WIP: soft vs hard CNT by IhorNehrutsa · Pull Request #101 · CAP1Sup/Intellistep

IhorNehrutsa · 2021-08-12T09:48:36Z

This PR not for merge.
Bad news.
I've been doing a series of experiments on the dev branch.
The motor speed was constant from the 60-300 rpm range (not as fast as possible).
I first used a hardware step counter (#define USE_HARDWARE_STEP_CNT)
When I tried to turn the motor 100-500 rpm, I noticed that Err: increases over time.

When I used a software step counter, Err: does not increase over time.
It was weird.
In this PR I modified the source code to compare hard and soft counters.
It looks like the hard counter sometimes loses pulses (not every time the generator is run).
I was unable to identify a pattern. I think this is not an overflow or a bad form of signals.
Here photos after motor stop.
The sStp: is software counter, the hStp: is hardware counter.

CAP1Sup · 2021-08-12T14:20:04Z

Maybe it's something that's set up wrong with the timer? @xerootg you seem to know the most, did I mess something up in setup?

CAP1Sup · 2021-08-12T14:27:16Z

I do notice that the error seems to increase the more steps. I really think that this is an overflow issue. It's only off by one or two steps over several thousand. Can you reproduce the issue while staying only inside the band of the timer range (0-65555, I think)?

IhorNehrutsa · 2021-08-12T15:01:21Z

Maybe it's something that's set up wrong with the timer?

I don't see the error.
I tried to increase the filter value to 0xff, the error was much.

Intellistep/src/hardware/motor.cpp

Line 30 in 3aacf12

tim2ClkConfig.ClockFilter = 7;

Can you reproduce the issue while staying only inside the band of the timer range (0-65555, I think)?

Yes, the last three images illustrate the error inside the range 0-65535

CAP1Sup · 2021-08-12T15:03:08Z

Did you try decreasing the filter value? Maybe that would help? Just ping-ponging ideas

IhorNehrutsa · 2021-08-12T15:08:52Z

The deviation may appear after one revolution of the shaft, but may not appear.

IhorNehrutsa · 2021-08-12T15:11:44Z

Did you try decreasing the filter value?

Yes, I tried 0 and 1. The same result.

CAP1Sup · 2021-08-12T16:47:17Z

Hmm... we'll have to look into why this is happening. Obviously we can get it to work, BTT did. So the deviation has the possibility of occurring after a full revolution of the shaft?

CAP1Sup · 2021-08-12T16:47:48Z

Try disabling all interrupts besides the step interrupt. Maybe that's the issue

IhorNehrutsa · 2021-08-12T17:11:39Z

I have commented out the __disable_irq() in timers.cpp

void disableInterrupts() {

    // Disable the interrupts if this is the first block
    if (interruptBlockCount == 0) {
        //__disable_irq();
        syncInstructions();
    }

IhorNehrutsa · 2021-08-13T06:45:37Z

I looked at the BTT timer config. It similar to Intellistep.
https://github.com/CAP1Sup/Intellistep/blob/master/legacy/Close_loop/src/Hardware/time.c

xerootg · 2021-08-13T08:16:51Z

Hmmm... Is this related to some sort of clock rate issue? It seems unlikely that the hardware clock would loose steps of a clean square wave with the right filter and clock. I'm not doubting that the reported value is wrong, but I tend to trust hardware over polling within loops, otherwise it would be all over the internet that the stm32f1xx can't count. Or maybe checking out if there's a libopencm3 clock implementation notes would help, cause they seem to work around all kinds of strange hardware issues.

…

IhorNehrutsa · 2021-08-13T11:29:49Z

WTF!!!
Now if one of counters is disabled then error will slide towards negative values.
When hardware step counter is disabled, then error will slide towards negative values.
When software step counter is disabled, then error will slide too.
When both step counter is enabled, then error will stable.

#define USE_HARDWARE_STEP_CNT
#define USE_SOFTWARE_STEP_CNT

WTF!!!

IhorNehrutsa · 2021-08-13T13:29:14Z

WORSE!!!
After last commit the error slides towards negative values always.

CAP1Sup · 2021-08-13T15:08:12Z

Maybe try rolling back a couple of commits, starting from there?

IhorNehrutsa · 2021-08-13T15:11:56Z

I do not see a crime in last commit, it is not large

IhorNehrutsa · 2021-08-13T15:14:14Z

@CAP1Sup Could you test this on your equipment? It may be a hardware issue.

CAP1Sup · 2021-08-13T15:26:23Z

@CAP1Sup Could you test this on your equipment? It may be a hardware issue.

Unfortunately I cannot, I'm away on vacation. @xerootg could you assist here?

CAP1Sup · 2021-08-13T15:26:37Z

Or maybe @GhostlyCrowd ?

CAP1Sup · 2021-08-14T13:39:00Z

What does setting the NVIC do @IhorNehrutsa ?

IhorNehrutsa · 2021-08-14T17:13:43Z

https://community.arm.com/developer/ip-products/system/b/embedded-blog/posts/cutting-through-the-confusion-with-arm-cortex-m-interrupt-priorities

xerootg · 2021-08-15T01:30:42Z

My gear is packed up, I'm in the middle of moving. Sorry guys.

…

On Sat, Aug 14, 2021, 10:13 IhorNehrutsa ***@***.***> wrote: https://community.arm.com/developer/ip-products/system/b/embedded-blog/posts/cutting-through-the-confusion-with-arm-cortex-m-interrupt-priorities — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#101 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AA6S6SX4MO3JKXAK22C756LT42P5DANCNFSM5CAXYR5A> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&utm_campaign=notification-email> .

CAP1Sup · 2021-08-15T03:30:08Z

https://community.arm.com/developer/ip-products/system/b/embedded-blog/posts/cutting-through-the-confusion-with-arm-cortex-m-interrupt-priorities

I knew about what you were doing, I just didn't know why you were setting the priority? What are you trying to adjust?

CAP1Sup · 2021-08-15T03:31:02Z

My gear is packed up, I'm in the middle of moving. Sorry guys.

On Sat, Aug 14, 2021, 10:13 IhorNehrutsa @.***> wrote:

https://community.arm.com/developer/ip-products/system/b/embedded-blog/posts/cutting-through-the-confusion-with-arm-cortex-m-interrupt-priorities

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Reply to this email directly, view it on GitHub
#101 (comment),
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No problem, no problem at all. Thanks for letting us know. We'll have to get it tested soon. Unfortunately, I'm on vacation now, so we're all fairly occupied for the time being

CAP1Sup · 2021-11-22T01:57:02Z

I think that hardware step counting is definitely the way to go. With my most recent changes, the hardware step counter is almost 100% accurate. I think that there's still work to be done but in general it's looking like hardware step counting is the best option

IhorNehrutsa added 5 commits August 11, 2021 18:07

USE_SOFTWARE_STEP_CNT

baafbee

Merge branch 'invert_error' into USE_SOFTWARE_STEP_CNT

b5a888e

Update motor.cpp

2207728

Revert main.cpp

7b1242b

Update config_adv.h

ba04cb9

CAP1Sup added the bug Something isn't working label Aug 12, 2021

IhorNehrutsa added 3 commits August 13, 2021 08:54

Merge dev

2e0949e

Update motor.cpp

452a284

Merge branch 'dev' into USE_SOFTWARE_STEP_CNT

a00edd7

incomprehensible

61edd5a

USE_SOFTWARE_STEP_CNT

5d4bc1c

IhorNehrutsa and others added 2 commits August 13, 2021 18:15

Update oled.cpp

c0ee84a

Merge branch 'dev' into USE_SOFTWARE_STEP_CNT

907278c

SET NVIC_SetPriorityGrouping(3)

29f46d1

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