Radu Radoveneanu
Telescope motorised focuser based on the moonlite protocol, indilib's indi_monlite_focuser compliant. WIP
Diff: main.cpp
- Revision:
- 4:2235d6d01ca5
- Parent:
- 3:20b077586e4e
- Child:
- 5:8965c2919afb
--- a/main.cpp Mon Jul 02 19:15:17 2018 +0000
+++ b/main.cpp Mon Jul 30 17:42:39 2018 +0000
@@ -11,6 +11,8 @@
bool is_moving, move = false;
uint16_t step_delay = 256;
+uint8_t step_delay_multiplier = 40; //less delay is more speed, a delay of 40 is about 48 pps on the slowest setting and about 770 steps per second on the fastest!!! dont go under 39 ... //TODO
+
char ml_in[256];
uint8_t idx = 0;
@@ -26,14 +28,37 @@
}
-//TODO motor control with MP6500 https://www.pololu.com/product/2968
-//DigitalOut step(A0);
-//DigitalOut dir(A1);
-//DigitalOut MS1; //only use MS1, set low for FULL or high for HALF only to be moonlite compliant ?
+//IN PROGRESS: TODO motor control with MP6500 https://www.pololu.com/product/2968
+//D2,D3,D4,D5,D6,D7,D8,D9 - DIR, STEP, SLP, I2, I1, MS2, MS1, EN
+
+DigitalOut dir(D2);
+DigitalOut step(D3);
+DigitalOut slp(D4); //pull high to enable operation
+DigitalOut i2(D5); //set low to enable pwm power controll
+PwmOut i1(D6); //MP6500 power limit control
+DigitalOut ms2(D7);
+DigitalOut ms1(D8); //set low for FULL or high for HALF, only use MS1 to be moonlite compliant ?
+DigitalOut en(D9); //pulled low by the motor driver, default enables operation
+
+
//PwmOut I1; //TODO try to set optimal motor current, if you don't use this it will be set at 500ma with the MP6500 (in full step that is about 70.71% on both phases, half step is 100% on one phase or 70 on both)
-//try to set 3.3v 80% duty cycle for a safe value, 100% duty cycle is minimum https://www.pololu.com/product/2968#lightbox-picture0J8398;main-pictures , 1 kHz or greater, I2 set to low (tied to ground?)
+//try to set 3.3v 90% duty cycle for a safe value, 100% duty cycle is minimum https://www.pololu.com/product/2968#lightbox-picture0J8398;main-pictures , 1 kHz or greater, I2 set to low (tied to ground?)
//learn to block comment
+void mp6500() //TODO enable/disable motor
+{
+ dir = 0;
+ step = 0;
+ slp = 1;
+ i2 = 0;
+ i1.period(0.001f); //1kHz period
+ i1.write(0.90f); //90% duty cycle
+ ms2 = 0;
+ ms1 = 0;
+ en = 0;
+}
+
+
void motor()
{
@@ -45,22 +70,36 @@
if(gp > gn) {
+ dir = 0;
+//__disable_irq(); // Disable Interrupts
+//
+//// do something that can't be interrupted
+//
+//__enable_irq(); // Enable Interrupts
led = !led;
- wait_ms(step_delay/2);
+ step = !step;
+ wait_us(step_delay * step_delay_multiplier); //TODO rewrite more accurate stepping delay
led = !led;
- wait_ms(step_delay/2);
+ step = !step;
+ wait_us(step_delay * step_delay_multiplier);
gp--;
} else if (gp < gn) {
+ dir = 1;
+
led = !led;
- wait_ms(step_delay/2);
+ step = !step;
+ wait_us(step_delay * step_delay_multiplier);
led = !led;
- wait_ms(step_delay/2);
+ step = !step;
+ wait_us(step_delay * step_delay_multiplier);
gp++;
} else {
+ step = dir = 0;
+
is_moving = false;
move = false;
@@ -90,12 +129,10 @@
case 'F':
switch (ml_in[1]) {
case 'G': //N/A Go to the new position as set by the ":SNYYYY#" command.
- move = true;
- //gp = gn; //TODO move motor to new position
+ move = true; //runs motor();
break;
case 'Q': //N/A Immediately stop any focus motor movement.
move = false;
- //TODO
break;
default:
break;
@@ -111,17 +148,13 @@
pc.printf("02#");
break;
case 'D': //XX# Returns the current stepping delay where XX is a two-digit unsigned hex number. Valid values 02, 04, 08, 10, 20 -> stepping delay 250, 125, 63, 32, 16 pps
- pc.printf("%02X#", 512 / step_delay); //TODO
+ pc.printf("%02X#", 512 / step_delay); //TODO? we sleep for step_delay*step_delay_multiplier microseconds between steps
break;
case 'H': //00# OR FF# Returns "FF#" if the focus motor is half-stepped otherwise return "00#"
- pc.printf("00#"); //TODO
+ //pc.printf("00#"); //TODO
+ pc.printf("%02X#", ms1 * 255);
break;
case 'I': //00# OR 01# Returns "00#" if the focus motor is not moving, otherwise return "01#"
-// if(is_moving) {
-// pc.printf("01#"); //TODO
-// } else {
-// pc.printf("00#"); //TODO
-// }
pc.printf("%02X#", is_moving);
break;
case 'N': //YYYY# Returns the new position previously set by a ":SNYYYY#" command where YYYY is a four-digit unsigned hex number
@@ -132,7 +165,7 @@
break;
case 'T': //YYYY# Returns the current temperature where YYYY is a four-digit signed (2’s complement) hex number.
pc.printf("%04X#", temperature * 2); //indi_moonlite_focuser returns the temp/2, dunno why, dont care
- //pc.printf("0019#"); //25c, 12.5c in indi_moonlite control panel
+ //pc.printf("0019#"); //should be 25c but is 12.5c in indi_moonlite control panel
break;
case 'V': //DD# Get the version of the firmware as a two-digit decimal number where the first digit is the major version number, and the second digit is the minor version number.
pc.printf("01#");
@@ -147,28 +180,22 @@
case 'C': //N/A Set the new temperature coefficient where XX is a two-digit, signed (2’s complement) hex number.
break; //TODO
case 'D': //N/A Set the new stepping delay where XX is a two-digit, unsigned hex number. Valid values to send are 02, 04, 08, 10 and 20, which correspond to a stepping delay of 250, 125, 63, 32 and 16 steps per second respectively.
- //strncpy(str, cmd + 2, 2);
- //g_motor1.set_speed(util::hexstr2long(str));
step_delay = 512 / strtol(ml_in + 2, NULL, 16);
break;
case 'F': //N/A Set full-step mode.
- //g_motor1.set_full_step();
+ ms1 = 0;
break;
case 'H': //N/A Set half-step mode.
- //g_motor1.set_half_step();
+ ms1 = 1;
break;
case 'N': //N/A Set the new position where YYYY is a four-digit unsigned hex number.
- //strncpy(str, cmd + 2, 4);
- //g_motor1.set_target_position(util::hexstr2long(str));
gn = strtol(ml_in + 2, NULL, 16); //read ml_in, discard 2 chars, convert to long, set gn
break;
case 'P': //Set the current position where YYYY is a four-digit unsigned hex number.
- //strncpy(str, cmd + 2, 4);
- //g_motor1.set_current_position(util::hexstr2long(str));
gp = strtol(ml_in + 2, NULL, 16);
break;
@@ -207,14 +234,22 @@
}
+
}
int main()
{
+ mp6500();
//led_thread.start(led_blink);
+ pc.attach(read_serial, Serial::RxIrq);
+
motor_thread.start(motor);
- pc.attach(&read_serial, Serial::RxIrq);
+
+ while(true) {
+ Thread::wait(100);
+ //read_serial();
+ }
}