Today I would like to present you with the latest firmware changes for AMC. The difference is so big that I thought it makes a nice piece for the news page.
I was hopping to fix the really noisy ADC function for several years, and I finally got it. Now it follows closely the potentiometer and the measurements are not affected by motor power noise or other parasitic noise from environment.
To achieve that noise reduction I made my own routine to access directly the ADC registers and handle their sampling timing with a interrupt. This gave me a great deal of freedom to make the sampling time of each channel as fast as 7us (microseconds) or 0.000007sec. Just for comparison, before was 250us using standard library code.
This allowed me to also increase the program cycle speed up to 9000 times (when not receiving), and up to 7000 times per second when receiving data from the computer.
See the comparison video and the timing diagrams below:
AMC1.6 firmware 1.1h timings1.png (61.21 KiB) Viewed 12306 times
AMC1.6 firmware 1.1h timings2.png (60.53 KiB) Viewed 12306 times
AMC1.6 firmware 1.1h timings3.png (54.25 KiB) Viewed 12306 times
X-Sim can control stepper actuators, DC motors, pneumatic and hydraulic. It is recommended to use intelligent controllers which will calculate the target position out of a own position feedback signal. This controllers do only get a new position and can handle the motion control with full attention in realtime. If you use windows as realtime control with a not intelligent general purpose interface you can use a additional PC as embedded MPU.
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