diff options
Diffstat (limited to 'cphidgetstepper.c')
| -rw-r--r-- | cphidgetstepper.c | 374 |
1 files changed, 211 insertions, 163 deletions
diff --git a/cphidgetstepper.c b/cphidgetstepper.c index 0da3dc6..966da07 100644 --- a/cphidgetstepper.c +++ b/cphidgetstepper.c @@ -55,39 +55,41 @@ CPHIDGETINIT(Stepper) phid->outputPacketLen = 0; //Setup max/min values - switch(phid->phid.deviceIDSpec) + switch(phid->phid.deviceUID) { - case PHIDID_UNIPOLAR_STEPPER_4MOTOR: - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) - { - phid->microSteps = 2; - phid->motorSpeedMax = ((phid->microSteps * 0x100) - 1) * 0.75; - phid->motorSpeedMin = 0; - phid->accelerationMax = (250 * (0.75 * 0.75)) * 0x3f; - phid->accelerationMin = (250 * (0.75 * 0.75)); - phid->motorPositionMax = 0x7FFFFFFFFFLL; - phid->motorPositionMin = -0x7FFFFFFFFFLL; - phid->currentMax = PUNK_DBL; - phid->currentMin = PUNK_DBL; - } - else - return EPHIDGET_BADVERSION; + case PHIDUID_STEPPER_UNIPOLAR_4MOTOR: + phid->microSteps = 2; + phid->motorSpeedMax = ((phid->microSteps * 0x100) - 1) * 0.75; + phid->motorSpeedMin = 0; + phid->accelerationMax = (250 * (0.75 * 0.75)) * 0x3f; + phid->accelerationMin = (250 * (0.75 * 0.75)); + phid->motorPositionMax = 0x7FFFFFFFFFLL; + phid->motorPositionMin = -0x7FFFFFFFFFLL; + phid->currentMax = PUNK_DBL; + phid->currentMin = PUNK_DBL; break; - case PHIDID_BIPOLAR_STEPPER_1MOTOR: - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) - { - phid->microSteps = 16; - phid->motorSpeedMax = 8 * phid->microSteps * 0x100; //0x8000 - phid->motorSpeedMin = 0; - phid->accelerationMax = 4000 * 0xff; - phid->accelerationMin = 4000; - phid->motorPositionMax = 0x7FFFFFFFFFLL; - phid->motorPositionMin = -0x7FFFFFFFFFLL; - phid->currentMax = 2.492; - phid->currentMin = 0.0542; - } - else - return EPHIDGET_BADVERSION; + case PHIDUID_STEPPER_BIPOLAR_1MOTOR: + phid->microSteps = 16; + phid->motorSpeedMax = 8 * phid->microSteps * 0x100; //0x8000 + phid->motorSpeedMin = 0; + phid->accelerationMax = 4000 * 0xff; + phid->accelerationMin = 4000; + phid->motorPositionMax = 0x7FFFFFFFFFLL; + phid->motorPositionMin = -0x7FFFFFFFFFLL; + phid->currentMax = 2.492; + phid->currentMin = 0.0542; + break; + case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3: + phid->microSteps = 16; + //phid->motorSpeedMax = 262144; //8x 1062_1 + phid->motorSpeedMax = 250000; //nice round number + phid->motorSpeedMin = 0; + phid->accelerationMax = 10000000; + phid->accelerationMin = 2; + phid->motorPositionMax = 1000000000000000LL; // +-1 Quadrillion - enough for 211 years at max speed + phid->motorPositionMin = -1000000000000000LL; + phid->currentMax = 4; + phid->currentMin = 0; break; default: return EPHIDGET_UNEXPECTED; @@ -113,7 +115,7 @@ CPHIDGETINIT(Stepper) CPhidget_read((CPhidgetHandle)phid); //At this point, we can only recover (maybe) the position, engaged state, set others to unknown - for (i = 0; i<phid->phid.attr.advancedservo.numMotors; i++) + for (i = 0; i<phid->phid.attr.stepper.numMotors; i++) { phid->motorPosition[i] = phid->motorPositionEcho[i]; phid->motorEngagedState[i] = phid->motorEngagedStateEcho[i]; @@ -152,39 +154,33 @@ CPHIDGETDATA(Stepper) ZEROMEM(lastInput, sizeof(lastInput)); //Parse device packets - store data locally - switch(phid->phid.deviceIDSpec) + switch(phid->phid.deviceUID) { - case PHIDID_UNIPOLAR_STEPPER_4MOTOR: - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) + case PHIDUID_STEPPER_UNIPOLAR_4MOTOR: + for (i = 0; i < phid->phid.attr.stepper.numMotors; i++) { - for (i = 0; i < phid->phid.attr.stepper.numMotors; i++) - { - phid->packetCounterEcho[i] = buffer[0+(i*9)] & 0x0F; - motorEngaged[i] = (buffer[0+(i*9)] & MOTOR_DISABLED_STEPPER) ? PFALSE : PTRUE; - motorDone[i] = (buffer[0+(i*9)] & MOTOR_DONE_STEPPER) ? PTRUE : PFALSE; + phid->packetCounterEcho[i] = buffer[0+(i*9)] & 0x0F; + motorEngaged[i] = (buffer[0+(i*9)] & MOTOR_DISABLED_STEPPER) ? PFALSE : PTRUE; + motorDone[i] = (buffer[0+(i*9)] & MOTOR_DONE_STEPPER) ? PTRUE : PFALSE; - speed[i] = (double)((signed short)((buffer[1+(i*9)] << 8) | buffer[2+(i*9)])); - speed[i] = (double)((speed[i] / 511.0) * phid->motorSpeedMax); + speed[i] = (double)((signed short)((buffer[1+(i*9)] << 8) | buffer[2+(i*9)])); + speed[i] = (double)((speed[i] / 511.0) * phid->motorSpeedMax); - position[i] = ((((__int64)(signed char)buffer[3+(i*9)]) << 40) + - (((__uint64)buffer[4+(i*9)]) << 32) + - (((__uint64)buffer[5+(i*9)]) << 24) + - (((__uint64)buffer[6+(i*9)]) << 16) + - (((__uint64)buffer[7+(i*9)]) << 8) + - ((__uint64)buffer[8+(i*9)])); + position[i] = ((((__int64)(signed char)buffer[3+(i*9)]) << 40) + + (((__uint64)buffer[4+(i*9)]) << 32) + + (((__uint64)buffer[5+(i*9)]) << 24) + + (((__uint64)buffer[6+(i*9)]) << 16) + + (((__uint64)buffer[7+(i*9)]) << 8) + + ((__uint64)buffer[8+(i*9)])); - position[i] -= 0x20; //round - position[i] >>= 6; + position[i] -= 0x20; //round + position[i] >>= 6; - //current is not returned - current[i] = PUNK_DBL; - } + //current is not returned + current[i] = PUNK_DBL; } - else - return EPHIDGET_UNEXPECTED; break; - case PHIDID_BIPOLAR_STEPPER_1MOTOR: - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) + case PHIDUID_STEPPER_BIPOLAR_1MOTOR: { double Vad; phid->packetCounterEcho[0] = buffer[0] & 0x0F; @@ -218,8 +214,25 @@ CPHIDGETDATA(Stepper) Vad = (((unsigned char)buffer[10] * 4.16 ) / 255.0); // The voltage sensed, to a max of 4.16v current[0] = round_double((Vad / (BIPOLAR_STEPPER_CURRENT_SENSE_GAIN * BIPOLAR_STEPPER_CURRENT_LIMIT_Rs)), 3); } - else - return EPHIDGET_UNEXPECTED; + break; + case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3: + { + phid->packetCounterEcho[0] = buffer[0] & 0x0F; + motorEngaged[0] = (buffer[0] & MOTOR_DISABLED_STEPPER) ? PFALSE : PTRUE; + motorDone[0] = (buffer[0] & MOTOR_DONE_STEPPER) ? PTRUE : PFALSE; + + //24.8 floating point format + speed[0] = (double)( ((signed int)((((signed char)buffer[1]) << 24) | (buffer[2] << 16) | (buffer[3] << 8) | buffer[4])) / 256.0); + + position[0] = ((((__int64)(signed char)buffer[5]) << 56) + + (((__uint64)buffer[6]) << 48) + + (((__uint64)buffer[7]) << 40) + + (((__uint64)buffer[8]) << 32) + + (((__uint64)buffer[9]) << 24) + + (((__uint64)buffer[10]) << 16) + + (((__uint64)buffer[11]) << 8) + + ((__uint64)buffer[12])); + } break; default: return EPHIDGET_UNEXPECTED; @@ -372,11 +385,63 @@ CMAKEPACKETINDEXED(Stepper) return EPHIDGET_UNEXPECTED; } - switch(phid->phid.deviceIDSpec) + switch(phid->phid.deviceUID) { - case PHIDID_UNIPOLAR_STEPPER_4MOTOR: - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) + case PHIDUID_STEPPER_UNIPOLAR_4MOTOR: + //2-bit index, 2-bit packet type, 4-bit counter + buffer[0] = (Index << 6) | packet_type | phid->packetCounter[Index]; + //flags + buffer[1] = flags; + + switch(packet_type) + { + case STEPPER_POSITION_PACKET: + position = phid->motorPosition[Index] << 6; + position += 0x20; + + //48-bit position + buffer[2] = (unsigned char)(position >> 40); + buffer[3] = (unsigned char)(position >> 32); + buffer[4] = (unsigned char)(position >> 24); + buffer[5] = (unsigned char)(position >> 16); + buffer[6] = (unsigned char)(position >> 8); + buffer[7] = (unsigned char)(position); + break; + case STEPPER_VEL_ACCEL_PACKET: + accel = (unsigned char)round((phid->motorAcceleration[Index]/phid->accelerationMax) * 63.0); + speed = (unsigned short)round((phid->motorSpeed[Index]/phid->motorSpeedMax) * 511.0); + + //6-bit acceleration + buffer[2] = accel; + //9-bit speed + buffer[3] = speed >> 8; + buffer[4] = speed & 0xFF; + //not used + buffer[5] = 0; + buffer[6] = 0; + buffer[7] = 0; + break; + case STEPPER_RESET_PACKET: + position = phid->motorPositionReset[Index] << 6; + position += 0x20; + + //48-bit position + buffer[2] = (unsigned char)(position >> 40); + buffer[3] = (unsigned char)(position >> 32); + buffer[4] = (unsigned char)(position >> 24); + buffer[5] = (unsigned char)(position >> 16); + buffer[6] = (unsigned char)(position >> 8); + buffer[7] = (unsigned char)(position); + break; + default: + return EPHIDGET_UNEXPECTED; + } + break; + case PHIDUID_STEPPER_BIPOLAR_1MOTOR: { + unsigned char currentLimit = 0; + double Vref; + //2-bit index, 2-bit packet type, 4-bit counter buffer[0] = (Index << 6) | packet_type | phid->packetCounter[Index]; //flags @@ -385,8 +450,8 @@ CMAKEPACKETINDEXED(Stepper) switch(packet_type) { case STEPPER_POSITION_PACKET: - position = phid->motorPosition[Index] << 6; - position += 0x20; + position = phid->motorPosition[Index] << 3; + position += 0x04; //48-bit position buffer[2] = (unsigned char)(position >> 40); @@ -397,22 +462,33 @@ CMAKEPACKETINDEXED(Stepper) buffer[7] = (unsigned char)(position); break; case STEPPER_VEL_ACCEL_PACKET: - accel = (unsigned char)round((phid->motorAcceleration[Index]/phid->accelerationMax) * 63.0); - speed = (unsigned short)round((phid->motorSpeed[Index]/phid->motorSpeedMax) * 511.0); + if(phid->motorCurrentLimit[Index] == PUNK_DBL) + phid->motorCurrentLimit[Index] = 0.50; //choose 500mA - should at least work for the most part + + accel = (unsigned char)round((phid->motorAcceleration[Index]/phid->accelerationMax) * 255.0); + speed = (unsigned short)round((phid->motorSpeed[Index]/phid->motorSpeedMax) * 4095.0); - //6-bit acceleration + // highest Vref is 3v (2.5A limit as defined by stepping chip) + // The 8 is defined by the stepping chip - (ItripMAX = Vref/8Rs) + Vref = phid->motorCurrentLimit[Index] * 8 * BIPOLAR_STEPPER_CURRENT_LIMIT_Rs; + // DAC output is 0-63 = 0-4.16v, highest value is 45 (3v) + // 2.08 = Vbandgap * 1.6 + currentLimit = (unsigned char)round( (((Vref - 2.08)/2.08) * 32) + 31 ); + + //8-bit acceleration buffer[2] = accel; - //9-bit speed + //12-bit speed buffer[3] = speed >> 8; buffer[4] = speed & 0xFF; + //6-bit current limit + buffer[5] = currentLimit; //not used - buffer[5] = 0; buffer[6] = 0; buffer[7] = 0; break; case STEPPER_RESET_PACKET: - position = phid->motorPositionReset[Index] << 6; - position += 0x20; + position = phid->motorPositionReset[Index] << 3; + position += 0x04; //48-bit position buffer[2] = (unsigned char)(position >> 40); @@ -426,14 +502,11 @@ CMAKEPACKETINDEXED(Stepper) return EPHIDGET_UNEXPECTED; } } - else - return EPHIDGET_UNEXPECTED; break; - case PHIDID_BIPOLAR_STEPPER_1MOTOR: - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) + case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3: { unsigned char currentLimit = 0; - double Vref; + int accelInt, velInt; //2-bit index, 2-bit packet type, 4-bit counter buffer[0] = (Index << 6) | packet_type | phid->packetCounter[Index]; @@ -443,60 +516,55 @@ CMAKEPACKETINDEXED(Stepper) switch(packet_type) { case STEPPER_POSITION_PACKET: - position = phid->motorPosition[Index] << 3; - position += 0x04; - - //48-bit position - buffer[2] = (unsigned char)(position >> 40); - buffer[3] = (unsigned char)(position >> 32); - buffer[4] = (unsigned char)(position >> 24); - buffer[5] = (unsigned char)(position >> 16); - buffer[6] = (unsigned char)(position >> 8); - buffer[7] = (unsigned char)(position); + //64-bit position + buffer[2] = (unsigned char)(phid->motorPosition[Index] >> 56); + buffer[3] = (unsigned char)(phid->motorPosition[Index] >> 48); + buffer[4] = (unsigned char)(phid->motorPosition[Index] >> 40); + buffer[5] = (unsigned char)(phid->motorPosition[Index] >> 32); + buffer[6] = (unsigned char)(phid->motorPosition[Index] >> 24); + buffer[7] = (unsigned char)(phid->motorPosition[Index] >> 16); + buffer[8] = (unsigned char)(phid->motorPosition[Index] >> 8); + buffer[9] = (unsigned char)(phid->motorPosition[Index]); break; case STEPPER_VEL_ACCEL_PACKET: if(phid->motorCurrentLimit[Index] == PUNK_DBL) phid->motorCurrentLimit[Index] = 0.50; //choose 500mA - should at least work for the most part - accel = (unsigned char)round((phid->motorAcceleration[Index]/phid->accelerationMax) * 255.0); - speed = (unsigned short)round((phid->motorSpeed[Index]/phid->motorSpeedMax) * 4096.0); + accelInt = (int)phid->motorAcceleration[Index]; + velInt = (int)phid->motorSpeed[Index]; + currentLimit = (unsigned char)round((phid->motorCurrentLimit[Index]/phid->currentMax) * 255.0); - // highest Vref is 3v (2.5A limit as defined by stepping chip) - // The 8 is defined by the stepping chip - (ItripMAX = Vref/8Rs) - Vref = phid->motorCurrentLimit[Index] * 8 * BIPOLAR_STEPPER_CURRENT_LIMIT_Rs; - // DAC output is 0-63 = 0-4.16v, highest value is 45 (3v) - // 2.08 = Vbandgap * 1.6 - currentLimit = (unsigned char)round( (((Vref - 2.08)/2.08) * 32) + 31 ); + //3-byte acceleration + buffer[2] = accelInt >> 16; + buffer[3] = accelInt >> 8; + buffer[4] = accelInt; + + //3-byte velocity + buffer[5] = velInt >> 16; + buffer[6] = velInt >> 8; + buffer[7] = velInt; + + //8-bit current limit + buffer[8] = currentLimit; - //8-bit acceleration - buffer[2] = accel; - //12-bit speed - buffer[3] = speed >> 8; - buffer[4] = speed & 0xFF; - //6-bit current limit - buffer[5] = currentLimit; //not used - buffer[6] = 0; - buffer[7] = 0; + buffer[9] = 0; break; case STEPPER_RESET_PACKET: - position = phid->motorPositionReset[Index] << 3; - position += 0x04; - - //48-bit position - buffer[2] = (unsigned char)(position >> 40); - buffer[3] = (unsigned char)(position >> 32); - buffer[4] = (unsigned char)(position >> 24); - buffer[5] = (unsigned char)(position >> 16); - buffer[6] = (unsigned char)(position >> 8); - buffer[7] = (unsigned char)(position); + //64-bit position + buffer[2] = (unsigned char)(phid->motorPositionReset[Index] >> 56); + buffer[3] = (unsigned char)(phid->motorPositionReset[Index] >> 48); + buffer[4] = (unsigned char)(phid->motorPositionReset[Index] >> 40); + buffer[5] = (unsigned char)(phid->motorPositionReset[Index] >> 32); + buffer[6] = (unsigned char)(phid->motorPositionReset[Index] >> 24); + buffer[7] = (unsigned char)(phid->motorPositionReset[Index] >> 16); + buffer[8] = (unsigned char)(phid->motorPositionReset[Index] >> 8); + buffer[9] = (unsigned char)(phid->motorPositionReset[Index]); break; default: return EPHIDGET_UNEXPECTED; } } - else - return EPHIDGET_UNEXPECTED; break; default: return EPHIDGET_UNEXPECTED; @@ -778,20 +846,16 @@ CGETINDEX(Stepper,Current,double) TESTDEVICETYPE(PHIDCLASS_STEPPER) TESTATTACHED - //only the bipolar has current sense - switch(phid->phid.deviceIDSpec) + //only the original bipolar has current sense + switch(phid->phid.deviceUID) { - case PHIDID_BIPOLAR_STEPPER_1MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR: TESTINDEX(phid.attr.stepper.numMotors) - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) - { - TESTMASGN(motorSensedCurrent[Index], PUNK_DBL) - MASGN(motorSensedCurrent[Index]) - } - else - return EPHIDGET_UNEXPECTED; + TESTMASGN(motorSensedCurrent[Index], PUNK_DBL) + MASGN(motorSensedCurrent[Index]) break; - case PHIDID_UNIPOLAR_STEPPER_4MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3: + case PHIDUID_STEPPER_UNIPOLAR_4MOTOR: default: return EPHIDGET_UNSUPPORTED; } @@ -803,19 +867,15 @@ CGETINDEX(Stepper,CurrentLimit,double) TESTATTACHED //only the bipolar has currentLimit - switch(phid->phid.deviceIDSpec) + switch(phid->phid.deviceUID) { - case PHIDID_BIPOLAR_STEPPER_1MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3: TESTINDEX(phid.attr.stepper.numMotors) - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) - { - TESTMASGN(motorCurrentLimit[Index], PUNK_DBL) - MASGN(motorCurrentLimit[Index]) - } - else - return EPHIDGET_UNEXPECTED; + TESTMASGN(motorCurrentLimit[Index], PUNK_DBL) + MASGN(motorCurrentLimit[Index]) break; - case PHIDID_UNIPOLAR_STEPPER_4MOTOR: + case PHIDUID_STEPPER_UNIPOLAR_4MOTOR: default: return EPHIDGET_UNSUPPORTED; } @@ -826,22 +886,18 @@ CSETINDEX(Stepper,CurrentLimit,double) TESTATTACHED //only the bipolar has currentLimit - switch(phid->phid.deviceIDSpec) + switch(phid->phid.deviceUID) { - case PHIDID_BIPOLAR_STEPPER_1MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3: TESTINDEX(phid.attr.stepper.numMotors) TESTRANGE(phid->currentMin, phid->currentMax) - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) - { - if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG)) - ADDNETWORKKEYINDEXED(CurrentLimit, "%lE", motorCurrentLimit); - else - SENDPACKETINDEXED(Stepper, motorCurrentLimit[Index], Index + STEPPER_VEL_ACCEL_PACKET); - } + if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG)) + ADDNETWORKKEYINDEXED(CurrentLimit, "%lE", motorCurrentLimit); else - return EPHIDGET_UNEXPECTED; + SENDPACKETINDEXED(Stepper, motorCurrentLimit[Index], Index + STEPPER_VEL_ACCEL_PACKET); break; - case PHIDID_UNIPOLAR_STEPPER_4MOTOR: + case PHIDUID_STEPPER_UNIPOLAR_4MOTOR: default: return EPHIDGET_UNSUPPORTED; } @@ -855,19 +911,15 @@ CGETINDEX(Stepper,CurrentMax,double) TESTATTACHED //only the bipolar has current - switch(phid->phid.deviceIDSpec) + switch(phid->phid.deviceUID) { - case PHIDID_BIPOLAR_STEPPER_1MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3: TESTINDEX(phid.attr.stepper.numMotors) - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) - { TESTMASGN(currentMax, PUNK_DBL) MASGN(currentMax) - } - else - return EPHIDGET_UNEXPECTED; break; - case PHIDID_UNIPOLAR_STEPPER_4MOTOR: + case PHIDUID_STEPPER_UNIPOLAR_4MOTOR: default: return EPHIDGET_UNSUPPORTED; } @@ -879,19 +931,15 @@ CGETINDEX(Stepper,CurrentMin,double) TESTATTACHED //only the bipolar has current - switch(phid->phid.deviceIDSpec) + switch(phid->phid.deviceUID) { - case PHIDID_BIPOLAR_STEPPER_1MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR: + case PHIDUID_STEPPER_BIPOLAR_1MOTOR_M3: TESTINDEX(phid.attr.stepper.numMotors) - if ((phid->phid.deviceVersion >= 100) && (phid->phid.deviceVersion < 200)) - { TESTMASGN(currentMin, PUNK_DBL) MASGN(currentMin) - } - else - return EPHIDGET_UNEXPECTED; break; - case PHIDID_UNIPOLAR_STEPPER_4MOTOR: + case PHIDUID_STEPPER_UNIPOLAR_4MOTOR: default: return EPHIDGET_UNSUPPORTED; } |