winux
New member
Hello, i'm looking for a way to use the teensy 3.6 and 6 stepper drivers together with the Dragonframe Stop Motion Software.
There is an old thread in the forums where ppl already tried to get it to work but there was no real success, at least not in the old thread.
(old thread) https://forum.pjrc.com/threads/45078-Teensy-and-Stepper-Control
Fortunatly there is a new sketch that comes bundled with the dragonframe 4 that is supporting Genuino 101 ( 32bit Intel Curie Chip )
They are using the CurieTimerOne.h https://github.com/arduino/ArduinoCore-arc32/blob/master/libraries/CurieTimerOne/src/CurieTimerOne.h
lib for the timing logic on the Intel Curie Chip.
After some googling i found https://github.com/PaulStoffregen/TimerOne from paul. now the question is it possible to swap the 2 libs to get it working.
The call in the original sketch looks like this:
so will a (example, more code needed)
with pauls lib work?
thx for your time and help and i hope we can get it working =)
DFMoco sketch from DF4:
(also attached as file below)
There is an old thread in the forums where ppl already tried to get it to work but there was no real success, at least not in the old thread.
(old thread) https://forum.pjrc.com/threads/45078-Teensy-and-Stepper-Control
Fortunatly there is a new sketch that comes bundled with the dragonframe 4 that is supporting Genuino 101 ( 32bit Intel Curie Chip )
They are using the CurieTimerOne.h https://github.com/arduino/ArduinoCore-arc32/blob/master/libraries/CurieTimerOne/src/CurieTimerOne.h
lib for the timing logic on the Intel Curie Chip.
After some googling i found https://github.com/PaulStoffregen/TimerOne from paul. now the question is it possible to swap the 2 libs to get it working.
The call in the original sketch looks like this:
Code:
#elif defined(BOARD_101)
CurieTimerOne.start(25, &updateStepDirection);
#endifso will a (example, more code needed)
Code:
#elif defined(BOARD_Teensy)
TimerOne.start(25, &updateStepDirection);
#endifwith pauls lib work?
thx for your time and help and i hope we can get it working =)
DFMoco sketch from DF4:
(also attached as file below)
Code:
#define DFMOCO_VERSION 1
#define DFMOCO_VERSION_STRING "1.3.0"
/*
DFMoco version 1.3.0
Multi-axis motion control.
For use with the Arc motion control system in Dragonframe 4.
Generates step and direction signals, which can be sent to stepper motor drivers.
Control up to four axes with an Uno, Duemilanove or 101 board.
Control up to eight axes with a Mega or Mega 2560.
Version History
Version 1.3.0 Arduino 101 support. Remove non-Arduino support (chipKit, Maple).
Version 1.2.7 Direction setup time.
Version 1.2.6 Add PINOUT_VERSION option to use older pinout.
Version 1.2.5 Fix jogging with low pulse rate.
Version 1.2.4 Fix pin assignments
Version 1.2.3 New Position command
Version 1.2.2 Jog and Inch commands
Version 1.2.1 Moved step/direction pins for motions 5-8.
Detects board type automatically.
Version 1.2.0 Basic go-motion capabilities
Version 1.1.2 Smooth transitions when changing direction
Version 1.1.1 Save/restore motor position
Version 1.1.0 Major rework
Version 1.0.2 Moved pulses into interrupt handler
Version 1.0.1 Added delay for pulse widths
Version 1.0.0 Initial public release.
Getting Started:
1. Install IDE (Integrated Development Environment):
Go to https://www.arduino.cc/en/Main/Software and download the Arduino Software for your OS.
2. Run the IDE you installed.
3. Open this file in the IDE.
4. Go to the Tools menu of the IDE and choose the Board type you are using.
5. Verify/Compile the sketch. (Command-R on Mac, Control-R on Windows.)
6. After this finishes, Upload the code to the board. (Command-U on Mac, Control-U on Windows.)
Pin configuration:
channel 1
PIN 4 step
PIN 5 direction
channel 2
PIN 6 step
PIN 7 direction
channel 3
PIN 8 step
PIN 9 direction
channel 4
PIN 10 step
PIN 11 direction
channel 5
PIN 28 step
PIN 29 direction
channel 6
PIN 30 step
PIN 31 direction
channel 7
PIN 32 step
PIN 33 direction
channel 8
PIN 34 step
PIN 35 direction
*/
// change this to 1 if you want original pinout for channels 5-8
#define PINOUT_VERSION 2
/*
This is PINOUT_VERSION 1
channel 5
PIN 22 step
PIN 23 direction
channel 6
PIN 24 step
PIN 25 direction
channel 7
PIN 26 step
PIN 27 direction
channel 8
PIN 28 step
PIN 29 direction
*/
// detect board type
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define BOARD_MEGA 1
#elif defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega168__)
#define BOARD_UNO 1
#elif defined(ARDUINO_ARCH_ARC32) // Intel Curie/101
#define BOARD_101 1
#include "CurieTimerOne.h"
#else
#error Cannot identify board
#endif
// USER: if you want a kill switch, uncomment out the next line by removing the // characters
//#define KILL_SWITCH_INTERRUPT 0
#define SERIAL_DEVICE Serial
#if defined(BOARD_101)
#define PIN_ON(port, pin) { digitalWrite(pin, 1); }
#define PIN_OFF(port, pin) { digitalWrite(pin, 0); }
#else
#define PIN_ON(port, pin) { port |= pin; }
#define PIN_OFF(port, pin) { port &= ~pin; }
#endif
// Arduino Uno/Duemilanove -> 4 MOTORS MAX
// Arduino Mega 2560 / Mega -> 8 MOTORS MAX
#if defined(BOARD_UNO) || defined(BOARD_101)
#define MOTOR_COUNT 4
#else
#define MOTOR_COUNT 8
#endif
#define TIME_CHUNK 50
#define SEND_POSITION_COUNT 20000
// update velocities 20 x second
#define VELOCITY_UPDATE_RATE (50000 / TIME_CHUNK)
#define VELOCITY_INC(maxrate) (max(1.0f, maxrate / 70.0f))
#define VELOCITY_CONVERSION_FACTOR 0.30517578125f /* 20 / 65.536f */
// setup step and direction pins
#if defined(BOARD_101)
#define MOTOR0_STEP_PORT 0
#define MOTOR0_STEP_PIN 4
#define MOTOR1_STEP_PORT 0
#define MOTOR1_STEP_PIN 6
#define MOTOR2_STEP_PORT 0
#define MOTOR2_STEP_PIN 8
#define MOTOR3_STEP_PORT 0
#define MOTOR3_STEP_PIN 10
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define MOTOR0_STEP_PORT PORTG
#define MOTOR0_STEP_PIN B00100000
#define MOTOR1_STEP_PORT PORTH
#define MOTOR1_STEP_PIN B00001000
#define MOTOR2_STEP_PORT PORTH
#define MOTOR2_STEP_PIN B00100000
#define MOTOR3_STEP_PORT PORTB
#define MOTOR3_STEP_PIN B00010000
#if ( PINOUT_VERSION == 2 )
#define MOTOR4_STEP_PORT PORTA
#define MOTOR4_STEP_PIN B01000000
#define MOTOR5_STEP_PORT PORTC
#define MOTOR5_STEP_PIN B10000000
#define MOTOR6_STEP_PORT PORTC
#define MOTOR6_STEP_PIN B00100000
#define MOTOR7_STEP_PORT PORTC
#define MOTOR7_STEP_PIN B00001000
#elif ( PINOUT_VERSION == 1 )
#define MOTOR4_STEP_PORT PORTA
#define MOTOR4_STEP_PIN B00000001
#define MOTOR5_STEP_PORT PORTA
#define MOTOR5_STEP_PIN B00000100
#define MOTOR6_STEP_PORT PORTA
#define MOTOR6_STEP_PIN B00010000
#define MOTOR7_STEP_PORT PORTA
#define MOTOR7_STEP_PIN B01000000
#endif
#elif defined(BOARD_UNO)
#define MOTOR0_STEP_PORT PORTD
#define MOTOR0_STEP_PIN B00010000
#define MOTOR1_STEP_PORT PORTD
#define MOTOR1_STEP_PIN B01000000
#define MOTOR2_STEP_PORT PORTB
#define MOTOR2_STEP_PIN B00000001
#define MOTOR3_STEP_PORT PORTB
#define MOTOR3_STEP_PIN B00000100
#endif
/**
* Serial output specialization
*/
#if defined(UBRRH)
#define TX_UCSRA UCSRA
#define TX_UDRE UDRE
#define TX_UDR UDR
#else
#define TX_UCSRA UCSR0A
#define TX_UDRE UDRE0
#define TX_UDR UDR0
#endif
char txBuf[32];
char *txBufPtr;
#define TX_MSG_BUF_SIZE 16
#define MSG_STATE_START 0
#define MSG_STATE_CMD 1
#define MSG_STATE_DATA 2
#define MSG_STATE_ERR 3
#define MSG_STATE_DONE 100
/*
* Command codes from user
*/
#define USER_CMD_ARGS 40
#define CMD_NONE 0
#define CMD_HI 10
#define CMD_MS 30
#define CMD_NP 31
#define CMD_MM 40 // move motor
#define CMD_PR 41 // pulse rate
#define CMD_SM 42 // stop motor
#define CMD_MP 43 // motor position
#define CMD_ZM 44 // zero motor
#define CMD_SA 50 // stop all (hard)
#define CMD_BF 60 // blur frame
#define CMD_GO 61 // go!
#define CMD_JM 70 // jog motor
#define CMD_IM 71 // inch motor
#define MSG_HI 01
#define MSG_MM 02
#define MSG_MP 03
#define MSG_MS 04
#define MSG_PR 05
#define MSG_SM 06
#define MSG_SA 07
#define MSG_BF 10
#define MSG_GO 11
#define MSG_JM 12
#define MSG_IM 13
struct UserCmd
{
byte command;
byte argCount;
int32_t args[USER_CMD_ARGS];
} ;
/*
* Message state machine variables.
*/
byte lastUserData;
int msgState;
int msgNumberSign;
UserCmd userCmd;
struct txMsg
{
byte msg;
byte motor;
};
struct TxMsgBuffer
{
txMsg buffer[TX_MSG_BUF_SIZE];
byte head;
byte tail;
};
TxMsgBuffer txMsgBuffer;
/*
Motor data.
*/
uint16_t motorAccumulator0;
uint16_t motorAccumulator1;
uint16_t motorAccumulator2;
uint16_t motorAccumulator3;
#if MOTOR_COUNT > 4
uint16_t motorAccumulator4;
uint16_t motorAccumulator5;
uint16_t motorAccumulator6;
uint16_t motorAccumulator7;
#endif
uint16_t* motorAccumulator[MOTOR_COUNT] =
{
&motorAccumulator0, &motorAccumulator1, &motorAccumulator2, &motorAccumulator3,
#if MOTOR_COUNT > 4
&motorAccumulator4, &motorAccumulator5, &motorAccumulator6, &motorAccumulator7
#endif
};
uint16_t motorMoveSteps0;
uint16_t motorMoveSteps1;
uint16_t motorMoveSteps2;
uint16_t motorMoveSteps3;
#if MOTOR_COUNT > 4
uint16_t motorMoveSteps4;
uint16_t motorMoveSteps5;
uint16_t motorMoveSteps6;
uint16_t motorMoveSteps7;
#endif
uint16_t* motorMoveSteps[MOTOR_COUNT] =
{
&motorMoveSteps0, &motorMoveSteps1, &motorMoveSteps2, &motorMoveSteps3,
#if MOTOR_COUNT > 4
&motorMoveSteps4, &motorMoveSteps5, &motorMoveSteps6, &motorMoveSteps7
#endif
};
uint16_t motorMoveSpeed0;
uint16_t motorMoveSpeed1;
uint16_t motorMoveSpeed2;
uint16_t motorMoveSpeed3;
#if MOTOR_COUNT > 4
uint16_t motorMoveSpeed4;
uint16_t motorMoveSpeed5;
uint16_t motorMoveSpeed6;
uint16_t motorMoveSpeed7;
#endif
uint16_t * motorMoveSpeed[MOTOR_COUNT] =
{
&motorMoveSpeed0, &motorMoveSpeed1, &motorMoveSpeed2, &motorMoveSpeed3,
#if MOTOR_COUNT > 4
&motorMoveSpeed4, &motorMoveSpeed5, &motorMoveSpeed6, &motorMoveSpeed7
#endif
};
volatile boolean nextMoveLoaded;
unsigned int velocityUpdateCounter;
byte sendPositionCounter;
boolean hardStopRequested;
byte sendPosition = 0;
byte motorMoving = 0;
byte toggleStep = 0;
#define P2P_MOVE_COUNT 7
struct Motor
{
byte stepPin;
byte dirPin;
// pre-computed move
float moveTime[P2P_MOVE_COUNT];
int32_t movePosition[P2P_MOVE_COUNT];
float moveVelocity[P2P_MOVE_COUNT];
float moveAcceleration[P2P_MOVE_COUNT];
float gomoMoveTime[P2P_MOVE_COUNT];
int32_t gomoMovePosition[P2P_MOVE_COUNT];
float gomoMoveVelocity[P2P_MOVE_COUNT];
float gomoMoveAcceleration[P2P_MOVE_COUNT];
int currentMove;
float currentMoveTime;
volatile boolean dir;
int32_t position;
int32_t destination;
float maxVelocity;
float maxAcceleration;
uint16_t nextMotorMoveSteps;
float nextMotorMoveSpeed;
};
boolean goMoReady;
int goMoDelayTime;
Motor motors[MOTOR_COUNT];
#ifdef KILL_SWITCH_INTERRUPT
void killSwitch()
{
hardStopRequested = true;
}
#endif
/*
* setup() gets called once, at the start of the program.
*/
void setup()
{
goMoReady = false;
lastUserData = 0;
msgState = MSG_STATE_START;
velocityUpdateCounter = 0;
sendPositionCounter = 10;
nextMoveLoaded = false;
hardStopRequested = false;
for (int i = 0; i < 32; i++)
txBuf[i] = 0;
txBufPtr = txBuf;
#ifdef KILL_SWITCH_INTERRUPT
attachInterrupt(KILL_SWITCH_INTERRUPT, killSwitch, CHANGE);
#endif
// initialize motor structures
for (int i = 0; i < MOTOR_COUNT; i++)
{
// setup motor pins - you can customize/modify these after loop
// default sets step/dir pairs together, with first four motors at 4/5, 6/7, 8/9, 10/11
// then, for the Mega boards, it jumps to 28/29, 30/31, 32/33, 34/35
#if ( PINOUT_VERSION == 2 )
motors[i].stepPin = (i * 2) + ( (i < 4) ? 4 : 20 );
#elif ( PINOUT_VERSION == 1 )
motors[i].stepPin = (i * 2) + ( (i < 4) ? 4 : 14 );
#endif
motors[i].dirPin = motors[i].stepPin + 1;
motors[i].dir = true; // forward
motors[i].position = 0L;
motors[i].destination = 0L;
motors[i].nextMotorMoveSteps = 0;
motors[i].nextMotorMoveSpeed = 0;
setPulsesPerSecond(i, 5000);
}
// set output pins
for (int i = 0; i < MOTOR_COUNT; i++)
{
pinMode(motors[i].stepPin, OUTPUT);
pinMode(motors[i].dirPin, OUTPUT);
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// disable PWM
switch (motors[i].stepPin)
{
#if defined(TCCR3A) && defined(COM3B1)
case 4:
TCCR3A &= ~COM3B1;
break;
#endif
#if defined(TCCR4A) && defined(COM4A1)
case 6:
TCCR4A &= ~COM4A1;
break;
#endif
#if defined(TCCR4A) && defined(COM4C1)
case 8:
TCCR4A &= ~COM4C1;
break;
#endif
#if defined(TCCR2A) && defined(COM2A1)
case 10:
TCCR2A &= ~COM2A1;
break;
#endif
}
#else
switch (motors[i].stepPin)
{
#if defined(TCCR1A) && defined(COM1B1)
case 10:
TCCR1A &= ~COM1B1;
break;
#endif
}
#endif
}
// set initial direction
for (int i = 0; i < MOTOR_COUNT; i++)
{
digitalWrite( motors[i].dirPin, motors[i].dir ? HIGH : LOW );
}
// setup serial connection
Serial.begin(57600);
sendMessage(MSG_HI, 0);
// SET UP interrupt timer
#if defined(BOARD_UNO) || defined(BOARD_MEGA)
TCCR1A = 0;
TCCR1B = _BV(WGM13);
ICR1 = (F_CPU / 4000000) * TIME_CHUNK; // goes twice as often as time chunk, but every other event turns off pins
TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TIMSK1 = _BV(TOIE1);
TCCR1B |= _BV(CS10);
#elif defined(BOARD_101)
CurieTimerOne.start(25, &updateStepDirection);
#endif
}
#if defined(BOARD_101)
void updateStepDirection(void)
{
#else
ISR(TIMER1_OVF_vect)
{
#endif
toggleStep = !toggleStep;
if (toggleStep)
{
// MOTOR 1
if (motorMoveSteps0)
{
uint16_t a = motorAccumulator0;
motorAccumulator0 += motorMoveSpeed0;
if (motorAccumulator0 < a)
{
motorMoveSteps0--;
PIN_ON(MOTOR0_STEP_PORT, MOTOR0_STEP_PIN);
}
}
// MOTOR 2
if (motorMoveSteps1)
{
uint16_t a = motorAccumulator1;
motorAccumulator1 += motorMoveSpeed1;
if (motorAccumulator1 < a)
{
motorMoveSteps1--;
PIN_ON(MOTOR1_STEP_PORT, MOTOR1_STEP_PIN);
}
}
// MOTOR 3
if (motorMoveSteps2)
{
uint16_t a = motorAccumulator2;
motorAccumulator2 += motorMoveSpeed2;
if (motorAccumulator2 < a)
{
motorMoveSteps2--;
PIN_ON(MOTOR2_STEP_PORT, MOTOR2_STEP_PIN);
}
}
// MOTOR 4
if (motorMoveSteps3)
{
uint16_t a = motorAccumulator3;
motorAccumulator3 += motorMoveSpeed3;
if (motorAccumulator3 < a)
{
motorMoveSteps3--;
PIN_ON(MOTOR3_STEP_PORT, MOTOR3_STEP_PIN);
}
}
#if MOTOR_COUNT > 4
// MOTOR 5
if (motorMoveSteps4)
{
uint16_t a = motorAccumulator4;
motorAccumulator4 += motorMoveSpeed4;
if (motorAccumulator4 < a)
{
motorMoveSteps4--;
PIN_ON(MOTOR4_STEP_PORT, MOTOR4_STEP_PIN);
}
}
// MOTOR 6
if (motorMoveSteps5)
{
uint16_t a = motorAccumulator5;
motorAccumulator5 += motorMoveSpeed5;
if (motorAccumulator5 < a)
{
motorMoveSteps5--;
PIN_ON(MOTOR5_STEP_PORT, MOTOR5_STEP_PIN);
}
}
// MOTOR 7
if (motorMoveSteps6)
{
uint16_t a = motorAccumulator6;
motorAccumulator6 += motorMoveSpeed6;
if (motorAccumulator6 < a)
{
motorMoveSteps6--;
PIN_ON(MOTOR6_STEP_PORT, MOTOR6_STEP_PIN);
}
}
// MOTOR 8
if (motorMoveSteps7)
{
uint16_t a = motorAccumulator7;
motorAccumulator7 += motorMoveSpeed7;
if (motorAccumulator7 < a)
{
motorMoveSteps7--;
PIN_ON(MOTOR7_STEP_PORT, MOTOR7_STEP_PIN);
}
}
#endif
}
else
{
velocityUpdateCounter++;
if (velocityUpdateCounter == VELOCITY_UPDATE_RATE)
{
velocityUpdateCounter = 0;
if (sendPositionCounter)
{
sendPositionCounter--;
}
for (int i = 0; i < MOTOR_COUNT; i++)
{
if (*motorMoveSpeed[i] && !motors[i].nextMotorMoveSpeed)
{
bitSet(sendPosition, i);
}
*motorMoveSteps[i] = motors[i].nextMotorMoveSteps;
*motorMoveSpeed[i] = motors[i].nextMotorMoveSpeed;
digitalWrite(motors[i].dirPin, motors[i].dir);
*motorAccumulator[i] = 65535;
}
nextMoveLoaded = false; // ready for new move
}
PIN_OFF(MOTOR0_STEP_PORT, MOTOR0_STEP_PIN);
PIN_OFF(MOTOR1_STEP_PORT, MOTOR1_STEP_PIN);
PIN_OFF(MOTOR2_STEP_PORT, MOTOR2_STEP_PIN);
PIN_OFF(MOTOR3_STEP_PORT, MOTOR3_STEP_PIN);
#if MOTOR_COUNT > 4
PIN_OFF(MOTOR4_STEP_PORT, MOTOR4_STEP_PIN);
PIN_OFF(MOTOR5_STEP_PORT, MOTOR5_STEP_PIN);
PIN_OFF(MOTOR6_STEP_PORT, MOTOR6_STEP_PIN);
PIN_OFF(MOTOR7_STEP_PORT, MOTOR7_STEP_PIN);
#endif
}
}
/*
* For stepper-motor timing, every clock cycle counts.
*/
void loop()
{
int32_t *ramValues = (int32_t *)malloc(sizeof(int32_t) * MOTOR_COUNT);
int32_t *ramNotValues = (int32_t *)malloc(sizeof(int32_t) * MOTOR_COUNT);
for (int i = 0; i < MOTOR_COUNT; i++)
{
if (ramValues[i] == ~ramNotValues[i])
{
motors[i].position = motors[i].destination = ramValues[i];
}
}
while (true)
{
if (!nextMoveLoaded)
updateMotorVelocities();
processSerialCommand();
// check if we have serial output
#if defined(BOARD_UNO) || defined(BOARD_MEGA)
if (*txBufPtr)
{
if ((TX_UCSRA) & (1 << TX_UDRE))
{
TX_UDR = *txBufPtr++;
// we are done with this msg, get the next one
if (!*txBufPtr)
nextMessage();
}
}
#endif
if (!sendPositionCounter)
{
sendPositionCounter = 20;
byte i;
for (i = 0; i < MOTOR_COUNT; i++)
{
if (bitRead(motorMoving, i) || bitRead(sendPosition, i))
{
sendMessage(MSG_MP, i);
ramValues[i] = motors[i].position;
ramNotValues[i] = ~motors[i].position;
}
}
sendPosition = 0;
}
}
}
/**
* Update velocities.
*/
void updateMotorVelocities()
{
// process hard stop interrupt request
if (hardStopRequested)
{
hardStopRequested = 0;
hardStop();
}
for (int m = 0; m < MOTOR_COUNT; m++)
{
Motor *motor = &motors[m];
motor->nextMotorMoveSteps = 0;
motor->nextMotorMoveSpeed = 0;
if (bitRead(motorMoving, m))
{
int seg = motor->currentMove;
if (motor->moveTime[seg] == 0)
{
bitClear(motorMoving, m);
}
else
{
float originalMoveTime = motor->currentMoveTime;
int originalMove = motor->currentMove;
motor->currentMoveTime += 0.05f;
if (motor->currentMoveTime >= motor->moveTime[seg])
{
motor->currentMoveTime -= motor->moveTime[seg];
motor->currentMove++;
seg++;
}
float t = motor->currentMoveTime;
int32_t xn = (int32_t)(motor->movePosition[seg] + motor->moveVelocity[seg] * t + motor->moveAcceleration[seg] * t * t); // accel was already multiplied * 0.5
int32_t dx = abs(xn - motor->position);
if (!dx) // don't change direction flag unless we are actually stepping in new direction
continue;
boolean forward = xn > motor->position;
if (forward != motor->dir) // direction setup time 1/20th second should be plenty
{
// revert everything except for dir flag
motor->currentMoveTime = originalMoveTime;
motor->currentMove = originalMove;
}
else
{
motor->nextMotorMoveSpeed = max(1, min(65535, dx * 65.6f));
motor->nextMotorMoveSteps = dx;
motor->position = xn;
}
motor->dir = forward;
}
}
}
nextMoveLoaded = true;
}
/*
* Set up the axis for pulses per second (approximate)
*/
void setPulsesPerSecond(int motorIndex, uint16_t pulsesPerSecond)
{
if (pulsesPerSecond > 20000)
pulsesPerSecond = 20000;
if (pulsesPerSecond < 100)
pulsesPerSecond = 100;
motors[motorIndex].maxVelocity = pulsesPerSecond;
motors[motorIndex].maxAcceleration = pulsesPerSecond * 0.5f;
}
void setupMotorMove(int motorIndex, int32_t destination)
{
motors[motorIndex].destination = destination;
if ( destination != motors[motorIndex].position )
{
calculatePointToPoint(motorIndex, destination);
bitSet(motorMoving, motorIndex);
}
}
void hardStop()
{
// set the destination to the current location, so they won't move any more
for (int i = 0; i < MOTOR_COUNT; i++)
{
stopMotor(i);
}
}
void stopMotor(int motorIndex)
{
int32_t delta = (motors[motorIndex].destination - motors[motorIndex].position);
if (!delta)
return;
Motor *motor = &motors[motorIndex];
int i;
for (i = 0; i < P2P_MOVE_COUNT; i++)
{
motor->moveTime[i] = 0;
motor->moveVelocity[i] = 0;
motor->movePosition[i] = 0;
}
float v = VELOCITY_CONVERSION_FACTOR * motors[motorIndex].nextMotorMoveSpeed;
float maxA = motor->maxAcceleration;
float maxV = motor->maxVelocity;
if (v > maxV)
v = maxV;
if (!motor->dir)
v = -v;
float t = fabs(v / maxA);
motor->moveTime[0] = t;
motor->movePosition[0] = motor->position;
motor->moveVelocity[0] = v;
motor->moveAcceleration[0] = (v > 0) ? -maxA : maxA;
motor->moveTime[1] = 0;
motor->movePosition[1] = (int32_t)(motor->movePosition[0] + motor->moveVelocity[0] * t + 0.5f * motor->moveAcceleration[0] * t * t);
motor->moveVelocity[1] = 0;
motor->moveAcceleration[1] = 0;
motor->moveAcceleration[0] *= 0.5f;
motor->destination = motor->movePosition[1];
motor->currentMoveTime = 0;
motor->currentMove = 0;
}
boolean isValidMotor(int motorIndex)
{
return (motorIndex >=0 && motorIndex < MOTOR_COUNT);
}
void processGoPosition(int motorIndex, int32_t pos)
{
if (motors[motorIndex].position != pos)
{
setupMotorMove(motorIndex, pos);
sendMessage(MSG_MM, motorIndex);
}
else
{
sendMessage(MSG_MP, motorIndex);
}
}
/*
Command format
ASCII
[command two bytes]
Version
"hi"
-> "hi 1"
zero motor
"zm 1"
-> "z 1"
move motor
"mm 1 +1111111111
motor position?
mp 1
MOTOR STATUS
"ms"
-> "ms [busy motor count]"
SET PULSE PER SECOND
pr 1 200
STOP MOTOR
sm 1
STOP ALL
sa
*/
/*
* int processUserMessage(char data)
*
* Read user data (from virtual com port), processing one byte at a time.
* Implemented with a state machine to reduce memory overhead.
*
* Returns command code for completed command.
*/
byte processUserMessage(char data)
{
byte cmd = CMD_NONE;
switch (msgState)
{
case MSG_STATE_START:
if (data != '\r' && data != '\n')
{
msgState = MSG_STATE_CMD;
msgNumberSign = 1;
userCmd.command = CMD_NONE;
userCmd.argCount = 0;
userCmd.args[0] = 0;
}
break;
case MSG_STATE_CMD:
if (lastUserData == 'h' && data == 'i')
{
userCmd.command = CMD_HI;
msgState = MSG_STATE_DONE;
}
else if (lastUserData == 'm' && data == 's')
{
userCmd.command = CMD_MS;
msgState = MSG_STATE_DONE;
}
else if (lastUserData == 's' && data == 'a')
{
userCmd.command = CMD_SA;
msgState = MSG_STATE_DONE;
}
else if (lastUserData == 'm' && data == 'm')
{
userCmd.command = CMD_MM;
msgState = MSG_STATE_DATA;
}
else if (lastUserData == 'n' && data == 'p')
{
userCmd.command = CMD_NP;
msgState = MSG_STATE_DATA;
}
else if (lastUserData == 'm' && data == 'p')
{
userCmd.command = CMD_MP;
msgState = MSG_STATE_DATA;
}
else if (lastUserData == 'z' && data == 'm')
{
userCmd.command = CMD_ZM;
msgState = MSG_STATE_DATA;
}
else if (lastUserData == 's' && data == 'm')
{
userCmd.command = CMD_SM;
msgState = MSG_STATE_DATA;
}
else if (lastUserData == 'p' && data == 'r')
{
userCmd.command = CMD_PR;
msgState = MSG_STATE_DATA;
}
else if (lastUserData == 'b' && data == 'f')
{
userCmd.command = CMD_BF;
msgState = MSG_STATE_DATA;
}
else if (lastUserData == 'g' && data == 'o')
{
userCmd.command = CMD_GO;
msgState = MSG_STATE_DONE;
}
else if (lastUserData == 'j' && data == 'm') // jm [motor] [destination position]
{
userCmd.command = CMD_JM;
msgState = MSG_STATE_DATA;
}
else if (lastUserData == 'i' && data == 'm') // im [motor] [destination position]
{
userCmd.command = CMD_IM;
msgState = MSG_STATE_DATA;
}
else
{
// error msg? unknown command?
msgState = MSG_STATE_START;
}
break;
case MSG_STATE_DATA:
if (((data >= '0' && data <= '9') || data == '-') && lastUserData == ' ')
{
userCmd.argCount++;
if (userCmd.argCount >= USER_CMD_ARGS)
{
SERIAL_DEVICE.print("error: too many args\r\n");
msgState = MSG_STATE_ERR;
}
else
{
userCmd.args[userCmd.argCount - 1] = 0;
if (data == '-')
{
msgNumberSign = -1;
}
else
{
msgNumberSign = 1;
userCmd.args[userCmd.argCount - 1] = (data - '0');
}
}
}
else if (data >= '0' && data <= '9')
{
userCmd.args[userCmd.argCount - 1] = userCmd.args[userCmd.argCount - 1] * 10 + (data - '0');
}
else if (data == ' ' || data == '\r')
{
if (lastUserData >= '0' && lastUserData <= '9')
{
if (userCmd.argCount > 0)
userCmd.args[userCmd.argCount - 1] *= msgNumberSign;
}
if (data == '\r')
{
msgState = MSG_STATE_DONE;
}
}
break;
case MSG_STATE_ERR:
userCmd.command = CMD_NONE;
msgState = MSG_STATE_DONE;
break;
case MSG_STATE_DONE:
// wait for newline, then reset
if (data == '\n' && lastUserData == '\r')
{
cmd = userCmd.command;
msgState = MSG_STATE_START;
lastUserData = 0;
}
break;
default: // unknown state -> revert to begin
msgState = MSG_STATE_START;
lastUserData = 0;
}
lastUserData = data;
return cmd;
}
void processSerialCommand()
{
byte avail = SERIAL_DEVICE.available();
byte motor;
int m;
for (int i = 0; i < avail; i++)
{
int cmd = processUserMessage(SERIAL_DEVICE.read());
if (cmd != CMD_NONE)
{
boolean parseError = false;
motor = userCmd.args[0] - 1;
switch (cmd)
{
case CMD_HI:
sendMessage(MSG_HI, 0);
break;
case CMD_ZM:
parseError = (userCmd.argCount != 1 || !isValidMotor(motor));
if (!parseError)
{
motors[motor].position = 0;
setupMotorMove(motor, 0);
processGoPosition(motor, 0);
bitSet(sendPosition, motor);
}
break;
case CMD_MM:
parseError = (userCmd.argCount != 2 || !isValidMotor(motor));
if (!parseError)
{
processGoPosition(motor, (int32_t)userCmd.args[1]);
}
break;
case CMD_NP:
parseError = (userCmd.argCount != 2 || !isValidMotor(motor));
if (!parseError)
{
motors[motor].position = userCmd.args[1];
sendMessage(MSG_MP, motor);
}
break;
case CMD_MP:
parseError = (userCmd.argCount != 1 || !isValidMotor(motor));
if (!parseError)
{
sendMessage(MSG_MP, motor);
}
break;
case CMD_MS:
parseError = (userCmd.argCount != 0);
if (!parseError)
{
sendMessage(MSG_MS, 0);
}
break;
case CMD_SM:
parseError = (userCmd.argCount != 1 || !isValidMotor(motor));
if (!parseError)
{
stopMotor(motor);
sendMessage(MSG_SM, motor);
sendMessage(MSG_MP, motor);
}
break;
case CMD_SA:
parseError = (userCmd.argCount != 0);
if (!parseError)
{
hardStop();
sendMessage(MSG_SA, 0);
}
break;
case CMD_PR:
parseError = (userCmd.argCount != 2 || !isValidMotor(motor));
if (!parseError)
{
setPulsesPerSecond(motor, (uint16_t)userCmd.args[1]);
sendMessage(MSG_PR, motor);
}
break;
case CMD_BF:
parseError = motorMoving || userCmd.argCount < 5 || ((userCmd.argCount - 2) % 4) != 0;
if (!parseError)
{
goMoDelayTime = 1000;
int motorCount = (userCmd.argCount - 2) / 4;
for (m = 0; m < MOTOR_COUNT; m++)
{
motors[m].gomoMoveTime[0] = 0.0f;
}
for (m = 0; m < motorCount; m++)
{
int offset = 2 + m * 4;
motor = userCmd.args[offset] - 1;
if (!isValidMotor(motor))
{
parseError = true;
break;
}
setupBlur(motor, userCmd.args[0], userCmd.args[1], userCmd.args[offset + 1], userCmd.args[offset + 2], userCmd.args[offset + 3]);
}
goMoReady = true;
sendMessage(MSG_BF, 0);
}
break;
case CMD_GO:
parseError = motorMoving || (userCmd.argCount > 0) || !goMoReady;
if (!parseError)
{
for (m = 0; m < MOTOR_COUNT; m++)
{
if (motors[m].gomoMoveTime[0] != 0)
{
int j;
for (j = 0; j < P2P_MOVE_COUNT; j++)
{
motors[m].moveTime[j] = motors[m].gomoMoveTime[j];
motors[m].movePosition[j] = motors[m].gomoMovePosition[j];
motors[m].moveVelocity[j] = motors[m].gomoMoveVelocity[j];
motors[m].moveAcceleration[j] = motors[m].gomoMoveAcceleration[j];
}
motors[m].destination = motors[m].gomoMovePosition[4]; // TODO change this!
motors[m].currentMove = 0;
bitSet(motorMoving, m);
}
}
updateMotorVelocities();
noInterrupts();
velocityUpdateCounter = VELOCITY_UPDATE_RATE - 1;
interrupts();
sendMessage(MSG_GO, 0);
}
break;
case CMD_JM:
parseError = (userCmd.argCount != 2 || !isValidMotor(motor));
if (!parseError)
{
int32_t destination = 0;
if (jogMotor(motor, userCmd.args[1], &destination))
{
if (!bitRead(motorMoving, motor) || destination != motors[motor].destination)
{
setupMotorMove(motor, destination);
}
}
sendMessage(MSG_JM, motor);
}
break;
case CMD_IM:
parseError = (userCmd.argCount != 2 || !isValidMotor(motor));
if (!parseError)
{
inchMotor(motor, userCmd.args[1]);
sendMessage(MSG_IM, motor);
}
break;
default:
parseError = true;
break;
}
if (parseError)
{
SERIAL_DEVICE.print("parse error\r\n");
}
}
}
}
/*
*
* Serial transmission.
*
*/
void sendMessage(byte msg, byte motorIndex)
{
#if defined(BOARD_UNO) || defined(BOARD_MEGA)
int i = (unsigned int)(txMsgBuffer.head + 1) % TX_MSG_BUF_SIZE;
if (i != txMsgBuffer.tail)
{
txMsgBuffer.buffer[txMsgBuffer.head].msg = msg;
txMsgBuffer.buffer[txMsgBuffer.head].motor = motorIndex;
txMsgBuffer.head = i;
if (!*txBufPtr)
nextMessage();
}
#else
int i;
switch (msg)
{
case MSG_HI:
SERIAL_DEVICE.print("hi ");
SERIAL_DEVICE.print(DFMOCO_VERSION);
SERIAL_DEVICE.print(" ");
SERIAL_DEVICE.print(MOTOR_COUNT);
SERIAL_DEVICE.print(" ");
SERIAL_DEVICE.print(DFMOCO_VERSION_STRING);
SERIAL_DEVICE.print("\r\n");
break;
case MSG_MM:
SERIAL_DEVICE.print("mm ");
SERIAL_DEVICE.print(motorIndex + 1);
SERIAL_DEVICE.print(" ");
SERIAL_DEVICE.print(motors[motorIndex].destination);
SERIAL_DEVICE.print("\r\n");
break;
case MSG_MP:
SERIAL_DEVICE.print("mp ");
SERIAL_DEVICE.print(motorIndex + 1);
SERIAL_DEVICE.print(" ");
SERIAL_DEVICE.print(motors[motorIndex].position);
SERIAL_DEVICE.print("\r\n");
break;
case MSG_MS:
SERIAL_DEVICE.print("ms ");
for (i = 0; i < MOTOR_COUNT; i++)
SERIAL_DEVICE.print(bitRead(motorMoving, i) ? '1' : '0');
SERIAL_DEVICE.print("\r\n");
break;
case MSG_PR:
SERIAL_DEVICE.print("pr ");
SERIAL_DEVICE.print(motorIndex + 1);
SERIAL_DEVICE.print(" ");
SERIAL_DEVICE.print((uint16_t)motors[motorIndex].maxVelocity);
SERIAL_DEVICE.print("\r\n");
break;
case MSG_SM:
SERIAL_DEVICE.print("sm ");
SERIAL_DEVICE.print(motorIndex + 1);
SERIAL_DEVICE.print("\r\n");
break;
case MSG_SA:
SERIAL_DEVICE.print("sa\r\n");
break;
case MSG_BF:
SERIAL_DEVICE.print("bf ");
SERIAL_DEVICE.print(goMoDelayTime);
SERIAL_DEVICE.print("\r\n");
case MSG_GO:
SERIAL_DEVICE.print("go\r\n");
break;
case MSG_JM:
SERIAL_DEVICE.print("jm ");
SERIAL_DEVICE.print(motorIndex + 1);
SERIAL_DEVICE.print("\r\n");
break;
case MSG_IM:
SERIAL_DEVICE.print("im ");
SERIAL_DEVICE.print(motorIndex + 1);
SERIAL_DEVICE.print("\r\n");
break;
}
#endif
}
#if defined(BOARD_UNO) || defined(BOARD_MEGA)
void nextMessage()
{
char *bufPtr;
int i;
if ((TX_MSG_BUF_SIZE + txMsgBuffer.head - txMsgBuffer.tail) % TX_MSG_BUF_SIZE)
{
byte msg = txMsgBuffer.buffer[txMsgBuffer.tail].msg;
byte motorIndex = txMsgBuffer.buffer[txMsgBuffer.tail].motor;
txMsgBuffer.tail = (unsigned int)(txMsgBuffer.tail + 1) % TX_MSG_BUF_SIZE;
switch (msg)
{
case MSG_HI:
sprintf(txBuf, "hi %d %d %s\r\n", DFMOCO_VERSION, MOTOR_COUNT, DFMOCO_VERSION_STRING);
break;
case MSG_MM:
sprintf(txBuf, "mm %d %ld\r\n", motorIndex + 1, motors[motorIndex].destination);
break;
case MSG_MP:
sprintf(txBuf, "mp %d %ld\r\n", motorIndex + 1, motors[motorIndex].position);
break;
case MSG_MS:
sprintf(txBuf, "ms ");
bufPtr = txBuf + 3;
for (i = 0; i < MOTOR_COUNT; i++)
*bufPtr++ = bitRead(motorMoving, i) ? '1' : '0';
*bufPtr++ = '\r';
*bufPtr++ = '\n';
*bufPtr = 0;
break;
case MSG_PR:
sprintf(txBuf, "pr %d %u\r\n", motorIndex + 1, (uint16_t)motors[motorIndex].maxVelocity);
break;
case MSG_SM:
sprintf(txBuf, "sm %d\r\n", motorIndex + 1);
break;
case MSG_SA:
sprintf(txBuf, "sa\r\n");
break;
case MSG_BF:
sprintf(txBuf, "bf %d\r\n", goMoDelayTime);
break;
case MSG_GO:
sprintf(txBuf, "go\r\n");
break;
case MSG_JM:
sprintf(txBuf, "jm %d\r\n", motorIndex + 1);
break;
case MSG_IM:
sprintf(txBuf, "im %d\r\n", motorIndex + 1);
break;
}
txBufPtr = txBuf;
}
}
#endif
boolean jogMotor(int motorIndex, int32_t target, int32_t * destination)
{
Motor *motor = &motors[motorIndex];
// ideally send motor to distance where decel happens after 2 seconds
float vi = (motor->dir ? 1 : -1) * VELOCITY_CONVERSION_FACTOR * motor->nextMotorMoveSpeed;
int dir = (target > motor->position) ? 1 : -1;
// if switching direction, just stop
if (motor->nextMotorMoveSpeed && motor->dir * dir < 0)
{
stopMotor(motorIndex);
return false;
}
if (target == motor->position)
{
return false;
}
float maxVelocity = motor->maxVelocity;
float maxAcceleration = motor->maxAcceleration;
// given current velocity vi
// compute distance so that decel starts after 0.5 seconds
// time to accel
// time at maxvelocity
// time to decel
float accelTime = 0, atMaxVelocityTime = 0;
if (fabs(vi) < maxVelocity)
{
accelTime = (maxVelocity - fabs(vi)) / maxAcceleration;
if (accelTime < 0.5f)
{
atMaxVelocityTime = 0.5f - accelTime;
}
else
{
accelTime = 0.5f;
}
}
else
{
atMaxVelocityTime = 0.5f;
}
float maxVelocityReached = fabs(vi) + maxAcceleration * accelTime;
int32_t delta = fabs(vi) * accelTime + (0.5f * maxAcceleration * accelTime * accelTime);
delta += atMaxVelocityTime * maxVelocityReached;
delta += 0.5f * (maxVelocityReached * maxVelocityReached) / maxAcceleration; // = 0.5 * a * t^2 -> t = (v/a)
int32_t dest = motor->position + dir * delta;
// now clamp to target
if ( (dir == 1 && dest > target) || (dir == -1 && dest < target) )
{
dest = target;
}
*destination = dest;
return true;
}
void inchMotor(int motorIndex, int32_t target)
{
Motor *motor = &motors[motorIndex];
// ideally send motor to distance where decel happens after 2 seconds
// if switching direction, just stop
int dir = (target > motor->destination) ? 1 : -1;
if (motor->nextMotorMoveSpeed)// && motor->dir * dir < 0)
{
stopMotor(motorIndex);
return;
}
int32_t dest = motor->destination + dir * 2;
// now clamp to target
if ( (dir == 1 && dest > target) || (dir == -1 && dest < target) )
{
dest = target;
}
//setupMotorMove(motorIndex, dest);
int i, moveCount;
moveCount = 0;
for (i = 0; i < P2P_MOVE_COUNT; i++)
{
motor->moveTime[i] = 0;
motor->moveVelocity[i] = 0;
motor->moveAcceleration[i] = 0;
}
motor->currentMoveTime = 0;
motor->moveTime[0] = 0.01f;
motor->movePosition[0] = motor->position;
motor->movePosition[1] = motor->position + dir * 2;
motor->currentMove = 0;
motor->destination = dest;
if ( dest != motor->position )
{
bitSet(motorMoving, motorIndex);
}
}
void calculatePointToPoint(int motorIndex, int32_t destination)
{
Motor *motor = &motors[motorIndex];
int i, moveCount;
moveCount = 0;
for (i = 0; i < P2P_MOVE_COUNT; i++)
{
motor->moveTime[i] = 0;
motor->moveVelocity[i] = 0;
motor->moveAcceleration[i] = 0;
}
motor->currentMoveTime = 0;
motor->movePosition[0] = motor->position;
float tmax = motor->maxVelocity / motor->maxAcceleration;
float dmax = motor->maxVelocity * tmax;
float dist = abs(destination - motor->position);
int dir = destination > motor->position ? 1 : -1;
if (motor->nextMotorMoveSpeed > 5) // we need to account for existing velocity
{
float vi = (motor->dir ? 1 : -1) * VELOCITY_CONVERSION_FACTOR * motor->nextMotorMoveSpeed;
float ti = fabs(vi / motor->maxAcceleration);
float di = 0.5f * motor->maxAcceleration * ti * ti;
if (vi * dir < 0) // switching directions
{
motor->moveTime[moveCount] = ti;
motor->moveAcceleration[moveCount] = dir * motor->maxAcceleration;
motor->moveVelocity[moveCount] = vi;
moveCount++;
dist += di;
}
else if (dist < di) // must decelerate and switch directions
{
motor->moveTime[moveCount] = ti;
motor->moveAcceleration[moveCount] = -dir * motor->maxAcceleration;
motor->moveVelocity[moveCount] = vi;
moveCount++;
dist = (di - dist);
dir = -dir;
}
else // further on in same direction
{
dist += di;
motor->movePosition[0] -= dir * di;
motor->currentMoveTime = ti;
}
}
float t = tmax;
if (dist <= dmax)
{
t = sqrt(dist / motor->maxAcceleration);
}
motor->moveTime[moveCount] = t;
motor->moveAcceleration[moveCount] = dir * motor->maxAcceleration;
if (dist > dmax)
{
moveCount++;
dist -= dmax;
float tconst = dist / motor->maxVelocity;
motor->moveTime[moveCount] = tconst;
motor->moveAcceleration[moveCount] = 0;
}
moveCount++;
motor->moveTime[moveCount] = t;
motor->moveAcceleration[moveCount] = dir * -motor->maxAcceleration;
for (i = 1; i <= moveCount; i++)
{
float t = motor->moveTime[i - 1];
motor->movePosition[i] = (int32_t)(motor->movePosition[i - 1] + motor->moveVelocity[i - 1] * t + 0.5f * motor->moveAcceleration[i - 1] * t * t);
motor->moveVelocity[i] = motor->moveVelocity[i - 1] + motor->moveAcceleration[i - 1] * t;
}
motor->movePosition[moveCount + 1] = destination;
for (i = 0; i <= moveCount; i++)
{
motor->moveAcceleration[i] *= 0.5f; // pre-multiply here for later position calculation
}
motor->currentMove = 0;
return;
}
void setupBlur(int motorIndex, int exposure, int blur, int32_t p0, int32_t p1, int32_t p2)
{
Motor *motor = &motors[motorIndex];
int i;
float b = blur * 0.001f;
float expTime = exposure * 0.001f;
p0 = p1 + b * (p0 - p1);
p2 = p1 + b * (p2 - p1);
for (i = 0; i < P2P_MOVE_COUNT; i++)
{
motor->gomoMoveTime[i] = 0;
motor->gomoMoveVelocity[i] = 0;
motor->gomoMoveAcceleration[i] = 0;
}
motor->gomoMovePosition[1] = p0;
motor->gomoMoveTime[1] = expTime * 0.5f;
motor->gomoMoveVelocity[1] = (float)(p1 - p0) / (expTime * 0.5f);
motor->gomoMovePosition[2] = p1;
motor->gomoMoveTime[2] = expTime * 0.5f;
motor->gomoMoveVelocity[2] = (float)(p2 - p1) / (expTime * 0.5f);
// v = a*t -> a = v / t
float accelTime = 1.0f;
float a = motor->gomoMoveVelocity[1] / accelTime;
float dp = 0.5f * a * accelTime * accelTime;
float sp = p0 - dp; // starting position
motor->gomoMovePosition[0] = sp;
motor->gomoMoveTime[0] = accelTime;
motor->gomoMoveAcceleration[0] = 0.5f * a; // pre-multiplied
a = motor->gomoMoveVelocity[2] / accelTime;
dp = 0.5f * a * accelTime * accelTime;
float fp = p2 + dp;
motor->gomoMovePosition[3] = p2;
motor->gomoMoveTime[3] = accelTime;
motor->gomoMoveVelocity[3] = motor->gomoMoveVelocity[2];
motor->gomoMoveAcceleration[3] = -0.5f * a; // pre-multiplied
motor->gomoMovePosition[4] = fp;
setupMotorMove(motorIndex, sp);
}