diff --git a/EBB_firmware/app.X/nbproject/private/private.xml b/EBB_firmware/app.X/nbproject/private/private.xml
index c2ad67d..b8152c4 100644
--- a/EBB_firmware/app.X/nbproject/private/private.xml
+++ b/EBB_firmware/app.X/nbproject/private/private.xml
@@ -4,6 +4,7 @@
+ file:/D:/Projects/EggBot5-GH/EBB_firmware/app.X/source/UBW.h
file:/D:/Projects/EggBot5-GH/EBB_firmware/app.X/source/UBW.c
file:/D:/Projects/EggBot5-GH/EBB_firmware/app.X/source/ebb.h
file:/D:/Projects/EggBot5-GH/EBB_firmware/app.X/source/RCServo2.h
diff --git a/EBB_firmware/app.X/source/UBW.c b/EBB_firmware/app.X/source/UBW.c
index 4a46476..c8ce6e2 100644
--- a/EBB_firmware/app.X/source/UBW.c
+++ b/EBB_firmware/app.X/source/UBW.c
@@ -158,7 +158,7 @@ const rom char st_LFCR[] = {"\r\n"};
#elif defined(BOARD_EBB_V12)
const rom char st_version[] = {"EBBv12 EB Firmware Version 2.2.1\r\n"};
#elif defined(BOARD_EBB_V13_AND_ABOVE)
- const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 2.6.6\r\n"};
+ const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 2.7.0\r\n"};
#elif defined(BOARD_UBW)
const rom char st_version[] = {"UBW EB Firmware Version 2.2.1\r\n"};
#endif
@@ -1530,12 +1530,6 @@ void parse_packet(void)
parse_HM_packet();
break;
}
- case ('C' * 256) + 'A':
- {
- // Clear Accumulators
- parse_CA_packet();
- break;
- }
default:
{
if (0 == cmd2)
diff --git a/EBB_firmware/app.X/source/ebb.c b/EBB_firmware/app.X/source/ebb.c
index c96612c..9e59e17 100644
--- a/EBB_firmware/app.X/source/ebb.c
+++ b/EBB_firmware/app.X/source/ebb.c
@@ -238,8 +238,8 @@
// input parameters)
// 2.6.5 11/29/19 - Changed SR command behavior so it only enables servo power
// after SP command, not also after stepper movement
-// 2.6.6 11/01/20 - Added AC (Accumulator Clear) command
-// Now clear step accumulators on EM and CS commands
+// 2.7.0 11/01/20 - Optional parameter added to all stepper motion commands
+//
// We don't allow StepAdd to go negative (like from LM command)
#include
@@ -277,7 +277,8 @@ typedef enum
static void process_SM(
UINT32 Duration,
INT32 A1Stp,
- INT32 A2Stp
+ INT32 A2Stp,
+ UINT8 ClearAccs
);
typedef enum
@@ -378,9 +379,6 @@ LATDbits.LATD1 = 1;
AllDone = FALSE;
}
- // Not sure why this is here? For debugging? If so, then #ifdef it out for release build
- //PORTDbits.RD1 = 0;
-
// Note: by not making this an else-if, we have our DelayCounter
// counting done at the same time as our motor move or servo move.
// This allows the delay time to start counting at the beginning of the
@@ -432,6 +430,12 @@ LATDbits.LATD1 = 1;
// Only do this if there are steps left to take
if (CurrentCommand.StepsCounter[0])
{
+ // For acceleration, we now add a bit to StepAdd each time through as well
+ TestStepAdd = CurrentCommand.StepAdd[0] + CurrentCommand.StepAddInc[0];
+ if (TestStepAdd > 0)
+ {
+ CurrentCommand.StepAdd[0] = TestStepAdd;
+ }
StepAcc[0] = StepAcc[0] + CurrentCommand.StepAdd[0];
if (StepAcc[0] & 0x80000000)
{
@@ -448,16 +452,16 @@ LATDbits.LATD1 = 1;
globalStepCounter1++;
}
}
- // For acceleration, we now add a bit to StepAdd each time through as well
- TestStepAdd = CurrentCommand.StepAdd[0] + CurrentCommand.StepAddInc[0];
- if (TestStepAdd > 0)
- {
- CurrentCommand.StepAdd[0] = TestStepAdd;
- }
AllDone = FALSE;
}
if (CurrentCommand.StepsCounter[1])
{
+ // For acceleration, we now add a bit to StepAdd each time through as well
+ TestStepAdd = CurrentCommand.StepAdd[1] + CurrentCommand.StepAddInc[1];
+ if (TestStepAdd > 0)
+ {
+ CurrentCommand.StepAdd[1] = TestStepAdd;
+ }
StepAcc[1] = StepAcc[1] + CurrentCommand.StepAdd[1];
if (StepAcc[1] & 0x80000000)
{
@@ -473,12 +477,6 @@ LATDbits.LATD1 = 1;
{
globalStepCounter2++;
}
- }
- // For acceleration, we now add a bit to StepAdd each time through as well
- TestStepAdd = CurrentCommand.StepAdd[1] + CurrentCommand.StepAddInc[1];
- if (TestStepAdd > 0)
- {
- CurrentCommand.StepAdd[1] = TestStepAdd;
}
AllDone = FALSE;
}
@@ -634,19 +632,7 @@ LATDbits.LATD1 = 1;
}
AllDone = TRUE;
}
- else if (CurrentCommand.Command == COMMAND_CLEAR_ACCUMULATORS)
- {
- // Use the SEState to determine which accumulators to clear.
- if (CurrentCommand.SEState & 0x01)
- {
- StepAcc[0] = 0;
- }
- if (CurrentCommand.SEState & 0x02)
- {
- StepAcc[1] = 0;
- }
- AllDone = TRUE;
- }
+
// If we're done with our current command, load in the next one
if (AllDone && CurrentCommand.DelayCounter == 0)
{
@@ -670,6 +656,22 @@ LATDbits.LATD0 = 1;
CommandFIFO[0].ServoRate = 0;
CommandFIFO[0].SEState = 0;
CommandFIFO[0].SEPower = 0;
+
+ // Take care of clearing the step accumulators for the next move if
+ // it's a motor move
+ if (CurrentCommand.Command == COMMAND_MOTOR_MOVE)
+ {
+ // Use the SEState to determine which accumulators to clear.
+ if (CurrentCommand.SEState & 0x01)
+ {
+ StepAcc[0] = 0;
+ }
+ if (CurrentCommand.SEState & 0x02)
+ {
+ StepAcc[1] = 0;
+ }
+ }
+
FIFOEmpty = TRUE;
LATDbits.LATD0 = 0;
}
@@ -1045,12 +1047,13 @@ void fprint(float f)
#endif
// The Accelerated Motion command
-// Usage: SM,,,,
+// Usage: SM,,,,,
// is a number from 1 to 10000 in steps/second indicating the initial velocity
// is a number from 1 to 10000 in steps/second indicating the final velocity
// is a signed 24 bit number indicating how many steps (and what direction) the axis should take
// Note that the two velocities are of the combined move - i.e. the tip of the pen, not the individual
// axies velocities.
+// is an optional parameter.
void parse_AM_packet (void)
{
UINT32 temp = 0;
@@ -1061,13 +1064,20 @@ void parse_AM_packet (void)
UINT32 Distance;
float distance_temp;
float accel_temp;
+ UINT8 ClearAccs = 0;
// Extract each of the values.
extract_number (kULONG, &VelocityInital, kREQUIRED);
extract_number (kULONG, &VelocityFinal, kREQUIRED);
extract_number (kLONG, &A1Steps, kREQUIRED);
extract_number (kLONG, &A2Steps, kREQUIRED);
+ extract_number (kUCHAR, &ClearAccs, kOPTIONAL);
+ if (ClearAccs > 3)
+ {
+ ClearAccs = 3;
+ }
+
// Check for too-fast step request (>25KHz)
if (VelocityInital > 25000)
{
@@ -1105,6 +1115,7 @@ void parse_AM_packet (void)
while(!FIFOEmpty);
+ CommandFIFO[0].SEState = ClearAccs;
CommandFIFO[0].DelayCounter = 0; // No delay for motor moves
CommandFIFO[0].DirBits = 0;
@@ -1250,12 +1261,15 @@ void parse_AM_packet (void)
}
// Low Level Move command
-// Usage: LM,,,,,,
+// Usage: LM,,,,,,,
+// is optional. A value of 0 will do nothing. A value of 1 will clear Motor 1's accumulator before
+// starting the move. A value of 2 will clear Motor 2's accumulator. And a value of 3 will clear both.
void parse_LM_packet (void)
{
UINT32 StepAdd1, StepAddInc1, StepAdd2, StepAddInc2 = 0;
INT32 StepsCounter1, StepsCounter2 = 0;
MoveCommandType move;
+ UINT8 ClearAccs = 0;
// Extract each of the values.
extract_number (kULONG, &StepAdd1, kREQUIRED);
@@ -1264,6 +1278,7 @@ void parse_LM_packet (void)
extract_number (kULONG, &StepAdd2, kREQUIRED);
extract_number (kLONG, &StepsCounter2, kREQUIRED);
extract_number (kLONG, &StepAddInc2, kREQUIRED);
+ extract_number (kUCHAR, &ClearAccs, kOPTIONAL);
// Bail if we got a conversion error
if (error_byte)
@@ -1290,6 +1305,18 @@ void parse_LM_packet (void)
return;
}
+ if (ClearAccs > 3)
+ {
+ ClearAccs = 3;
+ }
+
+ // TODO: What type of protections are needed here?
+ StepAdd1 = StepAdd1 - StepAddInc1/2;
+ StepAdd2 = StepAdd2 - StepAddInc2/2;
+
+ // We are going to reuse SEState to hold the clear accumulators flag
+ move.SEState = ClearAccs;
+
move.DelayCounter = 0; // No delay for motor moves
move.DirBits = 0;
@@ -1342,7 +1369,7 @@ void parse_LM_packet (void)
}
// The Stepper Motor command
-// Usage: SM,,,
+// Usage: SM,,,,
// is a number from 1 to 16777215, indicating the number of milliseconds this move should take
// is a signed 24 bit number indicating how many steps (and what direction) the axis should take
// NOTE1: is optional and can be left off
@@ -1354,12 +1381,14 @@ void parse_SM_packet (void)
{
UINT32 Duration = 0;
INT32 A1Steps = 0, A2Steps = 0;
- INT32 Steps = 0;
+ INT32 Steps = 0;
+ UINT8 ClearAccs = 0;
// Extract each of the values.
extract_number (kULONG, &Duration, kREQUIRED);
extract_number (kLONG, &A1Steps, kREQUIRED);
extract_number (kLONG, &A2Steps, kOPTIONAL);
+ extract_number (kUCHAR, &ClearAccs, kOPTIONAL);
if (gLimitChecks)
{
@@ -1419,11 +1448,15 @@ void parse_SM_packet (void)
printf((far rom char *)"!0 Err: step rate < 1.31Hz.\n\r");
return;
}
+ if (ClearAccs > 3)
+ {
+ ClearAccs = 0;
+ }
}
// If we get here, we know that step rate for both A1 and A2 is
// between 25KHz and 1.31Hz which are the limits of what EBB can do.
- process_SM(Duration, A1Steps, A2Steps);
+ process_SM(Duration, A1Steps, A2Steps, ClearAccs);
if (g_ack_enable)
{
@@ -1549,7 +1582,7 @@ void parse_HM_packet (void)
{
XSteps = Steps2;
}
- process_SM(Duration, XSteps, Steps2);
+ process_SM(Duration, XSteps, Steps2, 3);
// Update both steps count for final move
Steps1 = Steps1 - XSteps;
Steps2 = 0;
@@ -1590,7 +1623,7 @@ void parse_HM_packet (void)
{
XSteps = Steps1;
}
- process_SM(Duration, Steps1, XSteps);
+ process_SM(Duration, Steps1, XSteps, 3);
// Update both steps count for final move
Steps2 = Steps2 - XSteps;
Steps1 = 0;
@@ -1611,7 +1644,7 @@ void parse_HM_packet (void)
// If we get here, we know that step rate for both A1 and A2 is
// between 25KHz and 1.31Hz which are the limits of what EBB can do.
- process_SM(Duration, Steps1, Steps2);
+ process_SM(Duration, Steps1, Steps2, 3);
if (g_ack_enable)
{
@@ -1630,13 +1663,20 @@ void parse_XM_packet (void)
{
UINT32 Duration = 0;
INT32 A1Steps = 0, A2Steps = 0;
- INT32 ASteps = 0, BSteps = 0;
- INT32 Steps = 0;
+ INT32 ASteps = 0, BSteps = 0;
+ INT32 Steps = 0;
+ UINT8 ClearAccs = 0;
// Extract each of the values.
extract_number (kULONG, &Duration, kREQUIRED);
extract_number (kLONG, &ASteps, kREQUIRED);
extract_number (kLONG, &BSteps, kREQUIRED);
+ extract_number (kUCHAR, &ClearAccs, kOPTIONAL);
+
+ if (ClearAccs > 3)
+ {
+ ClearAccs = 3;
+ }
// Check for invalid duration
if (Duration == 0) {
@@ -1702,7 +1742,7 @@ void parse_XM_packet (void)
// If we get here, we know that step rate for both A1 and A2 is
// between 25KHz and 1.31Hz which are the limits of what EBB can do.
- process_SM(Duration, A1Steps, A2Steps);
+ process_SM(Duration, A1Steps, A2Steps, ClearAccs);
print_ack();
}
@@ -1712,6 +1752,7 @@ void parse_XM_packet (void)
// and are the Axis 1 and Axis 2 number of steps to take in
// mS, as 3 byte signed values, where the sign determines the motor
// direction.
+// clears the accumulators (both if 3, none if 0)
// This function waits until there is room in the 1-deep FIFO before placing
// the data in the FIFO. The ISR then sees this data when it is done with its
// current move, and starts this new move.
@@ -1721,7 +1762,8 @@ void parse_XM_packet (void)
static void process_SM(
UINT32 Duration,
INT32 A1Stp,
- INT32 A2Stp
+ INT32 A2Stp,
+ UINT8 ClearAccs
)
{
UINT32 temp = 0;
@@ -1737,6 +1779,12 @@ static void process_SM(
// A2Stp
// );
+ if (ClearAccs > 3)
+ {
+ ClearAccs = 3;
+ }
+ move.SEState = ClearAccs;
+
// Check for delay
if (A1Stp == 0 && A2Stp == 0)
{
@@ -1901,52 +1949,6 @@ static void process_SM(
FIFOEmpty = FALSE;
}
-// Clear the Accumulators
-// Usage: CA,
-// is an optional parameter. If not included, this command will clear both
-// accumulators.
-// can be 0, 1, 2 or 3.
-// If it is 0, nothing happens.
-// If it is 1, only Motor 1's accumulator is cleared.
-// If it is 2, only Motor 2's accumulator is cleared.
-// If it is 3, both motor's accumulators are cleared.
-// This command is added to the motion queue so that it happens at a precise
-// time in the motion command stream.
-void parse_CA_packet (void)
-{
- UINT8 Axes = 3;
- MoveCommandType cmd;
-
- // Extract the single parameter
- extract_number (kUCHAR, &Axes, kOPTIONAL);
-
- if (Axes > 3)
- {
- Axes = 3;
- }
-
- // Set the command type
- cmd.Command = COMMAND_CLEAR_ACCUMULATORS;
- // Set the argument (we reuse the )
- cmd.SEState = Axes;
- // Always clear the delay counter (because it can have extra meaning)
- cmd.DelayCounter = 0;
-
- // Spin here until there's space in the FIFO
- while(!FIFOEmpty)
- ;
-
- // Now, quick copy over the computed command data to the command FIFO
- CommandFIFO[0] = cmd;
- // Notify that ISR that there is at least one command ready to execute
- FIFOEmpty = FALSE;
-
- if (g_ack_enable)
- {
- print_ack();
- }
-}
-
// E-Stop
// Usage: ES
// Returns: ,,,,OK
@@ -2180,7 +2182,7 @@ void process_SP(PenStateType NewState, UINT16 CommandDuration)
// Note that the MSx lines do not come to any headers, so even when an external
// source is controlling the drivers, the PIC still needs to control the
// MSx lines.
-// As of 2.6.6 : We always clear out the step accumulators when the EM command
+// As of 2.7.0 : We always clear out the step accumulators when the EM command
// is executed.
void parse_EM_packet(void)
{
@@ -2716,7 +2718,7 @@ void clear_StepCounters(void)
// CS takes no parameters, so usage is just CS
// QS returns:
// OK
-// Note, as of 2.6.6 this also clears out the step accumulators as well
+// Note, as of 2.7.0 this also clears out the step accumulators as well
void parse_CS_packet(void)
{
clear_StepCounters();
diff --git a/EBB_firmware/app.X/source/ebb.h b/EBB_firmware/app.X/source/ebb.h
index 28430a3..3992322 100644
--- a/EBB_firmware/app.X/source/ebb.h
+++ b/EBB_firmware/app.X/source/ebb.h
@@ -71,8 +71,7 @@ typedef enum
COMMAND_MOTOR_MOVE,
COMMAND_DELAY,
COMMAND_SERVO_MOVE,
- COMMAND_SE,
- COMMAND_CLEAR_ACCUMULATORS
+ COMMAND_SE
} CommandType;
// This structure defines the elements of the move commands in the FIFO that
@@ -150,7 +149,6 @@ void parse_QS_packet(void);
void parse_CS_packet(void);
void parse_LM_packet(void);
void parse_HM_packet(void);
-void parse_CA_packet(void);
void EBB_Init(void);
void process_SP(PenStateType NewState, UINT16 CommandDuration);
#endif
\ No newline at end of file