diff --git a/src/application.cpp b/src/application.cpp index 259a69f..23e6b99 100644 --- a/src/application.cpp +++ b/src/application.cpp @@ -32,7 +32,7 @@ Application application; Application::Application() : lastCommandProcessedMs(0) - , currentCommand(&logic::hwSanity) + , currentCommand(&logic::noCommand) , currentCommandRq(mp::RequestMsgCodes::Reset, 0) {} void Application::CheckManualOperation() { diff --git a/src/hal/tmc2130.cpp b/src/hal/tmc2130.cpp index 89951b6..8920fd8 100644 --- a/src/hal/tmc2130.cpp +++ b/src/hal/tmc2130.cpp @@ -7,6 +7,8 @@ namespace hal { namespace tmc2130 { +static constexpr uint8_t TOFF_DEFAULT = 3U, TOFF_MASK = 0xFU; + bool TMC2130::Init(const MotorParams ¶ms, const MotorCurrents ¤ts, MotorMode mode) { // sg_filter_threshold = (1 << (8 - params.mRes)); sg_filter_threshold = 2; @@ -27,7 +29,7 @@ bool TMC2130::Init(const MotorParams ¶ms, const MotorCurrents ¤ts, Mot errorFlags.reset_flag = false; ///apply chopper parameters - const uint32_t chopconf = (uint32_t)(3U & 0x0FU) << 0U //toff + const uint32_t chopconf = (uint32_t)(TOFF_DEFAULT & TOFF_MASK) << 0U //toff | (uint32_t)(5U & 0x07U) << 4U //hstrt | (uint32_t)(1U & 0x0FU) << 7U //hend | (uint32_t)(2U & 0x03U) << 15U //tbl @@ -73,6 +75,15 @@ void TMC2130::SetMode(const MotorParams ¶ms, MotorMode mode) { WriteRegister(params, Registers::TPWMTHRS, (mode == Stealth) ? 70 : 0xFFFF0); // @@TODO should be configurable } +void TMC2130::SetBridgeOutput(const MotorParams ¶ms, bool bOn) { + uint32_t chopconf = ReadRegister(params, Registers::CHOPCONF); + chopconf &= ~((uint32_t)TOFF_MASK); + if (bOn) { + chopconf |= TOFF_DEFAULT; + } + WriteRegister(params, Registers::CHOPCONF, chopconf); +} + void TMC2130::SetCurrents(const MotorParams ¶ms, const MotorCurrents ¤ts) { uint32_t ihold_irun = (uint32_t)(currents.iHold & 0x1F) << 0 //ihold | (uint32_t)(currents.iRun & 0x1F) << 8 //irun diff --git a/src/hal/tmc2130.h b/src/hal/tmc2130.h index a7be1de..39180ba 100644 --- a/src/hal/tmc2130.h +++ b/src/hal/tmc2130.h @@ -88,6 +88,9 @@ public: /// Set the current motor mode void SetMode(const MotorParams ¶ms, MotorMode mode); + /// Disables the output by setting or clearing CHOPCONF's TOFF. + void SetBridgeOutput(const MotorParams ¶ms, bool on); + /// Set the current motor currents void SetCurrents(const MotorParams ¶ms, const MotorCurrents ¤ts); @@ -104,6 +107,12 @@ public: hal::shr16::shr16.SetTMCDir(params.idx, dir ^ params.dirOn); } + /// Set direction, raw value (i.e. ignore Params). + static inline void SetRawDir(const MotorParams ¶ms, bool dir) { + // Also cancels the inversion in SetTMCDir + hal::shr16::shr16.SetTMCDir(params.idx, !dir); + } + /// Step the motor static inline void Step(const MotorParams ¶ms) { gpio::TogglePin(params.stepPin); // assumes DEDGE diff --git a/src/logic/error_codes.h b/src/logic/error_codes.h index 646b643..abba239 100644 --- a/src/logic/error_codes.h +++ b/src/logic/error_codes.h @@ -70,13 +70,6 @@ enum class ErrorCode : uint_fast16_t { /// - E34240 All 3 TMC driver TMC_RESET = 0x8400, - /// TMC driver - IO pins are unreliable. While in theory it's recoverable, in practice it most likely - /// means your hardware is borked (we can't command the drivers reliably via STEP/EN/DIR due to electrical - /// issues or hardware fault. Possible "fixable" cause is undervoltage on the 5v logic line. - /// Unfixable possible cause: bad or cracked solder joints on the PCB, failed shift register, failed driver. - /// TODO: DRRacer - Separate codes per channel. - TMC_PINS_UNRELIABLE = 0x8600, - /// not enough current for the TMC, NOT RECOVERABLE /// - E34880 Pulley TMC driver /// - E34944 Selector TMC driver @@ -107,5 +100,12 @@ enum class ErrorCode : uint_fast16_t { /// - E49280 Selector TMC driver /// - E49408 Idler TMC driver /// - E49600 All 3 TMC driver - TMC_OVER_TEMPERATURE_ERROR = 0xC000 + TMC_OVER_TEMPERATURE_ERROR = 0xC000, + + /// TMC driver - IO pins are unreliable. While in theory it's recoverable, in practice it most likely + /// means your hardware is borked (we can't command the drivers reliably via STEP/EN/DIR due to electrical + /// issues or hardware fault. Possible "fixable" cause is undervoltage on the 5v logic line. + /// Unfixable possible cause: bad or cracked solder joints on the PCB, failed shift register, failed driver. + MMU_SOLDERING_NEEDS_ATTENTION = 0xC200, + }; diff --git a/src/logic/hw_sanity.cpp b/src/logic/hw_sanity.cpp index 417e8f8..4798113 100644 --- a/src/logic/hw_sanity.cpp +++ b/src/logic/hw_sanity.cpp @@ -4,7 +4,6 @@ #include "../modules/motion.h" #include "../modules/leds.h" #include "../modules/timebase.h" -#include "config/axis.h" namespace logic { @@ -23,13 +22,6 @@ static_assert(TEST_PASSES < 32); // Would overflow counters HWSanity hwSanity; -uint8_t HWSanity::test_step = 0; -uint8_t HWSanity::fault_masks[] = { 0 }; -uint16_t HWSanity::wait_start = 0; -ml::Mode das_blinken_state = ml::off; -Axis HWSanity::axis; -ProgressCode HWSanity::next_state = ProgressCode::HWTestBegin; - bool HWSanity::Reset(uint8_t param) { state = ProgressCode::HWTestBegin; error = ErrorCode::RUNNING; @@ -62,12 +54,18 @@ void HWSanity::SetFaultDisplay(uint8_t slot, uint8_t mask) { ml::leds.SetMode(slot, ml::red, red_mode); } +void HWSanity::PrepareAxis(config::Axis axis) { + mm::motion.InitAxis(axis); + mm::motion.SetMode(axis, mm::Normal); + // Clear TOFF so the motors don't actually step during the test. + mm::motion.MMU_NEEDS_ATTENTION_DriverForAxis(axis).SetBridgeOutput(mm::axisParams[axis].params, false); +} + bool HWSanity::StepInner() { switch (state) { case ProgressCode::HWTestBegin: //auto& driver = mm::motion.DriverForAxis(config::Axis::Pulley); test_step = 0; - // Todo - set TOFF so the output bridge is disabled. state = ProgressCode::HWTestIdler; break; case ProgressCode::HWTestIdler: @@ -75,18 +73,21 @@ bool HWSanity::StepInner() { ml::leds.SetPairButOffOthers(3, ml::on, ml::off); state = ProgressCode::HWTestExec; next_state = ProgressCode::HWTestSelector; + PrepareAxis(axis); break; case ProgressCode::HWTestSelector: axis = config::Axis::Selector; ml::leds.SetPairButOffOthers(3, ml::off, ml::on); state = ProgressCode::HWTestExec; next_state = ProgressCode::HWTestPulley; + PrepareAxis(axis); break; case ProgressCode::HWTestPulley: axis = config::Axis::Pulley; ml::leds.SetPairButOffOthers(3, ml::on, ml::on); state = ProgressCode::HWTestExec; next_state = ProgressCode::HWTestCleanup; + PrepareAxis(axis); break; // The main test loop for a given axis. case ProgressCode::HWTestDisplay: @@ -103,16 +104,15 @@ bool HWSanity::StepInner() { /* FALLTHRU */ case ProgressCode::HWTestExec: { auto params = mm::axisParams[axis].params; + auto &driver = mm::motion.MMU_NEEDS_ATTENTION_DriverForAxis(axis); if (test_step < (TEST_PASSES * 8)) // 8 combos per axis { uint8_t set_state = test_step % 8; - //auto* driver = &mm::motion.DriverForAxis(axis); // The order of the bits here is roughly the same as that of IOIN. - mm::motion.DriverForAxis(axis).SetDir(params, set_state & BIT_DIR); - mm::motion.DriverForAxis(axis).SetStep(params, set_state & BIT_STEP); - ml::leds.SetPairButOffOthers(3, ml::on, ml::off); - //mm::motion.DriverForAxis(axis).SetEnabled(params, set_state & BIT_ENA); - uint32_t drv_ioin = const_cast(mm::motion.DriverForAxis(axis)).ReadRegister(params, hal::tmc2130::TMC2130::Registers::IOIN); + driver.SetDir(params, set_state & BIT_DIR); + driver.SetStep(params, set_state & BIT_STEP); + driver.SetEnabled(params, set_state & BIT_ENA); + uint32_t drv_ioin = driver.ReadRegister(params, hal::tmc2130::TMC2130::Registers::IOIN); // Compose IOIN to look like set_state. drv_ioin = (drv_ioin & 0b11) | ((drv_ioin & 0b10000) ? 0 : 4); // Note the logic inversion for ENA readback! uint8_t bit_errs = (drv_ioin ^ set_state); @@ -131,6 +131,7 @@ bool HWSanity::StepInner() { test_step++; } else { // This pass is complete. Move on to the next motor or cleanup. + driver.SetBridgeOutput(params, true); test_step = 0; state = next_state; } @@ -139,20 +140,17 @@ bool HWSanity::StepInner() { if (fault_masks[0] || fault_masks[1] || fault_masks[2]) { // error, display it and return the code. state = ProgressCode::ErrHwTestFailed; - error = ErrorCode::TMC_PINS_UNRELIABLE; + error = ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION; uint8_t mask = fault_masks[Axis::Idler]; if (mask) { - error |= ErrorCode::TMC_IDLER_BIT; SetFaultDisplay(0, mask); } mask = fault_masks[Axis::Pulley]; if (mask) { - error |= ErrorCode::TMC_PULLEY_BIT; SetFaultDisplay(2, mask); } mask = fault_masks[Axis::Selector]; if (mask) { - error |= ErrorCode::TMC_SELECTOR_BIT; SetFaultDisplay(1, mask); } ml::leds.SetMode(3, ml::red, ml::off); @@ -161,7 +159,7 @@ bool HWSanity::StepInner() { ml::leds.SetMode(4, ml::green, ml::off); return true; } else { - //TODO: Re-enable TOFF here + ml::leds.SetPairButOffOthers(0, ml::off, ml::off); FinishedOK(); } case ProgressCode::OK: diff --git a/src/logic/hw_sanity.h b/src/logic/hw_sanity.h index 1acfdc2..1456433 100644 --- a/src/logic/hw_sanity.h +++ b/src/logic/hw_sanity.h @@ -2,7 +2,8 @@ #pragma once #include #include "command_base.h" -#include "config/axis.h" +#include "../config/axis.h" +#include "../modules/leds.h" namespace logic { @@ -38,13 +39,18 @@ public: bool StepInner() override; private: + // Shared code fault display setup for each axis/slot static void SetFaultDisplay(uint8_t slot, uint8_t mask); - static uint8_t test_step; - static config::Axis axis; - static uint8_t fault_masks[3]; - static ProgressCode next_state; - static uint16_t wait_start; + // Prepares an axis for testing by initializing it and turning off the output. + static void PrepareAxis(config::Axis axis); + + uint8_t test_step = 0; + config::Axis axis; + uint8_t fault_masks[3] = { 0 }; + ProgressCode next_state = ProgressCode::HWTestBegin; + uint16_t wait_start = 0; + ml::Mode das_blinken_state = ml::off; }; /// The one and only instance of hwSanity state machine in the FW diff --git a/src/main.cpp b/src/main.cpp index 3039277..af90d79 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -27,6 +27,7 @@ #include "application.h" +#include "logic/hw_sanity.h" #include "logic/no_command.h" /// One-time setup of HW and SW components @@ -112,6 +113,19 @@ static void setup2() { } ml::leds.Step(); + // Prep hardware sanity: + logic::hwSanity.Reset(0); + + while (!logic::hwSanity.StepInner()) { + ml::leds.Step(); + } + + if (logic::hwSanity.Error() != ErrorCode::OK) { + // forward the issue to the logic startup handler. + logic::noCommand.SetInitError(logic::hwSanity.Error()); + return; + } + // Idler and Selector decide whether homing is possible/safe mi::idler.Init(); ms::selector.Init(); @@ -141,14 +155,17 @@ void Panic(ErrorCode ec) { /// The idea behind the Step* routines is to keep each automaton non-blocking allowing for some “concurrency”. /// Some FW components will leverage ISR to do their stuff (UART, motor stepping?, etc.) void loop() { + mb::buttons.Step(); ml::leds.Step(); - mf::finda.Step(); - mfs::fsensor.Step(); - mi::idler.Step(); - ms::selector.Step(); - mpu::pulley.Step(); - mui::userInput.Step(); + if (logic::hwSanity.Error() == ErrorCode::OK) { + mf::finda.Step(); + mfs::fsensor.Step(); + mi::idler.Step(); + ms::selector.Step(); + mpu::pulley.Step(); + mui::userInput.Step(); + } hal::cpu::Step(); mu::cdc.Step(); diff --git a/src/modules/motion.h b/src/modules/motion.h index 15c3ec5..f65b872 100644 --- a/src/modules/motion.h +++ b/src/modules/motion.h @@ -340,6 +340,13 @@ public: return axisData[axis].drv; } + /// @returns the (non-const) TMC213 driver associated with the particular axis. + /// Do not use unless you know exactly what you're doing, currently the only valid usage + /// is in the hw sanity module. + inline hal::tmc2130::TMC2130 &MMU_NEEDS_ATTENTION_DriverForAxis(Axis axis) { + return axisData[axis].drv; + } + /// @returns the controller associated with the particular axis inline const pulse_gen::PulseGen &CtrlForAxis(Axis axis) const { return axisData[axis].ctrl;