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Verison 1.0.3 Release

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Based on Buildbotics 0.4.14
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OneFinityCNC
2020-08-27 23:20:27 -04:00
parent 6137475077
commit 24dfa6c64d
302 changed files with 58865 additions and 0 deletions
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20
src/avr/step-test/Makefile Normal file
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# Makefile for Bulidbotics step-test
PROJECT = step-test
MCU = atxmega192a3u
CLOCK = 32000000
# SRC
SRC = usart.c lcd.c pins.c hardware.c
SRC := $(wildcard *.c) $(patsubst %,../src/%,$(SRC))
include ../Makefile.common
CFLAGS += -I../src -I.
# Build
all: $(PROJECT).hex size
$(PROJECT).elf: $(SRC)
$(CC) $(SRC) $(CFLAGS) $(LDFLAGS) $(LIBS) -o $@
.PHONY: all

187
src/avr/step-test/plot_velocity.py Normal file
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#!/usr/bin/env python3
################################################################################
# #
# This file is part of the Buildbotics firmware. #
# #
# Copyright (c) 2015 - 2018, Buildbotics LLC #
# All rights reserved. #
# #
# This file ("the software") is free software: you can redistribute it #
# and/or modify it under the terms of the GNU General Public License, #
# version 2 as published by the Free Software Foundation. You should #
# have received a copy of the GNU General Public License, version 2 #
# along with the software. If not, see <http://www.gnu.org/licenses/>. #
# #
# The software is distributed in the hope that it will be useful, but #
# WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
# Lesser General Public License for more details. #
# #
# You should have received a copy of the GNU Lesser General Public #
# License along with the software. If not, see #
# <http://www.gnu.org/licenses/>. #
# #
# For information regarding this software email: #
# "Joseph Coffland" <joseph@buildbotics.com> #
# #
################################################################################
import sys, serial, argparse
import numpy as np
import math
import json
from time import sleep
from collections import deque
from datetime import datetime
import matplotlib.pyplot as plt
import matplotlib.animation as animation
MM_PER_STEP = 5 * 1.8 / 360 / 32
SAMPLES_PER_MIN = 6000
class Plot:
def __init__(self, port, baud, max_len):
# Open serial port
self.sp = serial.Serial(port, baud)
# Create data series
self.series = []
for i in range(5):
self.series.append(deque([0.0] * max_len))
# Init vars
self.max_len = max_len
self.incoming = ''
self.last = [None] * 4
# Open velocity log
ts = datetime.now().strftime('%Y-%m-%d-%H:%M:%S')
self.log = open('velocity-%s.log' % ts, 'w')
# Add new series data
def add(self, i, value):
self.series[i].pop()
self.series[i].appendleft(value)
def update_text(self, text, vel, data):
text[4].set_text('V {0:8,.2f}'.format(vel))
for i in range(4):
text[i].set_text('{} {:11,}'.format('XYZA'[i], int(data[i])))
def update(self, frame, axes, text):
# Read new data
try:
data = self.sp.read(self.sp.in_waiting)
self.incoming += data.decode('utf-8')
except Exception as e:
print(e)
return
while True:
# Parse lines
i = self.incoming.find('\n')
if i == -1: break
line = self.incoming[0:i]
self.incoming = self.incoming[i + 1:]
# Handle reset
if line.find('RESET') != -1:
self.update_text(text, 0, [0] * 4)
self.log.write(line + '\n')
self.last = [None] * 4
continue
# Parse data
try:
data = [float(value) for value in line.split(',')]
except ValueError: continue
if len(data) != 4: continue
# Compute axis velocities
v = [] # Axis velocity
totalV = 0 # Tool velocity
for i in range(4):
if self.last[i] is not None:
delta = self.last[i] - data[i]
v.append(delta * MM_PER_STEP * SAMPLES_PER_MIN) # mm/min
totalV += math.pow(v[i], 2)
self.last[i] = data[i]
# Compute tool velocity
totalV = math.sqrt(totalV)
# Update position and velocity text
self.update_text(text, totalV, data)
# Don't update plots when not moving
if totalV == 0: continue
# Add new data
for i in range(4): self.add(i, v[i])
self.add(4, totalV)
# Update plots
for i in range(5):
axes[i].set_data(range(self.max_len), self.series[i])
self.log.write(line + '\n')
def close(self):
self.sp.flush()
self.sp.close()
if __name__ == '__main__':
# Parse command line arguments
description = "Plot velocity data in real-time"
parser = argparse.ArgumentParser(description = description)
parser.add_argument('-p', '--port', default = '/dev/ttyUSB0')
parser.add_argument('-b', '--baud', default = 115200, type = int)
parser.add_argument('-m', '--max-width', default = 2000, type = int)
args = parser.parse_args()
# Create plot
plot = Plot(args.port, args.baud, args.max_width)
fig = plt.figure()
ax = plt.axes(xlim = (0, args.max_width), ylim = (-10000, 10000))
axes = []
axes_text = []
# Setup position and velocity text fields
font = dict(fontsize = 14, family = 'monospace')
axes_text.append(plt.text(0, 11700, '', **font))
axes_text.append(plt.text(800, 11700, '', **font))
axes_text.append(plt.text(0, 10500, '', **font))
axes_text.append(plt.text(800, 10500, '', **font))
axes_text.append(plt.text(1500, 11700, '', **font))
# Create axes
for i in range(5):
axes.append(ax.plot([], [])[0])
# Set text color to match axis color
axes_text[i].set_color(axes[i].get_color())
# Initial text views
plot.update_text(axes_text, 0, [0] * 4)
# Set up animation
anim = animation.FuncAnimation(fig, plot.update, fargs = [axes, axes_text],
interval = 100)
# Run
plt.show()
plot.close()

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src/avr/step-test/step-test.c Normal file
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/******************************************************************************\
This file is part of the Buildbotics firmware.
Copyright (c) 2015 - 2018, Buildbotics LLC
All rights reserved.
This file ("the software") is free software: you can redistribute it
and/or modify it under the terms of the GNU General Public License,
version 2 as published by the Free Software Foundation. You should
have received a copy of the GNU General Public License, version 2
along with the software. If not, see <http://www.gnu.org/licenses/>.
The software is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with the software. If not, see
<http://www.gnu.org/licenses/>.
For information regarding this software email:
"Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
#include "config.h"
#include "hardware.h"
#include "usart.h"
#include "lcd.h"
#include <avr/interrupt.h>
#include <stdint.h>
#include <stdio.h>
#define RESET_PIN SPI_MOSI_PIN
void rtc_init() {}
static struct {
uint8_t step_pin;
uint8_t dir_pin;
TC0_t *timer;
volatile int16_t high;
volatile bool reading;
} channel[4] = {
{STEP_X_PIN, DIR_X_PIN, &TCC0, 0},
{STEP_Y_PIN, DIR_Y_PIN, &TCD0, 0},
{STEP_Z_PIN, DIR_Z_PIN, &TCE0, 0},
{STEP_A_PIN, DIR_A_PIN, &TCF0, 0},
};
static int reset = 0;
void channel_reset(int i) {channel[i].timer->CNT = channel[i].high = 0;}
#define EVSYS_CHMUX(CH) (&EVSYS_CH0MUX)[CH]
#define EVSYS_CHCTRL(CH) (&EVSYS_CH0CTRL)[CH]
void channel_overflow(int i) {
if (IN_PIN(channel[i].dir_pin)) channel[i].high--;
else channel[i].high++;
channel[i].reading = false;
}
ISR(TCC0_OVF_vect) {channel_overflow(0);}
ISR(TCD0_OVF_vect) {channel_overflow(1);}
ISR(TCE0_OVF_vect) {channel_overflow(2);}
ISR(TCF0_OVF_vect) {channel_overflow(3);}
void channel_update_dir(int i) {
if (IN_PIN(channel[i].dir_pin)) channel[i].timer->CTRLFSET = TC0_DIR_bm;
else channel[i].timer->CTRLFCLR = TC0_DIR_bm;
}
ISR(PORTE_INT0_vect) {for (int i = 0; i < 4; i++) channel_update_dir(i);}
int32_t __attribute__ ((noinline)) _channel_read(int i) {
return (int32_t)channel[i].high << 16 | channel[i].timer->CNT;
}
int32_t channel_read(int i) {
while (true) {
channel[i].reading = true;
int32_t x = _channel_read(i);
int32_t y = _channel_read(i);
if (x != y || !channel[i].reading) continue;
channel[i].reading = false;
return x;
}
}
void channel_update_enable(int i) {
if (IN_PIN(MOTOR_ENABLE_PIN))
channel[i].timer->CTRLA = TC_CLKSEL_EVCH0_gc + i;
else channel[i].timer->CTRLA = 0;
}
ISR(PORTF_INT0_vect) {
for (int i = 0; i < 4; i++) channel_update_enable(i);
if (!IN_PIN(MOTOR_ENABLE_PIN)) reset = 2;
}
ISR(PORTC_INT0_vect) {reset = 32;}
ISR(TCC1_OVF_vect) {
if (reset) reset--;
// Report measured steps
static int32_t counts[4] = {0, 0, 0, 0};
bool moving = false;
bool zero = true;
for (int i = 0; i < 4; i++) {
int32_t count = channel_read(i);
if (count != counts[i]) moving = true;
if (count) zero = false;
counts[i] = count;
}
if (reset && !zero) {
for (int i = 0; i < 4; i++) channel_reset(i);
printf("RESET\n");
return;
}
if (moving)
printf("%ld,%ld,%ld,%ld\n", counts[0], counts[1], counts[2], counts[3]);
}
static void _splash(uint8_t addr) {
lcd_init(addr);
lcd_goto(addr, 5, 1);
lcd_pgmstr(addr, PSTR("Step Test"));
}
void channel_init(int i) {
uint8_t step_pin = channel[i].step_pin;
uint8_t dir_pin = channel[i].dir_pin;
// Configure I/O
DIRCLR_PIN(step_pin);
DIRCLR_PIN(dir_pin);
PINCTRL_PIN(step_pin) = PORT_SRLEN_bm | PORT_ISC_RISING_gc;
PINCTRL_PIN(dir_pin) = PORT_SRLEN_bm | PORT_ISC_BOTHEDGES_gc;
// Dir change interrupt
PIN_PORT(dir_pin)->INTCTRL |= PORT_INT0LVL_HI_gc;
PIN_PORT(dir_pin)->INT0MASK |= PIN_BM(dir_pin);
// Events
EVSYS_CHMUX(i) = PIN_EVSYS_CHMUX(step_pin);
EVSYS_CHCTRL(i) = EVSYS_DIGFILT_8SAMPLES_gc;
// Clock
channel_update_enable(i);
channel[i].timer->INTCTRLA = TC_OVFINTLVL_HI_gc;
// Set initial clock direction
channel_update_dir(i);
}
static void init() {
cli();
hw_init();
usart_init();
// Motor channels
for (int i = 0; i < 4; i++) channel_init(i);
// Motor enable
DIRCLR_PIN(MOTOR_ENABLE_PIN);
PINCTRL_PIN(MOTOR_ENABLE_PIN) =
PORT_SRLEN_bm | PORT_ISC_BOTHEDGES_gc | PORT_OPC_PULLUP_gc;
PIN_PORT(MOTOR_ENABLE_PIN)->INTCTRL |= PORT_INT0LVL_HI_gc;
PIN_PORT(MOTOR_ENABLE_PIN)->INT0MASK |= PIN_BM(MOTOR_ENABLE_PIN);
// Configure report clock
TCC1.INTCTRLA = TC_OVFINTLVL_LO_gc;
TCC1.PER = F_CPU / 256 * 0.01; // 10ms
TCC1.CTRLA = TC_CLKSEL_DIV256_gc;
// Reset switch
DIRCLR_PIN(RESET_PIN);
PINCTRL_PIN(RESET_PIN) =
PORT_SRLEN_bm | PORT_ISC_RISING_gc | PORT_OPC_PULLUP_gc;
PIN_PORT(RESET_PIN)->INTCTRL |= PORT_INT0LVL_LO_gc;
PIN_PORT(RESET_PIN)->INT0MASK |= PIN_BM(RESET_PIN);
printf("RESET\n");
sei();
}
int main() {
init();
_splash(0x27);
_splash(0x3f);
while (true) continue;
return 0;
}