Implements acceleration profiles: linear, trapezoid and s-curve

ardufocus/a4988.cpp

@@ -28,8 +28,6 @@ void a4988::init()
 {
   stepper::init();
 
-  OCR1A = 0x32; // (5kHz)
-
   IO::set_as_output(m_pinout.ms1);
   IO::set_as_output(m_pinout.ms2);
   IO::set_as_output(m_pinout.ms3);

ardufocus/a4988.h

@@ -30,20 +30,13 @@
 #include "util.h"
 #include "io.h"
 
-#undef MOTOR_DRIVER
-#define MOTOR_DRIVER a4988
-
 class a4988: public stepper
 {
   public:
     struct pinout_t
     {
-      uint8_t ms1;
-      uint8_t ms2;
-      uint8_t ms3;
-      uint8_t sleep;
-      uint8_t step;
-      uint8_t direction;
+      pin_t ms1, ms2, ms3;
+      pin_t sleep, step, direction;
     };
 
   protected:

ardufocus/ardufocus.cpp

@@ -48,19 +48,22 @@ int main(void)
   // --------------------------------------------------------------------------
   // Timer1 ISR init routine --------------------------------------------------
   // --------------------------------------------------------------------------
-  TCCR1B = 0; TIMSK1 = 0;
+  TCCR1A = 0; TCCR1B = 0; TIMSK1 = 0; OCR1A = 0; OCR1B = 0; TCNT1 = 0;
+
+  // Normal port operation, no output
+  TCCR1A &= ~(bit(COM1A1) | bit(COM1A0));
 
   // set waveform generation mode to CTC, top OCR1A (D9, D10)
   TCCR1B |= bit(WGM12);
 
-  // set clock select to clk/64
-  TCCR1B |= bit(CS11) | bit(CS10);
+  // set clock select to clk/8
+  TCCR1B |= bit(CS11);
 
   // output Compare A Match Interrupt Enable
   TIMSK1 |= bit(OCIE1A);
 
   // sets the Output Compare Register values
-  //OCR1A = 0x32; // (5kHz)
+  OCR1A = MAX_ISR_FREQ;
 
 
   // --------------------------------------------------------------------------

ardufocus/ardufocus.h

@@ -35,6 +35,7 @@
 #include "log.h"
 #include "analog.h"
 #include "protocol.h"
+#include "motor1drv.h"
 
 // --------------------------------------------------------------------------
 // Globals ------------------------------------------------------------------

ardufocus/assert.h

@@ -21,9 +21,13 @@
 #define __ASSERT_H__
 
 #if defined(USE_A4988_DRIVER)
-  #include "a4988.h"
+  #define MAX_ISR_FREQ 0x3E8 // 2KHz
+  #define MIN_ISR_FREQ 0xFA0 // 500Hz
+
 #elif defined(USE_ULN2003_DRIVER)
-  #include "uln2003.h"
+  #define MAX_ISR_FREQ 0x7D0  // 1KHz
+  #define MIN_ISR_FREQ 0x4E20 // 100Hz
+
 #else
   #error No stepper driver selected.
   #error Please review the config.h file.
@@ -38,4 +42,27 @@
   #warning Remote reset is enabled, make sure your bootloader is updated !
 #endif
 
+#if defined(USE_LINEAR_ACCEL) || defined(USE_TRAPEZOID_ACCEL) || defined(USE_SMOOTHSTEP_ACCEL)
+  #define HAS_ACCELERATION
+
+  #ifndef ACCEL_DURATION
+    #define ACCEL_DURATION 250
+  #elif (ACCEL_DURATION < 100)
+    #warning The acceleration duration is less than 100 steps.
+    #warning Maybe you should consider disabling acceleration at al ?
+  #endif
+
+  #ifndef ACCEL_MIN_STEPS
+    #define ACCEL_MIN_STEPS 10
+  #elif (ACCEL_MIN_STEPS < 1)
+    #error ACCEL_MIN_STEPS cannot be lower than 1 step.
+    #error Please review the config.h file.
+  #endif
+
+  #if (ACCEL_MIN_STEPS >= ACCEL_DURATION)
+    #error ACCEL_MIN_STEPS must be lower than ACCEL_DURATION.
+    #error Please review the config.h file.
+  #endif
+#endif
+
 #endif

ardufocus/config.h

@@ -31,7 +31,7 @@
 // damage your board. For more information read the README.md file or the source
 // code commit history.
 //
-// [8375767]: https://github.com/jbrazio/ardufocus/commit/8375767da8008305e1cb2a93d049970c49c1482d
+// [8375767]: https://github.com/jbrazio/Ardufocus/commit/8375767da8008305e1cb2a93d049970c49c1482d
 
 // ----------------------------------------------------------------------------
 // Remote reset ---------------------------------------------------------------
@@ -63,24 +63,51 @@
 // Example for ULN2003 driver board
 //
 //                     IN1, IN2, IN3, IN4
-//#define MOTOR1_PINOU   5,   4,   3,   2
+//#define MOTOR1_PINOUT    5,   4,   3,   2
 //
 // Example for A4988 driver board
 //
-//                      MS1, MS2, MS3, SLEEP, STEP, DIR
+//                      MS1, MS2, MS3, SLEEP,  STEP, DIR
 #define MOTOR1_PINOUT     7,   8,   9,    10,   11,  12
 
 // Activate the following directive if you'd like to invert the motor rotation
 // changing the focus direction.
 //#define INVERT_MOTOR_DIR
 
-// When active ardufocus will apply a linear acceleration profile to the motor's
-// speed. The objective is to help the system cope with heavier loads such as
-// FF + FW + CCD combos.
+// When active Ardufocus will apply the selected acceleration profile to the
+// motor's speed. The objective is to help the system cope with heavier loads
+// such as FF + FW + CCD combos.
+//
+//
+// Linear Acceleration   Trapezoid Acceleration   Smooth Step Acceleration
+//                                                        (S-Curve)
+//
+//   |   /\                |   ___________           |     __---__
+// V |  /  \             V |  /           \        V |    -       -
+//   | /    \              | /             \         |   -         -
+//   |/      \             |/               \        |__-           -__
+//   +----------------     +-------------------      +-------------------
+//         T                        T                         T
+//
 //#define USE_LINEAR_ACCEL
-
-// When active ardufocus will cut the stepper motor current when idle, in theory
-// this could lead to less accuracy betwen movements but will keep the motor
+//#define USE_TRAPEZOID_ACCEL
+#define USE_SMOOTHSTEP_ACCEL
+
+// The acceleration profile, independent of the method used, has at least two
+// main periods: the ramp-up period when the motor is gaining speed and the
+// ramp-down period when the motor is losing speed. This setting controls the
+// duration of each one of those periods, the default value is 250 steps for
+// each period if left undefined.
+//#define ACCEL_DURATION 250
+
+// When acceleration control is active this setting controls the minimum
+// required number of steps on a movement for the algorithm to kick in. Any
+// movement with less steps than this will be done at minimum speed without
+// any acceleration control. The default value is 10 steps of left undefined.
+//#define ACCEL_MIN_STEPS 10
+
+// When active Ardufocus will cut the stepper motor current when idle, in theory
+// this could lead to less accuracy between movements but will keep the motor
 // cool. When disabling this flag make sure your motor does not overheat.
 #define MOTOR_SLEEP_WHEN_IDLE
 
@@ -96,7 +123,7 @@
 // According to the Moonlite protocol the temperature probe should only be read
 // when the command ":C#" is received but some applications, such as SGP, seems
 // not to respect this and only call the get temperature command ":GT#" which
-// means the temperature will never get updated and the last value is always
+// means the temperature will never get updated and the last read value is always
 // returned, either it is valid or not. Enabling the following option will force
 // the temperature gathering process on every temperature read command.
 // #define START_TEMP_CONVERSION_ON_EVERY_GET
@@ -114,8 +141,6 @@
 // ----------------------------------------------------------------------------
 // DO NOT EDIT ANYTHING BELLOW THIS HEADER ------------------------------------
 // ----------------------------------------------------------------------------
-#ifndef __DO_NOT_ASSERT__
-  #include "assert.h"
-#endif
+#include "assert.h"
 
 #endif

ardufocus/isr.h

@@ -29,6 +29,7 @@
 #include "config.h"
 
 #include "analog.h"
+#include "motor1drv.h"
 
 extern MOTOR_DRIVER g_motor1;
 

ardufocus/log.h

@@ -123,7 +123,7 @@ class Log
     // float:
     static void number(const float& n)
     {
-      Log::fraq(n, 2);
+      Log::fraq(n, 3);
     }
 
   public:

ardufocus/macro.h

@@ -23,43 +23,37 @@
 #include <avr/interrupt.h>
 #include <avr/sfr_defs.h>
 
-#ifndef CRITICAL_SECTION_START
-  #define CRITICAL_SECTION_START  const uint8_t __SREG___ = SREG; cli();
-  #define CRITICAL_SECTION_END    SREG = __SREG___;
-#endif
+#undef CRITICAL_SECTION_START
+#define CRITICAL_SECTION_START const uint8_t __SREG___ = SREG; cli();
 
-#ifndef bit
-  #define bit(b) (1UL << (b))
-#endif
+#undef CRITICAL_SECTION_END
+#define CRITICAL_SECTION_END   SREG = __SREG___;
 
-#ifndef cbi
-  #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
-#endif
+#undef bit
+#define bit(b) (1UL << (b))
 
-#ifndef sbi
-  #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
-#endif
+#undef cbi
+#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
 
-#ifndef min
-  #define min(a,b) ((a)<(b)?(a):(b))
-#endif
+#undef sbi
+#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
 
-#ifndef max
-  #define max(a,b) ((a)>(b)?(a):(b))
-#endif
+#undef min
+#define min(a,b) ((a)<(b)?(a):(b))
 
-/*
-#ifndef abs
-  #define abs(x) ((x)>0?(x):-(x))
-#endif
-*/
+#undef max
+#define max(a,b) ((a)>(b)?(a):(b))
 
-#ifndef constrain
-  #define constrain(n, low, high) ((n)<(low)?(low):((n)>(high)?(high):(n)))
-#endif
+//#undef abs
+//#define abs(n) ((n)>0?(n):-(n))
 
-#ifndef asizeof
-  #define asizeof(a) (sizeof(a) / sizeof(*a))
-#endif
+#undef constrain
+#define constrain(n, l, h) ((n)<(l)?(l):((n)>(h)?(h):(n)))
+
+#undef map
+#define map(n, a, b, x, y) ((n-a)*(y-x)/(b-a)+x)
+
+#undef asizeof
+#define asizeof(a) (sizeof(a) / sizeof(*a))
 
 #endif

ardufocus/struct.h → ardufocus/motor1drv.h

@@ -17,38 +17,15 @@
  *
  */
 
-#ifndef __STRUCT_H__
-#define __STRUCT_H__
-
-#include <stdint.h>
-#include <stdlib.h>
-
 #include "version.h"
 #include "config.h"
 
-struct stepper_position_t
-{
-  bool moving;
-
-  uint16_t current,
-           target,
-           last;
-
-  uint16_t delta,
-           accelin,
-           accelout;
-};
+#if defined(USE_A4988_DRIVER)
+  #include "a4988.h"
+  #define MOTOR_DRIVER a4988
 
-struct stepper_pin_t
-{
-  uint8_t enable;
-  uint8_t ms1;
-  uint8_t ms2;
-  uint8_t ms3;
-  uint8_t reset;
-  uint8_t sleep;
-  uint8_t step;
-  uint8_t direction;
-};
+#elif defined(USE_ULN2003_DRIVER)
+  #include "uln2003.h"
+  #define MOTOR_DRIVER uln2003
 
 #endif

ardufocus/protocol.h

@@ -32,6 +32,7 @@
 #include "log.h"
 #include "util.h"
 #include "analog.h"
+#include "motor1drv.h"
 
 extern float g_ambient;
 extern MOTOR_DRIVER g_motor1;

ardufocus/serial.h

@@ -19,7 +19,6 @@
 
 #ifndef __SERIAL_H__
 #define __SERIAL_H__
-#define __DO_NOT_ASSERT__
 
 #include <stdint.h>
 #include <stdlib.h>