Add endstops, light_sensor, test, many fixes

- Added endstop and light_sensor module
 - Improved configuration by splitting wiring configs to boards.h
 - Added a unit test for argument parsing
 - Fixed many smaller bugs

src/modules/stage/stage.cpp

@@ -2,11 +2,13 @@
 #include "config.h"
 #include <limits.h>
 #include <Arduino.h>
-#include <EEPROM.h>
+#ifdef SUPPORT_EEPROM
+    #include <EEPROM.h>
+#else
+    #include "dummyEEPROM.h"
+#endif
 #include "main.h"
 
-#define EACH_MOTOR for (int i = 0; i < n_motors; i++)
-
 // The array below has 3 stepper objects, for X,Y,Z respectively
 const int n_motors = 3;
 long min_step_delay;
@@ -18,22 +20,14 @@ Stepper *motors[n_motors];
 signed long current_pos[n_motors];
 long steps_remaining[n_motors];
 
-bool test_mode = false;
 bool stage_moving = false;
 
 void stage_setup()
 {
     // get the stepoper objects from the motor shield objects
-
-#if defined(SANGABOARDv2)
-    motors[0] = new Stepper(8, 13, 12, 11, 10);
-    motors[1] = new Stepper(8, 9, 8, 7, 6);
-    motors[2] = new Stepper(8, 5, 4, 3, 2);
-#elif defined(SANGABOARDv3)
-    motors[0] = new Stepper(8, 8, 9, 10, 11);
-    motors[1] = new Stepper(8, 5, 13, 4, 12);
-    motors[2] = new Stepper(8, 6, 7, A5, A4);
-#endif
+    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
     {
         motors[i]->setSpeed(10); // as a default set to 10 rpm, though this is ignored...
@@ -84,12 +78,12 @@ void print_position()
 
 unsigned long move_start_time = 0;
 unsigned long distance_moved[n_motors];
-unsigned long displacement[n_motors];
+long displacement[n_motors];
 float final_scaled_t;
 float step_delay[n_motors];
-long move_directions[n_motors];
+int8_t move_directions[n_motors];
 
-void start_move(unsigned long displ[n_motors])
+void start_move(long displ[n_motors])
 {
     // move all the axes in a nice move
     // split displacements into magnitude and direction, and find max. travel
@@ -103,7 +97,7 @@ void start_move(unsigned long displ[n_motors])
     }
     // scale the step delays so the move goes in a straight line, with >=1 motor
     // running at max. speed.
-    EACH_MOTOR if (displacement[i] > 0)
+    EACH_MOTOR {if (displacement[i] > 0)
     {
         step_delay[i] = float(max_steps) / float(displacement[i]) * float(min_step_delay);
     }
@@ -111,7 +105,7 @@ void start_move(unsigned long displ[n_motors])
     {
         step_delay[i] = 9999999999;
     }
-
+    }
     EACH_MOTOR distance_moved[i] = 0;
     move_start_time = micros();
     final_scaled_t = (float)max_steps * min_step_delay; //NB total time taken will be final_scaled_t + 2*ramp_time
@@ -157,7 +151,7 @@ void stage_loop()
     stage_moving = false;
     EACH_MOTOR
     {
-        if (distance_moved[i] < displacement[i])
+        if ((long) distance_moved[i] < displacement[i])
         {
             stage_moving = true; //only if all axes are done are we truly finished.
 
@@ -173,12 +167,13 @@ void stage_loop()
 
 void stage_move_single_axis(uint8_t axis, String command)
 {
-    String args[1];
+    char * args[1];
     parse_arguments(args, command, 1);
-    int move = args[0].toInt();
+    int move = atoi(args[0]);
     EACH_MOTOR displacement[i] = 0;
     displacement[axis] = move;
     start_move(displacement);
+    free(args[0]);
 }
 
 void stage_mrx(String command)
@@ -197,11 +192,12 @@ void stage_mrz(String command)
 
 void stage_mr(String command)
 {
-    String args[3];
+    char * args[3];
     parse_arguments(args, command, 3);
     EACH_MOTOR
     {
-        displacement[i] = args[i].toInt();
+        displacement[i] = atol(args[i]);
+        free(args[i]);
     }
 
     start_move(displacement);
@@ -222,37 +218,40 @@ void stage_p(String command)
 
 void stage_min_step_delay(String command)
 {
-    String args[1];
+    char * args[1];
     parse_arguments(args, command, 1);
-    if (args[0].equals("?"))
+    if (args[0][0] == '?')
     {
         Serial.print("minimum step delay ");
         Serial.println(min_step_delay);
     }
     else
     {
-        min_step_delay = args[0].toInt();
+        min_step_delay = atol(args[0]);
         EEPROM.put(min_step_delay_eeprom, min_step_delay);
         Serial.println("done.");
     }
+    free(args[0]);
 }
 
 void stage_ramp_time(String command)
 {
-    String args[1];
+    char * args[1];
     parse_arguments(args, command, 1);
-    if (args[0].equals("?"))
+    if (args[0][0] == '?')
     {
         Serial.print("ramp_time ");
         Serial.println(ramp_time);
     }
     else
     {
-        ramp_time = args[0].toInt();
+        ramp_time = atol(args[0]);
         EEPROM.put(ramp_time_eeprom, ramp_time);
         Serial.println("done.");
     }
+    free(args[0]);
 }
+
 void stage_zero(String command)
 {
     EACH_MOTOR current_pos[i] = 0;

src/modules/stage/stage.h

@@ -1,8 +1,9 @@
+#ifndef STAGE_H
 #include "StepperF_alt.h"
 #include "main.h"
 #include <Arduino.h>
 
-#define EACH_MOTOR for (int i = 0; i < n_motors; i++)
+#define EACH_MOTOR for (int i = 0; i < STAGE_N_MOTORS; i++)
 #define VER_STRING "Sangaboard Firmware v0.6"
 
 void stage_setup();
@@ -19,6 +20,17 @@ void stage_p(String command);
 void stage_min_step_delay(String command);
 void stage_ramp_time(String command);
 void stage_zero(String command);
+void start_move(long displ[]);
 void stage_stop(String command);
 
-extern const Command stage_commands[];
+extern const Command stage_commands[];
+//we want to expose these for endstops (and potentially other modules)
+extern signed long current_pos[];
+extern long displacement[];
+extern bool stage_moving;
+extern int8_t move_directions[];
+extern unsigned long distance_moved[];
+extern long min_step_delay;
+
+#define STAGE_H
+#endif