Bus stops

The I²C bus not working was more of a problem. I had some issues when I just had the spindle controller connected, see bodge-it-and-move-on, but at that time I did not have a storage scope so I could not get to the bottom of it. In the meantime I bought a cheap 100 MHz 2 channel USB scope so I was able to find out what was going wrong.



As I have indicated above, the clock line has two glitches where it should have a proper clock pulse. The master generates the clock but the slave is allowed to stretch it by extending the low portion. Normally it is hard to tell which device is driving the bus but in this case it is obvious because I got the pull up resistors too small for the MSP430. I forgot that the MSP430 is aimed at low power applications so has an unusually low drive capability.

I still wasn't sure which end was the problem so I coded the host end in software so I could see exactly what the slave was doing. It is relatively easy to do an I²C master in software because it does not have any strict timing deadlines. The slave does, so it is more difficult to implement purely in software.

It turns out the problem lies with the mask revision of the MSP430F2013s that I am using. Revision B has several I²C bugs such as pulling the clock low when it shouldn't and no workarounds. I have had my chips for some time, long before I started this project. Two are actually labeled with a mask revision of X which is undocumented. It seems to have at least all the bugs in mask B. The other is labeled as mask B, so none are of any use for I²C!

Very disappointing that these days a device has to have three or four mask revisions just to get something as simple as an I²C module working. This seems to be the way things are going: hardware is becoming just as buggy as software. I wasted some time at work recently discovering that the UART in a PIC18F65J10 occasionally inserts zero bytes in the middle of your packet. These things were lab exercises when I was an undergraduate, now big companies can't get them right.

Fortunately, I had some MSP430F2012s that were mask revision B and the I²C bugs were fixed one revision earlier on that chip. They are slightly different in that they have a 10 bit SAR ADC instead of a 16 bit sigma-delta ADC. This is actually more appropriate for my application but it has a completely different software interface and voltage range.

Once I had swapped to the MSP430F2012 and modified the firmware for the new ADC, the I²C bus sprang into life. That was until I started to run the motor whereupon I got occasional bus lockups. This is due to the massive amount of noise coming from the brushes of the DC motor. I get about 2.5V of noise on the I²C lines

Using I²C without buffers for anything other than inter IC comms is a really bad design decision, I am not sure what came over me. I normally use RS485 differential comms when linking boards that drive motors or other high current loads and have never had a problem with noise. I even think I have publicly criticized the RepRap design for converting the RS232 to 5V signals before sending it around the ring of control boards. It was tempting to give I²C a try because I already had micros that support it, and didn't have UARTs, and my screened cable is only about a foot long. I²C is particularly susceptible to noise though because it is only actively driven low and because it is edge sensitive. Also the data rate I chose is five times faster than RepRap uses and I am using 3.3V logic rather than 5V. I²C also has the nasty feature that corruption can cause the bus to lock up which doesn't happen with asynchronous comms.

One thing I noticed was that earthing the can of the motor made things a lot worse by coupling the noise onto the ground rail. I established that the noise is conducted rather than radiated by running the motor from a separate bench PSU. I also managed to get it to run reliably by adding some 2200pF capacitors to the I²C lines, but that is a horrible bodge! Other things I will try :-

1. Change the pullup resistors from 1K to 2K2 so that the MSP430 can pull them fully low. That will increase the logic low noise immunity but make the logic high immunity worse.
2. See if I can program the master to clear the bus lockup.
3. Add a CRC and packet sequence flags so I can detect errors and do retries.
4. See if I can suppress the motor better.

If that doesn't fix it I may have to rethink the design. There are such things as high voltage I²C buffers but I expect they are SMT only. I could switch to differential comms or use a better DC motor, or replace it with a small stepper motor. That would also eliminate the need for a shaft encoder but I may struggle for torque.

Toast

The first problem was easy enough to diagnose. Since I had rebuilt and rewired the circuit it had to be the thermistor itself. After removing it, I could see the underside was looking a bit toasted. I don't think it was designed for use up to 250°C. The insulation on the wire was not up to it and I suspect it was soldered to the actual device, and that the solder melted. There seems to be some solder on the brass nozzle now where it was mounted.



The remedy was easy: I just replaced it with the recommended glass bead thermistor which had arrived from back order in the meantime. It is rated to 300°C. Its characteristics are different so I had to change my resistor values, but I had anticipated that by mounting them on the connector rather than the board.

Getting nowhere fast

Two weeks ago I had my extruder controller built on breadboard controlling the heater temperature and motor speed. All I had left to do was link it to my main controller and talk to it from my host software. This should have been easy as I already had I²C working to my spindle controller ...

The first thing that went wrong was the temperature reading from the thermistor started to become erratic. I decided this may be due to a bad connection as my breadboard layout was getting a bit messy.



The hot resistance of the thermistor is only about 12Ω so I was willing to think a bad connection could be possible as I had not used the breadboard for over 10 years. I was also getting a lot of noise from the motor so I decided to rebuild the circuit on vero board and shorten all the connections.



I paid careful attention to the layout to keep the high power stuff away from the sensitive inputs and the micro, and route the ground currents sensibly. The connectors on the far left are the outputs for the heater, motor and possibly a fan. Next is the power in connector followed by 3.3V and 5V regulators. The shaft encoder is 5V but the micro is 3.3V, the four resistors handle level shifting. Next are the input connectors for the shaft encoder, thermistor and filament exhausted sensor. The far connectors are for the I²C bus.

I mounted it on the z-axis together with my spindle controller so that the only moving wires are a 12V feed and the I²C bus.



All the wires are now much shorter and screened. I also earthed the casing of the motor. On testing I was very disappointed to find :-

1. The thermistor was still erratic.
2. The I²C bus did not work much at all.
3. The noise around the circuit was just as bad if not worse. Until I added the earth connection to the z-carriage the micro crashed when the motor was running.

Not the result I was hoping for!