implement mapping table

contails pointer bug

Inc/address_selector.h

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

Inc/mapping_table.h

@@ -0,0 +1,19 @@
+#include "uart_dmx.h"
+
+typedef struct{
+    uint16_t tilt;
+    uint8_t endless_rot;
+} motor_mapping_T;
+
+typedef struct{
+    motor_mapping_T channels[12];
+    uint8_t automode;
+} fixture_mapping_T;
+
+#define AUTOMODE_NO_FUNC_L 0
+#define AUTOMODE_NO_FUNC_H 4
+#define AUTOMODE_GOTO_REF_L 5
+#define AUTOMODE_GOTO_REF_H 9
+#define AUTOMODE_CLASSIC_L 10
+#define AUTOMODE_CLASSIC_H 14
+

Inc/stepper.h

@@ -1,5 +1,4 @@
 #include "stm32g0b1xx.h"
-#include <stdint.h>
 
 typedef struct {
     GPIO_TypeDef* en_port;
@@ -12,17 +11,13 @@ typedef struct {
     uint8_t home_pin;
     uint8_t homed:1;
     uint8_t trigger_step:1;
-    int32_t home_position;
+    int16_t pos;
-    int32_t pos;
-    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_SPEED_LIMIT 300
-
-#define STEPPER_STEPS_PER_ROTATION 3200*4 
 
 void Timer1_Init(void);
 void stepper_gpio_init();

Makefile

@@ -38,7 +38,6 @@ 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 \
@@ -115,11 +114,7 @@ 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

@@ -1,89 +1,25 @@
-# Parafraktor
+# Parrafraktor
-## 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
 
-## DMX Registers
+![schematic](docs/schematic.png)
-
-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  |           |
 
-### Address Selector/EXP1
+| Channel | Function     | Values    |                                |
-|Pin #| Switch    |Pin #| Switch    |
+| ------- | ------------ | --------- | ------------------------------ |
-| --- | ----------| --- | ----------|
+| 1 + i   | Tilt         |           |                                |
-|  1  |           |  2  |           |
+| 2 + i   | Tilt fine    |           |                                |
-|  3  |           |  4  |           |
+| 3 + i   | Endless Tilt | 000 - 005 | No function                    |
-|  5  |           |  6  |           |
+|         |              | 006 - 126 | Forward Rotation fast -> slow  |
-|  7  |           |  8  |           |
+|         |              | 127 - 128 | Stop                           |
-|  9  | GND       | 10  | 5V        |
+|         |              | 129 - 255 | Backward Rotation slow -> fast |
+| 36      | Auto Mode    | 000 - 004 | No function                    |
+|         |              | 005 - 010 | Go to Reference                |
+|         |              | 015 - 020 | Classic Mode                   |
 
 
 ## Hardware
 
-- BIGTREETECH Manta M8P v1.1
+- BIGTREETECH Manta M8P
     - 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

@@ -1,53 +0,0 @@
-#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

@@ -30,7 +30,6 @@
 
 #include "uart_dmx.h"
 #include "stepper.h"
-#include "address_selector.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -57,7 +56,6 @@
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
-
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -101,9 +99,6 @@ 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 */
 
@@ -117,7 +112,6 @@ 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

@@ -6,16 +6,11 @@
 
 #include "SEGGER_SYSVIEW.h"
 #include "uart_dmx.h"
-#include "address_selector.h"
+#include "mapping_table.h"
 
 stepper_T steppers[] = {
-    {.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=GPIOC, .en_pin=11, .dir_port=GPIOB, .dir_pin=4, .step_port=GPIOE, .step_pin=2, .home_port=GPIOF, .home_pin=3},
-    {.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=GPIOB, .en_pin=3, .dir_port=GPIOF, .dir_pin=11, .step_port=GPIOF, .step_pin=12, .home_port=GPIOF, .home_pin=4}
-    {.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){
@@ -35,24 +30,23 @@ 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;
 
     for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
         set_pins(&steppers[i]);
     }
+
+    steppers[0].homed = 1;
+    steppers[1].homed = 1;
 }
 
 void Timer1_Init(void) {
@@ -85,7 +79,6 @@ 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++){
@@ -100,10 +93,10 @@ void do_steps(){
                steppers[i].speed--;
 
             /* limit max speed */
-            if(steppers[i].speed >= STEPPER_MAX_SPEED)
+            if(steppers[i].speed >= STEPPER_SPEED_LIMIT)
-               steppers[i].speed=STEPPER_MAX_SPEED;
+               steppers[i].speed=STEPPER_SPEED_LIMIT;
-            if(steppers[i].speed <= -STEPPER_MAX_SPEED)
+            if(steppers[i].speed <= -STEPPER_SPEED_LIMIT)
-               steppers[i].speed=-STEPPER_MAX_SPEED;
+               steppers[i].speed=-STEPPER_SPEED_LIMIT;
 
             /* get direction from sign */
             if(steppers[i].speed>0)
@@ -133,92 +126,29 @@ void do_steps(){
                 steppers[i].next_step = timer + 1;
             }
 
-            //printf("motor[%d]: pos %ld\trot: %ld\tspeed %ld\n", i, steppers[i].pos, steppers[i].endless_rot_integrator, steppers[i].speed);
+            printf("pos %d\tspeed %d\n", steppers[i].pos, 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;
-
+            motor_mapping_T* tmp = &(((fixture_mapping_T*)&rxBuffer[1])->channels[i]);
-            uint8_t raw_endless = rxBuffer[3*i + dmx_address + 2];
+            steppers[i].ramp_to_speed = tmp->tilt - steppers[i].pos;
-
-            /* 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 = steppers[i].home_position;
+                steppers[i].pos = 0;
                 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=80;
+                    steppers[i].ramp_to_speed=10;
                     steppers[i].trigger_step = 1; // trigger first step
                 }
             }

compile_flags.txt

@@ -2,7 +2,6 @@
 -mthumb
 -DUSE_HAL_DRIVER
 -DSTM32G0B1xx
--DDMX_ADDRESS=99
 -IInc
 -IDrivers/STM32G0xx_HAL_Driver/Inc
 -IDrivers/STM32G0xx_HAL_Driver/Inc/Legacy