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Initial work on AEL-200-500N
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- Basic motor control
- Basic limit switch support (highest priority IRQs)
- FTM/PWM + PIT clock generation for iGaging calipers
- up/down/stop cli commands
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@haata
haata committed Oct 4, 2015
1 parent 5be8559 commit 0a1ec7d
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Showing 6 changed files with 256 additions and 11 deletions.
1 change: 1 addition & 0 deletions 98-kiibohd.rules
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Expand Up @@ -5,6 +5,7 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04[789]?", MODE:=
# Kiibohd Serial Interface
KERNEL=="ttyACM*", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04[789]?", MODE:="0666"
KERNEL=="ttyACM*", ATTRS{idVendor}=="1c11", ATTRS{idProduct}=="b04d", MODE:="0666"
KERNEL=="ttyACM*", ATTRS{idVendor}=="1c11", ATTRS{idProduct}=="f05c", MODE:="0666"
# Kiibohd Device
SUBSYSTEMS=="usb", ATTRS{idVendor}=="1c11", ATTRS{idProduct}=="b04d", MODE:="0666"
# DFU Bootloader (MCHCK)
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4 changes: 2 additions & 2 deletions Lib/CMake/arm.cmake
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Expand Up @@ -119,15 +119,15 @@ message( "${COMPILER_SRCS}" )
message( STATUS "Bootloader Type:" )
if ( "${CHIP}" MATCHES "mk20dx128vlf5" OR "${CHIP}" MATCHES "mk20dx256vlh7" )
set( VENDOR_ID "0x1C11" )
set( PRODUCT_ID "0xB04D" )
set( PRODUCT_ID "0xF05C" )
set( BOOT_VENDOR_ID "0x1C11" )
set( BOOT_PRODUCT_ID "0xB007" )
set( BOOT_DFU_ALTNAME "Kiibohd DFU" )
set( DFU 1 )
message( "dfu" )
elseif ( "${CHIP}" MATCHES "mk20dx128" OR "${CHIP}" MATCHES "mk20dx256" )
set( VENDOR_ID "0x1C11" )
set( PRODUCT_ID "0xB04D" )
set( PRODUCT_ID "0xF05C" )
set( BOOT_VENDOR_ID "0x16c0" ) # TODO Double check, this is likely incorrect
set( BOOT_PRODUCT_ID "0x0487" )
set( TEENSY 1 )
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6 changes: 6 additions & 0 deletions Lib/mk20dx.h
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Expand Up @@ -1103,6 +1103,8 @@

// Chapter 36: Periodic Interrupt Timer (PIT)
#define PIT_MCR *(volatile uint32_t *)0x40037000 // PIT Module Control Register
#define PIT_MCR_MDIS 0x02 // PIT Module disable
#define PIT_MCR_FRZ 0x01 // PIT Module debug mode freeze
#define PIT_LDVAL0 *(volatile uint32_t *)0x40037100 // Timer Load Value Register
#define PIT_CVAL0 *(volatile uint32_t *)0x40037104 // Current Timer Value Register
#define PIT_TCTRL0 *(volatile uint32_t *)0x40037108 // Timer Control Register
Expand All @@ -1119,6 +1121,10 @@
#define PIT_CVAL3 *(volatile uint32_t *)0x40037134 // Current Timer Value Register
#define PIT_TCTRL3 *(volatile uint32_t *)0x40037138 // Timer Control Register
#define PIT_TFLG3 *(volatile uint32_t *)0x4003713C // Timer Flag Register
#define PIT_TCTRL_CHN 0x04 // Chain mode, n-1 PIT Channel needs to expire before incrementing
#define PIT_TCTRL_TIE 0x02 // Timer interrupt enable
#define PIT_TCTRL_TEN 0x01 // Timer enable
#define PIT_TFLG_TIF 0x01 // Clears interrupt

// Chapter 37: Low-Power Timer (LPTMR)
#define LPTMR0_CSR *(volatile uint32_t *)0x40040000 // Low Power Timer Control Status Register
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8 changes: 4 additions & 4 deletions Lib/pin_map.teensy3
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@@ -1,7 +1,7 @@
// Pin Name Function Hardware
// ----------------------------------
// 0 PTB16 RX0
// 1 PTB17 TX0
// 0 PTB16 RX0 SOUT1
// 1 PTB17 TX0 SIN1
// 2 PTD0 PCS0
// 3 PTA12 FTM1_CH0 PWM (CAN TX - Teensy 3.1) I2S_TXD0
// 4 PTA13 FTM1_CH1 PWM (CAN RX - Teensy 3.1) I2S_TX_FS
Expand All @@ -26,12 +26,12 @@
// 23 PTC2 FTM0_CH1 PWM PCS2 I2S_TX_FS
// 24 PTA5 (FTM0_CH2) I2S_TX_BCLK
// 25 PTB19 (PWM - Teensy 3.1) I2S_TX_FS
// 26 PTE1 RX1 SCL1
// 26 PTE1 RX1 SCL1 SOUT1 SIN1
// 27 PTC9 I2S_RX_BCLK
// 28 PTC8 I2S_MCLK
// 29 PTC10 (SCL1 - Teensy 3.1) I2S_RX_FS
// 30 PTC11 (SDA1 - Teensy 3.1) I2S_RXD1
// 31 PTE0 TX1 SDA1
// 31 PTE0 TX1 SDA1 PCS1-1
// 32 PTB18 (PWM - Teensy 3.1) I2S_TX_BCLK
// 33 PTA4 (FTM0_CH1)
// 34 analog only
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6 changes: 3 additions & 3 deletions Output/pjrcUSB/arm/usb_desc.h
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Expand Up @@ -61,9 +61,9 @@
#define CDC_IAD_DESCRIPTOR 1
#define CDC_STATUS_INTERFACE 0
#define CDC_DATA_INTERFACE 1 // Serial
#define CDC_ACM_ENDPOINT 0
#define CDC_RX_ENDPOINT 1
#define CDC_TX_ENDPOINT 2
#define CDC_ACM_ENDPOINT 1
#define CDC_RX_ENDPOINT 2
#define CDC_TX_ENDPOINT 3
#define CDC_ACM_SIZE 16
#define CDC_RX_SIZE 64
#define CDC_TX_SIZE 64
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242 changes: 240 additions & 2 deletions main.c
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Expand Up @@ -44,6 +44,10 @@

// ----- Function Declarations -----

void cliFunc_down ( char* args );
void cliFunc_stop ( char* args );
void cliFunc_up ( char* args );

void cliFunc_contRead ( char* args );
void cliFunc_distRead ( char* args );
void cliFunc_free ( char* args );
Expand All @@ -66,6 +70,19 @@ void continuityTest();

// ----- Variables -----

// Force Gauge command dictionary
CLIDict_Entry( up, "Enable motor up signal" );
CLIDict_Entry( down, "Enable motor down signal" );
CLIDict_Entry( stop, "Stop motor movement" );

CLIDict_Def( forceGaugeCLIDict, "Force Curve Gauge Commands" ) = {
CLIDict_Item( down ),
CLIDict_Item( stop ),
CLIDict_Item( up ),
{ 0, 0, 0 } // Null entry for dictionary end
};


#if 0
// Force Gauge command dictionary
char* forceGaugeCLIDictName = "Force Curve Gauge Commands";
Expand Down Expand Up @@ -224,10 +241,216 @@ inline void forceSetup()
}
#endif

// ------ Distance Measurement ------

// PWM Input Interrupt
volatile uint8_t distance_pulses_on = 0;
void pit0_isr()
{
//dbug_print("YUSH");
// If pulses are on, turn off
if ( distance_pulses_on )
{
// Disable FTM PWM
FTM0_C7SC = 0x00;
}
// Otherwise turn them on
else
{
// Set FTM to PWM output - Edge Aligned, High-true pulses
FTM0_C7SC = 0x28; // MSnB:MSnA = 10, ELSnB:ELSnA = 01
}

distance_pulses_on = !distance_pulses_on;

// Clear the interrupt
PIT_TFLG0 = PIT_TFLG_TIF;
}

inline void distance_setup()
{
// Setup distance read parameters for iGaging Distance Scale
// freq = 9kHz
// duty_cycle = 20%
// high_delay = (1/freq) * (duty_cycle/100)
// low_delay = (1/freq) * ((100-duty_cycle)/100)

// Setup PWM source
SIM_SCGC6 |= SIM_SCGC6_FTM0;

// Disable write protect and allow access to all the registers
FTM0_CNT = 0; // Reset counter

// Set FTM to PWM output - Edge Aligned, High-true pulses
FTM0_C7SC = 0x28; // MSnB:MSnA = 10, ELSnB:ELSnA = 01

// System clock, /w prescalar setting of 0
FTM0_SC = FTM_SC_CLKS(1) | FTM_SC_PS(0);

// PWM Period
// 48 MHz / 9 kHz = 5333.333 or 0x14d5
FTM0_MOD = 0x14d5;

// Clock source for iGaging calipers
FTM0_C7V = 0x042A; // 0x14d5 * 0.20 = 1066.6 or 0x42A
PORTD_PCR7 = PORT_PCR_SRE | PORT_PCR_DSE | PORT_PCR_MUX(4) | PORT_PCR_PE;

// Indicate that pulses have been enabled
distance_pulses_on = 1;


// Setup PIT (Programmable Interrupt Timer)
SIM_SCGC6 |= SIM_SCGC6_PIT;;
PIT_MCR = 0x00; // Enable module, do not freeze timers in debug mode

// Timer Count-down value
// (48 MHz / 9 KHz) * 21 cycles = 112 000 ticks (0x1B580)
PIT_LDVAL0 = 0x1B580;
//PIT_LDVAL0 = 0x2DC6C00; // Once per second

// Enable Timer, Enable interrupt
PIT_TCTRL0 = PIT_TCTRL_TIE | PIT_TCTRL_TEN;

// Enable PIT Ch0 interrupt
NVIC_ENABLE_IRQ( IRQ_PIT_CH0 );
}



// ------ Motor Control -----

void motor_stop()
{
// Pull high to stop motors
GPIOC_PSOR |= (1 << 8);
GPIOC_PSOR |= (1 << 9);
}

void motor_up_start()
{
// First disable motor
motor_stop();

// Then check if limit switch is enabled
if ( !( GPIOC_PDIR & (1 << 10) ) )
{
erro_print("Upper limit switch triggered.");
return;
}

GPIOC_PCOR |= (1 << 8);
}

void motor_down_start()
{
// First disable motor
motor_stop();

// Then check if limit switch is enabled
if ( !( GPIOE_PDIR & (1 << 0) ) )
{
erro_print("Lower limit switch triggered.");
return;
}

GPIOC_PCOR |= (1 << 9);
}

void portc_isr()
{
// Check each of the interrupts and clear them
if ( PORTC_PCR10 & PORT_PCR_ISF )
{
motor_stop();
warn_print("Upper Limit Switch!");
PORTC_PCR10 |= PORT_PCR_ISF;
}
}

void porte_isr()
{
// Check each of the interrupts and clear them
if ( PORTE_PCR0 & PORT_PCR_ISF )
{
motor_stop();
warn_print("Lower Limit Switch!");
PORTE_PCR0 |= PORT_PCR_ISF;
}
}

// Limit switch interrupt setup
// Should be the highest level interrupt (to avoid having the test stand destroy itself)
inline void limit_switch_setup()
{
// TODO Decide on which pins to use
// Currently PTC10 and PTE0

// Enable GPIO, Interrupt on falling edge, Passive input filter, Pullups
PORTC_PCR10 = PORT_PCR_MUX(1) | PORT_PCR_IRQC(10) | PORT_PCR_PFE | PORT_PCR_PE | PORT_PCR_PS;
PORTE_PCR0 = PORT_PCR_MUX(1) | PORT_PCR_IRQC(10) | PORT_PCR_PFE | PORT_PCR_PE | PORT_PCR_PS;

// Set GPIO as input
GPIOC_PDIR |= (1 << 10);
GPIOE_PDIR |= (1 << 0);

// Enable IRQ
NVIC_ENABLE_IRQ( IRQ_PORTC );
NVIC_ENABLE_IRQ( IRQ_PORTE );

// Set IRQ has highest priority
NVIC_SET_PRIORITY( IRQ_PORTC, 0 );
NVIC_SET_PRIORITY( IRQ_PORTE, 0 );
}

inline void motor_control_setup()
{
// TODO Decide on which pins to use
// Currently PTC8 and PTC9

// Stop motor
motor_stop();

// Set GPIO as output pins
GPIOC_PDDR |= (1 << 8);
GPIOC_PDDR |= (1 << 9);

// Enable GPIO, slow slew rate, high drive strength
PORTC_PCR8 = PORT_PCR_SRE | PORT_PCR_DSE | PORT_PCR_MUX(1);
PORTC_PCR9 = PORT_PCR_SRE | PORT_PCR_DSE | PORT_PCR_MUX(1);
}






// Main execution function
int main()
{
// Enable CLI
CLI_init();

// Register Force Gauge CLI dictionary
CLI_registerDictionary( forceGaugeCLIDict, forceGaugeCLIDictName );

// Setup - TODO
distance_setup();
limit_switch_setup();
motor_control_setup();

// Setup Modules
Output_setup();

// Main Detection Loop
while ( 1 )
{
// Process CLI
CLI_process();

// TODO
}


#if 0
// Setup force gauge
forceSetup();
Expand Down Expand Up @@ -487,15 +710,30 @@ void cliFunc_distRead( char* args )
delay( 50 );
}
}
#endif

void cliFunc_up( char* args )
{
motor_up_start();
}

void cliFunc_down( char* args )
{
motor_down_start();
}

void cliFunc_stop( char* args )
{
motor_stop();
}

void cliFunc_free( char* args )
{
// Set the forceDistanceRead to 1, which will read until start has passed twice
forceDistanceRead = 1;
//forceDistanceRead = 1;
}


#if 0
void imadaVerboseRead( char* cmd )
{
// Write command to data register
Expand Down

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