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Merge branch 'sangaboard-v5'

Browse source 
set version to v1.0.0-dev
This commit is contained in:
Filip Ayazi 2023-03-11 02:16:53 +00:00
commit 30eb93c8da
18 changed files with 474 additions and 232 deletions
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11
.gitlab-ci.yml
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@ -15,6 +15,13 @@ stages:
before_script: before_script:
- "pip install -U platformio" - "pip install -U platformio"
job: build:
stage: build stage: build
script: "pio run -e nano -e leonardo -e pico -e bluepill -e esp32" script:
- "pio run -e nano -e leonardo -e pico -e bluepill -e esp32"
- mkdir -p builds
- cp .pio/build/pico/firmware.uf2 builds/
- cp .pio/build/pico/firmware.elf builds/
artifacts:
paths:
- builds/*

3
.vscode/extensions.json vendored
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@ -3,5 +3,8 @@
// for the documentation about the extensions.json format // for the documentation about the extensions.json format
"recommendations": [ "recommendations": [
"platformio.platformio-ide" "platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
] ]
} }

4
lib/ComPort/ComPort.cpp Normal file
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@ -0,0 +1,4 @@
#include <ComPort.h>
// Actually define the variable and default to the USB Serial port
HardwareSerial* comPort = (HardwareSerial*) &Serial;

9
lib/ComPort/ComPort.h Normal file
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@ -0,0 +1,9 @@
#ifndef COMPORT_H
#define COMPORT_H
#include <Arduino.h>
// comPort is a Serial-like object that we can switch.
extern HardwareSerial* comPort;
#endif

39
src/boards.h
View file

@ -28,9 +28,11 @@
#define ENDSTOPS_PULLUPS true #define ENDSTOPS_PULLUPS true
#define WIRING_ENDSTOPS_MIN {A0,A1,A2} #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
#define WIRING_ENDSTOPS_MAX {A3,A4,A5} #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
#define SERIAL_PORT Serial #define PRIMARY_SERIAL_PORT Serial
#define PWM_NUM 0 #define PWM_NUM 0
#define WIRING_PWM_LEDS {} #define WIRING_PWM_LEDS {}
#define SUPPORT_EEPROM
#define STAGE_MAX_MOTORS 3
#elif defined(BOARD_SANGABOARDv2) #elif defined(BOARD_SANGABOARDv2)
#define BOARD_STRING "Sangaboard v0.2" #define BOARD_STRING "Sangaboard v0.2"
#define WIRING_MOTOR_X 13, 12, 11, 10 #define WIRING_MOTOR_X 13, 12, 11, 10
@ -40,9 +42,11 @@
#define ENDSTOPS_PULLUPS true #define ENDSTOPS_PULLUPS true
#define WIRING_ENDSTOPS_MIN {A0,A1,A2} #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
#define WIRING_ENDSTOPS_MAX {A3,A4,A5} #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
#define SERIAL_PORT Serial #define PRIMARY_SERIAL_PORT Serial
#define PWM_NUM 0 #define PWM_NUM 0
#define WIRING_PWM_LEDS {} #define WIRING_PWM_LEDS {}
#define SUPPORT_EEPROM
#define STAGE_MAX_MOTORS 3
#elif defined(BOARD_CUSTOM_BLUEPILL) #elif defined(BOARD_CUSTOM_BLUEPILL)
#define BOARD_STRING "Custom Bluepill board" #define BOARD_STRING "Custom Bluepill board"
#define WIRING_MOTOR_X PB11, PB10, PB1, PB0 #define WIRING_MOTOR_X PB11, PB10, PB1, PB0
@ -52,9 +56,10 @@
#define ENDSTOPS_PULLUPS true #define ENDSTOPS_PULLUPS true
#define WIRING_ENDSTOPS_MIN {A0,A1,A2} #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
#define WIRING_ENDSTOPS_MAX {A3,A4,A5} #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
#define SERIAL_PORT Serial #define PRIMARY_SERIAL_PORT Serial
#define PWM_NUM 0 #define PWM_NUM 0
#define WIRING_PWM_LEDS {} #define WIRING_PWM_LEDS {}
#define STAGE_MAX_MOTORS 3
#elif defined(BOARD_CUSTOM_PICO) #elif defined(BOARD_CUSTOM_PICO)
#define BOARD_STRING "Custom Pico board" #define BOARD_STRING "Custom Pico board"
#define WIRING_MOTOR_X 2, 3, 4, 5 #define WIRING_MOTOR_X 2, 3, 4, 5
@ -65,11 +70,14 @@
#define WIRING_ENDSTOPS_MIN {A0,A1,A2} #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
#define WIRING_ENDSTOPS_MAX {A3,A4,A5} #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
#define ADDITIONAL_STEPPERS 1 #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 WIRING_STEPSTICK {13,14,15} //enable, step, dir todo: move to boards.h
#define SERIAL_PORT Serial #define PRIMARY_SERIAL_PORT Serial
#define SECONDARY_SERIAL_PORT Serial2
#define PWM_NUM 0 #define PWM_NUM 0
#define WIRING_PWM_LEDS {} #define WIRING_PWM_LEDS {}
#define SUPPORT_EEPROM
#define STAGE_MAX_MOTORS 4
#elif defined(BOARD_SANGABOARDv5) #elif defined(BOARD_SANGABOARDv5)
#define BOARD_STRING "Sangaboard v0.5" #define BOARD_STRING "Sangaboard v0.5"
#define WIRING_MOTOR_X 2, 3, 4, 5 #define WIRING_MOTOR_X 2, 3, 4, 5
@ -80,19 +88,18 @@
#define WIRING_ENDSTOPS_MIN {26,27,28} #define WIRING_ENDSTOPS_MIN {26,27,28}
//#define WIRING_ENDSTOPS_MAX {22,23,0} //not normally used //#define WIRING_ENDSTOPS_MAX {22,23,0} //not normally used
#define ADDITIONAL_STEPPERS 1 #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_STEPSTICK {23,22,1} //enable, step, dir todo: move to boards.h
#define WIRING_SERIAL_TX 8 #define WIRING_SERIAL_TX 8
#define WIRING_SERIAL_RX 9 #define WIRING_SERIAL_RX 9
#ifdef USB_SERIAL #define PRIMARY_SERIAL_PORT Serial
#define SERIAL_PORT Serial #define SECONDARY_SERIAL_PORT Serial2
#else
#define SERIAL_PORT Serial2
#endif
#define PWM_NUM 2 #define PWM_NUM 2
#define WIRING_PWM_LEDS {25, 29} #define WIRING_PWM_LEDS {25, 29}
#define WIRING_CC_LED 24 #define WIRING_CC_LED 24
//TODO: 4th motor support //TODO: 4th motor support
#define SUPPORT_EEPROM
#define STAGE_MAX_MOTORS 4
#elif defined(BOARD_CUSTOM_ESP32) #elif defined(BOARD_CUSTOM_ESP32)
#define BOARD_STRING "Custom ESP32 board" #define BOARD_STRING "Custom ESP32 board"
#define WIRING_MOTOR_X 34, 32, 25, 27 #define WIRING_MOTOR_X 34, 32, 25, 27
@ -103,11 +110,12 @@
#define WIRING_ENDSTOPS_MIN {A0,A1,A2} #define WIRING_ENDSTOPS_MIN {A0,A1,A2}
#define WIRING_ENDSTOPS_MAX {A3,A4,A5} #define WIRING_ENDSTOPS_MAX {A3,A4,A5}
#define WIRING_STEPSTICK {13,12,27} #define WIRING_STEPSTICK {13,12,27}
#define SERIAL_PORT Serial #define PRIMARY_SERIAL_PORT Serial
#define PWM_NUM 0 #define PWM_NUM 0
#define WIRING_PWM_LEDS {} #define WIRING_PWM_LEDS {}
#define STAGE_MAX_MOTORS 3
#elif defined(BOARD_CUSTOM) #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_X 2, 3, 4, 5
#define WIRING_MOTOR_Y 2, 3, 4, 5 #define WIRING_MOTOR_Y 2, 3, 4, 5
#define WIRING_MOTOR_Z 2, 3, 4, 5 #define WIRING_MOTOR_Z 2, 3, 4, 5
@ -116,9 +124,10 @@
#define WIRING_ENDSTOPS_MIN {1,2,0} #define WIRING_ENDSTOPS_MIN {1,2,0}
//#define WIRING_ENDSTOPS_MAX {22,23,0} //not normally used //#define WIRING_ENDSTOPS_MAX {22,23,0} //not normally used
#define ADDITIONAL_STEPPERS 1 #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 WIRING_STEPSTICK {8,9,10} //enable, step, dir todo: move to boards.h
#define SERIAL_PORT Serial #define PRIMARY_SERIAL_PORT Serial
#define PWM_NUM 0 #define PWM_NUM 0
#define WIRING_PWM_LEDS {} #define WIRING_PWM_LEDS {}
#define SUPPORT_EEPROM
#define STAGE_MAX_MOTORS 3
#endif #endif

14
src/config.h
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@ -3,10 +3,6 @@
#define BOARD_AUTO #define BOARD_AUTO
//#define BOARD_SANGABOARDv5 //#define BOARD_SANGABOARDv5
//without this, default to HW serial where available
//the details are board specific and configured in boards.h
#define USB_SERIAL
#include <boards.h> //defines wiring #include <boards.h> //defines wiring
//general settings //general settings
@ -15,6 +11,7 @@
#define MAX_ARGUMENT_LENGTH 20 //used in argument parsing, takes up ram #define MAX_ARGUMENT_LENGTH 20 //used in argument parsing, takes up ram
#define VERSION_STRING "Sangaboard Firmware v1.0.0-dev" #define VERSION_STRING "Sangaboard Firmware v1.0.0-dev"
#define DEBUG_ON #define DEBUG_ON
#define EMULATED_EEPROM_SIZE 512
//module choice //module choice
#define HELP #define HELP
@ -24,11 +21,6 @@
// #define STEPSTICK // #define STEPSTICK
#define ILLUMINATION #define ILLUMINATION
//module configs
#ifdef STAGE
#define STAGE_N_MOTORS 3
#endif
#ifdef ENDSTOPS #ifdef ENDSTOPS
#define ENDSTOPS_MIN #define ENDSTOPS_MIN
//#define ENDSTOPS_MAX //#define ENDSTOPS_MAX
@ -42,9 +34,5 @@
#define LIGHT_SENSOR_ADAFRUIT_TSL2591 #define LIGHT_SENSOR_ADAFRUIT_TSL2591
//#define LIGHT_SENSOR_ADAFRUIT_ADS1115 //#define LIGHT_SENSOR_ADAFRUIT_ADS1115
//config for non-standard platforms
#ifndef MCU_PICO
#define SUPPORT_EEPROM
#endif
#define CONFIGURED #define CONFIGURED
#endif #endif

4
src/dummyEEPROM.h
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@ -1,4 +1,5 @@
#ifndef dummyEEPROM_h
#define dummyEEPROM_h
#include <stdint.h> #include <stdint.h>
struct EEPROMClass struct EEPROMClass
@ -22,3 +23,4 @@ struct EEPROMClass
}; };
static EEPROMClass EEPROM; static EEPROMClass EEPROM;
#endif

125
src/main.cpp
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@ -19,6 +19,12 @@
#include "config.h" #include "config.h"
#include <Arduino.h> #include <Arduino.h>
#include <stdint.h> #include <stdint.h>
#include <ComPort.h>
#ifdef SUPPORT_EEPROM
#include <EEPROM.h>
#else
#include "dummyEEPROM.h"
#endif
#ifdef HELP #ifdef HELP
#include "modules/help/help.h" #include "modules/help/help.h"
@ -52,7 +58,10 @@ uint8_t registered_loop_fn_count = 0;
const Command core_commands[] = { const Command core_commands[] = {
{"version", get_version}, {"version", get_version},
{"board", get_board},
{"list_modules", get_modules}, {"list_modules", get_modules},
{"eeprom_last_commit", get_eeprom_last_commit},
{"system_status", get_system_status},
END_COMMAND}; END_COMMAND};
void register_module(const Command commands[], void (*loop_fn)(void)) void register_module(const Command commands[], void (*loop_fn)(void))
@ -73,9 +82,11 @@ void handle_command(String received_command)
} }
#ifdef HELP #ifdef HELP
SERIAL_PORT.println(F("Type 'help' for a list of commands.")); comPort->print(F("Command not recognised: '"));
comPort->print(received_command);
comPort->println(F("', Type 'help' for a list of commands."));
#else #else
SERIAL_PORT.println(F("Invalid command")); comPort->println(F("Invalid command"));
#endif #endif
} }
@ -104,49 +115,108 @@ uint8_t parse_arguments(char **arguments, String command, uint8_t max_args)
void get_version(String) void get_version(String)
{ {
SERIAL_PORT.println(F(VERSION_STRING)); comPort->println(F(VERSION_STRING));
return;
}
void get_board(String)
{
comPort->println(F(BOARD_STRING));
return; return;
} }
void get_modules(String) void get_modules(String)
{ {
#if defined(LIGHTSENSOR) && defined(LIGHT_SENSOR_ADAFRUIT_TSL2591) #if defined(LIGHTSENSOR) && defined(LIGHT_SENSOR_ADAFRUIT_TSL2591)
SERIAL_PORT.println(F("Light Sensor: TSL2591")); comPort->println(F("Light Sensor: TSL2591"));
#elif defined(LIGHTSENSOR) && defined(LIGHT_SENSOR_ADAFRUIT_ADS1115) #elif defined(LIGHTSENSOR) && defined(LIGHT_SENSOR_ADAFRUIT_ADS1115)
SERIAL_PORT.println(F("Light Sensor: ADS1115")); comPort->println(F("Light Sensor: ADS1115"));
#endif #endif
#if defined(ENDSTOPS) #if defined(ENDSTOPS)
SERIAL_PORT.print("Endstops:"); comPort->print("Endstops:");
#ifdef ENDSTOPS_MIN #ifdef ENDSTOPS_MIN
SERIAL_PORT.print(" min"); comPort->print(" min");
#endif #endif
#ifdef ENDSTOPS_MAX #ifdef ENDSTOPS_MAX
SERIAL_PORT.print(" max"); comPort->print(" max");
#endif #endif
#ifdef ENDSTOPS_SOFT #ifdef ENDSTOPS_SOFT
SERIAL_PORT.print(" soft"); comPort->print(" soft");
#endif #endif
SERIAL_PORT.println(); comPort->println();
#endif #endif
SERIAL_PORT.println("--END--"); #if defined(ILLUMINATION)
comPort->println("Illumination:default");
#endif
comPort->println("--END--");
} }
#ifndef UNIT_TEST #if defined(SUPPORT_EEPROM) && defined(MCU_PICO)
unsigned long eeprom_last_commit;
void eeprom_commit_at_interval(unsigned long interval)
{
unsigned long next_commit = eeprom_last_commit + interval;
unsigned long now = millis();
// millis() can overflow - this if statement will trigger
// every `interval` accounting for overflows.
if ( (now > next_commit && next_commit > eeprom_last_commit) // no overflow
|| (now > next_commit && now < eeprom_last_commit)) // overflow
{
EEPROM.commit();
eeprom_last_commit = millis();
}
}
#endif
void get_eeprom_last_commit(String)
{
#if defined(SUPPORT_EEPROM) && defined(MCU_PICO)
comPort->println(eeprom_last_commit);
#else
comPort->println("Not using pico");
#endif
return;
}
void get_system_status(String)
{
comPort->println(F(BOARD_STRING));
comPort->println(F(VERSION_STRING));
#ifdef MCU_PICO
comPort->print(F("Heap remaining:"));
comPort->println(rp2040.getFreeHeap());
#endif
}
#ifndef UNIT_TEST // don't define setup() and loop() for unit testing
void setup() void setup()
{ {
#if defined(SUPPORT_EEPROM) && defined(MCU_PICO)
// On the Pico, EEPROM is emulated.
// This means we need to explicitly enable it, and also
// call EEPROM.commit() periodically to persist it to flash.
EEPROM.begin(EMULATED_EEPROM_SIZE);
eeprom_last_commit = millis();
#endif
// initialise serial port // initialise serial port
#ifdef WIRING_SERIAL_TX #ifdef WIRING_SERIAL_TX
Serial2.setTX(WIRING_SERIAL_TX); Serial2.setTX(WIRING_SERIAL_TX);
Serial2.setRX(WIRING_SERIAL_RX); Serial2.setRX(WIRING_SERIAL_RX);
#endif #endif
SERIAL_PORT.begin(115200); comPort = (HardwareSerial*) &PRIMARY_SERIAL_PORT;
while (!SERIAL_PORT) PRIMARY_SERIAL_PORT.begin(115200);
#ifdef SECONDARY_SERIAL_PORT
SECONDARY_SERIAL_PORT.begin(115200);
//wait for either port to be ready
while (!PRIMARY_SERIAL_PORT && !SECONDARY_SERIAL_PORT)
#else
while (!PRIMARY_SERIAL_PORT)
#endif
delay(1); delay(1);
register_module(core_commands, NULL); register_module(core_commands, NULL);
#ifdef HELP #ifdef HELP
help_setup(); help_setup();
#endif #endif
@ -173,17 +243,34 @@ void setup()
#endif #endif
registered_commands[registered_commands_count] = &end_command; registered_commands[registered_commands_count] = &end_command;
SERIAL_PORT.println(F(VERSION_STRING)); comPort->println(F(VERSION_STRING));
} }
void loop() void loop()
{ {
if (SERIAL_PORT.available()) bool bytesAvailable = false;
if (PRIMARY_SERIAL_PORT.available())
{ {
handle_command(SERIAL_PORT.readStringUntil('\n')); comPort = (HardwareSerial*) &PRIMARY_SERIAL_PORT;
bytesAvailable = true;
} }
#if defined(SECONDARY_SERIAL_PORT)
else if (SECONDARY_SERIAL_PORT.available())
{
comPort = (HardwareSerial*) &SECONDARY_SERIAL_PORT;
bytesAvailable = true;
}
#endif
if (bytesAvailable)
{
handle_command(comPort->readStringUntil('\n'));
}
#if defined(SUPPORT_EEPROM) && defined(MCU_PICO)
// On the Pico, emulated EEPROM is only saved to flash when we call commit()
eeprom_commit_at_interval(10000); // NB this only writes to flash if something has changed.
#endif
for (int i = 0; i < registered_loop_fn_count; i++) for (int i = 0; i < registered_loop_fn_count; i++)
registered_loop_functions[i](); registered_loop_functions[i]();
} }
#endif #endif //ndef UNIT_TEST

22
src/main.h
View file

@ -1,8 +1,14 @@
#ifndef MAIN_H #ifndef MAIN_H
#include "config.h" #include "config.h"
#include <Arduino.h> #include <Arduino.h>
#include <ComPort.h>
#ifdef SUPPORT_EEPROM
#include <EEPROM.h>
#else
#include "dummyEEPROM.h"
#endif
#ifdef DEBUG_ON #ifdef DEBUG_ON
#define D(x) Serial.println(x) #define D(x) comPort->println(x)
#else #else
#define D(x) #define D(x)
#endif #endif
@ -21,12 +27,26 @@ struct Command
inline bool check_end_command(Command c) { return strlen(c.command) > 0; } inline bool check_end_command(Command c) { return strlen(c.command) > 0; }
inline bool check_end_command(Command * c) {return strlen(c->command) > 0; } inline bool check_end_command(Command * c) {return strlen(c->command) > 0; }
inline bool read_eeprom_bool(uint16_t address, bool default_value)
{
int8_t temp_value;
EEPROM.get(address, temp_value);
if (temp_value < 0)
return default_value;
return temp_value != 0;
}
const Command end_command = END_COMMAND; const Command end_command = END_COMMAND;
uint8_t parse_arguments(char ** arguments, String, uint8_t); uint8_t parse_arguments(char ** arguments, String, uint8_t);
extern void register_module(const Command commands[], void (*loop_fn)(void)); extern void register_module(const Command commands[], void (*loop_fn)(void));
void get_version(String); void get_version(String);
void get_board(String);
void get_modules(String); void get_modules(String);
void get_eeprom_last_commit(String);
void get_system_status(String);
#define MAIN_H #define MAIN_H
#endif #endif

39
src/modules/endstops/endstops.cpp
View file

@ -2,6 +2,7 @@
#ifdef ENDSTOPS #ifdef ENDSTOPS
#include "endstops.h" #include "endstops.h"
#include "../stage/stage.h" #include "../stage/stage.h"
#include <ComPort.h>
#ifdef SUPPORT_EEPROM #ifdef SUPPORT_EEPROM
#include <EEPROM.h> #include <EEPROM.h>
#else #else
@ -10,8 +11,8 @@
unsigned long retreat_steps = 5000; unsigned long retreat_steps = 5000;
unsigned long home_move_steps = 100000; 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 #ifdef ENDSTOPS_MIN
const uint8_t endstops_min_pins[] = WIRING_ENDSTOPS_MIN; const uint8_t endstops_min_pins[] = WIRING_ENDSTOPS_MIN;
#endif #endif
@ -99,7 +100,7 @@ void endstops_loop()
homing_final = false; homing_final = false;
min_step_delay = previous_step_delay; min_step_delay = previous_step_delay;
home_retreat(); home_retreat();
SERIAL_PORT.println("done."); comPort->println("done.");
return; return;
} }
} }
@ -121,8 +122,8 @@ int8_t endstops_check()
if (endstop_break != 0 && stage_moving) if (endstop_break != 0 && stage_moving)
{ {
SERIAL_PORT.print(F("Endstop hit:")); comPort->print(F("Endstop hit:"));
SERIAL_PORT.println(endstop_break); comPort->println(endstop_break);
//if we have both min/max endstops, axis_max is adjusted to the correct value //if we have both min/max endstops, axis_max is adjusted to the correct value
//if we only have min, we go from 0 -> predefined axis_max //if we only have min, we go from 0 -> predefined axis_max
//if we only have max, we go from 0 -> predefined axis_max //if we only have max, we go from 0 -> predefined axis_max
@ -154,16 +155,16 @@ void endstops_status(String command)
EACH_MOTOR EACH_MOTOR
{ {
if (i > 0) if (i > 0)
SERIAL_PORT.print(" "); comPort->print(" ");
if (endstop_triggered(i, -1)) if (endstop_triggered(i, -1))
SERIAL_PORT.print("-1"); comPort->print("-1");
else if (endstop_triggered(i, 1)) else if (endstop_triggered(i, 1))
SERIAL_PORT.print("1"); comPort->print("1");
else else
SERIAL_PORT.print("0"); comPort->print("0");
} }
SERIAL_PORT.println(); comPort->println();
} }
void print_axes_max(String command) void print_axes_max(String command)
@ -171,10 +172,10 @@ void print_axes_max(String command)
EACH_MOTOR EACH_MOTOR
{ {
if (i > 0) if (i > 0)
SERIAL_PORT.print(" "); comPort->print(" ");
SERIAL_PORT.print(axis_max[i]); comPort->print(axis_max[i]);
} }
SERIAL_PORT.println(); comPort->println();
} }
void home_start(uint8_t axes, int8_t direction) void home_start(uint8_t axes, int8_t direction)
@ -226,7 +227,7 @@ void home_final()
void endstops_home_min(String command) void endstops_home_min(String command)
{ {
#ifndef ENDSTOPS_MIN #ifndef ENDSTOPS_MIN
SERIAL_PORT.println(F("Min endstops not installed")); comPort->println(F("Min endstops not installed"));
return; return;
#endif #endif
if (command.equals("home_min")) if (command.equals("home_min"))
@ -241,7 +242,7 @@ void endstops_home_min(String command)
void endstops_home_max(String command) void endstops_home_max(String command)
{ {
#ifndef ENDSTOPS_MAX #ifndef ENDSTOPS_MAX
SERIAL_PORT.println(F("Max endstops not installed")); comPort->println(F("Max endstops not installed"));
return; return;
#endif #endif
if (command.equals("home_max")) if (command.equals("home_max"))
@ -293,10 +294,10 @@ void endstops_setup()
} }
//endstops? - get triggered endstops in (1,0,-1) format for max, none, min")); //endstops? - get triggered endstops in (1,0,-1) format for max, none, min"));
// SERIAL_PORT.println(F("home_min <axes?> - home given (00000zyx byte, e.g. 1 for x) or all axes to their min position")); // comPort->println(F("home_min <axes?> - home given (00000zyx byte, e.g. 1 for x) or all axes to their min position"));
// SERIAL_PORT.println(F("home_max <axes?> - home given (00000zyx byte, e.g. 3 for x and y) or all axes to their max position")); // comPort->println(F("home_max <axes?> - home given (00000zyx byte, e.g. 3 for x and y) or all axes to their max position"));
// SERIAL_PORT.println(F("max_p? - return positions of max endstops")); // comPort->println(F("max_p? - return positions of max endstops"));
// SERIAL_PORT.println(F("max <d> <d> <d> // comPort->println(F("max <d> <d> <d>
extern const Command endstops_commands[] = { extern const Command endstops_commands[] = {
{"endstops?", endstops_status}, {"endstops?", endstops_status},
{"home_min", endstops_home_min}, {"home_min", endstops_home_min},

93
src/modules/help/help.cpp
View file

@ -1,6 +1,7 @@
#include "config.h" #include "config.h"
#ifdef HELP #ifdef HELP
#include "help.h" #include "help.h"
#include <ComPort.h>
void help_setup() void help_setup()
{ {
@ -9,78 +10,78 @@ void help_setup()
void help(String command) void help(String command)
{ {
SERIAL_PORT.println(""); comPort->println("");
SERIAL_PORT.print("Board: "); comPort->print("Board: ");
SERIAL_PORT.println(F(BOARD_STRING)); comPort->println(F(BOARD_STRING));
#ifdef LIGHT_SENSOR #ifdef LIGHT_SENSOR
#if defined ADAFRUIT_TSL2591 #if defined ADAFRUIT_TSL2591
SERIAL_PORT.println(F("Compiled with Adafruit TSL2591 support")); comPort->println(F("Compiled with Adafruit TSL2591 support"));
#elif defined ADAFRUIT_ADS1115 #elif defined ADAFRUIT_ADS1115
SERIAL_PORT.println(F("Compiled with Adafruit ADS1115 support")); comPort->println(F("Compiled with Adafruit ADS1115 support"));
#endif #endif
#endif //LIGHT_SENSOR #endif //LIGHT_SENSOR
#ifdef ENDSTOPS #ifdef ENDSTOPS
#ifdef ENDSTOPS_MIN #ifdef ENDSTOPS_MIN
SERIAL_PORT.println(F("Compiled with min endstops support")); comPort->println(F("Compiled with min endstops support"));
#endif #endif
#ifdef ENDSTOPS_MAX #ifdef ENDSTOPS_MAX
SERIAL_PORT.println(F("Compiled with max endstops support")); comPort->println(F("Compiled with max endstops support"));
#endif #endif
#endif //ENDSTOPS #endif //ENDSTOPS
SERIAL_PORT.println(""); comPort->println("");
SERIAL_PORT.println(F("Commands (terminated by a newline character):")); comPort->println(F("Commands (terminated by a newline character):"));
#ifdef STAGE #ifdef STAGE
SERIAL_PORT.println(F("mrx <d> - relative move in x")); comPort->println(F("mrx <d> - relative move in x"));
SERIAL_PORT.println(F("mry <d> - relative move in y")); comPort->println(F("mry <d> - relative move in y"));
SERIAL_PORT.println(F("mrz <d> - relative move in z")); comPort->println(F("mrz <d> - relative move in z"));
SERIAL_PORT.println(F("mr <d> <d> <d> - relative move in all 3 axes")); comPort->println(F("mr <d> <d> <d> - relative move in all 3 axes"));
SERIAL_PORT.println(F("release - de-energise all motors")); comPort->println(F("release - de-energise all motors"));
SERIAL_PORT.println(F("p? - print position (3 space-separated integers")); comPort->println(F("p? - print position (3 space-separated integers"));
SERIAL_PORT.println(F("ramp_time <d> - set the time taken to accelerate/decelerate in us")); comPort->println(F("ramp_time <d> - set the time taken to accelerate/decelerate in us"));
SERIAL_PORT.println(F("min_step_delay <d> - set the minimum time between steps in us.")); comPort->println(F("min_step_delay <d> - set the minimum time between steps in us."));
SERIAL_PORT.println(F("dt <d> - set the minimum time between steps in us.")); comPort->println(F("dt <d> - set the minimum time between steps in us."));
SERIAL_PORT.println(F("ramp_time? - get the time taken to accelerate/decelerate in us")); comPort->println(F("ramp_time? - get the time taken to accelerate/decelerate in us"));
SERIAL_PORT.println(F("min_step_delay? - get the minimum time between steps in us.")); comPort->println(F("min_step_delay? - get the minimum time between steps in us."));
SERIAL_PORT.println(F("zero - set the current position to zero.")); comPort->println(F("zero - set the current position to zero."));
SERIAL_PORT.println(F("stop - stop a move in progress.")); comPort->println(F("stop - stop a move in progress."));
SERIAL_PORT.println(F("blocking_moves? - get blocking moves enabled")); comPort->println(F("blocking_moves? - get blocking moves enabled"));
SERIAL_PORT.println(F("blocking_moves <bool> - enable/disable blocking moves")); comPort->println(F("blocking_moves <bool> - enable/disable blocking moves"));
SERIAL_PORT.println(F("moving? - check if a move is in progress")); comPort->println(F("moving? - check if a move is in progress"));
SERIAL_PORT.println(F("notify_on_stop - respond with stopped when current move finishes")); comPort->println(F("notify_on_stop - respond with stopped when current move finishes"));
#endif //STAGE #endif //STAGE
#ifdef LIGHT_SENSOR #ifdef LIGHT_SENSOR
SERIAL_PORT.println(F("light_sensor_gain <d> - set the gain of the light sensor")); comPort->println(F("light_sensor_gain <d> - set the gain of the light sensor"));
SERIAL_PORT.println(F("light_sensor_gain? - get the gain of the light sensor")); comPort->println(F("light_sensor_gain? - get the gain of the light sensor"));
SERIAL_PORT.println(F("light_sensor_gain_values? - get the allowable gain values of the light sensor")); comPort->println(F("light_sensor_gain_values? - get the allowable gain values of the light sensor"));
SERIAL_PORT.println(F("light_sensor_integration_time? - get the integration time in milliseconds")); comPort->println(F("light_sensor_integration_time? - get the integration time in milliseconds"));
SERIAL_PORT.println(F("light_sensor_intensity? - read the current value from the full spectrum diode")); comPort->println(F("light_sensor_intensity? - read the current value from the full spectrum diode"));
#endif //LIGHT_SENSOR #endif //LIGHT_SENSOR
#if defined(ENDSTOPS_MIN) || defined(ENDSTOPS_MAX) #if defined(ENDSTOPS_MIN) || defined(ENDSTOPS_MAX)
SERIAL_PORT.println(F("endstops? - get triggered endstops in (1,0,-1) format for max, none, min")); comPort->println(F("endstops? - get triggered endstops in (1,0,-1) format for max, none, min"));
SERIAL_PORT.println(F("home_min <axes?> - home given (00000zyx byte, e.g. 1 for x) or all axes to their min position")); comPort->println(F("home_min <axes?> - home given (00000zyx byte, e.g. 1 for x) or all axes to their min position"));
SERIAL_PORT.println(F("home_max <axes?> - home given (00000zyx byte, e.g. 3 for x and y) or all axes to their max position")); comPort->println(F("home_max <axes?> - home given (00000zyx byte, e.g. 3 for x and y) or all axes to their max position"));
SERIAL_PORT.println(F("max_p? - return positions of max endstops")); comPort->println(F("max_p? - return positions of max endstops"));
SERIAL_PORT.println(F("max <d> <d> <d> - set maximum positions")); comPort->println(F("max <d> <d> <d> - set maximum positions"));
#endif #endif
#ifdef STEPSTICK #ifdef STEPSTICK
SERIAL_PORT.println(F("stepstick_move <f> <d> - move stepper by <d> with max speed <f>")); comPort->println(F("stepstick_move <f> <d> - move stepper by <d> with max speed <f>"));
SERIAL_PORT.println(F("stepstick_release - release stepstick stepper")); comPort->println(F("stepstick_release - release stepstick stepper"));
SERIAL_PORT.println(F("stepstick_stop - abort stepstick move")); comPort->println(F("stepstick_stop - abort stepstick move"));
#endif #endif
//SERIAL_PORT.println(F("test_mode <s> - set test_mode <on> <off>")); //comPort->println(F("test_mode <s> - set test_mode <on> <off>"));
SERIAL_PORT.println(F("version - get firmware version string")); comPort->println(F("version - get firmware version string"));
SERIAL_PORT.println(""); comPort->println("");
SERIAL_PORT.println("Input Key:"); comPort->println("Input Key:");
SERIAL_PORT.println(F("<d> - a decimal integer.")); comPort->println(F("<d> - a decimal integer."));
SERIAL_PORT.println(""); comPort->println("");
SERIAL_PORT.println("--END--"); comPort->println("--END--");
} }
#endif //HELP #endif //HELP

148
src/modules/illumination/illumination.cpp
View file

@ -1,29 +1,60 @@
#include "config.h" #include "config.h"
#ifdef ILLUMINATION #ifdef ILLUMINATION
#include "illumination.h" #include "illumination.h"
#include <ComPort.h>
#ifdef SUPPORT_EEPROM #ifdef SUPPORT_EEPROM
#include <EEPROM.h> #include <EEPROM.h>
#else #else
#include "dummyEEPROM.h" #include "dummyEEPROM.h"
#endif #endif
const uint16_t eeprom_offset = 100;
const uint8_t pwm_led_pins[] = WIRING_PWM_LEDS; const uint8_t pwm_led_pins[] = WIRING_PWM_LEDS;
const uint16_t cc_value_eeprom = eeprom_offset;
const uint16_t pwm_frequency_eeprom = cc_value_eeprom + sizeof(uint8_t);
const uint16_t pwm_values_eeprom = pwm_frequency_eeprom + sizeof(uint16_t);
uint32_t pwm_frequency;
uint8_t cc_value;
uint16_t pwm_values[PWM_NUM];
void illumination_pwm_freq(String command) void illumination_pwm_freq(String command)
{ {
char * args[1]; char * args[1];
parse_arguments(args, command, 1); uint8_t parsed = parse_arguments(args, command, 1);
#ifdef MCU_PICO #ifdef MCU_PICO
analogWriteFreq(atol(args[0]));//32khz seems sensible if (parsed > 0 && !(args[0] == "" || args[0][0] == '?'))
analogWriteRange(65535); {
pwm_frequency = atol(args[0]);
EEPROM.put(pwm_frequency_eeprom, pwm_frequency);
analogWriteFreq(pwm_frequency);
analogWriteRange(65535);
}
SERIAL_PORT.print("Frequency set: "); comPort->print("PWM Frequency:");
SERIAL_PORT.print(atol(args[0])); comPort->print(pwm_frequency);
SERIAL_PORT.println("Hz"); comPort->println("Hz");
#else #else
SERIAL_PORT.println("Feature not supported"); comPort->println("Feature not supported");
#endif #endif
free(args[0]); if (parsed > 0)
free(args[0]);
}
void illumination_channels(String command)
{
comPort->print("CC:");
#ifdef WIRING_CC_LED
comPort->print(1);
#else
comPort->print(0);
#endif
comPort->print(" PWM:");
comPort->println(PWM_NUM);
} }
void illumination_pwm(String command) void illumination_pwm(String command)
@ -31,11 +62,30 @@ void illumination_pwm(String command)
#ifdef MCU_PICO #ifdef MCU_PICO
//PWM frequency is shared between both PWM outputs //PWM frequency is shared between both PWM outputs
char * args[2]; char * args[2];
parse_arguments(args, command, 2); uint8_t parsed = parse_arguments(args, command, 2);
if (parsed > 0 && args[0][0] == '?')
{
comPort->print("PWM:");
for(int i=0; i<PWM_NUM; i++)
{
#ifdef MCU_PICO
comPort->print(pwm_values[i]/65535.0);
#else
comPort->print(pwm_values[i]/255.0);
#endif
comPort->print(";");
}
comPort->println("");
free(args[0]);
if (parsed == 2)
free(args[1]);
return;
}
uint8_t index = atoi(args[0]); uint8_t index = atoi(args[0]);
if (index >= PWM_NUM) if (index >= PWM_NUM)
{ {
Serial.println("Invalid index"); comPort->println("Invalid index");
} }
float val = atof(args[1]); float val = atof(args[1]);
@ -44,26 +94,28 @@ void illumination_pwm(String command)
digitalWrite(pwm_led_pins[index], LOW); digitalWrite(pwm_led_pins[index], LOW);
} }
#ifdef MCU_PICO #ifdef MCU_PICO
uint32_t pwm_val = val * 65535; uint16_t pwm_val = val * 65535;
#else #else
uint8_t pwm_val = val*255; uint8_t pwm_val = val * 255;
#endif #endif
analogWrite(pwm_led_pins[index], pwm_val); analogWrite(pwm_led_pins[index], pwm_val);
SERIAL_PORT.print("Illumination set"); pwm_values[index] = pwm_val;
SERIAL_PORT.println(pwm_val); EEPROM.put(pwm_values_eeprom+index*sizeof(uint16_t), pwm_val);
comPort->print("PWM:");
comPort->print(index);
comPort->print(":");
comPort->println(pwm_val);
free(args[0]); if (parsed > 0)
free(args[1]); free(args[0]);
if (parsed > 1)
free(args[1]);
#endif #endif
} }
void illumination_setup() void illumination_setup()
{ {
#ifdef MCU_PICO
analogWriteRange(65535);
analogWriteFreq(32000);//32khz seems sensible
#endif
for (uint8_t i = 0; i < PWM_NUM; i++) for (uint8_t i = 0; i < PWM_NUM; i++)
{ {
pinMode(pwm_led_pins[i], OUTPUT); pinMode(pwm_led_pins[i], OUTPUT);
@ -71,15 +123,32 @@ void illumination_setup()
} }
#ifdef WIRING_CC_LED #ifdef WIRING_CC_LED
EEPROM.get(cc_value_eeprom, cc_value);
pinMode(WIRING_CC_LED, OUTPUT); pinMode(WIRING_CC_LED, OUTPUT);
if (cc_value > 0)
cc_set_value(cc_value/32.0);
#endif #endif
#ifdef MCU_PICO
EEPROM.get(pwm_frequency_eeprom, pwm_frequency);
if (pwm_frequency < 1)
pwm_frequency = 64000;
analogWriteRange(65535);
analogWriteFreq(pwm_frequency);//32khz seems sensible
#endif
for(int i = 0; i < PWM_NUM; i++)
{
EEPROM.get(pwm_values_eeprom+i*sizeof(uint16_t), pwm_values[i]);
if (pwm_values[i] > 0)
analogWrite(pwm_led_pins[i], pwm_values[i]);
}
register_module(illumination_commands, NULL); register_module(illumination_commands, NULL);
} }
#ifdef WIRING_CC_LED #ifdef WIRING_CC_LED
//these functions are useful for testing
//these functions are useful testing
float multi_read(uint8_t pin, uint16_t reads) float multi_read(uint8_t pin, uint16_t reads)
{ {
float total = 0; float total = 0;
@ -97,13 +166,13 @@ void cc_test()
for (float v = 0; v <= 1; v+=0.02) for (float v = 0; v <= 1; v+=0.02)
{ {
Serial.print(v); comPort->print(v);
Serial.print(" "); comPort->print(" ");
cc_set_value(v); cc_set_value(v);
Serial.print(" "); comPort->print(" ");
delay(2000); delay(2000);
float current = multi_read(A0, 1000)/4095.0*3.3; float current = multi_read(A0, 1000)/4095.0*3.3;
Serial.println(current*1000); comPort->println(current*1000);
} }
cc_set_value(0); cc_set_value(0);
@ -113,11 +182,17 @@ void cc_test()
void cc_set(String command) void cc_set(String command)
{ {
char * args[1]; char * args[1];
parse_arguments(args, command, 1); uint8_t parsed = parse_arguments(args, command, 1);
float val = atof(args[0]); if (parsed > 0 && !(args[0] == "" || args[0][0] == '?'))
{
float val = atof(args[0]);
cc_set_value(val);
}
free(args[0]); comPort->print("CC LED:");
cc_set_value(val); comPort->println(cc_value/32.0);
if (parsed > 0)
free(args[0]);
} }
void cc_set_value(float val) void cc_set_value(float val)
@ -129,6 +204,9 @@ void cc_set_value(float val)
return; return;
} }
cc_value = 32 * val;
EEPROM.put(cc_value_eeprom, cc_value);
const uint8_t td = 3; // >= 1.5 us const uint8_t td = 3; // >= 1.5 us
const uint8_t tup = 2; // 1-75 us const uint8_t tup = 2; // 1-75 us
const uint8_t tdown = 180; //180-300us const uint8_t tdown = 180; //180-300us
@ -155,7 +233,7 @@ void cc_set_value(float val)
stepd = tdown; stepd = tdown;
} }
//step up //step current
uint8_t steps_done =0; uint8_t steps_done =0;
for (uint8_t i=16; i!=setting; i+=dir) for (uint8_t i=16; i!=setting; i+=dir)
{ {
@ -165,15 +243,15 @@ void cc_set_value(float val)
delayMicroseconds(td); delayMicroseconds(td);
steps_done++; steps_done++;
} }
Serial.print(steps_done);
#else #else
SERIAL_PORT.println("CC LED not supported"); comPort->println("CC LED not supported");
#endif #endif
} }
extern const Command illumination_commands[] = { extern const Command illumination_commands[] = {
{"led_pwm", illumination_pwm}, {"led_pwm", illumination_pwm},
{"led_freq", illumination_pwm_freq}, {"led_channels", illumination_channels},
{"led_cc_set", cc_set}, {"led_frequency", illumination_pwm_freq},
{"led_cc", cc_set},
END_COMMAND}; END_COMMAND};
#endif #endif

1
src/modules/illumination/illumination.h
View file

@ -7,6 +7,7 @@
void illumination_pwm(String command); void illumination_pwm(String command);
void illumination_pwm_freq(String command); void illumination_pwm_freq(String command);
void illumination_channels(String command);
void cc_set(String command); void cc_set(String command);
void cc_set_value(float val); void cc_set_value(float val);

47
src/modules/light_sensor/light_sensor.cpp
View file

@ -1,4 +1,5 @@
#include "config.h" #include "config.h"
#include <ComPort.h>
#ifdef LIGHT_SENSOR #ifdef LIGHT_SENSOR
#include "light_sensor.h" #include "light_sensor.h"
#include "config.h" #include "config.h"
@ -54,35 +55,35 @@ void setup_light_sensor_device()
} }
else else
{ {
SERIAL_PORT.println(F("No light sensor found. NB your board will start up faster if you recompile without light sensor support.")); comPort->println(F("No light sensor found. NB your board will start up faster if you recompile without light sensor support."));
} }
} }
void print_light_sensor_gain() void print_light_sensor_gain()
{ {
// Print the current gain value of the light sensor // Print the current gain value of the light sensor
SERIAL_PORT.print(F("light sensor gain ")); comPort->print(F("light sensor gain "));
tsl2591Gain_t gain = tsl.getGain(); tsl2591Gain_t gain = tsl.getGain();
switch (gain) switch (gain)
{ {
case TSL2591_GAIN_LOW: case TSL2591_GAIN_LOW:
SERIAL_PORT.println(F("1x (Low)")); comPort->println(F("1x (Low)"));
break; break;
case TSL2591_GAIN_MED: case TSL2591_GAIN_MED:
SERIAL_PORT.println(F("25x (Medium)")); comPort->println(F("25x (Medium)"));
break; break;
case TSL2591_GAIN_HIGH: case TSL2591_GAIN_HIGH:
SERIAL_PORT.println(F("428x (High)")); comPort->println(F("428x (High)"));
break; break;
case TSL2591_GAIN_MAX: case TSL2591_GAIN_MAX:
SERIAL_PORT.println(F("9876x (Max)")); comPort->println(F("9876x (Max)"));
break; break;
} }
} }
void light_sensor_gain_values(String command) void light_sensor_gain_values(String command)
{ {
// Print the allowable gain values of the light sensor // Print the allowable gain values of the light sensor
SERIAL_PORT.println(F("light sensor gains: 1x, 25x, 428x, 9876x")); comPort->println(F("light sensor gains: 1x, 25x, 428x, 9876x"));
} }
void set_light_sensor_gain(int newgain) void set_light_sensor_gain(int newgain)
@ -103,7 +104,7 @@ void set_light_sensor_gain(int newgain)
tsl.setGain(TSL2591_GAIN_MAX); tsl.setGain(TSL2591_GAIN_MAX);
break; break;
default: default:
SERIAL_PORT.println(F("Error: gain may only be 1, 25, 428, or 9876.")); comPort->println(F("Error: gain may only be 1, 25, 428, or 9876."));
return; return;
} }
print_light_sensor_gain(); print_light_sensor_gain();
@ -112,16 +113,16 @@ void set_light_sensor_gain(int newgain)
void light_sensor_integration_time(String command) void light_sensor_integration_time(String command)
{ {
// Print the current integration time in milliseconds. // Print the current integration time in milliseconds.
SERIAL_PORT.print(F("light sensor integration time ")); comPort->print(F("light sensor integration time "));
SERIAL_PORT.print((tsl.getTiming() + 1) * 100, DEC); comPort->print((tsl.getTiming() + 1) * 100, DEC);
SERIAL_PORT.println(F(" ms")); comPort->println(F(" ms"));
} }
void light_sensor_intensity(String command) void light_sensor_intensity(String command)
{ {
// Print the current light value // Print the current light value
uint16_t x = tsl.getLuminosity(TSL2591_FULLSPECTRUM); uint16_t x = tsl.getLuminosity(TSL2591_FULLSPECTRUM);
SERIAL_PORT.println(x, DEC); comPort->println(x, DEC);
} }
#endif // ADAFRUIT_TSL2591 #endif // ADAFRUIT_TSL2591
@ -137,34 +138,34 @@ void setup_light_sensor_device()
void print_light_sensor_gain() void print_light_sensor_gain()
{ {
// Print the current gain value of the light sensor // Print the current gain value of the light sensor
SERIAL_PORT.print(F("light sensor gain ")); comPort->print(F("light sensor gain "));
adsGain_t gain = ads.getGain(); adsGain_t gain = ads.getGain();
switch (gain) switch (gain)
{ {
case GAIN_TWOTHIRDS: case GAIN_TWOTHIRDS:
SERIAL_PORT.println(F("0.66x (specify 0)")); comPort->println(F("0.66x (specify 0)"));
break; break;
case GAIN_ONE: case GAIN_ONE:
SERIAL_PORT.println(F("1x")); comPort->println(F("1x"));
break; break;
case GAIN_TWO: case GAIN_TWO:
SERIAL_PORT.println(F("2x")); comPort->println(F("2x"));
break; break;
case GAIN_FOUR: case GAIN_FOUR:
SERIAL_PORT.println(F("4x")); comPort->println(F("4x"));
break; break;
case GAIN_EIGHT: case GAIN_EIGHT:
SERIAL_PORT.println(F("8x")); comPort->println(F("8x"));
break; break;
case GAIN_SIXTEEN: case GAIN_SIXTEEN:
SERIAL_PORT.println(F("16x")); comPort->println(F("16x"));
break; break;
} }
} }
void light_sensor_gain_values(String command) void light_sensor_gain_values(String command)
{ {
// Print the allowable gain values of the light sensor // Print the allowable gain values of the light sensor
SERIAL_PORT.println(F("light sensor gains: 0.66x (specify 0), 1x, 2x, 4x, 8x, 16x")); comPort->println(F("light sensor gains: 0.66x (specify 0), 1x, 2x, 4x, 8x, 16x"));
} }
void set_light_sensor_gain(int newgain) void set_light_sensor_gain(int newgain)
@ -191,7 +192,7 @@ void set_light_sensor_gain(int newgain)
ads.setGain(GAIN_SIXTEEN); ads.setGain(GAIN_SIXTEEN);
break; break;
default: default:
SERIAL_PORT.println(F("Error: gain may only be 0, 1, 2, 4, 8, 16 (0 means 2/3).")); comPort->println(F("Error: gain may only be 0, 1, 2, 4, 8, 16 (0 means 2/3)."));
return; return;
} }
print_light_sensor_gain(); print_light_sensor_gain();
@ -200,7 +201,7 @@ void set_light_sensor_gain(int newgain)
void light_sensor_integration_time(String command) void light_sensor_integration_time(String command)
{ {
// Print the current integration time in milliseconds. // Print the current integration time in milliseconds.
SERIAL_PORT.println(F("integration time not supported for ADS1115")); comPort->println(F("integration time not supported for ADS1115"));
} }
void light_sensor_intensity(String command) void light_sensor_intensity(String command)
@ -215,7 +216,7 @@ void light_sensor_intensity(String command)
uint16_t x = ads.readADC_SingleEnded(ch); //single ended measurement on pin ch (0-3) uint16_t x = ads.readADC_SingleEnded(ch); //single ended measurement on pin ch (0-3)
//uint16_t x = ads.readADC_Differential_0_1(); //differential measurement on pins 0,1 //uint16_t x = ads.readADC_Differential_0_1(); //differential measurement on pins 0,1
SERIAL_PORT.println(x, DEC); comPort->println(x, DEC);
} }
#endif // ADAFRUIT_ADS1115 #endif // ADAFRUIT_ADS1115
#endif #endif

104
src/modules/stage/stage.cpp
View file

@ -8,18 +8,24 @@
#include "dummyEEPROM.h" #include "dummyEEPROM.h"
#endif #endif
#include "main.h" #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 // 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; long min_step_delay = -1;
const uint8_t min_step_delay_eeprom = sizeof(long) * n_motors; const uint8_t min_step_delay_eeprom = stage_position_eeprom + sizeof(long) * STAGE_MAX_MOTORS;
long ramp_time = -1; long ramp_time = -1;
const uint8_t ramp_time_eeprom = sizeof(long) * (n_motors + 1); const uint8_t ramp_time_eeprom = min_step_delay_eeprom + sizeof(long);
const uint8_t axis_max_eeprom = sizeof(long) * (n_motors + 2); const uint8_t axis_max_eeprom = ramp_time_eeprom + sizeof(long);
const uint8_t non_blocking_moves_eeprom = sizeof(long) * (n_motors + 3); 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 stage_moving = false;
bool notify_on_stop = false; bool notify_on_stop = false;
@ -31,7 +37,15 @@ void stage_setup()
motors[0] = new Stepper(8, WIRING_MOTOR_X); motors[0] = new Stepper(8, WIRING_MOTOR_X);
motors[1] = new Stepper(8, WIRING_MOTOR_Y); motors[1] = new Stepper(8, WIRING_MOTOR_Y);
motors[2] = new Stepper(8, WIRING_MOTOR_Z); 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... motors[i]->setSpeed(10); // as a default set to 10 rpm, though this is ignored...
steps_remaining[i] = 0; steps_remaining[i] = 0;
@ -53,7 +67,7 @@ void stage_setup()
} }
//using non-blocking moves here to have blocking moves by default //using non-blocking moves here to have blocking moves by default
EEPROM.get(non_blocking_moves_eeprom, non_blocking_moves); non_blocking_moves = read_eeprom_bool(non_blocking_moves_eeprom, false);
register_module(stage_commands, stage_loop); register_module(stage_commands, stage_loop);
} }
@ -76,20 +90,20 @@ void print_position()
EACH_MOTOR EACH_MOTOR
{ {
if (i > 0) if (i > 0)
SERIAL_PORT.print(" "); comPort->print(" ");
SERIAL_PORT.print(current_pos[i]); comPort->print(current_pos[i]);
} }
SERIAL_PORT.println(); comPort->println();
} }
unsigned long move_start_time = 0; 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 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 // move all the axes in a nice move
// split displacements into magnitude and direction, and find max. travel // split displacements into magnitude and direction, and find max. travel
@ -124,7 +138,7 @@ void start_move(long displ[n_motors])
} }
else else
{ {
SERIAL_PORT.println("done."); comPort->println("done.");
} }
} }
@ -180,10 +194,11 @@ void stage_loop()
} }
} }
} }
EEPROM.put(0, current_pos); // ensure our position is held in EEPROM so it persists
if (!stage_moving && notify_on_stop) if (!stage_moving && notify_on_stop)
{ {
SERIAL_PORT.println("stopped"); comPort->println("stopped");
notify_on_stop = false; notify_on_stop = false;
} }
} }
@ -216,13 +231,10 @@ void stage_mrz(String command)
void stage_mr(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 EACH_MOTOR
{ {
if (i>3)
continue;
displacement[i] = atol(args[i]); displacement[i] = atol(args[i]);
free(args[i]); free(args[i]);
} }
@ -236,7 +248,7 @@ void stage_release(String command)
{ {
releaseMotor(i); releaseMotor(i);
} }
SERIAL_PORT.println("done"); comPort->println("done");
} }
void stage_p(String command) void stage_p(String command)
@ -250,14 +262,14 @@ void stage_min_step_delay(String command)
parse_arguments(args, command, 1); parse_arguments(args, command, 1);
if (args[0][0] == '?') if (args[0][0] == '?')
{ {
SERIAL_PORT.print("minimum step delay "); comPort->print("minimum step delay ");
SERIAL_PORT.println(min_step_delay); comPort->println(min_step_delay);
} }
else else
{ {
min_step_delay = atol(args[0]); min_step_delay = atol(args[0]);
EEPROM.put(min_step_delay_eeprom, min_step_delay); EEPROM.put(min_step_delay_eeprom, min_step_delay);
SERIAL_PORT.println("done."); comPort->println("done.");
} }
free(args[0]); free(args[0]);
} }
@ -268,14 +280,14 @@ void stage_ramp_time(String command)
parse_arguments(args, command, 1); parse_arguments(args, command, 1);
if (args[0][0] == '?') if (args[0][0] == '?')
{ {
SERIAL_PORT.print("ramp_time "); comPort->print("ramp_time ");
SERIAL_PORT.println(ramp_time); comPort->println(ramp_time);
} }
else else
{ {
ramp_time = atol(args[0]); ramp_time = atol(args[0]);
EEPROM.put(ramp_time_eeprom, ramp_time); EEPROM.put(ramp_time_eeprom, ramp_time);
SERIAL_PORT.println("done."); comPort->println("done.");
} }
free(args[0]); free(args[0]);
} }
@ -286,41 +298,54 @@ void update_blocking_moves(String command)
parse_arguments(args, command, 1); parse_arguments(args, command, 1);
if (args[0][0] == '?') if (args[0][0] == '?')
{ {
SERIAL_PORT.print("blocking_moves "); comPort->print("blocking_moves ");
SERIAL_PORT.println(non_blocking_moves ? "false" : "true"); comPort->println(non_blocking_moves ? "false" : "true");
} }
else else
{ {
non_blocking_moves = !(args[0][0] == 't'); non_blocking_moves = !(args[0][0] == 't');
EEPROM.put(non_blocking_moves_eeprom, non_blocking_moves); EEPROM.put(non_blocking_moves_eeprom, non_blocking_moves);
SERIAL_PORT.println("done."); comPort->println("done.");
} }
} }
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) void stage_zero(String command)
{ {
EACH_MOTOR current_pos[i] = 0; EACH_MOTOR current_pos[i] = 0;
SERIAL_PORT.println(F("position reset to 0 0 0")); comPort->println(F("position reset to 0 0 0"));
EEPROM.put(0, current_pos); EEPROM.put(0, current_pos);
} }
void stage_stop(String command) void stage_stop(String command)
{ {
stage_moving = false; stage_moving = false;
SERIAL_PORT.println("Move aborted"); comPort->println("Move aborted");
} }
void is_stage_moving(String command) void is_stage_moving(String command)
{ {
//TODO: should I bother checking for a ? //TODO: should I bother checking for a ?
SERIAL_PORT.println(stage_moving ? "true" : "false"); comPort->println(stage_moving ? "true" : "false");
} }
void activate_notify_on_stop(String command) void activate_notify_on_stop(String command)
{ {
if (!stage_moving) if (!stage_moving)
{ {
SERIAL_PORT.println("Error: stage is not moving"); comPort->println("Error: stage is not moving");
} }
else else
{ {
@ -345,4 +370,5 @@ extern const Command stage_commands[] = {
{"moving", is_stage_moving}, {"moving", is_stage_moving},
{"notify_on_stop", activate_notify_on_stop}, {"notify_on_stop", activate_notify_on_stop},
{"blocking_moves", update_blocking_moves}, {"blocking_moves", update_blocking_moves},
{"n_motors", stage_n_motors},
END_COMMAND}; END_COMMAND};

5
src/modules/stage/stage.h
View file

@ -3,7 +3,9 @@
#include "main.h" #include "main.h"
#include <Arduino.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_setup();
void stage_loop(); void stage_loop();
@ -21,6 +23,7 @@ void stage_ramp_time(String command);
void stage_zero(String command); void stage_zero(String command);
void start_move(long displ[]); void start_move(long displ[]);
void stage_stop(String command); void stage_stop(String command);
void stage_n_motors(String command);
extern const Command stage_commands[]; extern const Command stage_commands[];
//we want to expose these for endstops (and potentially other modules) //we want to expose these for endstops (and potentially other modules)

9
src/modules/stepstick/stepstick.cpp
View file

@ -1,6 +1,7 @@
#include "config.h" #include "config.h"
#ifdef STEPSTICK #ifdef STEPSTICK
#include "stepstick.h" #include "stepstick.h"
#include <ComPort.h>
#ifdef SUPPORT_EEPROM #ifdef SUPPORT_EEPROM
#include <EEPROM.h> #include <EEPROM.h>
#else #else
@ -16,13 +17,13 @@ bool moving = false;
void stepstick_release(String command) void stepstick_release(String command)
{ {
digitalWrite(stepstick_pins[0], HIGH);//start with motor disabled digitalWrite(stepstick_pins[0], HIGH);//start with motor disabled
SERIAL_PORT.println("Stepstick released"); comPort->println("Stepstick released");
} }
void stepstick_stop(String command) void stepstick_stop(String command)
{ {
stepper.stop(); stepper.stop();
SERIAL_PORT.println("Stepstick stopping"); comPort->println("Stepstick stopping");
} }
void stepstick_move(String command) void stepstick_move(String command)
@ -37,7 +38,7 @@ void stepstick_move(String command)
stepper.moveTo(stepper.currentPosition() + distance); stepper.moveTo(stepper.currentPosition() + distance);
free(args[0]); free(args[0]);
free(args[1]); free(args[1]);
SERIAL_PORT.println("Stepstick started"); comPort->println("Stepstick started");
moving = true; moving = true;
} }
@ -55,7 +56,7 @@ void stepstick_loop()
if (stepper.distanceToGo() == 0 && moving) if (stepper.distanceToGo() == 0 && moving)
{ {
moving = false; moving = false;
SERIAL_PORT.println("Stepstick stopped"); comPort->println("Stepstick stopped");
} }
} }

5
test/test_argument_parsing.cpp
View file

@ -70,10 +70,11 @@ void test_multiple_argument_parsing(void)
void setup() { void setup() {
//TODO: support serial selection in tests
Serial.begin(115200); Serial.begin(115200);
// NOTE!!! Wait for >2 secs // NOTE!!! Wait for >2 secs
// if board doesn't support software reset via Serial.DTR/RTS // if board doesn't support software reset via comPort->DTR/RTS
delay(2000); delay(5000);
UNITY_BEGIN(); // IMPORTANT LINE! UNITY_BEGIN(); // IMPORTANT LINE!
//bizzare string issues caused this to fail in specific sequences, so we run it multiple times //bizzare string issues caused this to fail in specific sequences, so we run it multiple times
RUN_TEST(test_multiple_argument_parsing); RUN_TEST(test_multiple_argument_parsing);