alexander/gobot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed Race-Condtion problem with arming of done_flag

Browse Source
This commit is contained in:
AlexanderHD27
2024-09-27 23:21:04 +02:00
parent 986927d740
commit f3490212bf
5 changed files with 65 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
motor-control/firmware/scripts/remote/run_openocd.exp Normal file
View File

@@ -0,0 +1,20 @@
#!/usr/bin/expect
set timeout 30
spawn ssh [lindex $argv 0]
expect "# "
send "cd ~/gobot/"
expect "# "
send "git fetch"
expect "# "
send "git checkout motor-ctrl-firmware"
expect "# "
send "cd motor-control/firmware/scripts/remote"
expect "# "
send "./run_openocd.sh"

2
motor-control/firmware/scripts/remote/run_openocd.sh
View File

@@ -1,3 +1,3 @@
#!/usr/bin/bash
sudo src/openocd -f interface/cmsis-dap.cfg -c "bindto 0.0.0.0" -c "adapter speed 5000" -f target/rp2040.cfg -s tcl
src/openocd -f interface/cmsis-dap.cfg -c "bindto 0.0.0.0" -c "adapter speed 5000" -f target/rp2040.cfg -s tcl

53
motor-control/firmware/src/main.cpp
View File

@@ -21,6 +21,9 @@
#define ENABLE0_PIN 2
#define ENABLE1_PIN 3
#define LIMIT0_PIN 10
#define LIMIT1_PIN 11
#define STEP0_PIN 6
#define STEP1_PIN 7
#define DIR0_PIN 8
@@ -58,40 +61,50 @@ int main() {
sleep_ms(5);
step_driver.set_conf0(10000, 0);
step_driver.set_conf1(10000, 0);
step_driver.pulse0(1000);
step_driver.pulse1(1000);
step_driver.wait0(0);
step_driver.wait1(0);
sleep_ms(200);
step_driver.set_conf1(10000, 0);
gpio_init(LIMIT0_PIN);
gpio_set_dir(LIMIT0_PIN, GPIO_IN);
gpio_pull_up(LIMIT0_PIN);
gpio_init(LIMIT1_PIN);
gpio_set_dir(LIMIT1_PIN, GPIO_IN);
gpio_pull_up(LIMIT1_PIN);
step_driver.set_conf0(10000, 1);
step_driver.set_conf1(10000, 1);
step_driver.pulse0(1000);
step_driver.pulse1(1000);
step_driver.pulse0(10000);
step_driver.wait0(0);
step_driver.wait1(0);
volatile uint t = 500 - step_driver.get_remaining_steps0();
volatile uint s = step_driver.get_remaining_steps1();
step_driver.set_conf0(10000, 0);
step_driver.pulse0(100000);
while(!gpio_get(LIMIT1_PIN)) {
sleep_ms(1);
}
step_driver.pulse0(0);
sleep_ms(500);
step_driver.set_conf0(1000, 1);
step_driver.set_conf1(1000, 1);
step_driver.set_conf0(10000, 1);
step_driver.pulse0(200);
step_driver.wait0(0);
sleep_ms(100);
step_driver.set_conf0(500, 0);
step_driver.pulse0(5000);
while(!gpio_get(LIMIT1_PIN)) {
sleep_ms(1);
}
step_driver.pulse0(0);
sleep_ms(1);
gpio_init(LED_PIN);
gpio_set_dir(LED_PIN, GPIO_OUT);
while (true) {
sleep_ms(50);
gpio_put(LED_PIN, 1);
sleep_ms(50);
gpio_put(LED_PIN, 0);
sleep_ms(50);
gpio_put(LED_PIN, 1);
}

6
motor-control/firmware/src/tmc2209/pulser.pio
View File

@@ -23,14 +23,14 @@ counter:
l1:
PULL NOBLOCK
MOV Y, OSR
MOV X, OSR
JMP !Y l1_end
IRQ WAIT 2 REL
IRQ WAIT 2 REL
SET PINS, 1
IRQ WAIT 2 REL
SET PINS, 0
MOV X, OSR
JMP X-- l1
l1_end:

7
motor-control/firmware/src/tmc2209/step.cpp
View File

@@ -167,6 +167,8 @@ void TMC2209_step_dual::set_conf1(uint frequency, bool dir) {
void TMC2209_step_dual::pulse0(uint n) {
this->remaining_step_count0 = n;
this->done_flag0_arm = true;
this->done_flag0 = false;
pio_sm_put_blocking(
this->pio_core, this->sm_num_counter0, n
);
@@ -175,12 +177,15 @@ void TMC2209_step_dual::pulse0(uint n) {
void TMC2209_step_dual::pulse1(uint n) {
this->remaining_step_count1 = n;
this->done_flag1_arm = true;
this->done_flag1 = false;
pio_sm_put_blocking(
this->pio_core, this->sm_num_counter1, n
);
};
void TMC2209_step_dual::pulse0_int(int n) {
this->remaining_step_count0 = n;
this->done_flag0_arm = true;
if(n < 0) {
n = abs(n);
@@ -193,6 +198,7 @@ void TMC2209_step_dual::pulse0_int(int n) {
};
void TMC2209_step_dual::pulse1_int(int n) {
this->remaining_step_count1 = n;
this->done_flag1_arm = true;
if(n < 0) {
n = abs(n);
@@ -212,6 +218,7 @@ void TMC2209_step_dual::irq_handler0() {
} else {
done_flag0 = false;
}
pio_interrupt_clear(this->pio_core, 2);
}