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master ... fixturemap

Author SHA1 Message Date
Eggert Jung facd40cc9d contains hardfault 5 months ago
8 changed files with 32 additions and 242 deletions
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6
Inc/address_selector.h
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@ -1,6 +0,0 @@
#include <stdint.h>
void adress_selector_init_gpio();
uint8_t read_address();
extern uint8_t dmx_address;

9
Inc/stepper.h
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@ -1,5 +1,4 @@
#include "stm32g0b1xx.h" #include "stm32g0b1xx.h"
#include <stdint.h>
typedef struct { typedef struct {
GPIO_TypeDef* en_port; GPIO_TypeDef* en_port;
@ -12,17 +11,13 @@ typedef struct {
uint8_t home_pin; uint8_t home_pin;
uint8_t homed:1; uint8_t homed:1;
uint8_t trigger_step: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 speed;
int32_t ramp_to_speed; int32_t ramp_to_speed;
uint32_t next_step; uint32_t next_step;
} stepper_T; } stepper_T;
#define STEPPER_MAX_SPEED 400 #define STEPPER_SPEED_LIMIT 300
#define STEPPER_STEPS_PER_ROTATION 3200*4
void Timer1_Init(void); void Timer1_Init(void);
void stepper_gpio_init(); void stepper_gpio_init();

7
Makefile
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@ -38,7 +38,6 @@ BUILD_DIR = build
C_SOURCES = \ C_SOURCES = \
Src/main.c \ Src/main.c \
Src/uart_dmx.c \ Src/uart_dmx.c \
Src/address_selector.c \
Src/stepper.c \ Src/stepper.c \
Src/stm32g0xx_it.c \ Src/stm32g0xx_it.c \
Src/stm32g0xx_hal_msp.c \ Src/stm32g0xx_hal_msp.c \
@ -115,11 +114,7 @@ AS_DEFS =
# C defines # C defines
C_DEFS = \ C_DEFS = \
-DUSE_HAL_DRIVER \ -DUSE_HAL_DRIVER \
-DSTM32G0B1xx \ -DSTM32G0B1xx
ifneq ($(DMX_ADDRESS),)
C_DEFS += -DDMX_ADDRESS=$(DMX_ADDRESS)
endif
# AS includes # AS includes

92
README.md
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@ -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 | Channel | Function | Values | |
| ------- | ------------ | --------- | ------------------------------ |
requirements: | 1 + i | Tilt | | |
- for compiling: arm-none-eabi-toolchain, gnu-make, git | 2 + i | Tilt fine | | |
- for flashing: SEGGER J-Link, JLinkGDBServer (other Debug Probes can be used, see Makefile) | 3 + i | Endless Tilt | 000 - 005 | No function |
| | | 006 - 126 | Forward Rotation fast -> slow |
run gdb-server<br /> | | | 127 - 128 | Stop |
`./gdb.sh` | | | 129 - 255 | Backward Rotation slow -> fast |
| 36 | Auto Mode | 000 - 004 | No function |
build and flash firmware with static DMX-Address<br /> | | | 005 - 010 | Go to Reference |
`make program DMX_ADDRESS=99` | | | 015 - 020 | Classic Mode |
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
|Pin #| Switch |Pin #| Switch |
| --- | ----------| --- | ----------|
| 1 | | 2 | |
| 3 | | 4 | |
| 5 | | 6 | |
| 7 | | 8 | |
| 9 | GND | 10 | 5V |
## Hardware ## 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/tree/master/V1.0_V1.1/Hardware
- https://github.com/bigtreetech/Manta-M8P - https://github.com/bigtreetech/Manta-M8P
- https://bttwiki.com/M8P.html#product-profile - https://bttwiki.com/M8P.html#product-profile

53
Src/address_selector.c
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@ -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;
}

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

100
Src/stepper.c
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@ -6,16 +6,11 @@
#include "SEGGER_SYSVIEW.h" #include "SEGGER_SYSVIEW.h"
#include "uart_dmx.h" #include "uart_dmx.h"
#include "address_selector.h" #include "mapping_table.h"
stepper_T steppers[] = { 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){ void set_pins(stepper_T* stp){
@ -35,24 +30,23 @@ void set_pins(stepper_T* stp){
// home switch // home switch
stp->home_port->MODER &= ~(0x3 << (stp->home_pin * 2)); 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) // make shure stepper is enabled (active low)
stp->en_port->BSRR |= (0x1 << (stp->en_pin + 16)); stp->en_port->BSRR |= (0x1 << (stp->en_pin + 16));
} }
void stepper_gpio_init(){ void stepper_gpio_init(){
RCC->IOPENR |= RCC_IOPENR_GPIOAEN;
RCC->IOPENR |= RCC_IOPENR_GPIOBEN; RCC->IOPENR |= RCC_IOPENR_GPIOBEN;
RCC->IOPENR |= RCC_IOPENR_GPIOCEN; RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
RCC->IOPENR |= RCC_IOPENR_GPIODEN;
RCC->IOPENR |= RCC_IOPENR_GPIOEEN; RCC->IOPENR |= RCC_IOPENR_GPIOEEN;
RCC->IOPENR |= RCC_IOPENR_GPIOFEN; RCC->IOPENR |= RCC_IOPENR_GPIOFEN;
for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){ for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
set_pins(&steppers[i]); set_pins(&steppers[i]);
} }
steppers[0].homed = 1;
steppers[1].homed = 1;
} }
void Timer1_Init(void) { void Timer1_Init(void) {
@ -85,7 +79,6 @@ void TIM1_BRK_UP_TRG_COM_IRQHandler(void) {
void do_steps(){ void do_steps(){
static uint32_t timer = 0; static uint32_t timer = 0;
int16_t rotation_speed = 0;
timer++; timer++;
for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){ for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
@ -100,10 +93,10 @@ void do_steps(){
steppers[i].speed--; steppers[i].speed--;
/* limit max 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 */ /* get direction from sign */
if(steppers[i].speed>0) if(steppers[i].speed>0)
@ -133,92 +126,29 @@ void do_steps(){
steppers[i].next_step = timer + 1; 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){ if(steppers[i].homed){
static uint16_t old_ramp_to_speed; static uint16_t old_ramp_to_speed;
old_ramp_to_speed = steppers[i].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) if(old_ramp_to_speed == 0 && steppers[i].ramp_to_speed != 0)
steppers[i].trigger_step = 1; steppers[i].trigger_step = 1;
} }
else{ else{
if(~(steppers[i].home_port->IDR) & (1 << steppers[i].home_pin)){ if(~(steppers[i].home_port->IDR) & (1 << steppers[i].home_pin)){
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].pos = 0;
steppers[i].homed = 1; steppers[i].homed = 1;
steppers[i].speed = 0; steppers[i].speed = 0;
steppers[i].ramp_to_speed = 0; steppers[i].ramp_to_speed = 0;
printf("cant home %d, setting 0 now\n", i); printf("homed %d\n", i);
} }
else{ else{
if(steppers[i].ramp_to_speed == 0){ 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 steppers[i].trigger_step = 1; // trigger first step
} }
} }

1
compile_flags.txt
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@ -2,7 +2,6 @@
-mthumb -mthumb
-DUSE_HAL_DRIVER -DUSE_HAL_DRIVER
-DSTM32G0B1xx -DSTM32G0B1xx
-DDMX_ADDRESS=99
-IInc -IInc
-IDrivers/STM32G0xx_HAL_Driver/Inc -IDrivers/STM32G0xx_HAL_Driver/Inc
-IDrivers/STM32G0xx_HAL_Driver/Inc/Legacy -IDrivers/STM32G0xx_HAL_Driver/Inc/Legacy

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