diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/indicators.h b/firmware/osape-smoothieroll-drop-stepper/src/drivers/indicators.h
deleted file mode 100644
index 2dcb3ac7823931c3a60fdd534ab9cf10f10f176a..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/indicators.h
+++ /dev/null
@@ -1,52 +0,0 @@
-// for the new one! with the DIP switch!
-#define CLKLIGHT_PIN 27
-#define CLKLIGHT_PORT PORT->Group[0]
-#define ERRLIGHT_PIN 8
-#define ERRLIGHT_PORT PORT->Group[1]
-
-#define DEBUG1PIN_PIN 13
-#define DEBUG1PIN_PORT PORT->Group[1]
-#define DEBUG2PIN_PIN 12
-#define DEBUG2PIN_PORT PORT->Group[1]
-#define DEBUG3PIN_PIN 13
-#define DEBUG3PIN_PORT PORT->Group[1]
-#define DEBUG4PIN_PIN 14
-#define DEBUG4PIN_PORT PORT->Group[1]
-
-// PA27
-#define CLKLIGHT_BM (uint32_t)(1 << CLKLIGHT_PIN)
-#define CLKLIGHT_ON CLKLIGHT_PORT.OUTCLR.reg = CLKLIGHT_BM
-#define CLKLIGHT_OFF CLKLIGHT_PORT.OUTSET.reg = CLKLIGHT_BM
-#define CLKLIGHT_TOGGLE CLKLIGHT_PORT.OUTTGL.reg = CLKLIGHT_BM
-#define CLKLIGHT_SETUP CLKLIGHT_PORT.DIRSET.reg = CLKLIGHT_BM; CLKLIGHT_OFF
-
-// PB08
-#define ERRLIGHT_BM (uint32_t)(1 << ERRLIGHT_PIN)
-#define ERRLIGHT_ON ERRLIGHT_PORT.OUTCLR.reg = ERRLIGHT_BM
-#define ERRLIGHT_OFF ERRLIGHT_PORT.OUTSET.reg = ERRLIGHT_BM
-#define ERRLIGHT_TOGGLE ERRLIGHT_PORT.OUTTGL.reg = ERRLIGHT_BM
-#define ERRLIGHT_SETUP ERRLIGHT_PORT.DIRSET.reg = ERRLIGHT_BM; ERRLIGHT_OFF
-
-#define DEBUG1PIN_BM (uint32_t)(1 << DEBUG1PIN_PIN)
-#define DEBUG1PIN_ON DEBUG1PIN_PORT.OUTSET.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_OFF DEBUG1PIN_PORT.OUTCLR.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_TOGGLE DEBUG1PIN_PORT.OUTTGL.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_SETUP DEBUG1PIN_PORT.DIRSET.reg = DEBUG1PIN_BM; DEBUG1PIN_OFF
-
-#define DEBUG2PIN_BM (uint32_t)(1 << DEBUG2PIN_PIN)
-#define DEBUG2PIN_ON DEBUG2PIN_PORT.OUTSET.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_OFF DEBUG2PIN_PORT.OUTCLR.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_TOGGLE DEBUG2PIN_PORT.OUTTGL.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_SETUP DEBUG2PIN_PORT.DIRSET.reg = DEBUG2PIN_BM; DEBUG2PIN_OFF
-
-#define DEBUG3PIN_BM (uint32_t)(1 << DEBUG3PIN_PIN)
-#define DEBUG3PIN_ON DEBUG3PIN_PORT.OUTSET.reg = DEBUG3PIN_BM
-#define DEBUG3PIN_OFF DEBUG3PIN_PORT.OUTCLR.reg = DEBUG3PIN_BM
-#define DEBUG3PIN_TOGGLE DEBUG3PIN_PORT.OUTTGL.reg = DEBUG3PIN_BM
-#define DEBUG3PIN_SETUP DEBUG3PIN_PORT.DIRSET.reg = DEBUG3PIN_BM; DEBUG3PIN_OFF
-
-#define DEBUG4PIN_BM (uint32_t)(1 << DEBUG4PIN_PIN)
-#define DEBUG4PIN_ON DEBUG4PIN_PORT.OUTSET.reg = DEBUG4PIN_BM
-#define DEBUG4PIN_OFF DEBUG4PIN_PORT.OUTCLR.reg = DEBUG4PIN_BM
-#define DEBUG4PIN_TOGGLE DEBUG4PIN_PORT.OUTTGL.reg = DEBUG4PIN_BM
-#define DEBUG4PIN_SETUP DEBUG4PIN_PORT.DIRSET.reg = DEBUG4PIN_BM; DEBUG4PIN_OFF
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.cpp b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.cpp
index 6638cce631f82286924567c8bb7dc8f7c87e2045..440e5a8678dd941ce5280e5a8104661e94c09d7b 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.cpp
+++ b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.cpp
@@ -117,22 +117,22 @@ void STEP_A4950::init(boolean invert, float cscale){
// A: ^ ^ ^ x v v v x
// B: ^ x v v v x ^ ^
void STEP_A4950::step(void){
- // increment: wrapping comes for free with uint8_t
+ // increment: wrapping comes for free with uint8_t, bless
if(_dir){
if(_dir_invert){
- _aStep -= MICROSTEP_COUNT;
- _bStep -= MICROSTEP_COUNT;
+ _aStep -= _microstep_count;
+ _bStep -= _microstep_count;
} else {
- _aStep += MICROSTEP_COUNT;
- _bStep += MICROSTEP_COUNT;
+ _aStep += _microstep_count;
+ _bStep += _microstep_count;
}
} else {
if(_dir_invert){
- _aStep += MICROSTEP_COUNT;
- _bStep += MICROSTEP_COUNT;
+ _aStep += _microstep_count;
+ _bStep += _microstep_count;
} else {
- _aStep -= MICROSTEP_COUNT;
- _bStep -= MICROSTEP_COUNT;
+ _aStep -= _microstep_count;
+ _bStep -= _microstep_count;
}
}
// a phase,
@@ -166,6 +166,32 @@ boolean STEP_A4950::getDir(void){
return _dir;
}
+void STEP_A4950::setMicrostep(uint8_t microstep){
+ switch(microstep){
+ case 64:
+ _microstep_count = MICROSTEP_64_COUNT;
+ break;
+ case 32:
+ _microstep_count = MICROSTEP_32_COUNT;
+ break;
+ case 16:
+ _microstep_count = MICROSTEP_16_COUNT;
+ break;
+ case 8:
+ _microstep_count = MICROSTEP_8_COUNT;
+ break;
+ case 4:
+ _microstep_count = MICROSTEP_4_COUNT;
+ break;
+ case 1:
+ _microstep_count = MICROSTEP_1_COUNT;
+ break;
+ default:
+ _microstep_count = MICROSTEP_1_COUNT;
+ break;
+ }
+}
+
void STEP_A4950::setCurrent(float cscale){
if(cscale > 1){
_cscale = 1;
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h
index 15825e310d0bf629ce92f8451325048c8b457311..fc435d3ba208ca92e42264a4e682722db21aa934 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h
+++ b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h
@@ -15,7 +15,7 @@ is; no warranty is provided, and users accept all liability.
#ifndef STEP_A4950_H_
#define STEP_A4950_H_
-#include <arduino.h>
+#include <Arduino.h>
#include "dacs.h"
#include "indicators.h"
@@ -36,6 +36,13 @@ is; no warranty is provided, and users accept all liability.
// 32: full steps
#define MICROSTEP_COUNT 1
+#define MICROSTEP_64_COUNT 1
+#define MICROSTEP_32_COUNT 2
+#define MICROSTEP_16_COUNT 4
+#define MICROSTEP_8_COUNT 8
+#define MICROSTEP_4_COUNT 16
+#define MICROSTEP_1_COUNT 32
+
// AIN1 PB06
// AIN2 PA04
// BIN1 PA07
@@ -80,8 +87,9 @@ class STEP_A4950 {
volatile uint8_t _bStep = 63; // of the same table, startup 90' out of phase
volatile boolean _dir = false;
boolean _dir_invert = false;
+ uint8_t _microstep_count = 1;
// try single scalar
- float _cscale = 0.25;
+ float _cscale = 0.1;
public:
STEP_A4950();
@@ -91,6 +99,8 @@ class STEP_A4950 {
void step(void);
void dir(boolean val);
boolean getDir(void);
+ // microstep setting
+ void setMicrostep(uint8_t microstep);
// current settings
void setCurrent(float cscale);
void setInversion(boolean inv);
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
index 590a1e2426a1726eb881e06b3ca05b5790758620..9a27f9f2a5baff9f64b618881b7aa25b82100dd1 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
+++ b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
@@ -1,6 +1,6 @@
#include <Arduino.h>
-#include "drivers/indicators.h"
+#include "indicators.h"
#include "drivers/step_a4950.h"
#include "osape-d51/osape/osap/osap.h"
#include "osape-d51/vertices/vt_usbSerial.h"
@@ -42,6 +42,15 @@ boolean onAxisInvertData(uint8_t* data, uint16_t len){
vertex_t* axisInvertEp = osapBuildEndpoint("axisInvert", onAxisInvertData, nullptr);
+// -------------------------------------------------------- MICROSTEP EP
+
+boolean onMicrostepData(uint8_t* data, uint16_t len){
+ stepper_hw->setMicrostep(data[0]);
+ return true;
+}
+
+vertex_t* microstepEp = osapBuildEndpoint("microstep", onMicrostepData, nullptr);
+
// -------------------------------------------------------- SPU EP
boolean onSPUData(uint8_t* data, uint16_t len){
@@ -113,6 +122,7 @@ vertex_t* homeStateEp = osapBuildEndpoint("HomeState", nullptr, beforeHomeStateQ
boolean beforeHomeStateQuery(void){
homeStateEp->ep->data[0] = homing;
homeStateEp->ep->dataLen = 1;
+ return true;
}
// -------------------------------------------------------- LIMIT SETUP
@@ -153,13 +163,15 @@ void setup() {
osapAddVertex(axisPickEp); // 2
// axis invert
osapAddVertex(axisInvertEp); // 3
+ // microstep
+ osapAddVertex(microstepEp); // 4
// SPU
- osapAddVertex(spuEp); // 4
+ osapAddVertex(spuEp); // 5
// cscale
- osapAddVertex(cScaleEp); // 5
+ osapAddVertex(cScaleEp); // 6
// homing
- osapAddVertex(homeEp); // 6
- osapAddVertex(homeStateEp); // 7
+ osapAddVertex(homeEp); // 7
+ osapAddVertex(homeStateEp); // 8
// stepper init
stepper_hw->init(false, c_scale);
}
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/osape-d51 b/firmware/osape-smoothieroll-drop-stepper/src/osape-d51
index 4b8fbfdf4ae987c291b24be77ac4ddab157a545a..ee77dd8eda08bde0e2fed2ff62a418f7864b0ce3 160000
--- a/firmware/osape-smoothieroll-drop-stepper/src/osape-d51
+++ b/firmware/osape-smoothieroll-drop-stepper/src/osape-d51
@@ -1 +1 @@
-Subproject commit 4b8fbfdf4ae987c291b24be77ac4ddab157a545a
+Subproject commit ee77dd8eda08bde0e2fed2ff62a418f7864b0ce3