
32767,32767,32765,32762,32757,32752,32745,32737,32728,32717,32706,32693,32678,32663,32646,32629,
32609,32589,32568,32545,32521,32496,32469,32441,32413,32382,32351,32319,32285,32250,32214,32176,
32138,32098,32057,32015,31971,31926,31881,31834,31785,31736,31685,31633,31580,31526,31471,31414,
31356,31297,31237,31176,31113,31050,30985,30919,30852,30783,30714,30643,30572,30499,30425,30349,
30273,30195,30117,30037,29956,29874,29791,29707,29621,29535,29447,29358,29268,29178,29085,28992,
28898,28803,28706,28609,28510,28411,28310,28208,28105,28001,27897,27791,27683,27575,27466,27356,
27245,27133,27019,26905,26790,26674,26556,26438,26319,26199,26077,25955,25832,25708,25583,25456,
25329,25201,25072,24942,24812,24680,24547,24413,24279,24143,24007,23870,23732,23592,23452,23312,
23170,23027,22884,22739,22594,22448,22301,22154,22005,21856,21705,21554,21403,21250,21097,20942,
20787,20631,20475,20317,20159,20000,19841,19680,19519,19357,19195,19032,18868,18703,18537,18371,
18204,18037,17869,17700,17530,17360,17189,17018,16846,16673,16499,16325,16151,15976,15800,15623,
15446,15269,15090,14912,14732,14553,14372,14191,14010,13828,13645,13462,13278,13094,12910,12725,
12539,12353,12167,11980,11793,11605,11417,11228,11039,10849,10659,10469,10278,10087,9896,9704,
9512,9319,9126,8933,8739,8545,8351,8156,7962,7766,7571,7375,7179,6983,6786,6589,
6392,6195,5998,5800,5602,5404,5205,5007,4808,4609,4410,4210,4011,3811,3611,3412,
3212,3011,2811,2611,2410,2210,2009,1808,1608,1407,1206,1005,804,603,402,201,
0,-201,-402,-603,-804,-1005,-1206,-1407,-1608,-1809,-2010,-2210,-2411,-2611,-2812,-3012,
-3212,-3412,-3612,-3812,-4011,-4211,-4410,-4609,-4808,-5007,-5206,-5404,-5602,-5800,-5998,-6196,
-6393,-6590,-6787,-6983,-7180,-7376,-7571,-7767,-7962,-8157,-8352,-8546,-8740,-8933,-9127,-9320,
-9512,-9704,-9896,-10088,-10279,-10470,-10660,-10850,-11039,-11228,-11417,-11605,-11793,-11980,-12167,-12354,
-12540,-12725,-12910,-13095,-13279,-13463,-13646,-13828,-14010,-14192,-14373,-14553,-14733,-14912,-15091,-15269,
-15447,-15624,-15800,-15976,-16151,-16326,-16500,-16673,-16846,-17018,-17190,-17361,-17531,-17700,-17869,-18037,
-18205,-18372,-18538,-18703,-18868,-19032,-19195,-19358,-19520,-19681,-19841,-20001,-20160,-20318,-20475,-20632,
-20788,-20943,-21097,-21250,-21403,-21555,-21706,-21856,-22006,-22154,-22302,-22449,-22595,-22740,-22884,-23028,
-23170,-23312,-23453,-23593,-23732,-23870,-24007,-24144,-24279,-24414,-24548,-24680,-24812,-24943,-25073,-25202,
-25330,-25457,-25583,-25708,-25832,-25956,-26078,-26199,-26319,-26439,-26557,-26674,-26790,-26906,-27020,-27133,
-27245,-27357,-27467,-27576,-27684,-27791,-27897,-28002,-28106,-28209,-28310,-28411,-28511,-28609,-28707,-28803,
-28899,-28993,-29086,-29178,-29269,-29359,-29448,-29535,-29622,-29707,-29791,-29875,-29957,-30038,-30117,-30196,
-30273,-30350,-30425,-30499,-30572,-30644,-30715,-30784,-30852,-30919,-30985,-31050,-31114,-31176,-31238,-31298,
-31357,-31415,-31471,-31527,-31581,-31634,-31686,-31736,-31786,-31834,-31881,-31927,-31972,-32015,-32057,-32098,
-32138,-32177,-32214,-32250,-32285,-32319,-32352,-32383,-32413,-32442,-32470,-32496,-32521,-32545,-32568,-32590,
-32610,-32629,-32647,-32664,-32679,-32693,-32706,-32718,-32728,-32738,-32746,-32752,-32758,-32762,-32765,-32767,
-32768,-32767,-32765,-32762,-32758,-32752,-32746,-32738,-32728,-32718,-32706,-32693,-32679,-32664,-32647,-32629,
-32610,-32590,-32568,-32545,-32521,-32496,-32470,-32442,-32413,-32383,-32352,-32319,-32285,-32250,-32214,-32177,
-32138,-32098,-32057,-32015,-31972,-31927,-31881,-31834,-31786,-31736,-31686,-31634,-31581,-31527,-31471,-31415,
-31357,-31298,-31238,-31176,-31114,-31050,-30985,-30919,-30852,-30784,-30715,-30644,-30572,-30499,-30425,-30350,
-30273,-30196,-30117,-30038,-29957,-29875,-29791,-29707,-29622,-29535,-29448,-29359,-29269,-29178,-29086,-28993,
-28899,-28803,-28707,-28609,-28511,-28411,-28310,-28209,-28106,-28002,-27897,-27791,-27684,-27576,-27467,-27357,
-27245,-27133,-27020,-26906,-26790,-26674,-26557,-26439,-26319,-26199,-26078,-25956,-25832,-25708,-25583,-25457,
-25330,-25202,-25073,-24943,-24812,-24680,-24548,-24414,-24279,-24144,-24007,-23870,-23732,-23593,-23453,-23312,
-23170,-23028,-22884,-22740,-22595,-22449,-22302,-22154,-22006,-21856,-21706,-21555,-21403,-21250,-21097,-20943,
-20788,-20632,-20475,-20318,-20160,-20001,-19841,-19681,-19520,-19358,-19195,-19032,-18868,-18703,-18538,-18372,
-18205,-18037,-17869,-17700,-17531,-17361,-17190,-17018,-16846,-16673,-16500,-16326,-16151,-15976,-15800,-15624,
-15447,-15269,-15091,-14912,-14733,-14553,-14373,-14192,-14010,-13828,-13646,-13463,-13279,-13095,-12910,-12725,
-12540,-12354,-12167,-11980,-11793,-11605,-11417,-11228,-11039,-10850,-10660,-10470,-10279,-10088,-9896,-9704,
-9512,-9320,-9127,-8933,-8740,-8546,-8352,-8157,-7962,-7767,-7571,-7376,-7180,-6983,-6787,-6590,
-6393,-6196,-5998,-5800,-5602,-5404,-5206,-5007,-4808,-4609,-4410,-4211,-4011,-3812,-3612,-3412,
-3212,-3012,-2812,-2611,-2411,-2210,-2010,-1809,-1608,-1407,-1206,-1005,-804,-603,-402,-201,
0,201,402,603,804,1005,1206,1407,1608,1808,2009,2210,2410,2611,2811,3011,
3212,3412,3611,3811,4011,4210,4410,4609,4808,5007,5205,5404,5602,5800,5998,6195,
6392,6589,6786,6983,7179,7375,7571,7766,7962,8156,8351,8545,8739,8933,9126,9319,
9512,9704,9896,10087,10278,10469,10659,10849,11039,11228,11417,11605,11793,11980,12167,12353,
12539,12725,12910,13094,13278,13462,13645,13828,14010,14191,14372,14553,14732,14912,15090,15269,
15446,15623,15800,15976,16151,16325,16499,16673,16846,17018,17189,17360,17530,17700,17869,18037,
18204,18371,18537,18703,18868,19032,19195,19357,19519,19680,19841,20000,20159,20317,20475,20631,
20787,20942,21097,21250,21403,21554,21705,21856,22005,22154,22301,22448,22594,22739,22884,23027,
23170,23312,23452,23592,23732,23870,24007,24143,24279,24413,24547,24680,24812,24942,25072,25201,
25329,25456,25583,25708,25832,25955,26077,26199,26319,26438,26556,26674,26790,26905,27019,27133,
27245,27356,27466,27575,27683,27791,27897,28001,28105,28208,28310,28411,28510,28609,28706,28803,
28898,28992,29085,29178,29268,29358,29447,29535,29621,29707,29791,29874,29956,30037,30117,30195,
30273,30349,30425,30499,30572,30643,30714,30783,30852,30919,30985,31050,31113,31176,31237,31297,
31356,31414,31471,31526,31580,31633,31685,31736,31785,31834,31881,31926,31971,32015,32057,32098,
32138,32176,32214,32250,32285,32319,32351,32382,32413,32441,32469,32496,32521,32545,32568,32589,
32609,32629,32646,32663,32678,32693,32706,32717,32728,32737,32745,32752,32757,32762,32765,32767
};
#else
static const uint16_t sineTable[257]={
0,402,804,1206,1608,2010,2412,2814,3216,3617,4019,4420,4821,5222,5623,6023,
6424,6824,7223,7623,8022,8421,8820,9218,9616,10014,10411,10808,11204,11600,11996,12391,
12785,13179,13573,13966,14359,14751,15142,15533,15924,16313,16703,17091,17479,17866,18253,18639,
19024,19408,19792,20175,20557,20939,21319,21699,22078,22456,22834,23210,23586,23960,24334,24707,
25079,25450,25820,26189,26557,26925,27291,27656,28020,28383,28745,29106,29465,29824,30181,30538,
30893,31247,31600,31952,32302,32651,32999,33346,33692,34036,34379,34721,35061,35400,35738,36074,
36409,36743,37075,37406,37736,38064,38390,38715,39039,39361,39682,40001,40319,40635,40950,41263,
41575,41885,42194,42500,42806,43109,43411,43712,44011,44308,44603,44897,45189,45479,45768,46055,
46340,46624,46905,47185,47464,47740,48014,48287,48558,48827,49095,49360,49624,49885,50145,50403,
50659,50913,51166,51416,51664,51911,52155,52398,52638,52877,53113,53348,53580,53811,54039,54266,
54490,54713,54933,55151,55367,55582,55794,56003,56211,56417,56620,56822,57021,57218,57413,57606,
57797,57985,58171,58356,58537,58717,58895,59070,59243,59414,59582,59749,59913,60075,60234,60391,
60546,60699,60850,60998,61144,61287,61429,61567,61704,61838,61970,62100,62227,62352,62475,62595,
62713,62829,62942,63053,63161,63267,63371,63472,63571,63668,63762,63853,63943,64030,64114,64196,
64276,64353,64428,64500,64570,64638,64703,64765,64826,64883,64939,64992,65042,65090,65136,65179,
65219,65258,65293,65327,65357,65386,65412,65435,65456,65475,65491,65504,65515,65524,65530,65534,
65535,
};
#endif
int16_t sine(uint16_t angle)
{
#ifdef NZS_FAST_SINE
return sineTable[angle];
#else
int sign=1;
int16_t ret;
//our sine table has 1024 points per rotation so convert angle to closest step
if (angle>=(SINE_STEPS/2))
{
sign=-1;
}
angle=angle % (SINE_STEPS/2); //limit to 0-180 as sign takes care of 180-360
if (angle>(SINE_STEPS/4-1)) //if we are greater than 90 we need to look up table backwards
{
angle=(SINE_STEPS/2)-angle;
}
ret=(int16_t)(sineTable[angle]/2)*sign;
return ret;
#endif
}
int16_t cosine(uint16_t angle)
{
#ifdef NZS_FAST_SINE
angle=angle+(SINE_STEPS/4);
return sineTable[angle];
#else
int sign=1;
int16_t ret;
//our sine table has 1024 points per rotation so convert angle to closest step
if (angle>=(SINE_STEPS/4) and angle<(3*(SINE_STEPS/4)))
{
sign=-1;
}
angle=angle % (SINE_STEPS/2); //limit to 0-180 as sign takes care of 180-360
if (angle>(SINE_STEPS/4-1)) //if we are greater than 90 we need to look up table backwards
{
angle=(SINE_STEPS/2)-angle;
}
//for cosine we need 90 degree phase shift
angle=(SINE_STEPS/4)-angle;
ret=(int16_t)(sineTable[angle]/2)*sign;
return ret;
#endif
}
#pragma GCC pop_options

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/**********************************************************************
* sine.h
*
* Created on: Dec 24, 2016
* Author: tstern
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 SINE_H_
#define SINE_H_
#include "board.h"
#define SINE_STEPS (1024L)
#define SINE_MAX ((int32_t)(32768L))
int16_t sine(uint16_t angle);
int16_t cosine(uint16_t angle);
#endif /* SINE_H_ */

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/**********************************************************************
* Author: tstern
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 __STEPPER_CONTROLLER_H__
#define __STEPPER_CONTROLLER_H__
#include "syslog.h"
#include "board.h"
#include "as5047d.h"
#include "A1333.h"
#include "calibration.h"
#include "A4954.h"
#include "A5995.h"
#include "nonvolatile.h"
#include "fet_driver.h" //for the NEMA23 10A
#define N_DATA (1024)
typedef enum {
STEPCTRL_NO_ERROR=0,
STEPCTRL_NO_POWER=1, //no power to motor
STEPCTRL_NO_CAL=2, //calibration not set
STEPCTRL_NO_ENCODER=3, //encoder not working
} stepCtrlError_t;
typedef struct {
int32_t Kp;
int32_t Ki;
int32_t Kd;
} PID_t;
typedef __attribute__((aligned(4))) struct {
int32_t microSecs;
int32_t desiredLoc;
int32_t actualLoc;
int32_t angle;
int32_t ma;
} Location_t;
typedef struct {
int32_t angle;
int32_t ma;
}Control_t;
#define MAX_NUM_LOCATIONS (64) //maximum number of locations to buffer
//this scales the PID parameters from Flash to floating point
// to fixed point int32_t values
#define CTRL_PID_SCALING (1024)
// Uncommenting this will make motor go into ctrl_pos_pid mode
// at startup and when exiting ctrl_torque mode by setting torque=0
//#define CTRL_POS_PID_AS_DEFAULT
class StepperCtrl
{
private:
volatile bool enableFeedback; //true if we are using PID control algorithm
#ifdef A1333_ENCODER
A1333 encoder;
#else
AS5047D encoder;
#endif
#ifdef NEMA_23_10A_HW
FetDriver stepperDriver;
#else
#ifdef A5995_DRIVER
A5995 stepperDriver;
#else
A4954 stepperDriver;
#endif
#endif
uint16_t startUpEncoder;
volatile int32_t ticks=0;
volatile Location_t locs[MAX_NUM_LOCATIONS];
volatile int32_t locReadIndx=0;
volatile int32_t locWriteIndx=0;
volatile MotorParams_t motorParams;
volatile SystemParams_t systemParams;
volatile bool enabled;
volatile int32_t loopTimeus; //time to run loop in microseconds
volatile PID_t sPID; //simple control loop PID parameters
volatile PID_t pPID; //positional current based PID control parameters
volatile PID_t vPID; //velocity PID control parameters
volatile int64_t numSteps; //this is the number of steps we have taken from our start angle
volatile int32_t loopError;
volatile int64_t currentLocation; //estimate of the current location from encoder feedback
// the current location lower 16 bits is angle (0-360 degrees in 65536 steps) while upper
// bits is the number of full rotations.
//this is used for the velocity PID feedback
// units are in Angles/sec where 1 Angle=360deg/65536
volatile int64_t velocity;
volatile int8_t torque=0;
int64_t zeroAngleOffset=0;
//volatile int16_t data[N_DATA];
//does linear interpolation of the encoder calibration table
int32_t getAngleCalibration(int32_t encoderAngle);
//updates the currentMeasuredAngle with our best guess where we are
Angle sampleAngle(void);
Angle sampleMeanEncoder(int32_t numSamples);
float measureStepSize(void); //steps motor and estimates step size
uint32_t measureMaxCalibrationError(void);
void setLocationFromEncoder(void);
void motorReset(void);
void updateStep(int dir, uint16_t steps);
bool torqueLoop(int64_t currentLoc, Control_t *ptrCtrl);
bool pidFeedback(int64_t desiredLoc, int64_t currentLoc, Control_t *ptrCtrl);
bool simpleFeedback(int64_t desiredLoc, int64_t currentLoc,Control_t *ptrCtrl);
bool vpidFeedback(int64_t desiredLoc, int64_t currentLoc,Control_t *ptrCtrl);
int64_t getCurrentLocation(void);
int64_t getDesiredLocation(void);
void updateLocTable(int64_t desiredLoc, int64_t currentLoc,Control_t *ptrCtrl);
int64_t calculatePhasePrediction(int64_t currentLoc);
bool determineError(int64_t currentLoc, int64_t error);
public:
uint16_t getStartupEncoder(void) {return startUpEncoder;}
int32_t getLocation(Location_t *ptrLoc);
//int32_t getSteps(void);
Angle getEncoderAngle(void);
void setAngle(int64_t loc);
int64_t getZeroAngleOffset(void);
void PrintData(void);
void setTorque(int8_t tor); //set torqu for torque mode
int8_t getTorque(void);
void setVelocity(int64_t vel); //set velocity for vPID mode
int64_t getVelocity(void);
int32_t getLoopError(void) {return loopError;}; //assume atomic read
bool calibrationValid(void) { return calTable.calValid();} //returns true if calbiration is good
void updateParamsFromNVM(void); //updates the parameters from NVM
CalibrationTable calTable;
//void printData(void);
bool calibrateEncoder(void); //do manual calibration of the encoder
Angle maxCalibrationError(void); //measures the maximum calibration error as an angle
void moveToAbsAngle(int32_t a);
void moveToAngle(int32_t a, uint32_t ma);
stepCtrlError_t begin(void); //returns false if we can not use motor
bool processFeedback(void); // does the feedback loop
feedbackCtrl_t getControlMode(void) { return systemParams.controllerMode;};
void updateSteps(int64_t steps);
void requestStep(int dir, uint16_t steps); //requests a step, if feedback controller is off motor does not move
void feedback(bool enable);
bool getFeedback(void) {return enableFeedback;}
void encoderDiagnostics(char *ptrStr);
int32_t measureError(void);
//these two functions are compenstated by the zero offset
int64_t getCurrentAngle(void);
int64_t getDesiredAngle(void);
void move(int dir, uint16_t steps); //forces motor to move even if feedback controller is turned off.
void currentLocationIsDesiredLocation();
void stealthSwitchMode(feedbackCtrl_t m);
void acceptPositionAndStealthSwitchMode(feedbackCtrl_t m);
void enable(bool enable);
bool getEnable(void) {return enabled;}
int32_t getLoopTime(void) { return loopTimeus;}
void PID_Autotune(void);
void setZero(void);
};
#endif //__STEPPER_CONTROLLER_H__

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#include "nzs.h"
NZS nzs;
void setup() {
nzs.begin();
}
void loop() {
nzs.loop();
}

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/*
* Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 "steppin.h"
#include "stepper_controller.h"
#include "wiring_private.h"
#include "Arduino.h"
extern StepperCtrl stepperCtrl;
volatile int32_t stepsChanged=0;
volatile int64_t steps=0;
#if (PIN_STEP_INPUT != 0)
#error "this code only works with step pin being D0 (PA11, EXTINT11)"
#endif
#define WAIT_TCC2_SYNC() while(TCC2->SYNCBUSY.reg)
void checkDir(void)
{
int dir=1;
static int lastDir=-1;
if (CW_ROTATION == NVM->SystemParams.dirPinRotation)
{
dir=0; //reverse the rotation
}
if (lastDir != dir)
{
if (dir)
{
EIC->CONFIG[1].reg &= ~EIC_CONFIG_SENSE2_Msk;
EIC->CONFIG[1].reg |= EIC_CONFIG_SENSE2_HIGH;
} else
{
EIC->CONFIG[1].reg &= ~EIC_CONFIG_SENSE2_Msk;
EIC->CONFIG[1].reg |= EIC_CONFIG_SENSE2_LOW;
}
lastDir=dir;
}
}
//this function can not be called in interrupt context as the overflow interrupt for tC4 needs to run.
int64_t getSteps(void)
{
//#ifndef USE_NEW_STEP
// return 0;
//#endif
int64_t x;
#ifdef USE_TC_STEP
uint16_t y;
static uint16_t lasty=0;
TCC2->CTRLBSET.reg=TCC_CTRLBSET_CMD_READSYNC;
WAIT_TCC2_SYNC();
y=(uint16_t)(TCC2->COUNT.reg & 0x0FFFFul); //use only lowest 16bits
//LOG("count is %d",y);
steps += (int16_t)(y-lasty);
lasty=y;
checkDir();
return steps;
#else
EIC->INTENCLR.reg = EIC_INTENCLR_EXTINT11;
x=stepsChanged;
stepsChanged=0;
EIC->INTENSET.reg = EIC_INTENSET_EXTINT11;
return x;
#endif
}
//this function is called on the rising edge of a step from external device
static void stepInput(void)
{
static int dir;
//read our direction pin
dir = digitalRead(PIN_DIR_INPUT);
if (CW_ROTATION == NVM->SystemParams.dirPinRotation)
{
dir=!dir; //reverse the rotation
}
#ifndef USE_NEW_STEP
stepperCtrl.requestStep(dir,1);
#else
if (dir)
{
stepsChanged++;
}else
{
stepsChanged--;
}
#endif
}
void enableEIC(void)
{
PM->APBAMASK.reg |= PM_APBAMASK_EIC;
if (EIC->CTRL.bit.ENABLE == 0)
{
// Enable GCLK for IEC (External Interrupt Controller)
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_EIC));
// Enable EIC
EIC->CTRL.bit.ENABLE = 1;
while (EIC->STATUS.bit.SYNCBUSY == 1) { }
}
}
void setupStepEvent(void)
{
//we will set up the EIC to generate an even on rising edge of step pin
//make sure EIC is setup
enableEIC();
// Assign step pin to EIC
// Step pin is PA11, EXTINT11
pinPeripheral(PIN_STEP_INPUT, PIO_EXTINT);
//set up the direction pin PA10 to trigger external interrupt
pinPeripheral(PIN_DIR_INPUT, PIO_EXTINT); //EXTINT10
//***** setup EIC ******
EIC->EVCTRL.bit.EXTINTEO11=1; //enable event for EXTINT11
EIC->EVCTRL.bit.EXTINTEO10=1; //enable event for EXTINT10
//setup up external interurpt 11 to be rising edge triggered
//setup up external interurpt 10 to be both edge triggered
EIC->CONFIG[1].reg |= EIC_CONFIG_SENSE3_RISE | EIC_CONFIG_SENSE2_HIGH;
checkDir();
//disable actually generating an interrupt, we only want event triggered
EIC->INTENCLR.reg = EIC_INTENCLR_EXTINT11;
EIC->INTENCLR.reg = EIC_INTENCLR_EXTINT10;
//**** setup the event system ***
// Enable GCLK for EVSYS channel 0
PM->APBCMASK.reg |= PM_APBCMASK_EVSYS;
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_EVSYS_CHANNEL_0));
while (GCLK->STATUS.bit.SYNCBUSY);
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_EVSYS_CHANNEL_1));
while (GCLK->STATUS.bit.SYNCBUSY);
//setup the step pin to trigger event 0 on the TCC2 (step)
EVSYS->CHANNEL.reg=EVSYS_CHANNEL_CHANNEL(0)
| EVSYS_CHANNEL_EDGSEL_RISING_EDGE
| EVSYS_CHANNEL_EVGEN(EVSYS_ID_GEN_EIC_EXTINT_11)
| EVSYS_CHANNEL_PATH_ASYNCHRONOUS;
EVSYS->USER.reg = EVSYS_USER_CHANNEL(1)
| EVSYS_USER_USER(EVSYS_ID_USER_TCC2_EV_0);
//setup the dir pin to trigger event 2 on the TCC2 (dir change)
EVSYS->CHANNEL.reg=EVSYS_CHANNEL_CHANNEL(1)
| EVSYS_CHANNEL_EDGSEL_BOTH_EDGES
| EVSYS_CHANNEL_EVGEN(EVSYS_ID_GEN_EIC_EXTINT_10)
| EVSYS_CHANNEL_PATH_ASYNCHRONOUS;
EVSYS->USER.reg = EVSYS_USER_CHANNEL(2)
| EVSYS_USER_USER(EVSYS_ID_USER_TCC2_EV_1);
//**** setup the Timer counter ******
PM->APBCMASK.reg |= PM_APBCMASK_TCC2;
// Enable GCLK for TCC2 (timer counter input clock)
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_TCC2_TC3));
while (GCLK->STATUS.bit.SYNCBUSY);
TCC2->CTRLA.reg &= ~TCC_CTRLA_ENABLE;
WAIT_TCC2_SYNC();
TCC2->CTRLA.reg= TCC_CTRLA_SWRST; //reset TCC2
WAIT_TCC2_SYNC();
while(TCC2->CTRLA.bit.SWRST ==1);
//TCC2->WAVE.reg = TCC_WAVE_WAVEGEN_NFRQ;
//WAIT_TCC2_SYNC();
TCC2->EVCTRL.reg=TCC_EVCTRL_EVACT0_COUNTEV | TCC_EVCTRL_TCEI0
| TCC_EVCTRL_EVACT1_DIR | TCC_EVCTRL_TCEI1;
WAIT_TCC2_SYNC();
TCC2->COUNT.reg=0;
WAIT_TCC2_SYNC();
//TCC2->CTRLBSET.bit.CMD=TCC_CTRLBSET_CMD_RETRIGGER;
//checkDirPin();
TCC2->CTRLBSET.bit.DIR=1;
WAIT_TCC2_SYNC();
TCC2->CTRLA.reg |=TCC_CTRLA_ENABLE;
WAIT_TCC2_SYNC();
//checkDirPin();
//
// TC4->COUNT16.CTRLA.reg = TC_CTRLA_MODE_COUNT16 // Set Timer counter Mode to 16 bits
// | TC_CTRLA_WAVEGEN_NFRQ //normal counting mode (not using waveforms)
// | TC_CTRLA_PRESCALER_DIV1; //count each pulse
// WAIT_TC32_REGS_SYNC(TC4)
//
// TC4->COUNT16.CTRLBCLR.reg=0xFF; //clear all values.
// WAIT_TC32_REGS_SYNC(TC4)
//
// TC4->COUNT16.EVCTRL.reg=TC_EVCTRL_TCEI | TC_EVCTRL_EVACT_COUNT; //enable event input and count
// WAIT_TC32_REGS_SYNC(TC4)
//
// TC4->COUNT16.COUNT.reg=0;
// WAIT_TC32_REGS_SYNC(TC4)
//
// TC4->COUNT16.INTENSET.bit.OVF = 1; //enable over/under flow interrupt
// //setup the TC overflow/underflow interrupt
// NVIC_SetPriority(TC4_IRQn, 0);
// // Enable InterruptVector
// NVIC_EnableIRQ(TC4_IRQn);
//
//
// // Enable TC
// TC4->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE;
// WAIT_TC32_REGS_SYNC(TC4)
}
//static void dirChanged_ISR(void)
//{
// int dir=0;
// //read our direction pin
// //dir = digitalRead(PIN_DIR_INPUT);
// if ( (PORT->Group[g_APinDescription[PIN_DIR_INPUT].ulPort].IN.reg & (1ul << g_APinDescription[PIN_DIR_INPUT].ulPin)) != 0 )
// {
// dir=1;
// }
//
//
// if (CW_ROTATION == NVM->SystemParams.dirPinRotation)
// {
// dir=!dir; //reverse the rotation
// }
// if (dir)
// {
// TC4->COUNT16.CTRLBSET.bit.DIR=1;
// } else
// {
// TC4->COUNT16.CTRLBCLR.bit.DIR=1;
// }
//}
void stepPinSetup(void)
{
#ifdef USE_TC_STEP
// //setup the direction pin
// dirChanged_ISR();
//
// //attachInterrupt configures the EIC as highest priority interrupts.
// attachInterrupt(digitalPinToInterrupt(PIN_DIR_INPUT), dirChanged_ISR, CHANGE);
setupStepEvent();
// NVIC_SetPriority(EIC_IRQn, 1); //set port A interrupt as highest priority
#else
attachInterrupt(digitalPinToInterrupt(PIN_STEP_INPUT), stepInput, RISING);
NVIC_SetPriority(EIC_IRQn, 0); //set port A interrupt as highest priority
#endif
}

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/*
* Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 __STEPPIN_H___
#define __STEPPIN_H___
#include "board.h"
void stepPinSetup(void); //setup step pin
int64_t getSteps(void); //returns the number of steps changed since last call
#endif // __STEPPIN_H___

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/*
* syslog.c
*
* Created on: Sep 14, 2011
* Author: trampas.stern
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 "syslog.h"
#include <Arduino.h>
#include "board.h"
#define ANSI_WHITE "\033[37m"
#define ANSI_NORMAL "\033[0m"
#define ANSI_BLINK "\033[5m"
#define ANSI_BLUE "\033[34m"
#define ANSI_MAGENTA "\033[35m"
#define ANSI_CYAN "\033[36m"
#define ANSI_WHITE "\033[37m"
#define ANSI_RED "\033[31m"
#define ANSI_GREEN "\033[32m"
#define ANSI_PINK "\033[35m\033[1m"
#define ANSI_BROWN "\033[33m"
#define ANSI_YELLOW "\033[33m\033[1m"
#define ANSI_BLACK "\033[30m"
#define ANSI_BELL_AND_RED "\a\033[31m"
#define NEW_LINE "\n\r"
Stream *ptrSerial=NULL;
eLogLevel SyslogLevelToWrite;
bool DebugUART=false;
static char buffer[SYSLOG_BUFFER_SIZE];
static unsigned int BufIndex=0;
static int SysLog_Enabled=1;
int SysLogDisable(void)
{
SysLog_Enabled=0;
return 0;
}
int SysLogEnable(void)
{
SysLog_Enabled=1;
return 0;
}
int SysLogIsEnabled(void)
{
return SysLog_Enabled;
}
void SysLogDebug(bool x)
{
DebugUART=x;
}
void SysLogPuts(const char *ptrStr)
{
if (!SysLog_Enabled)
return;
if (NULL == ptrSerial)
{
while(*ptrStr)
{
SYSLOG_PUTC(*ptrStr);
ptrStr++;
}
} else
{
ptrSerial->write(ptrStr);
}
#ifndef MECHADUINO_HARDWARE
if (DebugUART)
{
SerialUSB.write(ptrStr);
}
#endif
}
int SysLogInitDone=0;
void SysLogInit(Stream *ptrSerialObj, eLogLevel LevelToWrite)
{
ptrSerial=ptrSerialObj;
SyslogLevelToWrite=LevelToWrite;
SysLogInitDone=1;
BufIndex=0;
memset(buffer,0,SYSLOG_BUFFER_SIZE);
}
int SysLogProcessing=0; // this is used such that syslog can be reentrent
int SysLogMissed=0;
void SysLog(eLogLevel priorty, const char *fmt, ...)
{
//UINT32 ret;
int previousState=SysLog_Enabled;
char vastr[MAX_SYSLOG_STRING]={0};
//char outstr[MAX_SYSLOG_STRING]={0};
va_list ap;
if (SysLogProcessing)
{
//we have a syslog from a syslog call thus return as not much we can do...
//memset(buffer,0,SYSLOG_BUFFER_SIZE);
va_start(ap,fmt);
vsnprintf(&buffer[BufIndex],SYSLOG_BUFFER_SIZE-BufIndex,(char *)fmt,ap);
BufIndex=strlen(buffer);
snprintf(&buffer[BufIndex],SYSLOG_BUFFER_SIZE-BufIndex,NEW_LINE);
BufIndex=strlen(buffer);
SysLogMissed++; //set flag that we missed a call
return;
}
SysLogProcessing=1;
//stop the watch dog will doing a SysLog print
Sys_WDogHoldOn();
if(!SysLogInitDone)
{
SysLogInit(NULL, LOG_WARNING); //not sure who is reseting serial port but before we print set it up
WARNING("You should init SysLog");
//SysLogInitDone=0;
}
//Send out a * that we missed a SysLog Message before this current message
if (SysLogMissed)
{
//SysLogPuts(ANSI_RED);
SysLogPuts("*** Reentrant Log call possible loss of message(s):");
SysLogPuts(NEW_LINE);
if (BufIndex>0)
{
SysLogPuts(buffer);
memset(buffer,0,SYSLOG_BUFFER_SIZE);
BufIndex=0;
}
//SysLogPuts(ANSI_RED);
SysLogPuts("***********");
SysLogPuts(NEW_LINE);
SysLogMissed=0;
}
memset(vastr,0,MAX_SYSLOG_STRING);
va_start(ap,fmt);
//#ifndef PGM_P
#if 1
vsnprintf(vastr,MAX_SYSLOG_STRING,(char *)fmt,ap);
#else
vsprintf_P(vastr,(const char *)fmt,ap);
#endif
//get time and store in datetimestr if desired
//sprintf(outstr, "[%s] %s\r\n", datetimestr, vastr);
if (priorty<=LOG_ERROR)
{
SysLog_Enabled=1;
SysLogPuts(ANSI_RED);
}else if (priorty==LOG_DEBUG)
{
SysLogPuts(ANSI_WHITE);
}else if (priorty==LOG_WARNING)
{
SysLogPuts(ANSI_BLUE);
}
#ifdef RTC_H_
#ifdef TIME_H_
{
struct tm tp;
RTC_Time_s tm;
time_t secs;
char datetimestr[MAX_SYSLOG_STRING]={0};
RTC_ReadTime(&tm);
secs=tm.seconds;
convertFlexNetTime((time_t *)&secs, &tp);
time_str(datetimestr,&tp);
SysLogPuts(datetimestr);
if (priorty<=SyslogLevelToWrite && SysLogWriteFunc!=NULL)
{
SysLogWriteFunc(datetimestr,strlen(datetimestr));
}
}
#endif
#endif
SysLogPuts(vastr);
//
// if (priorty<=SyslogLevelToWrite && SysLogWriteFunc!=NULL)
// {
// SysLogWriteFunc(vastr,strlen(vastr));
// SysLogWriteFunc(NEW_LINE,strlen(NEW_LINE));
// }
SysLogPuts(ANSI_NORMAL);
SysLogPuts(NEW_LINE);
if (priorty == LOG_EMERG) {
//you can reboot processor here
}
//start the watch dog where left off..
Sys_WDogHoldOff();
SysLogProcessing=0;
SysLog_Enabled=previousState;
return;
}

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/*
* syslog.h
*
* Created on: Sep 14, 2011
* Author: trampas.stern
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 SYSLOG_H_
#define SYSLOG_H_
#include <stdarg.h>
#include <string.h>
#include <stdio.h>
#include "Arduino.h"
#include "variant.h"
#ifdef __cplusplus
extern "C"
{
#endif // __cplusplus
#define SYSLOG_BUFFER_SIZE (250)
#define MAX_SYSLOG_STRING (250)
#define __FILENAME1__ (__builtin_strrchr(__FILE__, '\\') ? __builtin_strrchr(__FILE__, '\\') + 1 : __FILE__)
#define __FILENAME__ (__builtin_strrchr(__FILENAME1__, '/') ? __builtin_strrchr(__FILENAME1__, '/') + 1 : __FILENAME1__)
#define SYSLOG_WRITE(buffer,nBytes)
#ifdef CMD_SERIAL_PORT
#define SYSLOG_PUTC(x)
#else
#define SYSLOG_PUTC(x) //SerialUSB.write(x)
#endif
#define Sys_WDogHoldOn()
#define Sys_WDogHoldOff()
/*
* priorities/facilities are encoded into a single 32-bit quantity, where the
* bottom 3 bits are the priority (0-7) and the top 28 bits are the facility
* (0-big number). Both the priorities and the facilities map roughly
* one-to-one to strings in the syslogd(8) source code. This mapping is
* included in this file.
*
* priorities (these are ordered)
*/
typedef enum _eLogLevel {
LOG_EMERG = 0, // system is unusable
LOG_ALERT = 1, // action must be taken immediately
LOG_CRIT = 2, // critical conditions
LOG_ERROR = 3, // error conditions
LOG_WARNING = 4, // warning conditions
LOG_NOTICE = 5, // normal but significant condition
LOG_INFO = 6, // informational
LOG_DEBUG = 7, // debug-level messages
LOG_DISABLED = 8 // disabled messages
} eLogLevel;
#if 0
#define CONCAT(x, y) CONCAT_(x, y)
#define CONCAT_(x, y) x##y
#define ID(...) __VA_ARGS__
#define IFMULTIARG(if,then,else) \
CONCAT(IFMULTIARG_, IFMULTIARG_(if, \
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, \
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, \
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, \
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, \
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, \
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, \
1, 1, 0, ))(then,else)
#define IFMULTIARG_(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, \
_10, _11, _12, _13, _14, _15, _16, _17, _18, _19, \
_20, _21, _22, _23, _24, _25, _26, _27, _28, _29, \
_30, _31, _32, _33, _34, _35, _36, _37, _38, _39, \
_40, _41, _42, _43, _44, _45, _46, _47, _48, _49, \
_50, _51, _52, _53, _54, _55, _56, _57, _58, _59, \
_60, _61, _62, _63, ...) _63
#define IFMULTIARG_0(then, else) else
#define IFMULTIARG_1(then, else) then
#define PROVIDE_SECOND_ARGUMENT(x, ...) CONCAT( IFMULTIARG(ID(__VA_ARGS__), INSERT_, ADD_), SECOND_ARGUMENT ) (x, __VA_ARGS__)
#define PROVIDE_SECOND_ARGUMENT2(x, y, ...) CONCAT( IFMULTIARG(ID(__VA_ARGS__), INSERT_, ADD_), SECOND_ARGUMENT2 ) (x, y, __VA_ARGS__)
#define ADD_SECOND_ARGUMENT(x, y) y, x
#define INSERT_SECOND_ARGUMENT(x, y, ...) y, x, __VA_ARGS__
#define ADD_SECOND_ARGUMENT2(x, z, y) y, x, z
#define INSERT_SECOND_ARGUMENT2(x, z, y, ...) y, x, z, __VA_ARGS__
#endif
//#define DEBUG1(...) printf( "DEBUG %s %s: "
//PROVIDE_SECOND_ARGUMENT2(__FILE__, __LINE__, __VA_ARGS__))
//TXT(x) macro is used for system which can store strings in flash, like AVR processors
#ifndef TXT
#define TXT(x) x
#endif
void SysLog(eLogLevel priorty, const char *fmt, ...);
static inline const char * __file__( const char *filename ) {
char const *p = strrchr( filename, '/' );
if ( p )
return p+1;
else
return filename;
} // __file__
//These macros abstract the logging and append the file and line number to errors.
#ifndef SYSLOG_DISABLE
//#ifndef PGM_P
#if 1
//EMERG means system is unstable thus will force a reboot!
#define EMERG(fmt, ...) SysLog( LOG_EMERG, "EMERG: %s %4d: " fmt, __FILENAME__, __LINE__, ## __VA_ARGS__ )
#define ALERT(fmt, ...) SysLog( LOG_ALERT, "ALERT: %s %4d: " fmt, __FILENAME__, __LINE__, ## __VA_ARGS__ )
#define CRITICAL(fmt, ...) SysLog( LOG_CRIT, "CRITICAL: %s %4d: " fmt, __FILENAME__, __LINE__, ## __VA_ARGS__ )
#define ERROR(fmt, ...) SysLog( LOG_ERROR, "ERROR: %s %4d: " fmt, __FILENAME__, __LINE__, ## __VA_ARGS__ )
#define WARNING(fmt, ...) SysLog( LOG_WARNING, "WARNING: %s %4d: " fmt, __FILENAME__, __LINE__, ## __VA_ARGS__ )
#define NOTICE(fmt, ...) SysLog( LOG_NOTICE, "NOTICE: %s %4d: " fmt, __FILENAME__, __LINE__, ## __VA_ARGS__ )
#define INFO(fmt, ...) SysLog( LOG_INFO, "INFO: %s %4d: " fmt, __FILENAME__, __LINE__, ## __VA_ARGS__ )
#define LOG(fmt, ...) SysLog( LOG_DEBUG, "%s %4d: " fmt, __FILENAME__ , __LINE__, ## __VA_ARGS__ )
//
//#define EMERG(...) SysLog( LOG_EMERG, "EMERG: %15s %4d: " PROVIDE_SECOND_ARGUMENT2(BASE_FILE_NAME, __LINE__,__VA_ARGS__ ) )
//#define ALERT(...) SysLog( LOG_ALERT, "ALERT: %15s %4d: " PROVIDE_SECOND_ARGUMENT2(BASE_FILE_NAME, __LINE__,__VA_ARGS__ ) )
//#define CRITICAL(...) SysLog( LOG_CRIT, "CRITICAL: %15s %4d: " PROVIDE_SECOND_ARGUMENT2(BASE_FILE_NAME, __LINE__,__VA_ARGS__ ) )
//#define ERROR(...) SysLog( LOG_ERROR, "ERROR: %15s %4d: " PROVIDE_SECOND_ARGUMENT2(BASE_FILE_NAME, __LINE__,__VA_ARGS__ ) )
//#define WARNING(...) SysLog( LOG_WARNING, "WARNING: %15s %4d: " PROVIDE_SECOND_ARGUMENT2(BASE_FILE_NAME, __LINE__,__VA_ARGS__ ) )
//#define NOTICE(...) SysLog( LOG_NOTICE, "NOTICE: %15s %4d: " PROVIDE_SECOND_ARGUMENT2(BASE_FILE_NAME, __LINE__,__VA_ARGS__ ) )
//#define INFO(...) SysLog( LOG_INFO, "INFO: %15s %4d: " PROVIDE_SECOND_ARGUMENT2(BASE_FILE_NAME, __LINE__,__VA_ARGS__ ) )
//#define LOG(...) SysLog( LOG_DEBUG, "%s %4d: " PROVIDE_SECOND_ARGUMENT2(BASE_FILE_NAME, __LINE__,__VA_ARGS__ ) )
#else
//EMERG means system is unstable thus will force a reboot!
#define EMERG(fmt, ...) SysLog( LOG_EMERG, PSTR("EMERG: %15s %4d: " fmt), __file__(__FILE__), __LINE__, ## __VA_ARGS__ )
#define ALERT(fmt, ...) SysLog( LOG_ALERT, PSTR("ALERT: %15s %4d: " fmt), __file__(__FILE__), __LINE__, ## __VA_ARGS__ )
#define CRITICAL(fmt, ...) SysLog( LOG_CRIT, PSTR("CRITICAL: %15s %4d: " fmt), __file__(__FILE__), __LINE__, ## __VA_ARGS__ )
#define ERROR(fmt, ...) SysLog( LOG_ERROR, PSTR("ERROR: %15s %4d: " fmt), __file__(__FILE__), __LINE__, ## __VA_ARGS__ )
#define WARNING(fmt, ...) SysLog( LOG_WARNING, PSTR("WARNING: %15s %4d: " fmt), __file__(__FILE__), __LINE__, ## __VA_ARGS__ )
#define NOTICE(fmt, ...) SysLog( LOG_NOTICE, PSTR("NOTICE: %15s %4d: " fmt), __file__(__FILE__), __LINE__, ## __VA_ARGS__ )
#define INFO(fmt, ...) SysLog( LOG_INFO, PSTR("INFO: %15s %4d: " fmt), __file__(__FILE__), __LINE__, ## __VA_ARGS__ )
#define LOG(fmt, ...) SysLog( LOG_DEBUG, PSTR("%15s %4d: " fmt), __file__(__FILE__), __LINE__, ## __VA_ARGS__ )
#endif
#else
#define EMERG(fmt, ...)
#define ALERT(fmt, ...)
#define CRITICAL(fmt, ...)
#define ERROR(fmt, ...)
#define WARNING(fmt, ...)
#define NOTICE(fmt, ...)
#define INFO(fmt, ...)
#define LOG(fmt, ...)
#endif //SYSLOG_DIABLE
//Note that if you are running debug code with JTAG the assert will stop
// However you might want to run release code with syslog enabled for testing
// where you want error logging, but asserts are not enabled.
// Thus this macro does error logging and an assert.
//This macro assumed to take a constant string as argument
//this can be enabled to log asserts to the history file, if you have code space to do it.
#ifdef ASSERT_HISTORY
#define ASSERT(x) {if(!(x)){ERROR(#x); HISTORY_ASSERT();} assert(x);}
#define ASSERT_ERROR(x) {HISTORY_ASSERT(); ERROR(x); ASSERT_FAIL(x);}
#else
#define ASSERT(x) {if(!(x)){ERROR(#x);} assert(x);}
#define ASSERT_ERROR(x) {ERROR(x); ASSERT_FAIL(x);}
#endif
void SysLogInit(Stream *ptrSerialObj, eLogLevel LevelToWrite);
int SysLogDisable(void);
int SysLogEnable(void);
int SysLogIsEnabled(void);
void SysLogDebug(bool x);
#ifdef __cplusplus
}
#endif // __cplusplus
#endif /* SYSLOG_H_ */

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/**********************************************************************
* Author: tstern
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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 "utils.h"
#include "syslog.h"
double CubicInterpolate(
double y0,double y1,
double y2,double y3,
double mu)
{
double a0,a1,a2,a3,mu2;
mu2 = mu*mu;
a0 = y3 - y2 - y0 + y1;
a1 = y0 - y1 - a0;
a2 = y2 - y0;
a3 = y1;
return(a0*mu*mu2+a1*mu2+a2*mu+a3);
}

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/**********************************************************************
* Author: tstern
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
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!
*********************************************************************/
/* this file contains generic utilities and functions */
#ifndef UTILS_H_
#define UTILS_H_
double CubicInterpolate(
double y0,double y1,
double y2,double y3,
double mu);
#endif /* UTILS_H_ */

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# generated by PrusaSlicer 2.2.0+win64 on 2020-07-11 at 20:15:29 UTC
avoid_crossing_perimeters = 0
bed_custom_texture = trikarus-bed.svg
bed_shape = 498.097x43.5779,492.404x86.8241,482.963x129.41,469.846x171.01,453.154x211.309,433.013x250,409.576x286.788,383.022x321.394,353.553x353.553,321.394x383.022,286.788x409.576,250x433.013,211.309x453.154,171.01x469.846,129.41x482.963,86.8241x492.404,43.5779x498.097,3.06162e-14x500,-43.5779x498.097,-86.8241x492.404,-129.41x482.963,-171.01x469.846,-211.309x453.154,-250x433.013,-286.788x409.576,-321.394x383.022,-353.553x353.553,-383.022x321.394,-409.576x286.788,-433.013x250,-453.154x211.309,-469.846x171.01,-482.963x129.41,-492.404x86.8241,-498.097x43.5779,-500x6.12323e-14,-498.097x-43.5779,-492.404x-86.8241,-482.963x-129.41,-469.846x-171.01,-453.154x-211.309,-433.013x-250,-409.576x-286.788,-383.022x-321.394,-353.553x-353.553,-321.394x-383.022,-286.788x-409.576,-250x-433.013,-211.309x-453.154,-171.01x-469.846,-129.41x-482.963,-86.8241x-492.404,-43.5779x-498.097,-9.18485e-14x-500,43.5779x-498.097,86.8241x-492.404,129.41x-482.963,171.01x-469.846,211.309x-453.154,250x-433.013,286.788x-409.576,321.394x-383.022,353.553x-353.553,383.022x-321.394,409.576x-286.788,433.013x-250,453.154x-211.309,469.846x-171.01,482.963x-129.41,492.404x-86.8241,498.097x-43.5779,500x-1.22465e-13
bed_temperature = 0
before_layer_gcode =
between_objects_gcode =
bottom_fill_pattern = rectilinear
bottom_solid_layers = 2
bottom_solid_min_thickness = 0
bridge_acceleration = 0
bridge_angle = 0
bridge_fan_speed = 100
bridge_flow_ratio = 1
bridge_speed = 60
brim_width = 0
clip_multipart_objects = 1
colorprint_heights =
complete_objects = 0
cooling = 1
cooling_tube_length = 5
cooling_tube_retraction = 91.5
default_acceleration = 0
default_filament_profile = ""
default_print_profile =
deretract_speed = 0
disable_fan_first_layers = 2
dont_support_bridges = 0
draft_shield = 0
duplicate_distance = 6
elefant_foot_compensation = 0.2
end_filament_gcode = "; Filament-specific end gcode \n;END gcode for filament\n"
end_gcode = ;PrusaSlicer automatically generates M107 command at the end which turns off the fan. But we want to cool down the last millimeters too for some more seconds\nM106 S255 ;re-enable blower fan\nM104 S0 ;turn off temperature\nG91 ;relative coordinates\nG0 Z3 ;move extruder 3 mm higher\nG90 ;absolute coordinates\nG4 S20 ;wait 30 seconds\nM106 S0 ;then turn off the blower fan again
ensure_vertical_shell_thickness = 1
external_perimeter_extrusion_width = 1.57
external_perimeter_speed = 75%
external_perimeters_first = 0
extra_loading_move = -2
extra_perimeters = 1
extruder_clearance_height = 20
extruder_clearance_radius = 20
extruder_colour = #0080FF
extruder_offset = 0x0
extrusion_axis = E
extrusion_multiplier = 1
extrusion_width = 1.57
fan_always_on = 1
fan_below_layer_time = 60
filament_colour = #FFFFFF
filament_cooling_final_speed = 3.4
filament_cooling_initial_speed = 2.2
filament_cooling_moves = 4
filament_cost = 18.81
filament_density = 1.25
filament_deretract_speed = nil
filament_diameter = 1.8
filament_load_time = 0
filament_loading_speed = 28
filament_loading_speed_start = 3
filament_max_volumetric_speed = 0
filament_minimal_purge_on_wipe_tower = 15
filament_notes = "offical data from spool:\n- density: 1.25 g/cm^3\n- diameter: 1.75 mm +/- 0.05 mm (90% of all filament spools below +/- 0.02 mm)\n- print temperature: 205 C +/- 10 C"
filament_ramming_parameters = "120 100 6.6 6.8 7.2 7.6 7.9 8.2 8.7 9.4 9.9 10.0| 0.05 6.6 0.45 6.8 0.95 7.8 1.45 8.3 1.95 9.7 2.45 10 2.95 7.6 3.45 7.6 3.95 7.6 4.45 7.6 4.95 7.6"
filament_retract_before_travel = nil
filament_retract_before_wipe = nil
filament_retract_layer_change = nil
filament_retract_length = nil
filament_retract_lift = nil
filament_retract_lift_above = nil
filament_retract_lift_below = nil
filament_retract_restart_extra = nil
filament_retract_speed = nil
filament_settings_id = "Trikarus - Redline Filament PLA"
filament_soluble = 0
filament_toolchange_delay = 0
filament_type = PLA
filament_unload_time = 0
filament_unloading_speed = 90
filament_unloading_speed_start = 100
filament_vendor = (Unknown)
filament_wipe = nil
fill_angle = 45
fill_density = 5%
fill_pattern = gyroid
first_layer_acceleration = 0
first_layer_bed_temperature = 0
first_layer_extrusion_width = 1.47
first_layer_height = 110%
first_layer_speed = 20%
first_layer_temperature = 205
gap_fill_speed = 40
gcode_comments = 0
gcode_flavor = marlin
gcode_label_objects = 0
high_current_on_filament_swap = 0
host_type = duet
infill_acceleration = 0
infill_every_layers = 1
infill_extruder = 1
infill_extrusion_width = 1.57
infill_first = 0
infill_only_where_needed = 0
infill_overlap = 25%
infill_speed = 45
interface_shells = 0
layer_gcode =
layer_height = 1
machine_max_acceleration_e = 1000,1000
machine_max_acceleration_extruding = 1500,1500
machine_max_acceleration_retracting = 1500,1500
machine_max_acceleration_x = 1000,1000
machine_max_acceleration_y = 1000,1000
machine_max_acceleration_z = 1000,1000
machine_max_feedrate_e = 3600,3600
machine_max_feedrate_x = 9500,9500
machine_max_feedrate_y = 9500,9500
machine_max_feedrate_z = 9500,9500
machine_max_jerk_e = 2.5,2.5
machine_max_jerk_x = 10,10
machine_max_jerk_y = 10,10
machine_max_jerk_z = 0.2,0.2
machine_min_extruding_rate = 0,0
machine_min_travel_rate = 0,0
max_fan_speed = 100
max_layer_height = 1.4
max_print_height = 2000
max_print_speed = 50
max_volumetric_speed = 110
min_fan_speed = 65
min_layer_height = 0.3
min_print_speed = 10
min_skirt_length = 100
notes =
nozzle_diameter = 1.4
only_retract_when_crossing_perimeters = 1
ooze_prevention = 0
output_filename_format = [input_filename_base].gcode
overhangs = 1
parking_pos_retraction = 92
perimeter_acceleration = 0
perimeter_extruder = 1
perimeter_extrusion_width = 1.57
perimeter_speed = 35
perimeters = 2
post_process =
print_host =
print_settings_id = Trikarus
printer_model =
printer_notes = - M203 command in PrusaSlicer takes mm/second but Duet RRF takes those values as mm/minute. So you need to enter the mm/minute values without conversion\n- M73 not supported by RRF
printer_settings_id = Trikarus
printer_technology = FFF
printer_variant =
printer_vendor =
printhost_apikey =
printhost_cafile =
raft_layers = 0
remaining_times = 0
resolution = 0
retract_before_travel = 2
retract_before_wipe = 0%
retract_layer_change = 1
retract_length = 3
retract_length_toolchange = 10
retract_lift = 1.5
retract_lift_above = 0
retract_lift_below = 0
retract_restart_extra = 0
retract_restart_extra_toolchange = 0
retract_speed = 60
seam_position = nearest
serial_port =
serial_speed = 250000
silent_mode = 1
single_extruder_multi_material = 0
single_extruder_multi_material_priming = 1
skirt_distance = 40
skirt_height = 1
skirts = 1
slice_closing_radius = 0.049
slowdown_below_layer_time = 5
small_perimeter_speed = 30
solid_infill_below_area = 70
solid_infill_every_layers = 0
solid_infill_extruder = 1
solid_infill_extrusion_width = 1.57
solid_infill_speed = 35
spiral_vase = 0
standby_temperature_delta = -5
start_filament_gcode = "; Filament gcode\n"
start_gcode = G28 ;reset coordinates - you must delete the files homex.g and homey.g on Duet Web Control because they contain dangerious moves when using default DWC config\n;deactivated stuff:\n;G92 X0 Y0 Z0 ;reset coordinates - does not always work so we use preceding G28\n;M106 P2 S0 ;turn off laser pointers - this is done by sms_prepare.sh script. no need to do twice\nM117 "Starting new GCode print job" ;M291 PMESSAGE does not work here. It just won't be displayed while printing
support_material = 0
support_material_angle = 0
support_material_auto = 1
support_material_buildplate_only = 1
support_material_contact_distance = 0.2
support_material_enforce_layers = 0
support_material_extruder = 1
support_material_extrusion_width = 1.22
support_material_interface_contact_loops = 0
support_material_interface_extruder = 1
support_material_interface_layers = 3
support_material_interface_spacing = 4
support_material_interface_speed = 100%
support_material_pattern = rectilinear
support_material_spacing = 10
support_material_speed = 60
support_material_synchronize_layers = 0
support_material_threshold = 0
support_material_with_sheath = 1
support_material_xy_spacing = 50%
temperature = 215
thin_walls = 1
threads = 8
thumbnails =
toolchange_gcode =
top_fill_pattern = rectilinear
top_infill_extrusion_width = 1.4
top_solid_infill_speed = 30
top_solid_layers = 2
top_solid_min_thickness = 0
travel_speed = 130
use_firmware_retraction = 1
use_relative_e_distances = 0
use_volumetric_e = 0
variable_layer_height = 1
wipe = 0
wipe_into_infill = 0
wipe_into_objects = 0
wipe_tower = 0
wipe_tower_bridging = 10
wipe_tower_no_sparse_layers = 0
wipe_tower_rotation_angle = 0
wipe_tower_width = 60
wipe_tower_x = 180
wipe_tower_y = 140
wiping_volumes_extruders = 70,70
wiping_volumes_matrix = 0
xy_size_compensation = 0
z_offset = 0

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