# 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

## 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  |           |

### Address Selector/EXP1
|Pin #| Switch    |Pin #| Switch    |
| --- | ----------| --- | ----------|
|  1  |           |  2  |           |
|  3  |           |  4  |           |
|  5  |           |  6  |           |
|  7  |           |  8  |           |
|  9  | GND       | 10  | 5V        |


## Hardware

- 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