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Fw 0.28
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@Misfittech
Misfittech committed Jan 27, 2018
1 parent 5e0b0e0 commit 874650f
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Showing 11 changed files with 751 additions and 83 deletions.
1 change: 1 addition & 0 deletions firmware/stepper_nano_zero/A4954.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -316,6 +316,7 @@ int32_t A4954::move(int32_t stepAngle, uint32_t mA)
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);
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8 changes: 4 additions & 4 deletions firmware/stepper_nano_zero/Flash.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ void flashWrite(const volatile void *flash_ptr,const void *data, uint32_t size)
destPtr=(uint8_t *)flash_ptr;
srcPtr=(uint8_t *)data;

//LOG("flash write called");
LOG("flash write called");
while(size>0)
{
uint32_t i,j;
Expand All @@ -80,11 +80,11 @@ void flashWrite(const volatile void *flash_ptr,const void *data, uint32_t size)
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);
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);
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);
Expand All @@ -95,7 +95,7 @@ void flashWrite(const volatile void *flash_ptr,const void *data, uint32_t size)
{
i=size;
}
//LOG("changing %d bytes",i);
LOG("changing %d bytes",i);
memcpy(&buffer[offset],srcPtr,i);

//erase page
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140 changes: 114 additions & 26 deletions firmware/stepper_nano_zero/board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,18 +39,28 @@


#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
// 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
//as of FW0.11 it is considered development only

#define VERSION "FW: 0.25" //this is what prints on LCD during splash screen
#define VERSION "FW: 0.28" //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 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.
#define USE_STEP_DIR_SERIAL
#define STEP_DIR_BAUD (19200) //this is the baud rate we will use

// 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
Expand Down Expand Up @@ -122,7 +132,10 @@
* 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)
*/


Expand Down Expand Up @@ -150,19 +163,23 @@ typedef enum {
CTRL_POS_VELOCITY_PID =4, //PID Velocity controller
} 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
//D0 step input could use TCC1 or TCC0 if not used
//TC5 is use for timing the control loop
//TC3 is used for planner tick
//TC4 is used for step count

// ******** TIMER USAGE NEMA23 10A versions ************
//TCC0 PWM for the FET IN pins
//D10 step input could use TC3 or TCC0 if not used
//TC5 is use for timing the control loop
//TC3 is used for planner tick
//TC4 is used for step count



Expand All @@ -183,6 +200,10 @@ typedef enum {
#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
Expand Down Expand Up @@ -295,8 +316,8 @@ static void boardSetupPins(void)
pinMode(PIN_SW4, INPUT_PULLUP);
#endif

pinMode(PIN_STEP_INPUT, INPUT);
pinMode(PIN_DIR_INPUT, INPUT);
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
Expand Down Expand Up @@ -377,28 +398,95 @@ static void inline RED_LED(bool state)

#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
}
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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