Merge pull request #46 from veerwang/pr-filterspin

add support for Squid filter wheel

firmware/octopi_firmware_v2/main_controller_teensy41/TMC4361A_TMC2660_Utils.cpp

@@ -1708,6 +1708,36 @@ int32_t tmc4361A_read_encoder_vel(TMC4361ATypeDef *tmc4361A) {
 int32_t tmc4361A_read_encoder_vel_filtered(TMC4361ATypeDef *tmc4361A) {
   return tmc4361A_readInt(tmc4361A, TMC4361A_V_ENC_MEAN_RD);
 }
+
+/*
+  -----------------------------------------------------------------------------
+  DESCRIPTION: tmc4361A_write_encoder()
+
+  OPERATION:   We set encode value to register when need 
+
+  ARGUMENTS:
+      TMC4361ATypeDef *tmc4361A: Pointer to a struct containing motor driver info
+      int32_t value:  encode value 
+
+  RETURNS: None 
+
+  INPUTS / OUTPUTS: The CS pin and SPI MISO and MOSI pins output, input, and output data respectively
+
+  LOCAL VARIABLES:
+      None
+
+  SHARED VARIABLES:
+      None
+
+  GLOBAL VARIABLES: None
+
+  DEPENDENCIES: tmc4316A.h
+  -----------------------------------------------------------------------------
+*/
+void tmc4361A_write_encoder(TMC4361ATypeDef *tmc4361A, int32_t value) {
+  tmc4361A_writeInt(tmc4361A, TMC4361A_ENC_POS, value);
+}
+
 /*
   -----------------------------------------------------------------------------
   DESCRIPTION: tmc4361A_read_deviation() reads the difference between XACTUAL and ENC_POS

firmware/octopi_firmware_v2/main_controller_teensy41/TMC4361A_TMC2660_Utils.h

@@ -31,6 +31,7 @@ bool tmc4361A_read_deviation_flag(TMC4361ATypeDef *tmc4361A);
 int32_t tmc4361A_read_encoder(TMC4361ATypeDef *tmc4361A, uint8_t n_avg_exp);
 int32_t tmc4361A_read_encoder_vel(TMC4361ATypeDef *tmc4361A);
 int32_t tmc4361A_read_encoder_vel_filtered(TMC4361ATypeDef *tmc4361A);
+void tmc4361A_write_encoder(TMC4361ATypeDef *tmc4361A, int32_t value);
 int32_t tmc4361A_read_deviation(TMC4361ATypeDef *tmc4361A);
 int32_t tmc4361A_speed(TMC4361ATypeDef *tmc4361A);
 int32_t tmc4361A_acceleration(TMC4361ATypeDef *tmc4361A);

firmware/octopi_firmware_v2/main_controller_teensy41/def_octopi_80120.h

@@ -5,9 +5,11 @@
 static const uint8_t x = 1;
 static const uint8_t y = 0;
 static const uint8_t z = 2;
+static const uint8_t w = 3;
 
 static const float R_sense_xy = 0.22;
 static const float R_sense_z = 0.43;
+static const float R_sense_w = 0.105;
 
 // limit switch
 static const bool flip_limit_switch_x = true;
@@ -17,30 +19,38 @@ static const bool flip_limit_switch_y = true;
 static const int FULLSTEPS_PER_REV_X = 200;
 static const int FULLSTEPS_PER_REV_Y = 200;
 static const int FULLSTEPS_PER_REV_Z = 200;
+static const int FULLSTEPS_PER_REV_W = 200;
 static const int FULLSTEPS_PER_REV_THETA = 200;
 
 float SCREW_PITCH_X_MM = 2.54;
 float SCREW_PITCH_Y_MM = 2.54;
 float SCREW_PITCH_Z_MM = 0.3;
+float SCREW_PITCH_W_MM = 1;
 
 int MICROSTEPPING_X = 256;
 int MICROSTEPPING_Y = 256;
 int MICROSTEPPING_Z = 256;
+int MICROSTEPPING_W = 64;
 
 static const float HOMING_VELOCITY_X = 0.8;
 static const float HOMING_VELOCITY_Y = 0.8;
 static const float HOMING_VELOCITY_Z = 0.5;
+static const float HOMING_VELOCITY_W = 0.15 * SCREW_PITCH_W_MM;
 
 long steps_per_mm_X = FULLSTEPS_PER_REV_X*MICROSTEPPING_X/SCREW_PITCH_X_MM;
 long steps_per_mm_Y = FULLSTEPS_PER_REV_Y*MICROSTEPPING_Y/SCREW_PITCH_Y_MM;
 long steps_per_mm_Z = FULLSTEPS_PER_REV_Z*MICROSTEPPING_Z/SCREW_PITCH_Z_MM;
+long steps_per_mm_W = FULLSTEPS_PER_REV_W*MICROSTEPPING_W/SCREW_PITCH_W_MM;
 
 float MAX_VELOCITY_X_mm = 50;
 float MAX_VELOCITY_Y_mm = 50;
 float MAX_VELOCITY_Z_mm = 2;
+float MAX_VELOCITY_W_mm = 3.19 * SCREW_PITCH_W_MM;
+
 float MAX_ACCELERATION_X_mm = 200;
 float MAX_ACCELERATION_Y_mm = 200;
 float MAX_ACCELERATION_Z_mm = 20;
+float MAX_ACCELERATION_W_mm = 300 * SCREW_PITCH_W_MM;
 
 static const long X_NEG_LIMIT_MM = -130;
 static const long X_POS_LIMIT_MM = 130;
@@ -54,15 +64,18 @@ float X_MOTOR_RMS_CURRENT_mA = 1000;
 float Y_MOTOR_RMS_CURRENT_mA = 1000;
 // Ding's motion size 8 linear actuator
 float Z_MOTOR_RMS_CURRENT_mA = 500;
+float W_MOTOR_RMS_CURRENT_mA = 1900;
 
 float X_MOTOR_I_HOLD = 0.25;
 float Y_MOTOR_I_HOLD = 0.25;
 float Z_MOTOR_I_HOLD = 0.5;
+float W_MOTOR_I_HOLD = 0.5;
 
 // encoder
 bool X_use_encoder = false;
 bool Y_use_encoder = false;
 bool Z_use_encoder = false;
+bool W_use_encoder = false;
 
 // signs
 int MOVEMENT_SIGN_X = 1;    // not used for now