Support 4 motors

Partial support for > 4 motors, needs a clean way of defining wiring.

src/boards.h

@@ -32,6 +32,7 @@
     #define PWM_NUM 0
     #define WIRING_PWM_LEDS {}
     #define SUPPORT_EEPROM
+    #define STAGE_MAX_MOTORS 3
 #elif defined(BOARD_SANGABOARDv2)
     #define BOARD_STRING "Sangaboard v0.2"
     #define WIRING_MOTOR_X 13, 12, 11, 10
@@ -45,6 +46,7 @@
     #define PWM_NUM 0
     #define WIRING_PWM_LEDS {}
     #define SUPPORT_EEPROM
+    #define STAGE_MAX_MOTORS 3
 #elif defined(BOARD_CUSTOM_BLUEPILL)
     #define BOARD_STRING "Custom Bluepill board"
     #define WIRING_MOTOR_X PB11, PB10, PB1, PB0
@@ -57,6 +59,7 @@
     #define PRIMARY_SERIAL_PORT Serial
     #define PWM_NUM 0
     #define WIRING_PWM_LEDS {}
+    #define STAGE_MAX_MOTORS 3
 #elif defined(BOARD_CUSTOM_PICO)
     #define BOARD_STRING "Custom Pico board"
     #define WIRING_MOTOR_X 2, 3, 4, 5
@@ -67,13 +70,14 @@
     #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
     #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
     #define ADDITIONAL_STEPPERS 1
-    #define WIRING_ADDITIONAL_STEPPERS = {{0, 1, 22, 23}}
+    #define WIRING_ADDITIONAL_STEPPER 0, 1, 22, 23
     #define WIRING_STEPSTICK {13,14,15} //enable, step, dir todo: move to boards.h
     #define PRIMARY_SERIAL_PORT Serial
     #define SECONDARY_SERIAL_PORT Serial2
     #define PWM_NUM 0
     #define WIRING_PWM_LEDS {}
     #define SUPPORT_EEPROM
+    #define STAGE_MAX_MOTORS 4
 #elif defined(BOARD_SANGABOARDv5)
     #define BOARD_STRING "Sangaboard v0.5"
     #define WIRING_MOTOR_X 2, 3, 4, 5
@@ -84,7 +88,7 @@
     #define WIRING_ENDSTOPS_MIN {26,27,28}
     //#define WIRING_ENDSTOPS_MAX {22,23,0} //not normally used
     #define ADDITIONAL_STEPPERS 1
-    #define WIRING_ADDITIONAL_STEPPERS = {{0, 1, 22, 23}}
+    #define WIRING_ADDITIONAL_STEPPER 0, 1, 22, 23
     #define WIRING_STEPSTICK {23,22,1} //enable, step, dir todo: move to boards.h
     #define WIRING_SERIAL_TX 8
     #define WIRING_SERIAL_RX 9
@@ -95,6 +99,7 @@
     #define WIRING_CC_LED 24
     //TODO: 4th motor support
     #define SUPPORT_EEPROM
+    #define STAGE_MAX_MOTORS 4
 #elif defined(BOARD_CUSTOM_ESP32)
     #define BOARD_STRING "Custom ESP32 board"
     #define WIRING_MOTOR_X 34, 32, 25, 27
@@ -108,8 +113,9 @@
     #define PRIMARY_SERIAL_PORT Serial
     #define PWM_NUM 0
     #define WIRING_PWM_LEDS {}
+    #define STAGE_MAX_MOTORS 3
 #elif defined(BOARD_CUSTOM)
-    #define BOARD_STRING "Custom board"
+    #define BOARD_STRING "Custom UNO board"
     #define WIRING_MOTOR_X 2, 3, 4, 5
     #define WIRING_MOTOR_Y 2, 3, 4, 5
     #define WIRING_MOTOR_Z 2, 3, 4, 5
@@ -118,10 +124,10 @@
     #define WIRING_ENDSTOPS_MIN {1,2,0}
     //#define WIRING_ENDSTOPS_MAX {22,23,0} //not normally used
     #define ADDITIONAL_STEPPERS 1
-    #define WIRING_ADDITIONAL_STEPPERS = {{0, 1, 22, 23}}
     #define WIRING_STEPSTICK {8,9,10} //enable, step, dir todo: move to boards.h
     #define PRIMARY_SERIAL_PORT Serial
     #define PWM_NUM 0
     #define WIRING_PWM_LEDS {}
     #define SUPPORT_EEPROM
+    #define STAGE_MAX_MOTORS 3
 #endif

src/config.h

@@ -21,11 +21,6 @@
  //   #define STEPSTICK
     #define ILLUMINATION
 
-    //module configs
-    #ifdef STAGE
-        #define STAGE_N_MOTORS 3
-    #endif
-
     #ifdef ENDSTOPS
         #define ENDSTOPS_MIN
         //#define ENDSTOPS_MAX

src/main.h

@@ -45,5 +45,7 @@ extern void register_module(const Command commands[], void (*loop_fn)(void));
 void get_version(String);
 void get_modules(String);
 void get_eeprom_last_commit(String);
+void get_system_status(String);
+
 #define MAIN_H
 #endif

src/modules/endstops/endstops.cpp

@@ -11,8 +11,8 @@
 
 unsigned long retreat_steps = 5000;
 unsigned long home_move_steps = 100000;
-unsigned long axis_max[STAGE_N_MOTORS];
+unsigned long axis_max[STAGE_MAX_MOTORS];
-const uint8_t axis_max_eeprom = sizeof(long)*(STAGE_N_MOTORS+2);
+const uint8_t axis_max_eeprom = 200+sizeof(long)*(STAGE_MAX_MOTORS+2);
 #ifdef ENDSTOPS_MIN
 const uint8_t endstops_min_pins[] = WIRING_ENDSTOPS_MIN;
 #endif

src/modules/stage/stage.cpp

@@ -10,18 +10,22 @@
 #include "main.h"
 #include <ComPort.h>
 
+#if MAX_STEPPERS > 3 && !defined(WIRING_ADDITIONAL_STEPPER)
+#error "Define WIRING_ADDITIONAL_STEPPER to support 4th stepper"
+#endif
+
 // The array below has 3 stepper objects, for X,Y,Z respectively
-const uint8_t n_motors = STAGE_N_MOTORS;
+uint8_t n_motors = 3;
 const uint8_t stage_position_eeprom = 0;
 long min_step_delay = -1;
-const uint8_t min_step_delay_eeprom = stage_position_eeprom + sizeof(long) * n_motors;
+const uint8_t min_step_delay_eeprom = stage_position_eeprom + sizeof(long) * STAGE_MAX_MOTORS;
 long ramp_time = -1;
 const uint8_t ramp_time_eeprom = min_step_delay_eeprom + sizeof(long);
 const uint8_t axis_max_eeprom = ramp_time_eeprom + sizeof(long);
 const uint8_t non_blocking_moves_eeprom = axis_max_eeprom + sizeof(long);
-Stepper *motors[n_motors];
+Stepper *motors[STAGE_MAX_MOTORS];
-signed long current_pos[n_motors];
+signed long current_pos[STAGE_MAX_MOTORS];
-long steps_remaining[n_motors];
+long steps_remaining[STAGE_MAX_MOTORS];
 
 bool stage_moving = false;
 bool notify_on_stop = false;
@@ -33,7 +37,15 @@ void stage_setup()
     motors[0] = new Stepper(8, WIRING_MOTOR_X);
     motors[1] = new Stepper(8, WIRING_MOTOR_Y);
     motors[2] = new Stepper(8, WIRING_MOTOR_Z);
-    EACH_MOTOR
+    #if STAGE_MAX_MOTORS > 3
+        //TODO: support >4 stepppers
+        for (int i = 0; i < STAGE_MAX_MOTORS - 3; i++)
+        {
+            motors[i+3] = new Stepper(8, WIRING_ADDITIONAL_STEPPER);
+        }
+    #endif
+
+    EACH_MAX_MOTOR
     {
         motors[i]->setSpeed(10); // as a default set to 10 rpm, though this is ignored...
         steps_remaining[i] = 0;
@@ -85,13 +97,13 @@ void print_position()
 }
 
 unsigned long move_start_time = 0;
-unsigned long distance_moved[n_motors];
+unsigned long distance_moved[STAGE_MAX_MOTORS];
-long displacement[n_motors];
+long displacement[STAGE_MAX_MOTORS];
 float final_scaled_t;
-float step_delay[n_motors];
+float step_delay[STAGE_MAX_MOTORS];
-int8_t move_directions[n_motors];
+int8_t move_directions[STAGE_MAX_MOTORS];
 
-void start_move(long displ[n_motors])
+void start_move(long displ[STAGE_MAX_MOTORS])
 {
     // move all the axes in a nice move
     // split displacements into magnitude and direction, and find max. travel
@@ -219,13 +231,10 @@ void stage_mrz(String command)
 
 void stage_mr(String command)
 {
-    char *args[3];
+    char *args[STAGE_MAX_MOTORS];
-    parse_arguments(args, command, 3);
+    parse_arguments(args, command, n_motors);
     EACH_MOTOR
     {
-        if (i>3)
-            continue;
-
         displacement[i] = atol(args[i]);
         free(args[i]);
     }
@@ -300,6 +309,19 @@ void update_blocking_moves(String command)
     }
 }
 
+void stage_n_motors(String command)
+{
+    char *args[1];
+    parse_arguments(args, command, 1);
+    if (args[0][0] != '?')
+        n_motors = atoi(args[0]);
+
+    comPort->print("n_motors ");
+    comPort->println(n_motors);
+
+    free(args[0]);
+}
+
 void stage_zero(String command)
 {
     EACH_MOTOR current_pos[i] = 0;
@@ -348,4 +370,5 @@ extern const Command stage_commands[] = {
     {"moving", is_stage_moving},
     {"notify_on_stop", activate_notify_on_stop},
     {"blocking_moves", update_blocking_moves},
+    {"n_motors", stage_n_motors},
     END_COMMAND};

src/modules/stage/stage.h

@@ -3,7 +3,9 @@
 #include "main.h"
 #include <Arduino.h>
 
-#define EACH_MOTOR for (int i = 0; i < STAGE_N_MOTORS; i++)
+#define EACH_MOTOR for (int i = 0; i < n_motors; i++)
+#define EACH_MAX_MOTOR for (int i = 0; i < STAGE_MAX_MOTORS; i++)
+
 
 void stage_setup();
 void stage_loop();
@@ -21,6 +23,7 @@ void stage_ramp_time(String command);
 void stage_zero(String command);
 void start_move(long displ[]);
 void stage_stop(String command);
+void stage_n_motors(String command);
 
 extern const Command stage_commands[];
 //we want to expose these for endstops (and potentially other modules)