implemented programmable step length

Author: Doug Coffland

Makefile

@@ -28,6 +28,7 @@ BETA_PKG_NAME := bbctrl-$(BETA_VERSION)
 
 SUBPROJECTS := avr boot pwr2 jig
 SUBPROJECTS := $(patsubst %,src/%,$(SUBPROJECTS))
+$(info SUBPROJECTS="$(SUBPROJECTS)")
 
 WATCH := src/pug src/pug/templates src/stylus src/js src/resources Makefile
 WATCH += src/static

src/avr/Makefile

@@ -1,6 +1,6 @@
 # Makefile for the project Bulidbotics firmware
 PROJECT  = bbctrl-avr-firmware
-MCU      = atxmega192a3u
+MCU      = atxmega256a3u
 CLOCK    = 32000000
 
 # SRC

src/avr/src/config.h

@@ -142,7 +142,7 @@ enum {
 #define STEP_TIMER_POLL          ((uint16_t)(STEP_TIMER_FREQ * 0.001)) // 1ms
 #define STEP_TIMER_ISR           TCC0_OVF_vect
 #define STEP_LOW_LEVEL_ISR       ADCB_CH0_vect
-#define STEP_PULSE_WIDTH         (F_CPU * 0.000002) // 2uS w/ clk/1 .. modified to 10uS by doug
+#define STEP_PULSE_WIDTH         (F_CPU * 0.000002) // 2uS w/ clk/1 
 #define SEGMENT_MS               4
 #define SEGMENT_TIME             (SEGMENT_MS / 60000.0) // mins
 

src/avr/src/motor.c

@@ -60,6 +60,7 @@ typedef struct {
   uint16_t microsteps;           // microsteps per full step
   bool reverse;
   bool enabled;
+  float pulse_length;            // length of step pulses in microseconds
   float step_angle;              // degrees per whole step
   float travel_rev;              // mm or deg of travel per motor revolution
   float min_soft_limit;
@@ -178,6 +179,15 @@ void motor_init() {
 }
 
 
+float get_pulse_length(int motor) {return 1.0 * (motors[motor].pulse_length);}
+
+
+void set_pulse_length(int motor, float value) {
+    motors[motor].pulse_length = value;
+    motors[motor].timer->CCA = value * F_CPU;
+}
+
+
 bool motor_is_enabled(int motor) {return motors[motor].enabled;}
 int motor_get_axis(int motor) {return motors[motor].axis;}
 

src/avr/src/oled.c

@@ -139,6 +139,6 @@ void oled_splash() {
   oled_init();
   _writeStringAt((char *) "Controller booting",1,5);
   _writeStringAt((char *) "Please wait...",3,5);
-  _writeStringAt((char *) "(c) Buildbotics LLC",4,5);
+  _writeStringAt((char *) "(c) Buildbotics LLC",5,5);
   _delay_us(100);
 };

src/avr/src/vars.def

@@ -39,6 +39,7 @@
 VAR(motor_axis,      an, u8,    MOTORS,  1, 1) // Maps motor to axis
 
 VAR(motor_enabled,   me, b8,    MOTORS,  1, 1) // Motor enabled
+VAR(pulse_length,    pl, f32,   MOTORS,  1, 1) // length of step pulses
 VAR(drive_current,   dc, f32,   MOTORS,  1, 1) // Max motor drive current
 VAR(idle_current,    ic, f32,   MOTORS,  1, 1) // Motor idle current
 

src/boot/Makefile

@@ -1,6 +1,6 @@
 # Makefile for the project Bulidbotics bootloader
 PROJECT         = bbctrl-avr-boot
-MCU             = atxmega192a3u
+MCU             = atxmega256a3u
 CLOCK           = 32000000
 
 TARGET  = $(PROJECT).elf
@@ -19,7 +19,7 @@ CFLAGS += -Isrc
 
 # Linker flags
 LDFLAGS += $(COMMON) -Wl,-u,vfprintf -lprintf_flt -lm
-LDFLAGS += -Wl,--section-start=.text=0x030000
+LDFLAGS += -Wl,--section-start=.text=0x040000
 LIBS += -lm
 
 # Programming flags

src/js/settings-motor.js

@@ -54,12 +54,17 @@ module.exports = {
     },
 
 
-    maxStepsPerSecond: function () {return 250000},
+    maxStepsPerSecond: function () {return (0.5 / this.motor['step-length'])},
 
 
-    maxMaxVelocity: function () { // In meters per minute
-      let metersPerUStep = this.umPerStep / this.motor.microsteps / 1000000
-      return 1 * (this.maxStepsPerSec * 60 * metersPerUStep).toFixed(3)
+    maxMaxVelocity: function () {
+      let maxUStepsPerSecond = 0.5 / this.motor['step-length'];
+      let uStepsPerRevolution =
+          (360.0 / this.motor['step-angle']) * this.motor['microsteps'];
+      let maxRPS = maxUStepsPerSecond / uStepsPerRevolution;
+
+      return parseFloat((maxRPS * 60.0 * this.motor['travel-per-rev'] / 1000)
+                        .toFixed(3)); // returns max vel in meters / minute
     },
 
 
@@ -119,6 +124,10 @@ module.exports = {
   events: {
     'input-changed': function() {
       Vue.nextTick(function () {
+        // set step length to default of 2ms if user selects internal drivers
+        if (this.motor['type-of-driver'] == 'internal')
+          this.$set('motor["step-length"]', 0.000002);
+
         // Limit max-velocity
         if (this.invalidMaxVelocity)
           this.$set('motor["max-velocity"]', this.maxMaxVelocity);
@@ -127,6 +136,7 @@ module.exports = {
         if (this.invalidStallVelocity)
           this.$set('motor["search-velocity"]', this.maxStallVelocity);
 
+
         this.$dispatch('config-changed');
       }.bind(this))
       return true;
@@ -136,8 +146,34 @@ module.exports = {
 
   methods: {
     show: function (name, templ) {
+      if (name == 'step-length' && this.motor['type-of-driver'] == 'internal')
+        return false;
+
+      if (this.motor['type-of-driver'] == 'generic external' &&
+          name == 'homing-mode') return false;
+
+      if (this.motor['type-of-driver'] == 'internal' &&
+          name == 'homing-mode-external') return false;
+
+      if ((this.motor['type-of-driver'] == 'generic external') &&
+          ['stall-microstep', 'stall-volts', 'stall-sample-time',
+           'stall-current'].includes(name)) return false;
+
       if (templ.hmodes == undefined) return true;
-      return templ.hmodes.indexOf(this.motor['homing-mode']) != -1;
+
+      if (this.motor['type-of-driver'] == 'internal')
+        return templ.hmodes.indexOf(this.motor['homing-mode']) != -1;
+
+      return templ.hmodes.indexOf(this.motor['homing-mode-external']) != -1;
+    },
+
+
+    showCategory: function (name) {
+      if (name == 'power' && this.motor['type-of-driver'] == 'generic external')
+        return false
+
+      return true;
     }
   }
+
 }

src/pug/templates/settings-motor.pug

@@ -30,7 +30,7 @@ script#settings-motor-template(type="text/x-template")
     h1 Motor {{index}} Configuration
 
     .pure-form.pure-form-aligned
-      fieldset(v-for="category in template.motors.template", :class="$key")
+      fieldset(v-for="category in template.motors.template", v-if='showCategory($key)', :class="$key")
         h2 {{$key}}
 
         templated-input(v-for="templ in category", v-if="show($key, templ)",

src/py/bbctrl/Comm.py

@@ -265,7 +265,6 @@ def connect(self):
         try:
             # Resume once current queue of GCode commands has flushed
             self.queue_command(Cmd.RESUME)
-            self.queue_command(Cmd.set('ct', 128))
             self.queue_command(Cmd.HELP) # Load AVR commands and variables
 
         except Exception as e:

src/py/bbctrl/LCD.py

@@ -54,10 +54,10 @@ def __init__(self, ctrl):
         self.screen = self.new_screen()
 
         try:
-          self.oled = OLED(self.ctrl)
-        except:
-          pass
+            self.oled = OLED(self.ctrl)
+        except: pass
         self.wrote_to_oled = False
+
         self.set_message('Loading...')
 
         self._redraw(False)
@@ -122,12 +122,10 @@ def _redraw(self, now = True):
     def _update(self):
         self.timeout = None
         try:
-          self.oled
-          self.oled.writePage(self.page.data)
-          self.wrote_to_oled = True
-          return
-        except:
-          self.wrote_to_oled = False
+            self.oled.writePage(self.page.data)
+            self.wrote_to_oled = True
+            return
+        except: pass
 
         try:
             if self.lcd is None: