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200 lines
6.7 KiB
Markdown
200 lines
6.7 KiB
Markdown
Management of two stepper motors
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================================
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Based on STM32F030F4P6
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## Pinout
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|Pin | Type | Role |
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|:---|:----:|:------------------------|
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|PA0 | AIN | Steppers current |
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|PA1 | AIN | Input voltage 12V |
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|PA2 | AIN | EndSwitch1 of motor0 |
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|PA3 | AIN | EndSwitch0 of motor0 |
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|PA4 | PUPD | Tim14Ch1 - motor0 steps |
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|PA5 | PUPD | Motor1 enable |
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|PA6 | PUPD | Tim3Ch1 - motor1 steps |
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|PA7 | PUPD | Motor1 direction |
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|PA9 | OD | USART1 Tx |
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|PA10| FIN | USART1 Rx |
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|PA13| FINPU| EndSwitch0 of motor1 |
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|PA14| FINPU| EndSwitch1 of motor1 |
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|PB1 | PUPD | Turn off current sensor |
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|PF0 | PUPD | Motor0 enable |
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|PF1 | PUPD | Motor0 direction |
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## Protocol
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Any command have format "# CMD", where # is device ID (the_conf.devID) or "-1" if there's
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only one device at the bus. After it can be any number of spaces and command symbols.
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If the command recognized and it's right, `ALL OK` would be returnded. If the command is bad, answer
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`BADCMD`. Error in command sintax: `ERR`. If the answer would take more than one line it would
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be ends by `DATAEND`.
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### First symbol of commands
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* (nothing except spaces) - *ping* command, device with given ID answers: `ALIVE`
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* **G** - one of the *Getters* (depending on next text)
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* **M** - motors' manipulation
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* **R** - make *MCU software reboot* (next `status` getter will return `SOFTRESET=1`)
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* **S** - one of the *Setters*
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* **W** - *write flash* command, use it to save new configuration data
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All wrong commands will return `BADCMD`, commands with bad format or wrong number return `ERR`.
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Commands with lot of output ends with `DATAEND`. Some commands (like flash write) will return
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just `ALL OK` if succeed.
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### Getters
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Getters returning more than one field ends with `DATAEND` meaning that's all data.
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* **A** - get *ADC value*
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* **D** - Vdd value (*100 Volts), e.g. `VDD=330`
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* **I** - total motors' current (*100 Amperes), e.g. `IMOT=123`
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* **M** - motor's voltage (*100 Volts), e.g. `VMOT=1193`
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* **C** - get *current configuration*, e.g.
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```
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CONFSZ=36
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DEVID=0
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V12NUM=1
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V12DEN=10
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I12NUM=1
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I12DEN=1
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V33NUM=1
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V33DEN=1
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ESWTHR=150
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MOT0SPD=60
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MOT1SPD=60
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USARTSPD=115200
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REVERSE0=0
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REVERSE1=0
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MAXSTEPS0=0
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MAXSTEPS1=0
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DATAEND
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```
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All variables here are fields of `user_conf` struct.
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* **R** - get *raw ADC* values:
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* 0 - Steppers current
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* 1 - Input voltage 12V
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* 2 - EndSwitch2 of motor1
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* 3 - EndSwitch1 of motor1
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* 4 - inner temperature
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* 5 - vref
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E.g.:
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```
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ADC[0]=4095
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ADC[1]=2340
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ADC[2]=4095
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ADC[3]=4087
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ADC[4]=1665
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ADC[5]=1532
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DATAEND
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```
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* **S** - get *motors' status*.
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Values of `MOTORx` (state of given motor) can be one of following:
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* **ACCEL** - start moving with acceleration
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* **DECEL** - moving with deceleration
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* **MOVE** - moving with constant speed
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* **MOVETO0** - move towards 0 endswitch (negative direction)
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* **MOVETO1** - move towards 1 endswitch (positive direction)
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* **MVSLOW** - moving with slowest constant speed
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* **SLEEP** - don't moving (normal state)
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* **STOP** - stop motor right now (by demand)
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* **STOPZERO** - stop motor and zero its position (on end-switch)
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* **UNKNOWN** - something wrong
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Values of `ESWxy` (state of end-switch `y` of motor `x`) can be:
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* **BTN** - user button pressed
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* **ERR** - wrong ADC value
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* **HALL** - hall switch activated
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* **RLSD** - no actions
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If reset occurs there's two additional fields on first request after reset:
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* **WDGRESET=1** - watchdog's reset occured
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* **SOFTRESET=1** - software (by user's demand) reset occured
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There also two fields:
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* **POSx** - position of given motor (negative values means that initialisation need)
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* **STEPSLEFTx** - (only when moving) amount of steps left
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E.g.:
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```
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SOFTRESET=1
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MOTOR0=SLEEP
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POS0=-1
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ESW00=ERR
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ESW01=BTN
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MOTOR1=SLEEP
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POS1=-1
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ESW10=HALL
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ESW11=HALL
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```
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* **T** - get *MCU temperature*, e.g. `TEMP=365`
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### Motors' manipulation
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Next char should be '0' or '1' --- motor's number. If wrong, `BADCMD` answer would be returned.
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There's only two commands in this section:
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* **Mnum** - move motor to *num* steps. Errors:
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* **BadSteps** - *num* isn't a number
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* **IsMoving** - motor is still moving, stop it before
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* **OnEndSwitch** - the motor is on end-switch limiting moving in given direction
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* **ZeroMove** - user wants to move for 0 steps
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* **TooBigNumber** - amount of steps is greater than `MAXSTEPSx`
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* **S** - stop motor
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### Setters
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Change of any setter takes place in MCU RAM immediately. To store them permanently run
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*write flash* command.
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* **A num** - set value of ACCDECSTEPS (approximate amount of steps to do acceleration/deceleration) to *num*
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* **C#num** - set current *speed* to *num* for motor #
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* **D$num** - set *denominator $* (*D* - Vdd, *I* - current, *M* - 12V) to number *num*
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* **E$num** - set *numerator $*
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* **I num** - set *device ID*
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* **M#num** - set maxsteps (*num* is 1..65535) for motor `#`
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* **P num** - properties of internal pullup (0 - disabled, other or without `num` - enabled)
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* **R#num** - set reverse for motor # (*num* == 0 turns reverse off, *num* == 1 turns it on)
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* **S#num** - set *speed* (`motspd`) to *num* for motor #
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* **T num** - set *end-switches threshold* (in ADU, near 0 for Hall switch, 2048 for user button
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and 4096 for released state)
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* **U num** - set *USART speed* to *num* bits per second
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* **u num** - set value of USTEPS (amount of microsteps per one step)
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### Motor speed setters
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To set motor speed to **N** steps per second, give command `C` or `S` with argument equal to
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3000/N. E.g. to set current speed for DevID=0, motor0 to 50 steps per second give command `0SC060`.
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### Denominator and numerator setters
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Have naxt letter similar to ADC getter (**D** - Vdd, **I** - motors' I, or **M** - motors' U).
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The value of numerator shouldn't be very large as uint32_t used in multiplications.
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### Device ID setter
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After this command device will immediately change it's ID, if you "lost" device after this
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procedure you should reboot it or (if there's only one device on the bus) call it by "universal ID"
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(-1).
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### USART speed setter
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The USART speed will be changed after next reset (e.g. by *MCU software reboot* command), so it
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don't work without storing in the flash. Check it twice before writing as wrong numbers can make device
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lost until next re-flashing.
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[//]: # (generate html with command `markdown Readme.md > readme.html)
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