From: Joseph Coffland Date: Sun, 26 Mar 2017 10:20:26 +0000 (-0700) Subject: Improved velocity curve calcuation, Added whole program opt, Fixed negative dir motor... X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=8a58cc86fb5a69c27becb42bce34e1326ee0998a;p=bbctrl-firmware Improved velocity curve calcuation, Added whole program opt, Fixed negative dir motor speed problem, Docs --- diff --git a/README.md b/README.md index 323cc65..ce81068 100644 --- a/README.md +++ b/README.md @@ -17,7 +17,6 @@ unzip 2015-05-05-raspbian-wheezy.zip ``` Now copy the base system to an SD card. You need a card with at least 4GiB. After installing the RPi system all data on the SD card will be lost. So make sure you back up the SD card if there's anything important on it - In the command below, make sure you have the correct device or you can **destroy your Linux system** by overwriting the disk. One way to do this is to run ``sudo tail -f /var/log/syslog`` before inserting the SD card. After inserting the card look for log messages containing ``/dev/sdx`` where ``x`` is a letter. This should be the device name of the SD card. Hit ``CTRL-C`` to stop following the system log. ``` @@ -123,3 +122,39 @@ avrdude -c avrispmkII -p ATxmega128A3U -P usb -U flash:w:tinyg.hex:i ## Setup Python Development + + +# Huanyang Spindle Setup + +Connections: + + * pin 13 -> Rs+ + * pin 14 -> Rs- + +Program the following settings: + + * PD013 = 8 (reset to factory settings) + * PD005 = 400 (max frequency 400Hz) + * PD004 = 400 (base frequency 400Hz) + * PD003 = 400 (main frequency 400Hz) + * PD001 = 2 (set communication port as source of run commands) + * PD002 = 2 (set communication port as source of operating frequency) + * PD163 = 1 (slave address 1) + * PD164 = 1 (baud rate 9600 bps) + * PD165 = 3 (8N1 for RTU mode) + +For a 1.5KW spindle: + + * PD006 = 2.5 (intermediate frequency 2.5Hz) + * PD008 = 220 (max voltage 220V) + * PD009 = 15 (intermediate voltage 15V) + * PD010 = 8 (min voltage 8V) + * PD011 = 120 (frequency lower limit 120Hz, to limit lower RPM settings) + * PD014 = 5.0 (acceleration time, 5 seconds) + * PD015 = 0.8 (deceleration time; any more trips the VFD) + * PD025 = 1 (starting mode: frequency track) + * PD142 = 7 (max current 7 A) + * PD143 = 2 (specific to my 1.5 KW spindle: number of poles - 2) + * PD144 = 3000 (multiplied by PD010 = 3000 * 8 = 24,000 RPM) + +See manual for settings for other spindles. diff --git a/avr/BezierMath.md b/avr/BezierMath.md new file mode 100644 index 0000000..f8f4e5a --- /dev/null +++ b/avr/BezierMath.md @@ -0,0 +1,55 @@ +# Cubic Bezier + + f(x) = A(1 - x)^3 + 3B(1 - x)^2 x + 3C(1 - x) x^2 + Dx^3 + + -Ax^3 + 3Ax^2 - 3Ax + A + 3Bx^3 - 6Bx^2 + 3Bx + -3Cx^3 + 3Cx^2 + Dx^3 + + + f(x) = (-A + 3B -3C + D)x^3 + (3A - 6B + 3C)x^2 + (-3A + 3B)x + A + + a = -A + 3B - 3C + D + b = 3A - 6B + 3C + c = -3A + 3B + d = A + + f(x) = ax^3 + bx^2 + cx + d + + integral f(x) dx = a/4 x^4 + b/3 x^3 + c/2 x^2 + dx + E + + = (-A + 3B - 3C + D)/4 x^4 + (A - 2B + B) x^3 + 3/2 (B - A) x^2 + Ax + E + +# Quintic Bezier + + A(1 - x)^5 + 5A(1 - x)^4 x + 10A(1 - x)^3 x^2 + 10B(1 - x)^2 x^3 + + 5B(1 - x)x^4 + Bx^5 + + (-6A + 6B)x^5 + (15A - 15B)x^4 + (-10A + 10B)x^3 + A + + 6(B - A)x^5 + 15(A - B)x^4 + 10(B - A)x^3 + A + + x^3 (6(B - A)x^2 + 15(A - B)x + 10(B - A)) + A + + a = 6(B - A) + b = -15(B - A) + c = 10(B - A) + d = A + + f(x) = ax^5 + bx^4 + cx^3 + d + + f(x) = (ax^2 + bx + c)x^3 + d + + + integral f(x) = a/6 x^6 + b/5 x^5 + c/4 x^4 + dx + e + + = (B - A)x^6 - 3(B - A)x^5 + 5/2(B - A)x^4 + Ax + e + + = (B - A)x^4 (x^2 - 3x + 5/2) + Ax + e + + A = 0 + B = 1 + e = 0 + + x^4 (x^2 - 3x + 5/2) diff --git a/avr/Makefile b/avr/Makefile index a332d06..f9abce2 100644 --- a/avr/Makefile +++ b/avr/Makefile @@ -10,12 +10,12 @@ TARGET = $(PROJECT).elf CC = avr-gcc CPP = avr-g++ -COMMON = -mmcu=$(MCU) +COMMON = -mmcu=$(MCU) -flto -fwhole-program CFLAGS += $(COMMON) -CFLAGS += -Wall -Werror # -Wno-error=unused-function +CFLAGS += -Wall -Werror CFLAGS += -Wno-error=strict-aliasing # for _invsqrt -CFLAGS += -std=gnu99 -DF_CPU=$(CLOCK)UL -O3 #-funroll-loops +CFLAGS += -std=gnu99 -DF_CPU=$(CLOCK)UL -O3 CFLAGS += -funsigned-bitfields -fpack-struct -fshort-enums -funsigned-char CFLAGS += -MD -MP -MT $@ -MF build/dep/$(@F).d CFLAGS += -Isrc -DVERSION=\"$(VERSION)\" diff --git a/avr/MoveLifecycleCalls.md b/avr/MoveLifecycleCalls.md new file mode 100644 index 0000000..5a9923b --- /dev/null +++ b/avr/MoveLifecycleCalls.md @@ -0,0 +1,74 @@ +# Parsing, Queuing & Planning + * command_callback() + * gc_gcode_parser(const char *block) + * _normalize_gcode_block(...) + * _parse_gcode_block(const char *block) + * _execute_gcode_block() + * mach_*() + * mach_straight_traverse() || mach_straight_feed() || mach_arc_feed() + * mp_aline(const float target[], float feed,. . .) + * _calc_jerk*() + * _calc_move_time() + * _calc_max_velocities() + * _get_junction_vmax() + * mp_plan() + * mp_calculate_trapezoid() + * mp_get_target_length() + * mp_get_target_velocity() + * mp_queue_push(buffer_cb_t cb, uint32_t time) + +# Execution + * Stepper low-level ISR + * mp_exec_move() + * mp_queue_get_head() + * mp_buffer->cb() + * _exec_dwell() + * mp_exec_aline() + * _exec_aline_init() + * _exec_aline_head() || _exec_aline_body() || _exec_aline_tail() + * _exec_aline_section() + * mp_init_forward_dif() || mp_next_forward_dif() + * _exec_aline_segment() + * mp_runtime_move_to_target() + * mp_kinematics() - Converts target in mm to steps + * st_prep_line() + * motor_prep_move() + +# Step Output + * STEP_TIMER_ISR + * motor_end_move() + * _request_exec_move() + * Triggers Stepper low-level ISR + * motor_load_move() + + +# Data flow +## GCode block +char *line + +## Planner buffer + * mp_buffer_t pool[] + * float target[] - Target position in mm + * float unit[] - Direction vector + * float length, {head,body,tail}_length - Lengths in mm + * float {entry,cruise,exit,braking}_velocity - Target velocities in mm/min + * float {entry,cruise,exit,delta}_vmax - Max velocities in mm/min + * float jerk - Max jerk in km/min^3 + +``mach_*()`` functions compute ``target`` and call ``mp_aline()``. +``mp_aline()`` saves ``target`` computes ``unit`` and ``jerk``. Then it +estimates the move time in order to calculate max velocities. + +``mp_plan()`` and friends compute target velocities and trapezoid segment +lengths in two passes using max velocities in the current and neighboring +planner buffers. + +``mp_exec_aline()`` executes the trapezoidal move in the next planner buffer. + +## Move prep + * stepper_t st + * uint16_t seg_period - The step timer period + * motor_t motors[] + * uint8_t timer_clock - Clock divisor or zero for off + * uint16_t timer_period - Clock period + * direction_t direction - Step polarity diff --git a/avr/src/motor.c b/avr/src/motor.c index f8ee11f..145e640 100644 --- a/avr/src/motor.c +++ b/avr/src/motor.c @@ -448,15 +448,16 @@ stat_t motor_prep_move(int motor, int32_t clocks, float target, int32_t error, // a negative bias in the uint32_t conversion that results in long-term // negative drift. int32_t travel = round(target) - m->position + error; - uint32_t ticks_per_step = travel ? labs(clocks / 2 / travel) : 0; m->position = round(target); // Setup the direction, compensating for polarity. m->negative = travel < 0; if (m->negative ^ m->reverse) m->direction = DIRECTION_CCW; else m->direction = DIRECTION_CW; + if (m->negative) travel = -travel; // Find the clock rate that will fit the required number of steps + uint32_t ticks_per_step = travel ? clocks / 2 / travel : 0; if (ticks_per_step <= 0xffff) m->timer_clock = TC_CLKSEL_DIV1_gc; else if (ticks_per_step <= 0x1ffff) m->timer_clock = TC_CLKSEL_DIV2_gc; else if (ticks_per_step <= 0x3ffff) m->timer_clock = TC_CLKSEL_DIV4_gc; diff --git a/avr/src/plan/buffer.c b/avr/src/plan/buffer.c index f264cff..6bac8c1 100644 --- a/avr/src/plan/buffer.c +++ b/avr/src/plan/buffer.c @@ -231,11 +231,6 @@ void mp_buffer_validate(const mp_buffer_t *bp) { ASSERT(isfinite(bp->exit_velocity)); ASSERT(isfinite(bp->braking_velocity)); - ASSERT(isfinite(bp->entry_vmax)); - ASSERT(isfinite(bp->cruise_vmax)); - ASSERT(isfinite(bp->exit_vmax)); - ASSERT(isfinite(bp->delta_vmax)); - ASSERT(isfinite(bp->jerk)); ASSERT(isfinite(bp->cbrt_jerk)); } diff --git a/avr/src/plan/exec.c b/avr/src/plan/exec.c index 945764a..98204bb 100644 --- a/avr/src/plan/exec.c +++ b/avr/src/plan/exec.c @@ -32,7 +32,6 @@ #include "axis.h" #include "runtime.h" #include "state.h" -#include "forward_dif.h" #include "stepper.h" #include "motor.h" #include "rtc.h" @@ -45,12 +44,13 @@ #include -typedef struct { - float a, b, c, d; - float delta; - float half_delta; - uint16_t count; -} quintic_bezier_t; +#ifdef __AVR__ +typedef __int24 int24_t; +typedef __uint24 uint24_t; +#else +typedef int32_t int24_t; +typedef uint32_t uint24_t; +#endif typedef struct { @@ -66,11 +66,13 @@ typedef struct { float cruise_velocity; float exit_velocity; - uint32_t segment_count; // count of running segments + uint24_t segment_count; // count of running segments + uint24_t segment; // current segment float segment_velocity; // computed velocity for segment float segment_time; // actual time increment per segment - forward_dif_t fdif; // forward difference levels - quintic_bezier_t qb; + float segment_start[AXES]; + float segment_delta; + float segment_dist; bool hold_planned; // true when a feedhold has been planned move_section_t section; // current move section bool section_new; // true if it's a new section @@ -80,107 +82,104 @@ typedef struct { static mp_exec_t ex = {{0}}; - -static float _quintic_bezier_next() { - float t = ex.qb.half_delta + ex.qb.count++ * ex.qb.delta; - float t2 = t * t; - float t3 = t2 * t; - - return (ex.qb.a * t2 + ex.qb.b * t + ex.qb.c) * t3 + ex.qb.d; -} - - -static float _quintic_bezier_init(float Vi, float Vt, float segs) { - ex.qb.a = 6 * (Vt - Vi); - ex.qb.b = -15 * (Vt - Vi); - ex.qb.c = 10 * (Vt - Vi); - ex.qb.d = Vi; - ex.qb.delta = 1 / segs; - ex.qb.half_delta = ex.qb.delta / 2; - ex.qb.count = 0; - - return _quintic_bezier_next(); -} - - -static stat_t _exec_aline_segment() { - float target[AXES]; - - // Set target position for the segment. If the segment ends on a section - // waypoint, synchronize to the head, body or tail end. Otherwise, if not at - // a section waypoint compute target from segment time and velocity. Don't - // do waypoint correction if you are going into a hold. - if (!--ex.segment_count && !ex.section_new && !ex.hold_planned) - copy_vector(target, ex.waypoint[ex.section]); - - else { - float segment_length = ex.segment_velocity * ex.segment_time; - - for (int axis = 0; axis < AXES; axis++) - target[axis] = - mp_runtime_get_axis_position(axis) + ex.unit[axis] * segment_length; - } - - mp_runtime_set_velocity(ex.segment_velocity); - RITORNO(mp_runtime_move_to_target(target, ex.segment_time)); - - // Return EAGAIN to continue or OK if this segment is done - return ex.segment_count ? STAT_EAGAIN : STAT_OK; -} - +/// We are using a quintic (fifth-degree) Bezier polynomial for the velocity +/// curve. This yields a constant pop; with pop being the sixth derivative +/// of position: +/// +/// 1st - velocity +/// 2nd - acceleration +/// 3rd - jerk +/// 4th - snap +/// 5th - crackle +/// 6th - pop +/// +/// The Bezier curve takes the form: +/// +/// f(t) = P_0(1 - t)^5 + 5P_1(1 - t)^4 t + 10P_2(1 - t)^3 t^2 + +/// 10P_3(1 - t)^2 t^3 + 5P_4(1 - t)t^4 + P_5t^5 +/// +/// Where 0 <= t <= 1, f(t) is the velocity and P_0 through P_5 are the control +/// points. In our case: +/// +/// P_0 = P_1 = P2 = Vi +/// P_3 = P_4 = P5 = Vt +/// +/// Where Vi is the initial velocity and Vt is the target velocity. +/// +/// After substitution, expanding the polynomial and collecting terms we have: +/// +/// f(t) = (Vt - Vi)(6t^5 - 15t^4 + 10t^3) + Vi +/// +/// Computing this directly using 32bit float-point on a 32MHz AtXMega processor +/// takes about 60uS or about 1,920 clocks. The code was compiled with avr-gcc +/// v4.9.2 with -O3. /// Common code for head and tail sections -static stat_t _exec_aline_section(float length, float vin, float vout) { +static stat_t _exec_aline_section(float length, float Vi, float Vt) { if (ex.section_new) { ASSERT(isfinite(length)); if (fp_ZERO(length)) return STAT_NOOP; // end the section - ASSERT(isfinite(vin) && isfinite(vout)); - ASSERT(0 <= vin && 0 <= vout); - ASSERT(vin || vout); + ASSERT(isfinite(Vi) && isfinite(Vt)); + ASSERT(0 <= Vi && 0 <= Vt); + ASSERT(Vi || Vt); // len / avg. velocity - float move_time = 2 * length / (vin + vout); + float move_time = 2 * length / (Vi + Vt); // in mins float segments = ceil(move_time / NOM_SEGMENT_TIME); ex.segment_time = move_time / segments; ex.segment_count = round(segments); + ex.segment = 0; + ex.segment_dist = 0; - if (vin == vout) ex.segment_velocity = vin; - else { -#if 0 - ex.segment_velocity = - mp_init_forward_dif(ex.fdif, vin, vout, segments); -#else - ex.segment_velocity = _quintic_bezier_init(vin, vout, segments); -#endif - } + for (int axis = 0; axis < AXES; axis++) + ex.segment_start[axis] = mp_runtime_get_axis_position(axis); + + if (Vi == Vt) { + ex.segment_delta = length / segments; + ex.segment_velocity = Vi; + + } else ex.segment_delta = 1 / (segments + 1); if (ex.segment_time < MIN_SEGMENT_TIME) return STAT_MINIMUM_TIME_MOVE; // exit /wo advancing position - // First segment - if (_exec_aline_segment() == STAT_OK) { - ex.section_new = false; - return STAT_OK; - } - ex.section_new = false; + } - } else { - if (vin != vout) { -#if 0 - ex.segment_velocity += mp_next_forward_dif(ex.fdif); -#else - ex.segment_velocity = _quintic_bezier_next(); -#endif + float target[AXES]; + ex.segment++; + + // Set target position for the segment. If the segment ends on a section + // waypoint, synchronize to the head, body or tail end. Otherwise, if not + // at section waypoint compute target from segment time and velocity. Don't + // do waypoint correction when going into a hold. + if (ex.segment == ex.segment_count && !ex.section_new && !ex.hold_planned) + copy_vector(target, ex.waypoint[ex.section]); + + else { + if (Vi == Vt) ex.segment_dist += ex.segment_delta; + else { + // Compute quintic Bezier curve + const float t = ex.segment * ex.segment_delta; + const float t2 = t * t; + const float t3 = t2 * t; + + ex.segment_velocity = + (Vt - Vi) * (6 * t2 - 15 * t + 10) * t3 + Vi; + ex.segment_dist += ex.segment_velocity * ex.segment_time; } - // Subsequent segments - if (_exec_aline_segment() == STAT_OK) return STAT_OK; + for (int axis = 0; axis < AXES; axis++) + target[axis] = ex.segment_start[axis] + ex.unit[axis] * ex.segment_dist; } - return STAT_EAGAIN; + mp_runtime_set_velocity(ex.segment_velocity); + RITORNO(mp_runtime_move_to_target(target, ex.segment_time)); + + // Return EAGAIN to continue or OK if this segment is done + return ex.segment < ex.segment_count ? STAT_EAGAIN : STAT_OK; } @@ -231,17 +230,6 @@ static stat_t _exec_aline_head() { } -static float _compute_next_segment_velocity() { - if (ex.section_new) { - if (ex.section == SECTION_HEAD) return mp_runtime_get_velocity(); - else return ex.cruise_velocity; - } - - return ex.segment_velocity + - (ex.section == SECTION_BODY ? 0 : mp_next_forward_dif(ex.fdif)); -} - - /// Replan current move to execute hold /// /// Holds are initiated by the planner entering STATE_STOPPING. In which case @@ -260,8 +248,8 @@ static void _plan_hold() { // Examine and process current buffer and compute length left for decel float available_length = axis_get_vector_length(ex.final_target, mp_runtime_get_position()); - // Compute next_segment velocity, velocity left to shed to brake to zero - float braking_velocity = _compute_next_segment_velocity(); + // Velocity left to shed to brake to zero + float braking_velocity = ex.segment_velocity; // Distance to brake to zero from braking_velocity, bf is OK to use here float braking_length = mp_get_target_length(braking_velocity, 0, bf->jerk); diff --git a/avr/src/plan/runtime.c b/avr/src/plan/runtime.c index f4183b5..6907d76 100644 --- a/avr/src/plan/runtime.c +++ b/avr/src/plan/runtime.c @@ -152,23 +152,15 @@ void mp_runtime_set_work_offsets(float offset[]) { } -/// Segment runner -stat_t mp_runtime_move_to_target(float target[], float time) { - ASSERT(isfinite(time)); - - // Convert target position to steps. - float steps[MOTORS]; - mp_kinematics(target, steps); - +static void _step_correction(const float steps[], float time, + int32_t error[]) { #ifdef STEP_CORRECTION - int32_t error[MOTORS]; - st_get_error(error); - float travel[MOTORS]; float new_length_sqr = 0; float old_length_sqr = 0; for (int motor = 0; motor < MOTORS; motor++) { + error[motor] = motor_get_error(motor); travel[motor] = steps[motor] - motor_get_position(motor); if (fp_ZERO(travel[motor])) { @@ -199,11 +191,24 @@ stat_t mp_runtime_move_to_target(float target[], float time) { } } - if (!use_error) memset(error, 0, sizeof(error)); + if (!use_error) + for (int motor = 0; motor < MOTORS; motor++) + error[motor] = 0; + +#endif // STEP_CORRECTION +} + + +/// Segment runner +stat_t mp_runtime_move_to_target(float target[], float time) { + ASSERT(isfinite(time)); + + // Convert target position to steps. + float steps[MOTORS]; + mp_kinematics(target, steps); -#else - const int32_t error[MOTORS] = {0}; -#endif + int32_t error[MOTORS] = {0}; + _step_correction(steps, time, error); // Call the stepper prep function RITORNO(st_prep_line(time, steps, error)); diff --git a/avr/src/stepper.c b/avr/src/stepper.c index 4f29db0..e29bd77 100644 --- a/avr/src/stepper.c +++ b/avr/src/stepper.c @@ -225,9 +225,3 @@ void st_prep_dwell(float seconds) { st.prep_dwell = seconds * 1000; // convert to ms st.move_queued = true; // signal prep buffer ready } - - -void st_get_error(int32_t error[]) { - for (int motor = 0; motor < MOTORS; motor++) - error[motor] = motor_get_error(motor); -} diff --git a/avr/src/stepper.h b/avr/src/stepper.h index b28370b..7c67a91 100644 --- a/avr/src/stepper.h +++ b/avr/src/stepper.h @@ -40,4 +40,3 @@ void st_shutdown(); bool st_is_busy(); stat_t st_prep_line(float time, const float target[], const int32_t error[]); void st_prep_dwell(float seconds); -void st_get_error(int32_t error[]); diff --git a/avr/src/util.h b/avr/src/util.h index c6ae8fb..f5f5d62 100644 --- a/avr/src/util.h +++ b/avr/src/util.h @@ -54,7 +54,7 @@ inline static float max4(float a, float b, float c, float d) float invsqrt(float number); #ifndef __AVR__ -inline static double square(double x) {return x * x;} +inline static float square(float x) {return x * x;} #endif // Floating-point utilities diff --git a/avr/src/vars.json.in b/avr/src/vars.json.in index 2aaf821..c18d540 100644 --- a/avr/src/vars.json.in +++ b/avr/src/vars.json.in @@ -1,12 +1,12 @@ #include "cpp_magic.h" { -#define VAR(NAME, CODE, TYPE, INDEX, SET, SAVE, HELP) \ - #CODE: { \ - "name": #NAME, \ - "type": #TYPE, \ - "index": IF_ELSE(INDEX)(true, false), \ - "setable": IF_ELSE(SET)(true, false), \ - "help": HELP \ +#define VAR(NAME, CODE, TYPE, INDEX, SET, HELP) \ +#CODE: { \ + "name": #NAME, \ + "type": #TYPE, \ + "index": IF_ELSE(INDEX)(true, false), \ + "setable": IF_ELSE(SET)(true, false), \ + "help": HELP \ }, #include "vars.def" #undef VAR diff --git a/avr/test/hal.c b/avr/test/hal.c index ce0b0c3..0b818fe 100644 --- a/avr/test/hal.c +++ b/avr/test/hal.c @@ -178,6 +178,9 @@ int motor_get_axis(int motor) {return motor;} #define STEP_ANGLE 1.8 +float motor_position[MOTORS] = {0}; + + float motor_get_steps_per_unit(int motor) { return 360 * MICROSTEPS / TRAVEL_REV / STEP_ANGLE; } @@ -194,6 +197,10 @@ void motor_end_move(int motor) { } +int32_t motor_get_error(int motor) {return 0;} +int32_t motor_get_position(int motor) {return motor_position[motor];} + + bool st_is_busy() {return false;} @@ -205,19 +212,22 @@ stat_t st_prep_line(float time, const float target[], const int32_t error[]) { time, target[0], target[1], target[2], target[3], error[0], error[1], error[2], error[3]); - static float position[4] = {0}; - float dist = 0; + double dist = 0; - for (int i = 0; i < 4; i++) { - dist += square((target[i] - position[i]) / motor_get_steps_per_unit(i)); - position[i] = target[i]; - } + for (int i = 0; i < 4; i++) + dist += + square((target[i] - motor_position[i]) / motor_get_steps_per_unit(i)); dist = sqrt(dist); - float velocity = dist / time; + double velocity = dist / time; + + for (int i = 0; i < MOTORS; i++) + motor_position[i] = target[i]; - printf("%0.10f, %0.10f, %0.10f\n", velocity, dist, time); + printf("%0.10f, %0.10f, %0.10f, %0.10f, %0.10f, %0.10f\n", + velocity, dist, time, + motor_position[0], motor_position[1], motor_position[2]); return STAT_OK; } diff --git a/package.json b/package.json index d3fd809..f4f4734 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "bbctrl", - "version": "0.1.7", + "version": "0.1.8", "homepage": "https://github.com/buildbotics/rpi-firmware", "license": "GPL 3+", diff --git a/src/jade/index.jade b/src/jade/index.jade index b664730..61f18d5 100644 --- a/src/jade/index.jade +++ b/src/jade/index.jade @@ -16,10 +16,8 @@ html(lang="en") link(rel="stylesheet", href="css/side-menu.css") // $@ + +_size: + @for X in A B C; do\ + echo '****************************************************************' ;\ + avr-size -$$X --mcu=$(MCU) $(SIZE_TARGET) ;\ + done + +size: $(PROJECT).elf + @$(MAKE) SIZE_TARGET=$< _size + +# Program +init: + $(MAKE) erase + -$(MAKE) fuses + $(MAKE) program + +reset: + avrdude $(AVRDUDE_OPTS) + +erase: + avrdude $(AVRDUDE_OPTS) -e + +program: $(PROJECT).hex + avrdude $(AVRDUDE_OPTS) -U flash:w:$(PROJECT).hex:i + +verify: $(PROJECT).hex + avrdude $(AVRDUDE_OPTS) -U flash:v:$(PROJECT).hex:i + +fuses: + avrdude $(AVRDUDE_OPTS) -U efuse:w:$(FUSE_EX):m -U lfuse:w:$(FUSE_LO):m \ + -U hfuse:w:$(FUSE_HI):m + +read_fuses: + avrdude $(AVRDUDE_OPTS) -q -q -U efuse:r:-:h -U lfuse:r:-:h -U hfuse:r:-:h + +signature: + avrdude $(AVRDUDE_OPTS) -q -q -U signature:r:-:h + +prodsig: + avrdude $(AVRDUDE_OPTS) -q -q -U prodsig:r:-:h + +usersig: + avrdude $(AVRDUDE_OPTS) -q -q -U usersig:r:-:h + +info: + avrdude $(AVRDUDE_OPTS) -v + +# Clean +tidy: + rm -f $(shell find -name \*~ -o -name \#\*) + +clean: tidy + rm -rf $(PROJECT).elf $(PROJECT).hex $(PROJECT).lss $(PROJECT).map build + +.PHONY: tidy clean size all reset erase program fuses read_fuses prodsig +.PHONY: signature usersig + +# Dependencies +-include $(shell mkdir -p build/dep) $(wildcard build/dep/*) diff --git a/src/pwr/main.c b/src/pwr/main.c new file mode 100644 index 0000000..a8f1ef7 --- /dev/null +++ b/src/pwr/main.c @@ -0,0 +1,270 @@ +/******************************************************************************\ + + This file is part of the Buildbotics firmware. + + Copyright (c) 2017 Buildbotics LLC + All rights reserved. + + This file ("the software") is free software: you can redistribute it + and/or modify it under the terms of the GNU General Public License, + version 2 as published by the Free Software Foundation. You should + have received a copy of the GNU General Public License, version 2 + along with the software. If not, see . + + The software 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 + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with the software. If not, see + . + + For information regarding this software email: + "Joseph Coffland" + +\******************************************************************************/ + +#include +#include +#include + +#include + +#include + + +#define TEMP_ADC 14 + +#define CS_PORT PORTA +#define CS1_PIN 3 +#define CS2_PIN 5 +#define CS3_PIN 6 +#define CS1_ADC 0 +#define CS2_ADC 2 +#define CS3_ADC 3 + +#define VIN_PORT PORTB +#define VIN_PIN 0 +#define VIN_ADC 5 + +#define VOUT_PORT PORTB +#define VOUT_PIN 3 +#define VOUT_ADC 8 + +#define GATE_PORT PORTC +#define GATE_DDR DDRC +#define GATE1_PIN 0 +#define GATE2_PIN 4 +#define GATE3_PIN 5 + +#define I2C_ADDR 0x60 +#define I2C_MASK 0b00000111 + +#define I2C_ERROR_BM (1 << TWBE) +#define I2C_DATA_INT_BM (1 << TWDIF) +#define I2C_READ_BM (1 << TWDIR) +#define I2C_ADDRESS_STOP_INT_BM (1 << TWASIF) +#define I2C_ADDRESS_MATCH_BM (1 << TWAS) + + +typedef enum { + TEMP_REG, + VIN_REG, + VOUT_REG, + CS1_REG, + CS2_REG, + CS3_REG, + TEMP_OFFSET_REG, + TEMP_GAIN_REG, + NUM_REGS +} regs_t; + + +uint16_t regs[NUM_REGS] = {0}; + + +float temp_offset; +float temp_gain; + + +uint8_t sig_row_read(uint16_t addr) { + SPMCSR = (1 << RSIG) | (1 << SPMEN); + return pgm_read_byte(addr); +} + + +void i2c_ack() {TWSCRB = (1 << TWCMD1) | (1 << TWCMD0);} +void i2c_nack() {TWSCRB = (1 << TWAA) | (1 << TWCMD1) | (1 << TWCMD0);} + + +ISR(TWI_SLAVE_vect) { + static uint8_t addr = 0; + static uint8_t byte = 0; + + uint8_t status = TWSSRA; + + if (status & I2C_DATA_INT_BM) { + if (status & I2C_READ_BM) { + // send response + if (byte < 2) { + switch (byte++) { + case 0: TWSD = regs[addr]; break; + case 1: TWSD = regs[addr] >> 8; break; + } + + i2c_ack(); + + } else i2c_nack(); + + } else i2c_ack(); // Write + + } else if (status & I2C_ADDRESS_STOP_INT_BM) { + if (status & I2C_ADDRESS_MATCH_BM) { + // read address + addr = (TWSD >> 1) & I2C_MASK; + byte = 0; + + if (addr < NUM_REGS) i2c_ack(); + else i2c_nack(); + + } else TWSCRB = (1 << TWCMD1) | (0 << TWCMD0); // Stop + } +} + + +void adc_conversion() { + uint16_t data = ADC; + uint8_t ch = ADMUX & 0xf; + + switch (ch) { + case TEMP_ADC: + regs[TEMP_REG] = (temp_gain * data + temp_offset) * 100; + ch = VIN_ADC; + break; + + case VIN_ADC: + regs[VIN_REG] = data * (1.1 / 1024.0 * 48100.0 / 1100.0 * 100); + ch = VOUT_ADC; + break; + + case VOUT_ADC: + regs[VOUT_REG] = data * (1.1 / 1024.0 * 48100.0 / 1100.0 * 100); + ch = CS1_ADC; + break; + + case CS1_ADC: + regs[CS1_REG] = data; + ch = CS2_ADC; + break; + + case CS2_ADC: + regs[CS2_REG] = data; + ch = CS3_ADC; + break; + + case CS3_ADC: + regs[CS3_REG] = data; + ch = TEMP_ADC; + break; + + default: + ch = TEMP_ADC; + break; + } + + // Start next conversion + ADMUX = (ADMUX & 0xf0) | ch; + ADCSRA |= 1 << ADSC; +} + + +ISR(ADC_vect) {adc_conversion();} + + +void init() { + cli(); + + // CPU Clock, 4Mhz, disable CKOUT + CCP = 0xd8; + CLKSR = (1 << CSTR) | (1 << CKOUT_IO) | 0b0010; // 8Mhz internal clock + CCP = 0xd8; + CLKPR = 0b0001; // div 2 + while (!((1 << 7) & CLKSR)) continue; // Wait for clock to stabilize + + // Power reduction + PRR = (0 << PRADC) | (1 << PRUSART0) | (1 << PRUSART1) | (1 << PRUSI) | + (0 << PRTIM0) | (1 << PRTIM1) | (0 << PRTWI); + + // IO + GATE_DDR = (1 << GATE1_PIN) | (1 << GATE2_PIN) | (1 << GATE3_PIN); // Out + PUEC |= 1 << 3; // Pull up reset line + + // Disable digital IO on ADC lines + DIDR0 = (1 << ADC3D) | (1 << ADC2D) | (1 << ADC0D); + DIDR1 = (1 << ADC5D) | (1 << ADC8D); + + // ADC internal 1.1v, enable, with interrupt, prescale 32 + ADMUX = (1 << REFS1) | (0 << REFS0); + ADCSRA = (1 << ADEN) | (1 << ADIE) | + (1 << ADPS2) | (0 << ADPS1) | (1 << ADPS0); + ADCSRB = 0; + + // Timer (Clear output A on compare match, Fast PWM, diabled) + TCCR0A = (1 << COM0A1) | (0 << COM0A0) | (1 << WGM01) | (1 << WGM00); + TCCR0B = 0 << WGM02; + OCR0A = 255 * 0.2; // Initial duty cycle + + // SPI, enable, smart mode, enable address/stop interrupt + TWSCRA = (1 << TWEN) | (1 << TWASIE) | (1 << TWDIE); + TWSA = I2C_ADDR << 1; + TWSAM = I2C_MASK << 1; + + // Read calibration bytes + regs[TEMP_OFFSET_REG] = sig_row_read(0x2c); + regs[TEMP_GAIN_REG] = sig_row_read(0x2d); + temp_gain = sig_row_read(0x2c) / 128.0; + temp_offset = (int8_t)sig_row_read(0x2d); + + sei(); +} + + +float get_reg(int reg) { + cli(); + float value = regs[reg]; + sei(); + + return value / 100; +} + + +int main() { + init(); + + TCCR0A = TCCR0B = 0; + GATE_DDR = (1 << GATE1_PIN) | (1 << 2); + GATE_PORT = (1 << GATE1_PIN) | (1 << 2); + while (true) continue; + + // Start ADC + adc_conversion(); + + _delay_ms(100); + + // Enable timer with clk/64 + TCCR0B = (CS02 << 0) | (CS01 << 1) | (CS00 << 1); + + _delay_ms(200); + + while (true) { + OCR0A = 0xff; // 100% duty cycle + + if (get_reg(VIN_REG) < 11) { + OCR0A = 0; // 0% duty cycle + _delay_ms(3000); + } + } + + return 0; +} diff --git a/src/py/bbctrl/AVR.py b/src/py/bbctrl/AVR.py index dab01d3..d38d9d7 100644 --- a/src/py/bbctrl/AVR.py +++ b/src/py/bbctrl/AVR.py @@ -81,6 +81,7 @@ class AVR(): # Reset AVR communication self.stop(); self.ctrl.config.config_avr() + self.report() except Exception as e: log.warning('Connect failed: %s', e) diff --git a/src/py/bbctrl/__init__.py b/src/py/bbctrl/__init__.py index c980cd4..25b6d6f 100755 --- a/src/py/bbctrl/__init__.py +++ b/src/py/bbctrl/__init__.py @@ -45,10 +45,14 @@ def parse_args(): help = 'LCD I2C port') parser.add_argument('--lcd-addr', default = 0x27, type = int, help = 'LCD I2C address') - parser.add_argument('--avr-port', default = 0, type = int, + parser.add_argument('--avr-port', default = 1, type = int, help = 'AVR I2C port') parser.add_argument('--avr-addr', default = 0x2b, type = int, help = 'AVR I2C address') + parser.add_argument('--pwr-port', default = 1, type = int, + help = 'Power AVR I2C port') + parser.add_argument('--pwr-addr', default = 0x2c, type = int, + help = 'Power AVR I2C address') parser.add_argument('-v', '--verbose', action = 'store_true', help = 'Verbose output') parser.add_argument('-l', '--log', metavar = "FILE", diff --git a/src/resources/css/Audiowide.css b/src/resources/css/Audiowide.css new file mode 100644 index 0000000..a73be84 --- /dev/null +++ b/src/resources/css/Audiowide.css @@ -0,0 +1,6 @@ +@font-face { + font-family: 'Audiowide'; + font-style: normal; + font-weight: 400; + src: local('Audiowide'), local('Audiowide-Regular'), url(http://fonts.gstatic.com/s/audiowide/v4/8XtYtNKEyyZh481XVWfVOqCWcynf_cDxXwCLxiixG1c.ttf) format('truetype'); +} diff --git a/src/resources/css/font-awesome.min.css b/src/resources/css/font-awesome.min.css new file mode 100644 index 0000000..d0603cb --- /dev/null +++ b/src/resources/css/font-awesome.min.css @@ -0,0 +1,4 @@ +/*! + * Font Awesome 4.5.0 by @davegandy - http://fontawesome.io - @fontawesome + * License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License) + 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