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Implemented homing routine for tuner and matcher.

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jupfi 2022-01-03 14:51:04 +01:00
parent 1acfac603a
commit 17cd2b51be
1 changed files with 95 additions and 43 deletions
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136
ATM.ino
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@ -31,7 +31,7 @@
#define DIAG1_PIN_M2 0 // used for homing
// Stall Detection sensitivity
#define STALL_VALUE -64 // [-64..63]
#define STALL_VALUE 16 // [-64..63]
//ADC Pin
#define REFLECTION_PIN 15
@ -43,6 +43,8 @@
// Stepper Settings
#define STEPS_PER_ROTATION 3200U // 200 * 16 -> Microstepping
#define TUNING_STEPPER_HOME 32000U
#define MATCHING_STEPPER_HOME 32000U
ADF4351 adf4351(SCLK_PIN, MOSI_PIN, LE_PIN, CE_PIN); // declares object PLL of type ADF4351
@ -52,53 +54,66 @@ TMC2130Stepper matching_driver = TMC2130Stepper(EN_PIN_M2, DIR_PIN_M2, STEP_PIN_
AccelStepper tuning_stepper = AccelStepper(tuning_stepper.DRIVER, STEP_PIN_M1, DIR_PIN_M1);
AccelStepper matching_stepper = AccelStepper(matching_stepper.DRIVER, STEP_PIN_M2, DIR_PIN_M2);
void IRAM_ATTR tuningStall() {
Serial.println("Stall");
}
struct Stepper{
AccelStepper STEPPER;
TMC2130Stepper DRIVER;
int STALL_PIN;
int HOME_POSITION;
};
Stepper tuner = {tuning_stepper, tuning_driver, DIAG1_PIN_M1, TUNING_STEPPER_HOME};
Stepper matcher = {matching_stepper, matching_driver, DIAG1_PIN_M2, MATCHING_STEPPER_HOME};
void setup() {
Serial.begin(115200);
pinMode(MISO_PIN, INPUT_PULLUP); // Seems to be necessary for SPI to work
tuning_driver.begin(); // Initiate pins and registeries
tuning_driver.rms_current(400); // Set stepper current to 800mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
tuning_driver.microsteps(16);
tuning_driver.coolstep_min_speed(0xFFFFF); // 20bit max - needs to be set for stallguard
tuning_driver.diag1_stall(1);
tuning_driver.diag1_active_high(1);
tuning_driver.sg_stall_value(STALL_VALUE);
tuning_driver.shaft_dir(0);
tuner.DRIVER.begin(); // Initiate pins and registeries
tuner.DRIVER.rms_current(400); // Set stepper current to 800mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
tuner.DRIVER.microsteps(16);
tuner.DRIVER.coolstep_min_speed(0xFFFFF); // 20bit max - needs to be set for stallguard
tuner.DRIVER.diag1_stall(1);
tuner.DRIVER.diag1_active_high(1);
tuner.DRIVER.sg_stall_value(STALL_VALUE);
tuner.DRIVER.shaft_dir(0);
tuner.DRIVER.stealthChop(1); // Enable extremely quiet stepping
pinMode(DIAG1_PIN_M1, INPUT);
attachInterrupt(DIAG1_PIN_M1, tuningStall, RISING);
Serial.print("DRV_STATUS=0b");
Serial.println(tuning_driver.DRV_STATUS(), BIN);
matching_driver.begin(); // Initiate pins and registeries
matching_driver.rms_current(600); // Set stepper current to 800mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
matching_driver.microsteps(16);
matcher.DRIVER.begin(); // Initiate pins and registeries
matcher.DRIVER.rms_current(200); // Set stepper current to 800mA. The command is the same as command TMC2130.setCurrent(600, 0.11, 0.5);
matcher.DRIVER.microsteps(16);
matcher.DRIVER.coolstep_min_speed(0xFFFFF); // 20bit max - needs to be set for stallguard
matcher.DRIVER.diag1_stall(1);
matcher.DRIVER.diag1_active_high(1);
matcher.DRIVER.sg_stall_value(STALL_VALUE);
matcher.DRIVER.shaft_dir(0);
matcher.DRIVER.stealthChop(1); // Enable extremely quiet stepping
digitalWrite(EN_PIN_M1, LOW);
digitalWrite(EN_PIN_M2, LOW);
tuning_stepper.setMaxSpeed(12000);
tuning_stepper.setAcceleration(12000);
tuning_stepper.setEnablePin(EN_PIN_M1);
tuning_stepper.setPinsInverted(false, false, true);
tuning_stepper.enableOutputs();
tuner.STEPPER.setMaxSpeed(12000);
tuner.STEPPER.setAcceleration(12000);
tuner.STEPPER.setEnablePin(EN_PIN_M1);
tuner.STEPPER.setPinsInverted(false, false, true);
tuner.STEPPER.enableOutputs();
matching_stepper.setMaxSpeed(12000);
matching_stepper.setAcceleration(12000);
matching_stepper.setEnablePin(EN_PIN_M2);
matching_stepper.setPinsInverted(false, false, true);
matching_stepper.enableOutputs();
matcher.STEPPER.setMaxSpeed(12000);
matcher.STEPPER.setAcceleration(12000);
matcher.STEPPER.setEnablePin(EN_PIN_M2);
matcher.STEPPER.setPinsInverted(false, false, true);
matcher.STEPPER.enableOutputs();
tuning_stepper.setCurrentPosition(0);
tuner.STEPPER.setCurrentPosition(0);
matching_stepper.setCurrentPosition(0);
matcher.STEPPER.setCurrentPosition(0);
adf4351.begin();
@ -210,10 +225,17 @@ void loop() {
// it also places the steppers in a way so there is a resonance dip inside the frequency range
// CAREFULL -> The values are hardcoded, these need to be changed if there is a different coil in use
} else if (command == 'c'){
Serial.println("Homing...");
homeStepper(tuner);
homeStepper(matcher);
Serial.println("Resonance frequency after homing:");
uint32_t resonance_frequency = findCurrentResonanceFrequency(START_FREQUENCY, STOP_FREQUENCY, FREQUENCY_STEP);
Serial.println(resonance_frequency);
// frequency sweep call
// scans the frequency range for the current resonance frequency
} else if (command == 'f'){
Serial.println("Frequency sweep");
uint32_t resonance_frequency = findCurrentResonanceFrequency(START_FREQUENCY, STOP_FREQUENCY, FREQUENCY_STEP);
Serial.println("Resonance is at:");
Serial.println(resonance_frequency);
@ -262,8 +284,34 @@ int readReflection(int averages){
}
void homeStepper(){
//should put the stepper stuff into a struct
void homeStepper(Stepper stepper){
stallStepper(stepper);
/*tuning_stepper.setMaxSpeed(3000);
tuning_stepper.setAcceleration(3000);
delay(500);
stallStepper(tuning_stepper);
tuning_stepper.setMaxSpeed(12000);
tuning_stepper.setAcceleration(12000); */
stepper.STEPPER.setCurrentPosition(0);
stepper.STEPPER.moveTo(stepper.HOME_POSITION);
stepper.STEPPER.runToPosition();
}
void stallStepper(Stepper stepper){
stepper.STEPPER.moveTo(-9999999);
while (!digitalRead(stepper.STALL_PIN)){
stepper.STEPPER.run();
}
stepper.STEPPER.stop();
}
// calculates the Reflection Loss at a specified frequency
@ -274,21 +322,9 @@ void homeStepper(){
// Measurments: with 40dB LNA @85MHz
// Open: 1.6V RMS output
// Coil matched to -30dB: 1.0V RmS Output
float calculateRL(uint32_t frequency){
adf4351.setf(frequency);
delay(10);
int reflection_mv = readReflection(64); // Output of the logamp
float RMS_ADF = 13; // at -4dBm the ADF4351 generates sin with an RMS value of 131.5mV but due to to -10dB attenuation of the transcoupler and some additional reflections about 13mV are effectivly at the Logamp
float LOGAMP_SLOPE = 24; // Slope in mV/dB
int intercept_positioning = -108; // in dB
float reflection_dBV = (reflection_mv/LOGAMP_SLOPE) + intercept_positioning;
float reflection_rms = pow(10, reflection_dBV / 20) * 1000; // this step could be shortened but I still like to calculate it explicitly since there are multiple logarithmic operations going on here - > this value is in mV
float reflection_rms = getReflectionRMS(frequency);
float reflection_loss = 20 * log10((reflection_rms)/ RMS_ADF);
@ -298,6 +334,22 @@ float calculateRL(uint32_t frequency){
}
float getReflectionRMS(uint32_t frequency){
float LOGAMP_SLOPE = 24; // Slope in mV/dB
adf4351.setf(frequency);
delay(10);
int reflection_mv = readReflection(64); // Output of the logamp
int intercept_positioning = -108; // in dB
float reflection_dBV = (reflection_mv/LOGAMP_SLOPE) + intercept_positioning;
float reflection_rms = pow(10, reflection_dBV / 20) * 1000; // this step could be shortened but I still like to calculate it explicitly since there are multiple logarithmic operations going on here - > this value is in mV
return reflection_rms;
}
// Finds current Resonance Frequency of the coil. There should be a substential dip already present atm.
// Add plausibility check to make sure there is one peak at at least -12dB
// Following is for setup WITHOUT 20dB LNA: