PIC32MX4 Modifications & MPLAB Project #4

n9wxu · 2015-12-18T04:17:34Z

Improved performance and ported to the MX440.
Temporarily removed the PWM feature.
Added additional inputs to support a derivative HW board.
Increased the step rate to 138khz. 80Mhz is starting to run out of steam at this point.
Getting ready to use the PIC32MX470 to increase the clock speed to 120MHz.

This change is

Improved performance and ported to the MX4.

Previous update did not include the important changes.

n9wxu · 2015-12-18T04:22:12Z

Forgot to include the important changes to main & stepgen.

These files are a modification from the OSHPARK build. OSHPARK revision needs MCLR & I2C pullup resistors. I2C is optional for now.

n9wxu · 2015-12-18T04:35:35Z

Hardware files for the V3 PI Hat.
V3 hardware is here https://oshpark.com/shared_projects/xTIz9hC0
The oshpark build is missing a MCLR pullup resistor.

PWM's now mapped to the step channels. Enables are now mapped as the step channels E1_Direction is now the master stepper driver enable. X_STEP is still the step because X_ENABLE is defective. OC2-4 are used for PWM OC1 is not used.

n9wxu · 2015-12-19T05:37:50Z

Some additional hardware issues on the V3 board at OSHPARK.
X1_ENABLE is not connected to the PIC32. X1_Step will remain unchanged. Other Enables will become step generators and the step generators will become PWM.

adbensi · 2015-12-19T22:03:41Z

very interesting, I'm changing the board for debugging and testing .. congradulations n9wxu!

n9wxu · 2015-12-19T23:02:04Z

Good looking board. My only comment is it is generally a bad idea to put via's under pads. The reason is due to solder stencils. The via will absorb more solder than the pad will so you need a larger opening in the stencil to put more paste on those pads. It is better to move the via away from the pad so all stencil openings are a consistent size. Obviously if you do not plan on using stencils, this is not an issue.

n9wxu · 2015-12-19T23:07:12Z

Board on right has engineering sample MX470. That will run at 120Mhz.

refactored to go back to a single call to stepgen. added a macro to make the step generation DRY. reduced the step accumulator to 65536 (not really sure if this is a good idea) increased the core timer rate to 200khz (52% CPU for step generation on 4 Axis) Made the appropriate changes to the HAL. programmable stepwidth is still not supported.

n9wxu · 2015-12-20T01:12:36Z

Reached 200KHz. The stepper motor really moves!

I restored the original step algorithm sans stepwidth adjustment. It is still operating at 200khz.

adbensi · 2015-12-21T22:43:26Z

n9wxu, You are using SYS_FREQ = 80MHz and BASEFREQ = 150KHz with MX470 or MX440?
great job! I look forward to see these speeds 👍

kinsamanka · 2015-12-21T22:51:58Z

HAL/picnc.h

@@ -50,11 +50,11 @@ typedef enum {
 #define SPIBUFSIZE		20		/* SPI buffer size */
 #define BUFSIZE			(SPIBUFSIZE/4)

-#define STEPBIT			22		/* bit location in DDS accum */
+#define STEPBIT			16		/* bit location in DDS accum */


You are sacrificing step resolution over speed

The max speed step frequency is not limited by those settings. In any case I put your algorithm back. Stand by for another pull request.

Sent from my iPhone

On Dec 21, 2015, at 3:51 PM, GP Orcullo [email protected] wrote:

In HAL/picnc.h:

@@ -50,11 +50,11 @@ typedef enum {
#define SPIBUFSIZE 20 /* SPI buffer size */
#define BUFSIZE (SPIBUFSIZE/4)

-#define STEPBIT 22 /* bit location in DDS accum /
+#define STEPBIT 16 / bit location in DDS accum */
You are sacrificing step resolution over speed

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n9wxu · 2015-12-22T00:14:09Z

I push more code up tonight because it is at 200khz now.

Sent from my iPhone

On Dec 21, 2015, at 3:43 PM, adbensi [email protected] wrote:

n9wxu, You are using SYS_FREQ = 80MHz and BASEFREQ = 150KHz with MX470 or MX440?
great job! I look forward to see these speeds

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n9wxu · 2015-12-22T01:33:20Z

This restores the higher resolution steps and keeps the 200khz step rate.

attempted to speed up the ISR by generating the step pattern in a FIFO

It can't produce more than 1 step ahead reliably so the ISR runs dry when operating with a FIFO.

adbensi · 2016-01-23T01:17:34Z

n9wxu, if You have odroid C1, there is last RT kernel
https://github.com/adbensi/kernel-odroidc-3.10.80-rt102
Best Regards

adbensi · 2016-04-03T23:08:55Z

Odroid C0 ready :D

kinsamanka · 2016-04-03T23:16:52Z

The Orange Pi One is a cheaper alternative ;-)
On Apr 4, 2016 6:08 AM, "adbensi" [email protected] wrote:

[image: 20160402_140117]
https://cloud.githubusercontent.com/assets/8729496/14235538/badadfb8-f9d7-11e5-9f3d-6e4644746a2a.jpg
Odroid C0 ready :D

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#4 (comment)

creisey · 2020-03-07T16:06:35Z

how is the state at that project? im looking forwards for this

n9wxu · 2020-03-07T17:25:35Z

I have had time for this project in some time. If I was starting now, I would use a teensy 4.0 the higher clock speed would speed the step rate considerably. Joseph Julicher

…

On Mar 7, 2020, at 9:06 AM, iosias ***@***.***> wrote: how is the state at that project? im looking forwards for this — You are receiving this because you modified the open/close state. Reply to this email directly, view it on GitHub, or unsubscribe.

creisey · 2020-03-10T07:36:18Z

Odroid C0 ready :D

i have some trouble with getting the odroid c0 running with linuxcnc... how did you proceed? all the tutorials i found are more than 2 year old and seam not woring anymore
with the prebuilt machinkit image from https://0ptr.link i have trouble with SPI and network

cheers

adbensi · 2020-03-10T09:11:51Z

Hi! You need my kernel changed to use ethernet on odroid.. please, try on my Github Best regards Em ter, 10 de mar de 2020 04:36, iosias <[email protected]> escreveu:

…

[image: 20160402_140117] <https://cloud.githubusercontent.com/assets/8729496/14235538/badadfb8-f9d7-11e5-9f3d-6e4644746a2a.jpg> Odroid C0 ready :D i have some trouble with getting the odroid c0 running with linuxcnc... how did you proceed? all the tutorials i found are more than 2 year old and seam not woring anymore with the prebuilt machinkit image from https://0ptr.link i have trouble with SPI and network cheers — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#4?email_source=notifications&email_token=ACCTHGG3NAQMIDG6557BJCTRGXUXHA5CNFSM4BW7RGW2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEOKKR6Y#issuecomment-596945147>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACCTHGFTKHAOWKUXMUXMPIDRGXUXHANCNFSM4BW7RGWQ> .

creisey · 2020-03-10T15:10:12Z

i tried that, but i had problems during the make process.

it seemed related to gcc version 7

could you provide a compiled kernel to me?
and what bases did you use? the Ubuntu MATE 18.04.3 image form hardkernel?

adbensi · 2020-03-10T18:12:45Z

Hi, In January 2016, I compiled directly on the Odroid C0, in one images from repo Odroid that year .. this is a good reference to follow the same. But Guys, recently I saw messages that there is something more recent here with Tennsy, it is working too? Em ter., 10 de mar. de 2020 às 12:10, iosias <[email protected]> escreveu:

…

i tried that, but i had problems during the make process. [image: image] <https://user-images.githubusercontent.com/19647655/76326873-8bc3fa00-62e9-11ea-8e63-43f8076c5fa1.png> it seemed related to gcc version 7 — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#4?email_source=notifications&email_token=ACCTHGEIDZT7H3AS67KV37LRGZJ6HA5CNFSM4BW7RGW2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEOLZ6XI#issuecomment-597139293>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACCTHGBZT2ODMSYITL5YDYDRGZJ6HANCNFSM4BW7RGWQ> .

creisey · 2020-03-21T10:10:04Z

i tried that, but i still cant compile, there are issues with gcc7, do you have the Odroid c0 running with Picnic?

is there a chance to buy a picnic hat? tindie option? ;)

n9wxu added 2 commits December 17, 2015 21:12

PIC32MX4 Modifications & MPLAB Project

8702601

Improved performance and ported to the MX4.

Actual changes to main and stepgen

04d70e6

Previous update did not include the important changes.

Added the V3 HW files

3f90e49

These files are a modification from the OSHPARK build. OSHPARK revision needs MCLR & I2C pullup resistors. I2C is optional for now.

X1_ENABLE is not connected on the Hardware

2030739

PWM's now mapped to the step channels. Enables are now mapped as the step channels E1_Direction is now the master stepper driver enable. X_STEP is still the step because X_ENABLE is defective. OC2-4 are used for PWM OC1 is not used.

restored original step algorithm.

5938c77

I restored the original step algorithm sans stepwidth adjustment. It is still operating at 200khz.

kinsamanka reviewed Dec 21, 2015
View reviewed changes

n9wxu closed this Dec 22, 2015

n9wxu reopened this Dec 22, 2015

n9wxu added 2 commits December 23, 2015 23:51

FIFO output attempt

9cbd308

attempted to speed up the ISR by generating the step pattern in a FIFO

put it back to 200khz ISR generated steps

a2e263f

It can't produce more than 1 step ahead reliably so the ISR runs dry when operating with a FIFO.

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PIC32MX4 Modifications & MPLAB Project #4

PIC32MX4 Modifications & MPLAB Project #4

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PIC32MX4 Modifications & MPLAB Project #4

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