notes on next psu board, updated motion head firmware: lives here now, and a...

notes on next psu board, updated motion head firmware: lives here now, and a big bus update that is hopefully much more resilient, and a little faster

README.md

@@ -14,6 +14,7 @@ This is a circuit & mount for a small desktop DC PSU and embedded system bus-hea
     - clear LED indication of 24v presence, 5v presence on bus 
 
 ### What's Up:
+
 - uses [the module](https://gitlab.cba.mit.edu/jakeread/ucbus-module)
 - breaks out 24V 350W & UCBus on one 2x15 IDC
 - second 24V 40W UCBus channel available

firmware/motion-head/src/main.cpp

@@ -32,6 +32,7 @@ boolean smoothie_is_moving(void){
 EP_ONDATA_RESPONSES onMoveData(uint8_t* data, uint16_t len){
   // can we load it?
   if(!conveyor->is_queue_full()){
+    DEBUG3PIN_TOGGLE;
     // read from head, 
     uint16_t ptr = 0;
     // feedrate is 1st, 
@@ -227,50 +228,17 @@ void setup() {
   // r8 settings 
   osapAddVertex(rateSettingsEp);  // 8 
   // smoothie (and frequency of loop below)
-  #warning pls reconsider maximal rates / etc given new loop freq... and how / where to parameterize 
   smoothieRoll->init(20000);
-  // bare serial 
-  //Serial.begin(9600);
-  // barebus 
-  //ucBusHead_setup();
   // 25kHz base (40us period) or 
   // 20kHz base (50us period)
   d51ClockBoss->start_ticker_a(50); 
 }
 
-//#define TEST_TX
-
-#ifdef TEST_TX 
-unsigned long lastTx = 0;
-uint8_t testTx[33] = { 
-                      1, 2, 3, 4, 0, 6, 7, 8, 9, 10, 
-                      11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
-                      21, 22, 23, 24, 25, 26, 27, 28, 29, 30,
-                      31, 32, 33 };
-
-uint8_t tstRx[256];
-#endif 
-
 void loop() {
   // write ~ every second, transmit on chb to drop 1 
   // check indices on the way down / up ... was shifting, are not anymore 
   osapLoop();
   conveyor->on_idle(nullptr);
-
-  #ifdef TEST_TX 
-  if(ucBusHead_ctr(1)){
-    uint16_t len = ucBusHead_read(1, tstRx);
-    logPacket(tstRx, len);
-  }
-  if(millis() > lastTx + 100){
-    lastTx = millis();
-    if(ucBusHead_ctsB(1)){
-      //logPacket(testTx, 15);
-      ucBusHead_transmitB(testTx, 22, 1);
-      DEBUG1PIN_TOGGLE;
-    }
-  }
-  #endif
 } // end loop 
 
 // runs on period defined by timer_a setup: 
@@ -287,19 +255,18 @@ void TC0_Handler(void){
   timeTick ++;
   timeBlink ++;
   if(timeBlink > blinkTime){
-    //DEBUG1PIN_TOGGLE;
+    DEBUG1PIN_TOGGLE;
     timeBlink = 0; 
   }
   // do bus action first: want downstream clocks to be deterministic-ish
   ucBusHead_timerISR();
   // do step tick 
-  /*
   smoothieRoll->step_tick();
   // every n ticks, ship position? 
   // each of these ticks drops 10 data bytes, so if we have 17 byte packet, can do every 2nd packet 
   // which would occupy the full bus - notgood - or we can do every 3rd... I'll pick every 4th. 
   if(timeTick > 3){
-    DEBUG2PIN_TOGGLE;
+    DEBUG2PIN_HI;
     timeTick = 0;
     uint16_t mpptr = 0; // motion packet pointer 
     if(planner->do_set_position){
@@ -314,9 +281,7 @@ void TC0_Handler(void){
     ts_writeFloat32(smoothieRoll->actuators[2]->floating_position, motion_packet, &mpptr);
     ts_writeFloat32(smoothieRoll->actuators[3]->floating_position, motion_packet, &mpptr);
     // write packet, put on ucbus
-    //DEBUG3PIN_ON;
-    //ucBusHead_transmitA(motion_packet, 17);
-    //DEBUG3PIN_OFF;
+    ucBusHead_transmitA(motion_packet, 17);
+    DEBUG2PIN_LO;
   }
-  */
 }

osape-d51 @ eeabe1a1

-Subproject commit af5f9a0e004a6134b38f0f1996bebda271f9c655
+Subproject commit eeabe1a173dc1c7270b0099a7a1a0e0e7735e1be

firmware/motion-head/src/smoothie/modules/robot/Conveyor.cpp

@@ -121,7 +121,8 @@ void Conveyor::on_idle(void*)
             // Cleanly delete block
             Block* block = queue.tail_ref();
             // if not-super-full, light on: buffer close to starving 
-            (queue.space() > 32) ? DEBUG2PIN_ON : DEBUG2PIN_OFF;
+            #warning this was useful w/ buffer starvation debug / indication 
+            // (queue.space() > 32) ? DEBUG2PIN_ON : DEBUG2PIN_OFF;
             /*
             sysError(String(block->millimeters) + " " 
                 + String(block->entry_speed) + " " 
@@ -259,6 +260,8 @@ void Conveyor::check_queue(bool force)
 
 // called from step ticker ISR
 bool Conveyor::get_next_block(Block **block){
+    // indicate consumption 
+    DEBUG4PIN_TOGGLE;
     // mark entire queue for GC if flush flag is asserted
     if (flush){
         while (queue.isr_tail_i != queue.head_i) {

log/ucbus-psu-breakout-log.md

@@ -10,3 +10,23 @@ OK, through most of the setup.
 - label cut-jumpers, config auto 
 
 OK, done. 
+
+## Next Revision
+
+**2021 08 09**
+
+I get a lot of use out of these and it would be useful if they had a few more features.
+
+- ferrite bead, maybe SMT? inspect gnd plane when something is consuming power (i.e. the A4950 drivers), there's a 20kHz wobble (about +/- 1V!) and a longer mode ~ maybe 1kHz or so. 
+- 24v remote shutoff, and might as well add reverse polarity protection if it's easy 
+- 24v should auto-shutoff when logic is removed, presumably can pull the shutoff gate low 
+- 24v power sense w/ shunt resistor
+- hardware 'power-present' led,
+- 5v (!) remote shutoff: helps when debugging, to remote reset everything down-branch 
+- more intentional packaging with the PSU itself, current situation a little awkward. 
+- one 30pin and one 10pin connector, same lines, don't bother with 2nd RS485 link 
+- *so many* debug LEDs 
+- keep this option for i2c display 
+- some... buttons ? 
+- label the 5v select jumpers, 
+- I had more notes about this somewhere else... see if you can find old haystack log 
\ No newline at end of file