Merge branch 'dev'

clough42 · Feb 26, 2021 · adbd47f · adbd47f
2 parents 7a5f6fb + 84ab988
commit adbd47f
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Showing 7 changed files with 114 additions and 39 deletions.
diff --git a/els-f280049c/28004x_generic_ram_lnk.cmd b/els-f280049c/28004x_generic_ram_lnk.cmd
@@ -105,7 +105,7 @@ SECTIONS
 
    .stack           : > RAMM1,     PAGE = 1
    .ebss            : > RAMLS5|RAMLS6,    PAGE = 1
-   .econst          : > RAMLS5|RAMLS6,    PAGE = 1
+   .econst          : >> RAMLS5|RAMLS6,    PAGE = 1
    .esysmem         : > RAMLS5|RAMLS6,    PAGE = 1
 
    ramgs0           : > RAMGS0,    PAGE = 1

diff --git a/els-f280049c/Configuration.h b/els-f280049c/Configuration.h
@@ -146,6 +146,19 @@
 
 
 
+//================================================================================
+//                              VALIDATION/TRIP
+//
+// Validation thresholds and automatic trip behavior.
+//================================================================================
+
+// Maximum number of buffered steps
+// The ELS can only output steps at approximately 100KHz.  If you ask the ELS to
+// output steps faster than this, it will get behind and will stop automatically
+// when the buffered step count exceeds this value.
+#define MAX_BUFFERED_STEPS 100
+
+
 //================================================================================
 //                               CPU / TIMING
 //

diff --git a/els-f280049c/StepperDrive.cpp b/els-f280049c/StepperDrive.cpp
@@ -63,8 +63,9 @@ void StepperDrive :: initHardware(void)
 
     GPIO_CLEAR_STEP;
     GPIO_CLEAR_DIRECTION;
-    GPIO_SET_ENABLE;
     EDIS;
+
+    setEnabled(true);
 }
 
 

diff --git a/els-f280049c/StepperDrive.h b/els-f280049c/StepperDrive.h
@@ -91,6 +91,11 @@ class StepperDrive
     //
     Uint16 state;
 
+    //
+    // Is the drive enabled?
+    //
+    bool enabled;
+
 public:
     StepperDrive();
     void initHardware(void);
@@ -99,6 +104,8 @@ class StepperDrive
     void incrementCurrentPosition(int32 increment);
     void setCurrentPosition(int32 position);
 
+    bool checkStepBacklog();
+
     void setEnabled(bool);
 
     bool isAlarm();
@@ -121,9 +128,19 @@ inline void StepperDrive :: setCurrentPosition(int32 position)
     this->currentPosition = position;
 }
 
+inline bool StepperDrive :: checkStepBacklog()
+{
+    if( abs(this->desiredPosition - this->currentPosition) > MAX_BUFFERED_STEPS ) {
+        setEnabled(false);
+        return true;
+    }
+    return false;
+}
+
 inline void StepperDrive :: setEnabled(bool enabled)
 {
-    if( enabled ) {
+    this->enabled = enabled;
+    if( this->enabled ) {
         GPIO_SET_ENABLE;
     }
     else
@@ -144,45 +161,52 @@ inline bool StepperDrive :: isAlarm()
 
 inline void StepperDrive :: ISR(void)
 {
-    switch( this->state ) {
+    if(enabled) {
+
+        switch( this->state ) {
+
+        case 0:
+            // Step = 0; Dir = 0
+            if( this->desiredPosition < this->currentPosition ) {
+                GPIO_SET_STEP;
+                this->state = 2;
+            }
+            else if( this->desiredPosition > this->currentPosition ) {
+                GPIO_SET_DIRECTION;
+                this->state = 1;
+            }
+            break;
+
+        case 1:
+            // Step = 0; Dir = 1
+            if( this->desiredPosition > this->currentPosition ) {
+                GPIO_SET_STEP;
+                this->state = 3;
+            }
+            else if( this->desiredPosition < this->currentPosition ) {
+                GPIO_CLEAR_DIRECTION;
+                this->state = 0;
+            }
+            break;
+
+        case 2:
+            // Step = 1; Dir = 0
+            GPIO_CLEAR_STEP;
+            this->currentPosition--;
+            this->state = 0;
+            break;
 
-    case 0:
-        // Step = 0; Dir = 0
-        if( this->desiredPosition < this->currentPosition ) {
-            GPIO_SET_STEP;
-            this->state = 2;
-        }
-        else if( this->desiredPosition > this->currentPosition ) {
-            GPIO_SET_DIRECTION;
+        case 3:
+            // Step = 1; Dir = 1
+            GPIO_CLEAR_STEP;
+            this->currentPosition++;
             this->state = 1;
+            break;
         }
-        break;
 
-    case 1:
-        // Step = 0; Dir = 1
-        if( this->desiredPosition > this->currentPosition ) {
-            GPIO_SET_STEP;
-            this->state = 3;
-        }
-        else if( this->desiredPosition < this->currentPosition ) {
-            GPIO_CLEAR_DIRECTION;
-            this->state = 0;
-        }
-        break;
-
-    case 2:
-        // Step = 1; Dir = 0
-        GPIO_CLEAR_STEP;
-        this->currentPosition--;
-        this->state = 0;
-        break;
-
-    case 3:
-        // Step = 1; Dir = 1
-        GPIO_CLEAR_STEP;
-        this->currentPosition++;
-        this->state = 1;
-        break;
+    } else {
+        // not enabled; just keep current position in sync
+        this->currentPosition = this->desiredPosition;
     }
 }
 

diff --git a/els-f280049c/UserInterface.cpp b/els-f280049c/UserInterface.cpp
@@ -28,7 +28,7 @@
 
 const MESSAGE STARTUP_MESSAGE_2 =
 {
-  .message = { LETTER_E, LETTER_L, LETTER_S, DASH, ONE | POINT, THREE | POINT, ZERO, ONE },
+  .message = { LETTER_E, LETTER_L, LETTER_S, DASH, ONE | POINT, FOUR | POINT, ZERO, ZERO },
   .displayTime = UI_REFRESH_RATE_HZ * 1.5
 };
 
@@ -52,6 +52,22 @@ const MESSAGE SETTINGS_MESSAGE_1 =
  .next = &SETTINGS_MESSAGE_2
 };
 
+extern const MESSAGE BACKLOG_PANIC_MESSAGE_2;
+const MESSAGE BACKLOG_PANIC_MESSAGE_1 =
+{
+ .message = { LETTER_T, LETTER_O, LETTER_O, BLANK, LETTER_F, LETTER_A, LETTER_S, LETTER_T },
+ .displayTime = UI_REFRESH_RATE_HZ * .5,
+ .next = &BACKLOG_PANIC_MESSAGE_2
+};
+const MESSAGE BACKLOG_PANIC_MESSAGE_2 =
+{
+ .message = { BLANK, LETTER_R, LETTER_E, LETTER_S, LETTER_E, LETTER_T, BLANK, BLANK },
+ .displayTime = UI_REFRESH_RATE_HZ * .5,
+ .next = &BACKLOG_PANIC_MESSAGE_1
+};
+
+
+
 const Uint16 VALUE_BLANK[4] = { BLANK, BLANK, BLANK, BLANK };
 
 UserInterface :: UserInterface(ControlPanel *controlPanel, Core *core, FeedTableFactory *feedTableFactory)
@@ -126,6 +142,18 @@ void UserInterface :: overrideMessage( void )
     }
 }
 
+void UserInterface :: clearMessage( void )
+{
+    this->message = NULL;
+    this->messageTime = 0;
+    controlPanel->setMessage(NULL);
+}
+
+void UserInterface :: panicStepBacklog( void )
+{
+    setMessage(&BACKLOG_PANIC_MESSAGE_1);
+}
+
 void UserInterface :: loop( void )
 {
     // read the RPM up front so we can use it to make decisions
@@ -143,6 +171,7 @@ void UserInterface :: loop( void )
         // these keys should only be sensitive when the machine is stopped
         if( keys.bit.POWER ) {
             this->core->setPowerOn(!this->core->isPowerOn());
+            clearMessage();
         }
 
         // these should only work when the power is on

diff --git a/els-f280049c/UserInterface.h b/els-f280049c/UserInterface.h
@@ -60,11 +60,14 @@ class UserInterface
     LED_REG calculateLEDs();
     void setMessage(const MESSAGE *message);
     void overrideMessage( void );
+    void clearMessage( void );
 
 public:
     UserInterface(ControlPanel *controlPanel, Core *core, FeedTableFactory *feedTableFactory);
 
     void loop( void );
+
+    void panicStepBacklog( void );
 };
 
 #endif // __USERINTERFACE_H
diff --git a/els-f280049c/main.cpp b/els-f280049c/main.cpp
@@ -139,6 +139,11 @@ void main(void)
         // mark beginning of loop for debugging
         debug.begin2();
 
+        // check for step backlog and panic the system if it occurs
+        if( stepperDrive.checkStepBacklog() ) {
+            userInterface.panicStepBacklog();
+        }
+
         // service the user interface
         userInterface.loop();