add some pinouts to README

only one motor

Inc/address_selector.h

@@ -0,0 +1,6 @@
+#include <stdint.h>
+
+void adress_selector_init_gpio();
+uint8_t read_address();
+
+extern uint8_t dmx_address;

Inc/stepper.h

@@ -1,4 +1,5 @@
 #include "stm32g0b1xx.h"
+#include <stdint.h>
 
 typedef struct {
     GPIO_TypeDef* en_port;
@@ -11,12 +12,18 @@ typedef struct {
     uint8_t home_pin;
     uint8_t homed:1;
     uint8_t trigger_step:1;
-    int16_t pos;
+    int32_t home_position;
-    int16_t speed;
+    int32_t pos;
-    int16_t ramp_to_speed;
+    int32_t endless_rot_integrator;
+    int32_t speed;
+    int32_t ramp_to_speed;
     uint32_t next_step;
 } stepper_T;
   
+#define STEPPER_MAX_SPEED 400
+
+#define STEPPER_STEPS_PER_ROTATION 3200*4 
+
 void Timer1_Init(void);
 void stepper_gpio_init();
 void do_steps();

Makefile

@@ -22,7 +22,7 @@ TARGET = Parafraktor
 # debug build?
 DEBUG = 1
 # optimization
-OPT = -Og
+OPT = -O0
 
 
 #######################################
@@ -38,6 +38,7 @@ BUILD_DIR = build
 C_SOURCES =  \
 Src/main.c \
 Src/uart_dmx.c \
+Src/address_selector.c \
 Src/stepper.c \
 Src/stm32g0xx_it.c \
 Src/stm32g0xx_hal_msp.c \
@@ -114,7 +115,11 @@ AS_DEFS =
 # C defines
 C_DEFS =  \
 -DUSE_HAL_DRIVER \
--DSTM32G0B1xx
+-DSTM32G0B1xx \
+
+ifneq ($(DMX_ADDRESS),)
+    C_DEFS += -DDMX_ADDRESS=$(DMX_ADDRESS)
+endif
 
 
 # AS includes

README.md

@@ -1,25 +1,89 @@
-# Parrafraktor
+# Parafraktor
+## Hardware Connections
+- Motor1: P30 (M1)
+- Motor2: P53 (M2)
+- Motor3: P46 (M3A)
+- Motor4: P70 (M4)
+- Motor5: P31 (M5)
+- Motor6: P71 (M7)
+- 24V: Power + -
+- TTL-level DMX: FWS 
+- Limit switches: EXP2 (optional)
+- Address selector: EXP1 (optional)
+- VM/VBB(?) Jumper must be set on every motor driver
 
-![schematic](docs/schematic.png)
+## DMX Registers
+
+Control Motors 1 - 6 
+
+| Offset  | Motor | Function     | Values    |                                |
+| ------- | ----- | ------------ | --------- | ------------------------------ |
+| 1       |   1   | Tilt         | 000 - 255 | 8bit Position values can be combined to 16bit value   |
+| 2       |   1   | Tilt fine    | 000 - 255 |         |
+| 3       |   1   | Endless Tilt | 000 - 004 | No function                    |
+|         |       |              | 005 - 121 | Forward Rotation fast -> slow  |
+|         |       |              | 122 - 132 | Stop                           |
+|         |       |              | 133 - 250 | Backward Rotation slow -> fast |
+|         |       |              | 251 - 255 | No function                    |
+| ...     |  ...  | ...          | ...       | ...                            |
+| 16      |   6   | Tilt         |           |                                |
+| 17      |   6   | Tilt fine    |           |                                |
+| 18      |   6   | Endless Tilt |           |                                |
+
+## Compile, Flash & Debug
+
+requirements:
+- for compiling: arm-none-eabi-toolchain, gnu-make, git
+- for flashing: SEGGER J-Link, JLinkGDBServer (other Debug Probes can be used, see Makefile)
+
+run gdb-server<br />
+`./gdb.sh`
+
+build and flash firmware with static DMX-Address<br />
+`make program DMX_ADDRESS=99`
+
+build and flash firmware with address selector on EXP1<br />
+`make program`
+
+open serial RTT prints:<br />
+`telnet localhost 9000`
+
+open cgdb debugger:<br />
+`./debug.sh`
+
+## non-obvious PinOuts
+
+### DMX/UART/FWS
+| Pin # | connect to RS485 Transceiver
+| - | ----------|
+| 1 | NC        |
+| 2 | DATA-in   |
+| 3 | GND       |
+| 4 | 5V  (only connect if not powered by other board) |
 
 
+### Limit Switches/EXP2
+|Pin #| Switch    |Pin #| Switch    |
+| --- | ----------| --- | ----------|
+|  1  | M1 (PB14) |  2  | M2 (PB13) |
+|  3  | M3 (PF7)  |  4  | M4 (PB12) |
+|  5  | M5 (PE7)  |  6  | M6 (PB11) |
+|  7  |           |  8  |           |
+|  9  | GND       | 10  |           |
 
-| Channel | Function     | Values    |                                |
+### Address Selector/EXP1
-| ------- | ------------ | --------- | ------------------------------ |
+|Pin #| Switch    |Pin #| Switch    |
-| 1 + i   | Tilt         |           |                                |
+| --- | ----------| --- | ----------|
-| 2 + i   | Tilt fine    |           |                                |
+|  1  |           |  2  |           |
-| 3 + i   | Endless Tilt | 000 - 005 | No function                    |
+|  3  |           |  4  |           |
-|         |              | 006 - 126 | Forward Rotation fast -> slow  |
+|  5  |           |  6  |           |
-|         |              | 127 - 128 | Stop                           |
+|  7  |           |  8  |           |
-|         |              | 129 - 255 | Backward Rotation slow -> fast |
+|  9  | GND       | 10  | 5V        |
-| 31      | Auto Mode    | 000 - 004 | No function                    |
-|         |              | 005 - 010 | Go to Reference                |
-|         |              | 015 - 020 | Classic Mode                   |
 
 
 ## Hardware
 
-- BIGTREETECH Manta M8P
+- BIGTREETECH Manta M8P v1.1
     - https://github.com/bigtreetech/Manta-M8P/tree/master/V1.0_V1.1/Hardware
     - https://github.com/bigtreetech/Manta-M8P
     - https://bttwiki.com/M8P.html#product-profile

Src/address_selector.c

@@ -0,0 +1,53 @@
+#include "stm32g0b1xx.h"
+#include <stdio.h>
+
+uint8_t dmx_address;
+
+void adress_selector_init_gpio(){
+    RCC->IOPENR |= RCC_IOPENR_GPIOEEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOBEN;
+
+    GPIOE->MODER &= ~(0x3 << (9 * 2));
+    GPIOE->MODER &= ~(0x3 << (10 * 2));
+    GPIOE->MODER &= ~(0x3 << (11 * 2));
+    GPIOE->MODER &= ~(0x3 << (12 * 2));
+    GPIOE->MODER &= ~(0x3 << (13 * 2));
+    GPIOE->MODER &= ~(0x3 << (14 * 2));
+    GPIOE->MODER &= ~(0x3 << (15 * 2));
+    GPIOB->MODER &= ~(0x3 << (10 * 2)); // B10
+
+    GPIOE->PUPDR &= ~(0x3 << (9 * 2));
+    GPIOE->PUPDR |=  (0x1 << (9 * 2));
+
+    GPIOE->PUPDR &= ~(0x3 << (10 * 2));
+    GPIOE->PUPDR |=  (0x1 << (10 * 2));
+
+    GPIOE->PUPDR &= ~(0x3 << (11 * 2));
+    GPIOE->PUPDR |=  (0x1 << (11 * 2));
+
+    GPIOE->PUPDR &= ~(0x3 << (12 * 2));
+    GPIOE->PUPDR |=  (0x1 << (12 * 2));
+
+    GPIOE->PUPDR |=  (0x1 << (13 * 2));
+    GPIOE->PUPDR &= ~(0x3 << (13 * 2));
+
+    GPIOE->PUPDR |=  (0x1 << (14 * 2));
+    GPIOE->PUPDR &= ~(0x3 << (14 * 2));
+
+    GPIOE->PUPDR |=  (0x1 << (15 * 2));
+    GPIOE->PUPDR &= ~(0x3 << (15 * 2));
+
+    GPIOB->PUPDR &= ~(0x3 << (10 * 2)); // B10
+    GPIOB->PUPDR |=  (0x1 << (10 * 2));
+}
+
+uint8_t read_address(){
+#ifndef DMX_ADDRESS
+    uint16_t address = ((GPIOE->IDR >> 9)&0x7F) | (GPIOB->IDR & (1<<10))>>3;
+    printf("read address: %d = 0x%x\n", address, address);
+#else
+    uint16_t address = DMX_ADDRESS;
+    printf("static address: %d\n", address);
+#endif
+    return address;
+}

Src/main.c

@@ -30,6 +30,7 @@
 
 #include "uart_dmx.h"
 #include "stepper.h"
+#include "address_selector.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -56,6 +57,7 @@
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
+
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -99,6 +101,9 @@ int main(void)
   /* USER CODE BEGIN 2 */
   init_UART1_dma(); 
   stepper_gpio_init();
+  adress_selector_init_gpio();
+  dmx_address = read_address();
+  
   Timer1_Init();
   /* USER CODE END 2 */
 
@@ -112,6 +117,7 @@ int main(void)
       //    printf("0x%02X ", rxBuffer[i]);
       //printf("\n");
       SEGGER_SYSVIEW_OnIdle();
+      //read_address();
       //if(cnt++ >= 256-rxBuffer[1]){
       //    cnt = 0;
       //    GPIOE->ODR ^= GPIO_ODR_OD2;

Src/stepper.c

@@ -6,9 +6,16 @@
 
 #include "SEGGER_SYSVIEW.h"
 #include "uart_dmx.h"
+#include "address_selector.h"
 
 stepper_T steppers[] = {
-    {.en_port=GPIOC, .en_pin=11, .dir_port=GPIOB, .dir_pin=4, .step_port=GPIOE, .step_pin=2, .home_port=GPIOF, .home_pin=3}
+    {.en_port=GPIOC, .en_pin=11, .dir_port=GPIOB, .dir_pin=4,  .step_port=GPIOE, .step_pin=2,  .home_port=GPIOB, .home_pin=14, .home_position=0, .homed = 0},
+    {.en_port=GPIOB, .en_pin=3,  .dir_port=GPIOF, .dir_pin=11, .step_port=GPIOF, .step_pin=12, .home_port=GPIOB, .home_pin=13, .home_position=0, .homed = 0},
+    {.en_port=GPIOF, .en_pin=10, .dir_port=GPIOD, .dir_pin=6,  .step_port=GPIOD, .step_pin=7,  .home_port=GPIOF, .home_pin=7,  .home_position=0, .homed = 0},
+    {.en_port=GPIOD, .en_pin=5,  .dir_port=GPIOD, .dir_pin=2,  .step_port=GPIOD, .step_pin=3,  .home_port=GPIOB, .home_pin=12, .home_position=0, .homed = 0},
+    {.en_port=GPIOD, .en_pin=1,  .dir_port=GPIOC, .dir_pin=8,  .step_port=GPIOC, .step_pin=9,  .home_port=GPIOE, .home_pin=7,  .home_position=0, .homed = 0},
+    {.en_port=GPIOD, .en_pin=15, .dir_port=GPIOD, .dir_pin=9,  .step_port=GPIOD, .step_pin=11, .home_port=GPIOB, .home_pin=11, .home_position=0, .homed = 0},
+    //{.en_port=GPIOA, .en_pin=15, .dir_port=GPIOA, .dir_pin=14, .step_port=GPIOA, .step_pin=10, .home_port=GPIOB, .home_pin=11, .home_position=0, .homed = 1},
 };
 
 void set_pins(stepper_T* stp){
@@ -28,14 +35,18 @@ void set_pins(stepper_T* stp){
 
     // home switch
     stp->home_port->MODER &= ~(0x3 << (stp->home_pin * 2));
+    stp->home_port->PUPDR &= ~(0x3 << (stp->home_pin * 2));
+    stp->home_port->PUPDR |=  (0x1 << (stp->home_pin * 2));
 
     // make shure stepper is enabled (active low)
     stp->en_port->BSRR |= (0x1 << (stp->en_pin + 16));
 }
 
 void stepper_gpio_init(){
+    RCC->IOPENR |= RCC_IOPENR_GPIOAEN;
     RCC->IOPENR |= RCC_IOPENR_GPIOBEN;
     RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIODEN;
     RCC->IOPENR |= RCC_IOPENR_GPIOEEN;
     RCC->IOPENR |= RCC_IOPENR_GPIOFEN;
 
@@ -74,6 +85,7 @@ void TIM1_BRK_UP_TRG_COM_IRQHandler(void) {
 
 void do_steps(){
     static uint32_t timer = 0;
+    int16_t rotation_speed = 0;
     timer++;
 
     for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
@@ -88,10 +100,10 @@ void do_steps(){
                steppers[i].speed--;
 
             /* limit max speed */
-            if(steppers[i].speed >= 100)
+            if(steppers[i].speed >= STEPPER_MAX_SPEED)
-               steppers[i].speed=100;
+               steppers[i].speed=STEPPER_MAX_SPEED;
-            if(steppers[i].speed <= -100)
+            if(steppers[i].speed <= -STEPPER_MAX_SPEED)
-               steppers[i].speed=-100;
+               steppers[i].speed=-STEPPER_MAX_SPEED;
 
             /* get direction from sign */
             if(steppers[i].speed>0)
@@ -121,28 +133,92 @@ void do_steps(){
                 steppers[i].next_step = timer + 1;
             }
 
-            printf("pos %d\tspeed %d\n", steppers[i].pos, steppers[i].speed);
+            //printf("motor[%d]: pos %ld\trot: %ld\tspeed %ld\n", i, steppers[i].pos, steppers[i].endless_rot_integrator, steppers[i].speed);
+            //printf("rotation speed: %d\n", rotation_speed);
         }
 
         if(steppers[i].homed){
             static uint16_t old_ramp_to_speed;
             old_ramp_to_speed = steppers[i].ramp_to_speed;
-            steppers[i].ramp_to_speed = rxBuffer[1] - steppers[i].pos;
+
+            uint8_t raw_endless = rxBuffer[3*i + dmx_address + 2];
+
+            /* deadzone on top and bottom */
+            if(raw_endless >= 5 && raw_endless <= 250) {
+                rotation_speed = raw_endless - 127;
+
+                /* dead zone in the middle */
+                if(rotation_speed >= 5)
+                    rotation_speed -= 5;
+                else if(rotation_speed <= -5)
+                    rotation_speed += 5;
+                else
+                    rotation_speed = 0;
+            }
+            else{
+                rotation_speed = 0;
+            }
+
+            if(steppers[i].pos == STEPPER_STEPS_PER_ROTATION+1){
+                steppers[i].pos = 1;
+            }
+            if(steppers[i].pos == -1){
+                steppers[i].pos = STEPPER_STEPS_PER_ROTATION-1;
+            }
+
+            ///* handle endless rotation offset and wraparound */
+            //if(rotation_speed){
+            //    steppers[i].endless_rot_integrator += rotation_speed;
+            //    if(steppers[i].endless_rot_integrator >= STEPPER_STEPS_PER_ROTATION)
+            //    {
+            //        steppers[i].endless_rot_integrator -= STEPPER_STEPS_PER_ROTATION;
+            //        steppers[i].pos -= STEPPER_STEPS_PER_ROTATION;
+            //    }
+            //    else if(steppers[i].endless_rot_integrator <= 0)
+            //    {
+            //        steppers[i].endless_rot_integrator += STEPPER_STEPS_PER_ROTATION;
+            //        steppers[i].pos += STEPPER_STEPS_PER_ROTATION;
+            //    }
+            //}
+            //else
+            //    steppers[i].endless_rot_integrator = 0;
+
+            if(rotation_speed){
+                steppers[i].ramp_to_speed = rotation_speed;
+            }
+            else{
+                int32_t swapped_val = rxBuffer[3*i + dmx_address]<<8 | (rxBuffer[3*i+dmx_address+1]&0xFF);
+                //swapped_val += steppers[i].endless_rot_integrator;
+                int32_t scaled_steps = swapped_val * STEPPER_STEPS_PER_ROTATION / UINT16_MAX;
+                steppers[i].ramp_to_speed = scaled_steps - steppers[i].pos;
+                //static int cnt = 0;
+                //if(i==5 && ++cnt==10000){
+                //    printf("swapped_val[%d]: %d\n", i, swapped_val);
+                //    cnt=0;
+                //}
+            }
 
             if(old_ramp_to_speed == 0 && steppers[i].ramp_to_speed != 0)
                 steppers[i].trigger_step = 1;
         }
         else{
             if(~(steppers[i].home_port->IDR) & (1 << steppers[i].home_pin)){
-                steppers[i].pos = 0;
+                steppers[i].pos = steppers[i].home_position;
                 steppers[i].homed = 1;
                 steppers[i].speed = 0;
                 steppers[i].ramp_to_speed = 0;
                 printf("homed %d\n", i);
             }
+            else if(steppers[i].pos == 2*STEPPER_STEPS_PER_ROTATION){
+                steppers[i].pos = 0;
+                steppers[i].homed = 1;
+                steppers[i].speed = 0;
+                steppers[i].ramp_to_speed = 0;
+                printf("cant home %d, setting 0 now\n", i);
+            }
             else{
                 if(steppers[i].ramp_to_speed == 0){
-                    steppers[i].ramp_to_speed=10;
+                    steppers[i].ramp_to_speed=80;
                     steppers[i].trigger_step = 1; // trigger first step
                 }
             }

compile_flags.txt

@@ -2,6 +2,7 @@
 -mthumb
 -DUSE_HAL_DRIVER
 -DSTM32G0B1xx
+-DDMX_ADDRESS=99
 -IInc
 -IDrivers/STM32G0xx_HAL_Driver/Inc
 -IDrivers/STM32G0xx_HAL_Driver/Inc/Legacy
@@ -12,7 +13,7 @@
 -IDrivers/SystemView/Config
 -IDrivers/SystemView/SEGGER
 -IDrivers/SystemView/SYSVIEW
--Og
+-O0
 -Wall
 -fdata-sections
 -ffunction-sections