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Smart Stepper - flashing the firmware

How to change Vendor / Product ID?

For a better control of the dev rules for Smart Stepper the Vendor IDs and product IDs can be changed! This omits to connect to static / fixed ports.

https://github.com/Misfittech/nano_stepper/issues/47#issuecomment-583914737

vim %appdata%\..\Local\Arduino15\packages\misfittech\hardware\samd\1.0.0\boards.txt

nano_zero.vid.0=0x1209
nano_zero.pid.0=0x8087
nano_zero.vid.1=0x1209
nano_zero.pid.1=0x8086
nano_zero.build.vid=0x1209
nano_zero.build.pid=0x8087

Trikarus custom firmware fork modifications

Trikarus uses custom firmware which is a mix of hangprinter smart stepper fork and recent misfit tech repo (fw 0.40) - ci https://github.com/Misfittech/nano_stepper/commit/ddaf3ad388c0788647d27a625718b9728841248b

  1. https://gitlab.com/tobben/Smart-Stepper-for-Hangprinter/issues/1
  2. i2c stuff not implemented:
    1. https://gitlab.com/tobben/Smart-Stepper-for-Hangprinter/commit/47369f7ec7f921d845d138c8990ac040f617614e
    2. https://gitlab.com/tobben/Smart-Stepper-for-Hangprinter/commit/4d296668e11170089cbb9fd477c03788c4c5b3a0
    3. https://gitlab.com/tobben/Smart-Stepper-for-Hangprinter/commit/8fecdd1dda00aae269401cd1b4c4951bb27ae762
    4. https://gitlab.com/tobben/Smart-Stepper-for-Hangprinter/commit/e547967287961c84273519bf4dc00aaefabdf21f
    5. https://gitlab.com/tobben/Smart-Stepper-for-Hangprinter/commit/367fc4db3d0e22351c8864890462f9dd021fe2ee

Flashing directly from Windows client

http://misfittech.net/blog/arduino-package-install
https://github.com/microsoft/uf2

Install Arduino IDE

Version 1.6.4 or greater is required → Download

Add custom boards manager URL

Now we add the Misfit Tech package by URL. To do this open the preferences page on the IDE by going to File → Preferences. Add "https://github.com/Misfittech/arduino-board-index/raw/master/package_misfittech_index.json"

grafik.png

Install Board Manager "MisfitTech SAMD Boards"

grafik.png

Flash

grafik.png

Flashing directly from Raspberry Pi (where the motors are connected to by USB serial)

Install Arduino IDE

#install arduino
apt install arduino

Please note that arduino command requires X11 forward to work because it's a windowed application.

Check if arduino-cli is existent

if not: install it using the following command. It will be installed into /usr/bin/arduino-cl

cd /usr
curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh

Initialize and configure

arduino-cli config init

#edit the newly generated config file
vim ~/.arduino15/arduino-cli.yaml
board_manager:
  additional_urls:
    - "https://github.com/Misfittech/arduino-board-index/raw/master/package_misfittech_index.json"
daemon:
  port: "50051"
directories:
  data: /root/.arduino15
  downloads: /root/.arduino15/staging
  user: /root/Arduino
logging:
  file: ""
  format: text
  level: info
telemetry:
  addr: :9090
  enabled: true

Update Index

arduino-cli core update-index
Downloading missing tool builtin:ctags@5.8-arduino11...
builtin:ctags@5.8-arduino11 downloaded
Installing builtin:ctags@5.8-arduino11...
builtin:ctags@5.8-arduino11 installed
Downloading missing tool builtin:serial-discovery@1.0.0...
builtin:serial-discovery@1.0.0 downloaded
Installing builtin:serial-discovery@1.0.0...
builtin:serial-discovery@1.0.0 installed
Updating index: library_index.json downloaded
Updating index: package_index.json downloaded
Updating index: package_misfittech_index.json downloaded

Install Smart Stepper Board Support

#this may take up to 5 minutes
arduino-cli core install misfittech:samd
Downloading packages...
arduino:arm-none-eabi-gcc@4.8.3-2014q1 downloaded
arduino:bossac@1.6.1-arduino downloaded
arduino:openocd@0.9.0-arduino downloaded
arduino:CMSIS@4.0.0-atmel downloaded
misfittech:samd@1.0.0 downloaded
Installing arduino:arm-none-eabi-gcc@4.8.3-2014q1...
arduino:arm-none-eabi-gcc@4.8.3-2014q1 installed
Installing arduino:bossac@1.6.1-arduino...
arduino:bossac@1.6.1-arduino installed
Installing arduino:openocd@0.9.0-arduino...
arduino:openocd@0.9.0-arduino installed
Installing arduino:CMSIS@4.0.0-atmel...
arduino:CMSIS@4.0.0-atmel installed
Installing misfittech:samd@1.0.0...
Error during install: extracting archive: open /home/hangprintermanage/.arduino15/tmp/package-880721797: is a directory

This fails with error. You can fix it manually:

mkdir -p ~/.arduino15/packages/misfittech/hardware/samd/
cd ~/.arduino15/packages/misfittech/hardware/samd/
wget https://github.com/Misfittech/arduino-board-index/raw/master/boards/misfittech_samd-1.0.0.tar.bz2
tar jxf misfittech_samd-1.0.0.tar.bz2
rm misfittech_samd-1.0.0.tar.bz2
mv misfittech_samd-1.0.0/ 1.0.0/

Check if installed properly

arduino-cli core list
ID Installed Latest Name
misfittech:samd 1.0.0 1.0.0 MisfitTech SAMD Boards

For information only: get device list

Get the list of real /dev devices. The ttyUSB-SMART* are only symlinks

ls -l /dev/serial/by-id
ls -alF /dev |grep ttyUSB-SMART
python3.7 -m serial.tools.list_ports
arduino-cli board list #get the connected USB device

Compile ad upload fresh .bin files to Smart Stepper devices

Do the following steps as the user who installed arduino and configured arduino-cli

mkdir -p /home/hangprintermanage/firmware_smartstepper_trikarus/stepper_nano_zero
#copy *.ino and sketch files into /home/hangprintermanage/stepper_nano_zero/ 

#at the top level of the directory
cd /home/hangprintermanage/firmware_smartstepper_trikarus/stepper_nano_zero/

#compile the sketch (get stepper_nano_zero.misfittech.samd.nano_zero.bin file)
arduino-cli compile --fqbn misfittech:samd:nano_zero

#upload the sketch - note that /dev/ttyUSB-SMART* symlinks do not work. You need the real tty names. You can use readlink to find correct tty behind symlinks
arduino-cli upload -p $(readlink -f /dev/ttyUSB-SMART-A-AXIS) --fqbn misfittech:samd:nano_zero && sleep 4 && screen /dev/ttyUSB-SMART-A-AXIS
arduino-cli upload -p $(readlink -f /dev/ttyUSB-SMART-B-AXIS) --fqbn misfittech:samd:nano_zero && sleep 4 && screen /dev/ttyUSB-SMART-B-AXIS
arduino-cli upload -p $(readlink -f /dev/ttyUSB-SMART-C-AXIS) --fqbn misfittech:samd:nano_zero && sleep 4 && screen /dev/ttyUSB-SMART-C-AXIS
arduino-cli upload -p $(readlink -f /dev/ttyUSB-SMART-D-AXIS) --fqbn misfittech:samd:nano_zero && sleep 4 && screen /dev/ttyUSB-SMART-D-AXIS

More advanced compilation and upload with known calibration values

In case the Smart Steppers should not be moved it's a good idea to prevent Smart Steppers requiring re-calibration after new firmware upload. In this case you can compile with known values. Using the "getcal" command in Smart Stepper interface you can get the motor specific calibration values. Those values will be put in nonvolatile.cpp file on line 53 which is commented out in default mode.

You can also get the calibration values calling using the Python Serial parser described at Smart Stepper - calibration and control modes (sPID mode, pPID mode and torque mode)

python3.7 /opt/smartStepper.py --dev A --getcal

Typical calibration errors are around 0.1 degree or better. If your calibration is worse than this make sure your board is tightened down to motor on all four screws and run the calibration and test again. If the error is still high then you might want to check and make sure magnet is glued to the shaft properly.

Do the following steps as the user who installed arduino and configured arduino-cli

cd /home/hangprintermanage/firmware_smartstepper_trikarus/stepper_nano_zero/

# Drive A - getcal: "Max error is 0.043 degrees"
sed -i '53s/.*/18109,18426,18752,19066,19387,19714,20037,20353,20672,20994,21316,21632,21953,22278,22600,22919,23239,23567,23892,24209,24532,24865,25188,25509,25839,26167,26496,26820,27151,27485,27816,28135,28467,28801,29132,29456,29785,30118,30440,30763,31091,31420,31749,32069,32395,32728,33050,33368,33694,34024,34347,34669,34991,35320,35641,35959,36287,36615,36943,37263,37587,37921,38247,38569,38897,39228,39561,39881,40213,40551,40881,41208,41540,41874,42214,42542,42874,43212,43551,43878,44212,44549,44888,45215,45548,45882,46223,46550,46882,47209,47543,47872,48198,48527,48862,49181,49511,49837,50163,50483,50808,51135,51460,51778,52103,52428,52753,53073,53393,53719,54044,54362,54682,55010,55336,55653,55980,56305,56628,56952,57275,57602,57931,58258,58582,58911,59238,59567,59892,60221,60556,60878,61207,61541,61873,62201,62529,62861,63189,63513,63843,64175,64507,64827,65161,65486,283,603,935,1262,1589,1907,2237,2560,2889,3208,3535,3864,4189,4510,4839,5166,5495,5821,6146,6480,6811,7134,7463,7801,8130,8461,8792,9129,9462,9795,10129,10466,10802,11137,11470,11811,12149,12477,12813,13157,13490,13819,14154,14490,14823,15153,15479,15814,16145,16470,16794,17124,17452,17771,/' nonvolatile.cpp

arduino-cli compile --fqbn misfittech:samd:nano_zero
arduino-cli upload -p $(readlink -f /dev/ttyUSB-SMART-A-AXIS) --fqbn misfittech:samd:nano_zero && sleep 4 && screen /dev/ttyUSB-SMART-A-AXIS

# Drive B - getcal: "Max error is 0.049 degrees"
sed -i '53s/.*/1007,1325,1650,1976,2315,2644,2973,3297,3630,3960,4289,4615,4947,5277,5610,5933,6264,6596,6927,7250,7583,7914,8242,8569,8903,9233,9561,9889,10222,10552,10880,11206,11540,11867,12201,12525,12857,13190,13516,13841,14173,14502,14829,15151,15485,15812,16142,16466,16793,17122,17452,17773,18101,18425,18755,19076,19405,19731,20061,20381,20711,21035,21363,21680,22010,22336,22662,22984,23311,23638,23966,24285,24615,24940,25269,25588,25919,26247,26573,26895,27224,27550,27880,28202,28534,28862,29190,29516,29845,30175,30504,30826,31158,31488,31814,32137,32468,32798,33122,33448,33779,34107,34428,34754,35087,35417,35744,36067,36398,36725,37054,37377,37709,38036,38368,38687,39018,39345,39676,39998,40328,40659,40988,41313,41643,41974,42303,42625,42959,43288,43618,43943,44269,44603,44932,45261,45590,45921,46248,46572,46905,47232,47560,47882,48213,48544,48873,49194,49523,49852,50178,50500,50825,51152,51481,51801,52130,52457,52780,53104,53431,53760,54085,54404,54732,55059,55383,55707,56033,56359,56688,57010,57336,57664,57992,58316,58644,58969,59299,59624,59952,60280,60612,60934,61264,61595,61922,62248,62578,62906,63238,63567,63895,64225,64551,64878,65211,7,340,660,/' nonvolatile.cpp

arduino-cli compile --fqbn misfittech:samd:nano_zero
arduino-cli upload -p $(readlink -f /dev/ttyUSB-SMART-B-AXIS) --fqbn misfittech:samd:nano_zero && sleep 4 && screen /dev/ttyUSB-SMART-B-AXIS

# Drive C - getcal: "Max error is 0.054 degrees"
sed -i '53s/.*/25926,26245,26573,26897,27228,27554,27881,28211,28540,28873,29203,29526,29862,30191,30521,30849,31183,31513,31843,32169,32503,32832,33162,33486,33816,34143,34467,34789,35120,35444,35767,36091,36424,36753,37082,37408,37748,38078,38409,38735,39074,39405,39733,40056,40387,40713,41033,41351,41679,42002,42322,42641,42970,43296,43617,43939,44277,44605,44929,45255,45596,45925,46257,46582,46918,47246,47575,47898,48230,48557,48886,49203,49532,49860,50182,50505,50833,51157,51480,51801,52133,52458,52782,53100,53430,53751,54070,54383,54706,55023,55339,55651,55972,56291,56608,56918,57242,57560,57877,58192,58521,58843,59169,59487,59816,60140,60464,60785,61120,61442,61771,62095,62428,62758,63086,63417,63753,64082,64413,64742,65077,65407,204,530,866,1196,1524,1851,2185,2515,2840,3163,3496,3822,4150,4471,4807,5133,5460,5785,6120,6446,6780,7106,7443,7776,8106,8431,8769,9097,9429,9749,10087,10417,10746,11077,11409,11741,12073,12399,12740,13070,13402,13728,14067,14399,14732,15059,15398,15734,16067,16397,16734,17068,17401,17729,18069,18395,18726,19048,19385,19716,20045,20371,20705,21032,21361,21685,22016,22345,22673,22994,23329,23654,23980,24301,24632,24954,25281,25601,/' nonvolatile.cpp

arduino-cli compile --fqbn misfittech:samd:nano_zero
arduino-cli upload -p $(readlink -f /dev/ttyUSB-SMART-C-AXIS) --fqbn misfittech:samd:nano_zero && sleep 4 && screen /dev/ttyUSB-SMART-C-AXIS

# Drive D - getcal: "Max error is 0.054 degrees"
sed -i '53s/.*/2426,2760,3087,3420,3742,4077,4401,4728,5054,5384,5708,6030,6352,6681,6997,7317,7635,7957,8271,8592,8909,9233,9555,9878,10202,10528,10864,11192,11523,11857,12187,12518,12851,13180,13519,13841,14174,14501,14833,15165,15493,15831,16159,16490,16818,17145,17481,17818,18148,18466,18796,19116,19445,19769,20099,20414,20735,21050,21370,21686,21999,22315,22628,22934,23245,23558,23867,24183,24491,24809,25126,25441,25760,26082,26404,26725,27048,27380,27705,28030,28358,28695,29020,29349,29682,30014,30346,30680,31016,31350,31674,32002,32337,32674,33006,33337,33670,34005,34334,34662,35001,35334,35663,35993,36319,36650,36972,37298,37619,37944,38269,38590,38912,39240,39559,39882,40204,40530,40855,41180,41504,41836,42160,42491,42818,43156,43478,43813,44144,44476,44809,45140,45472,45805,46135,46466,46797,47137,47472,47789,48116,48449,48780,49107,49436,49769,50099,50422,50748,51071,51399,51734,52057,52392,52713,53039,53360,53693,54018,54345,54667,55001,55320,55646,55973,56302,56627,56956,57279,57610,57936,58265,58585,58913,59239,59564,59889,60218,60546,60878,61207,61544,61875,62214,62541,62882,63218,63561,63896,64237,64577,64920,65252,65,404,741,1076,1408,1743,2081,/' nonvolatile.cpp
arduino-cli compile --fqbn misfittech:samd:nano_zero
arduino-cli upload -p $(readlink -f /dev/ttyUSB-SMART-D-AXIS) --fqbn misfittech:samd:nano_zero && sleep 4 && screen /dev/ttyUSB-SMART-D-AXIS

#reset the original nonvolatile.cpp file to prevent uploading wrong calibration values to some Smart Stepper at some point
sed -i '53s/.*/ /' nonvolatile.cpp

Working with the smart steppers over a long time it's possible that you need to recalibrate at a later point to reduce the error. A higher error can be caused by different physical triggers like temperature / climate change at the place where the components are installed to.

Re-apply your custom motor settings

After flashing previous values get lost like maxcurrent and holdcurrent.

Run /opt/sms_modes/sms_preconfigure.sh to set them again. Please see Smart Stepper - calibration and control modes (sPID mode, pPID mode and torque mode)

Or upload pre-compiled *.bin files to Smart Stepper devices

this requires the bossac command. This command comes frome misfittech package! no need to install the package "bossa".

#set the Smart Steppers into boot loader mode by sending "boot" command. Therefore open some screen terminal for each smart stepper
screen /dev/ttyACM1
screen /dev/ttyACM2
screen /dev/ttyACM3
screen /dev/ttyACM4

cd /home/hangprintermanage/firmware_smartstepper_trikarus/stepper_nano_zero/
~/.arduino15/packages/arduino/tools/bossac/1.6.1-arduino/bossac -i -d --port=ttyACM1 -U true -i -e -w -v ./stepper_nano_zero.misfittech.samd.nano_zero.bin -R
~/.arduino15/packages/arduino/tools/bossac/1.6.1-arduino/bossac -i -d --port=ttyACM2 -U true -i -e -w -v ./stepper_nano_zero.misfittech.samd.nano_zero.bin -R
~/.arduino15/packages/arduino/tools/bossac/1.6.1-arduino/bossac -i -d --port=ttyACM3 -U true -i -e -w -v ./stepper_nano_zero.misfittech.samd.nano_zero.bin -R
~/.arduino15/packages/arduino/tools/bossac/1.6.1-arduino/bossac -i -d --port=ttyACM4 -U true -i -e -w -v ./stepper_nano_zero.misfittech.samd.nano_zero.bin -R

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