Constant current driver fixes

src/boards.h

@@ -16,6 +16,9 @@
     #endif
 #endif
 
+//TODO: deal with default values better
+//Kconfig is probably too complicated
+//maybe having a series of #ifndef <option> #def <option> default #endif at the end?
 #if defined(BOARD_SANGABOARDv3)
     #define BOARD_STRING "Sangaboard v0.3"
     #define WIRING_MOTOR_X 8, 9, 10, 11
@@ -26,6 +29,8 @@
     #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
     #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
     #define SERIAL_PORT Serial
+    #define PWM_NUM 0
+    #define WIRING_PWM_LEDS {}
 #elif defined(BOARD_SANGABOARDv2)
     #define BOARD_STRING "Sangaboard v0.2"
     #define WIRING_MOTOR_X 13, 12, 11, 10
@@ -36,6 +41,8 @@
     #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
     #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
     #define SERIAL_PORT Serial
+    #define PWM_NUM 0
+    #define WIRING_PWM_LEDS {}
 #elif defined(BOARD_CUSTOM_BLUEPILL)
     #define BOARD_STRING "Custom Bluepill board"
     #define WIRING_MOTOR_X PB11, PB10, PB1, PB0
@@ -46,6 +53,8 @@
     #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
     #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
     #define SERIAL_PORT Serial
+    #define PWM_NUM 0
+    #define WIRING_PWM_LEDS {}
 #elif defined(BOARD_CUSTOM_PICO)
     #define BOARD_STRING "Custom Pico board"
     #define WIRING_MOTOR_X 2, 3, 4, 5
@@ -58,8 +67,9 @@
     #define ADDITIONAL_STEPPERS 1
     #define WIRING_ADDITIONAL_STEPPERS = {{0, 1, 22, 23}}
     #define WIRING_STEPSTICK {13,14,15} //enable, step, dir todo: move to boards.h
-    //TODO: illumination, 4th motor wiring
     #define SERIAL_PORT Serial
+    #define PWM_NUM 0
+    #define WIRING_PWM_LEDS {}
 #elif defined(BOARD_SANGABOARDv5)
     #define BOARD_STRING "Sangaboard v0.5"
     #define WIRING_MOTOR_X 2, 3, 4, 5
@@ -79,7 +89,10 @@
     #else
         #define SERIAL_PORT Serial2
     #endif
-    //TODO: move illumination wiring here, 4th motor support
+    #define PWM_NUM 2
+    #define WIRING_PWM_LEDS {25, 29}
+    #define WIRING_CC_LED 24
+    //TODO: 4th motor support
 #elif defined(BOARD_CUSTOM_ESP32)
     #define BOARD_STRING "Custom ESP32 board"
     #define WIRING_MOTOR_X 34, 32, 25, 27
@@ -91,6 +104,8 @@
     #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
     #define WIRING_STEPSTICK {13,12,27}
     #define SERIAL_PORT Serial
+    #define PWM_NUM 0
+    #define WIRING_PWM_LEDS {}
 #elif defined(BOARD_CUSTOM)
     #define BOARD_STRING "Custom board"
     #define WIRING_MOTOR_X 2, 3, 4, 5
@@ -104,4 +119,6 @@
     #define WIRING_ADDITIONAL_STEPPERS = {{0, 1, 22, 23}}
     #define WIRING_STEPSTICK {8,9,10} //enable, step, dir todo: move to boards.h
     #define SERIAL_PORT Serial
+    #define PWM_NUM 0
+    #define WIRING_PWM_LEDS {}
 #endif

src/config.h

@@ -5,7 +5,7 @@
 
     //without this, default to HW serial where available
     //the details are board specific and configured in boards.h
-    //#define USB_SERIAL
+    #define USB_SERIAL
 
     #include <boards.h> //defines wiring
 

src/modules/illumination/illumination.cpp

@@ -7,23 +7,23 @@
     #include "dummyEEPROM.h"
 #endif
 
-#define PWM_NUM 1
-#define WIRING_PWM_LEDS {25}
-
 const uint8_t pwm_led_pins[] = WIRING_PWM_LEDS;
 void illumination_pwm_freq(String command)
 {
     char * args[1];
-    parse_arguments(args, command, 2);
+    parse_arguments(args, command, 1);
     #ifdef MCU_PICO
         analogWriteFreq(atol(args[0]));//32khz seems sensible
+        analogWriteRange(65535);
+
+        SERIAL_PORT.print("Frequency set: ");
+        SERIAL_PORT.print(atol(args[0]));
+        SERIAL_PORT.println("Hz");
     #else
         SERIAL_PORT.println("Feature not supported");
     #endif
 
-    SERIAL_PORT.println("Frequency set");
     free(args[0]);
-    free(args[1]);
 }
 
 void illumination_pwm(String command)
@@ -41,7 +41,7 @@ void illumination_pwm(String command)
 
     if (val < 0.00001)
     {
-        digitalWrite(pwm_led_pins[index], LOW);//start with motor disabled
+        digitalWrite(pwm_led_pins[index], LOW);
     }
     #ifdef MCU_PICO
         uint32_t pwm_val = val * 65535;
@@ -50,54 +50,83 @@ void illumination_pwm(String command)
     #endif
 
     analogWrite(pwm_led_pins[index], pwm_val);
-    SERIAL_PORT.println("Illumination set");
+    SERIAL_PORT.print("Illumination set");
+    SERIAL_PORT.println(pwm_val);
+
     free(args[0]);
     free(args[1]);
     #endif
 }
 
-#define CC_EN_PIN 24 //TODO: Move to boards
 void illumination_setup()
 {
     #ifdef MCU_PICO
         analogWriteRange(65535);
         analogWriteFreq(32000);//32khz seems sensible
     #endif
-    pinMode(pwm_led_pins[0], OUTPUT);
-    pinMode(CC_EN_PIN, OUTPUT);
+    for (uint8_t i = 0; i < PWM_NUM; i++)
+    {
+        pinMode(pwm_led_pins[i], OUTPUT);
+        digitalWrite(pwm_led_pins[i], LOW);
+    }
+
+    #ifdef WIRING_CC_LED
+        pinMode(WIRING_CC_LED, OUTPUT);
+    #endif
+
     register_module(illumination_commands, NULL);
 }
 
-void cc_on(String command)
+void cc_set(String command)
 {
-    digitalWrite(CC_EN_PIN, HIGH);
-}
+    #ifdef WIRING_CC_LED
+        const uint8_t td = 3; // >= 1.5 us
+        const uint8_t tup = 25; // 1-75 us
+        const uint8_t tdown = 230; //180-300us
 
-void cc_off(String command)
-{
-    digitalWrite(CC_EN_PIN, LOW);
-}
+        char * args[1];
+        parse_arguments(args, command, 1);
+        float val = atof(args[0]);
+        free(args[0]);
 
-void cc_up(String command)
-{
-    digitalWrite(CC_EN_PIN, LOW);
-    delayMicroseconds(30); //1-75us
-    digitalWrite(CC_EN_PIN, HIGH);
-}
+        //reset the device
+        digitalWrite(WIRING_CC_LED, LOW);
+        if (val < 0.02)
+            return;
 
-void cc_down(String command)
-{
-    digitalWrite(CC_EN_PIN, LOW);
-    delayMicroseconds(240); //180-300us
-    digitalWrite(CC_EN_PIN, HIGH);
+        uint8_t setting = val*32;
+        delayMicroseconds(650);
+
+        //start sequence
+        digitalWrite(WIRING_CC_LED, HIGH);
+        delayMicroseconds(130);
+
+        uint8_t stepd = tup;
+        uint8_t dir = 1;
+
+        if (setting < 16)
+        {
+            dir = -1;
+            stepd = tdown;
+        }
+
+        //step up
+        for (uint8_t i=16; i!=setting; i+=dir)
+        {
+            digitalWrite(WIRING_CC_LED, LOW);
+            delayMicroseconds(stepd);
+            digitalWrite(WIRING_CC_LED, HIGH);
+            delayMicroseconds(td);
+            Serial.println("Stepping CC"); //TODO remove debug print
+        }
+    #else
+        SERIAL_PORT.println("CC LED not supported");
+    #endif
 }
 
 extern const Command illumination_commands[] = {
     {"led_pwm", illumination_pwm},
-    {"led_pwm_freq", illumination_pwm_freq},
-    {"led_cc_up", cc_up},
-    {"led_cc_down", cc_down},
-    {"led_cc_on", cc_down},
-    {"led_cc_off", cc_off},
+    {"led_freq", illumination_pwm_freq},
+    {"led_cc_set", cc_set},
     END_COMMAND};
 #endif

src/modules/illumination/illumination.h

@@ -8,10 +8,7 @@
 void illumination_pwm(String command);
 void illumination_pwm_freq(String command);
 
-void cc_on(String command);
-void cc_off(String command);
-void cc_up(String command);
-void cc_down(String command);
+void cc_set(String command);
 
 void illumination_setup();
 extern const Command illumination_commands[];