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Merge in com port switching from sangaboard v4

Browse source 
I've refactored the use of the serial port, to store the
current serial port in a global variable in a module.
This is set to the most recent port to receive data,
and so we should always be replying to the port
that was used to initiate a command.

If SECONDARY_SERIAL_PORT is not defined, this
should result in no change - if it is, we should be
able to communicate on either port.
This commit is contained in:
Richard Bowman 2023-02-22 12:05:48 +00:00
parent e65c290ae6
commit 3997d66cde
12 changed files with 180 additions and 145 deletions
Download patch file Download diff file Expand all files Collapse all files

35
src/modules/endstops/endstops.cpp
View file

@ -2,6 +2,7 @@
#ifdef ENDSTOPS
#include "endstops.h"
#include "../stage/stage.h"
#include <ComPort.h>
#ifdef SUPPORT_EEPROM
#include <EEPROM.h>
#else
@ -99,7 +100,7 @@ void endstops_loop()
homing_final = false;
min_step_delay = previous_step_delay;
home_retreat();
SERIAL_PORT.println("done.");
comPort->println("done.");
return;
}
}
@ -121,8 +122,8 @@ int8_t endstops_check()
if (endstop_break != 0 && stage_moving)
{
SERIAL_PORT.print(F("Endstop hit:"));
SERIAL_PORT.println(endstop_break);
comPort->print(F("Endstop hit:"));
comPort->println(endstop_break);
//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 max, we go from 0 -> predefined axis_max
@ -154,16 +155,16 @@ void endstops_status(String command)
EACH_MOTOR
{
if (i > 0)
SERIAL_PORT.print(" ");
comPort->print(" ");
if (endstop_triggered(i, -1))
SERIAL_PORT.print("-1");
comPort->print("-1");
else if (endstop_triggered(i, 1))
SERIAL_PORT.print("1");
comPort->print("1");
else
SERIAL_PORT.print("0");
comPort->print("0");
}
SERIAL_PORT.println();
comPort->println();
}
void print_axes_max(String command)
@ -171,10 +172,10 @@ void print_axes_max(String command)
EACH_MOTOR
{
if (i > 0)
SERIAL_PORT.print(" ");
SERIAL_PORT.print(axis_max[i]);
comPort->print(" ");
comPort->print(axis_max[i]);
}
SERIAL_PORT.println();
comPort->println();
}
void home_start(uint8_t axes, int8_t direction)
@ -226,7 +227,7 @@ void home_final()
void endstops_home_min(String command)
{
#ifndef ENDSTOPS_MIN
SERIAL_PORT.println(F("Min endstops not installed"));
comPort->println(F("Min endstops not installed"));
return;
#endif
if (command.equals("home_min"))
@ -241,7 +242,7 @@ void endstops_home_min(String command)
void endstops_home_max(String command)
{
#ifndef ENDSTOPS_MAX
SERIAL_PORT.println(F("Max endstops not installed"));
comPort->println(F("Max endstops not installed"));
return;
#endif
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"));
// SERIAL_PORT.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"));
// SERIAL_PORT.println(F("max_p? - return positions of max endstops"));
// SERIAL_PORT.println(F("max <d> <d> <d>
// comPort->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_max <axes?> - home given (00000zyx byte, e.g. 3 for x and y) or all axes to their max position"));
// comPort->println(F("max_p? - return positions of max endstops"));
// comPort->println(F("max <d> <d> <d>
extern const Command endstops_commands[] = {
{"endstops?", endstops_status},
{"home_min", endstops_home_min},

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

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

19
src/modules/illumination/illumination.cpp
View file

@ -1,6 +1,7 @@
#include "config.h"
#ifdef ILLUMINATION
#include "illumination.h"
#include <ComPort.h>
#ifdef SUPPORT_EEPROM
#include <EEPROM.h>
#else
@ -16,11 +17,11 @@ void illumination_pwm_freq(String command)
analogWriteFreq(atol(args[0]));//32khz seems sensible
analogWriteRange(65535);
SERIAL_PORT.print("Frequency set: ");
SERIAL_PORT.print(atol(args[0]));
SERIAL_PORT.println("Hz");
comPort->print("Frequency set: ");
comPort->print(atol(args[0]));
comPort->println("Hz");
#else
SERIAL_PORT.println("Feature not supported");
comPort->println("Feature not supported");
#endif
free(args[0]);
@ -35,7 +36,7 @@ void illumination_pwm(String command)
uint8_t index = atoi(args[0]);
if (index >= PWM_NUM)
{
Serial.println("Invalid index");
comPort->println("Invalid index");
}
float val = atof(args[1]);
@ -50,8 +51,8 @@ void illumination_pwm(String command)
#endif
analogWrite(pwm_led_pins[index], pwm_val);
SERIAL_PORT.print("Illumination set");
SERIAL_PORT.println(pwm_val);
comPort->print("Illumination set");
comPort->println(pwm_val);
free(args[0]);
free(args[1]);
@ -117,10 +118,10 @@ void cc_set(String command)
delayMicroseconds(stepd);
digitalWrite(WIRING_CC_LED, HIGH);
delayMicroseconds(td);
Serial.println("Stepping CC"); //TODO remove debug print
comPort->println("Stepping CC"); //TODO remove debug print
}
#else
SERIAL_PORT.println("CC LED not supported");
comPort->println("CC LED not supported");
#endif
}

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

@ -1,4 +1,5 @@
#include "config.h"
#include <ComPort.h>
#ifdef LIGHT_SENSOR
#include "light_sensor.h"
#include "config.h"
@ -54,35 +55,35 @@ void setup_light_sensor_device()
}
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()
{
// 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();
switch (gain)
{
case TSL2591_GAIN_LOW:
SERIAL_PORT.println(F("1x (Low)"));
comPort->println(F("1x (Low)"));
break;
case TSL2591_GAIN_MED:
SERIAL_PORT.println(F("25x (Medium)"));
comPort->println(F("25x (Medium)"));
break;
case TSL2591_GAIN_HIGH:
SERIAL_PORT.println(F("428x (High)"));
comPort->println(F("428x (High)"));
break;
case TSL2591_GAIN_MAX:
SERIAL_PORT.println(F("9876x (Max)"));
comPort->println(F("9876x (Max)"));
break;
}
}
void light_sensor_gain_values(String command)
{
// 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)
@ -103,7 +104,7 @@ void set_light_sensor_gain(int newgain)
tsl.setGain(TSL2591_GAIN_MAX);
break;
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;
}
print_light_sensor_gain();
@ -112,16 +113,16 @@ void set_light_sensor_gain(int newgain)
void light_sensor_integration_time(String command)
{
// Print the current integration time in milliseconds.
SERIAL_PORT.print(F("light sensor integration time "));
SERIAL_PORT.print((tsl.getTiming() + 1) * 100, DEC);
SERIAL_PORT.println(F(" ms"));
comPort->print(F("light sensor integration time "));
comPort->print((tsl.getTiming() + 1) * 100, DEC);
comPort->println(F(" ms"));
}
void light_sensor_intensity(String command)
{
// Print the current light value
uint16_t x = tsl.getLuminosity(TSL2591_FULLSPECTRUM);
SERIAL_PORT.println(x, DEC);
comPort->println(x, DEC);
}
#endif // ADAFRUIT_TSL2591
@ -137,34 +138,34 @@ void setup_light_sensor_device()
void print_light_sensor_gain()
{
// 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();
switch (gain)
{
case GAIN_TWOTHIRDS:
SERIAL_PORT.println(F("0.66x (specify 0)"));
comPort->println(F("0.66x (specify 0)"));
break;
case GAIN_ONE:
SERIAL_PORT.println(F("1x"));
comPort->println(F("1x"));
break;
case GAIN_TWO:
SERIAL_PORT.println(F("2x"));
comPort->println(F("2x"));
break;
case GAIN_FOUR:
SERIAL_PORT.println(F("4x"));
comPort->println(F("4x"));
break;
case GAIN_EIGHT:
SERIAL_PORT.println(F("8x"));
comPort->println(F("8x"));
break;
case GAIN_SIXTEEN:
SERIAL_PORT.println(F("16x"));
comPort->println(F("16x"));
break;
}
}
void light_sensor_gain_values(String command)
{
// 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)
@ -191,7 +192,7 @@ void set_light_sensor_gain(int newgain)
ads.setGain(GAIN_SIXTEEN);
break;
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;
}
print_light_sensor_gain();
@ -200,7 +201,7 @@ void set_light_sensor_gain(int newgain)
void light_sensor_integration_time(String command)
{
// 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)
@ -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_Differential_0_1(); //differential measurement on pins 0,1
SERIAL_PORT.println(x, DEC);
comPort->println(x, DEC);
}
#endif // ADAFRUIT_ADS1115
#endif

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

@ -8,6 +8,7 @@
#include "dummyEEPROM.h"
#endif
#include "main.h"
#include <ComPort.h>
// The array below has 3 stepper objects, for X,Y,Z respectively
const uint8_t n_motors = STAGE_N_MOTORS;
@ -76,10 +77,10 @@ void print_position()
EACH_MOTOR
{
if (i > 0)
SERIAL_PORT.print(" ");
SERIAL_PORT.print(current_pos[i]);
comPort->print(" ");
comPort->print(current_pos[i]);
}
SERIAL_PORT.println();
comPort->println();
}
unsigned long move_start_time = 0;
@ -124,7 +125,7 @@ void start_move(long displ[n_motors])
}
else
{
SERIAL_PORT.println("done.");
comPort->println("done.");
}
}
@ -183,7 +184,7 @@ void stage_loop()
if (!stage_moving && notify_on_stop)
{
SERIAL_PORT.println("stopped");
comPort->println("stopped");
notify_on_stop = false;
}
}
@ -233,7 +234,7 @@ void stage_release(String command)
{
releaseMotor(i);
}
SERIAL_PORT.println("done");
comPort->println("done");
}
void stage_p(String command)
@ -247,14 +248,14 @@ void stage_min_step_delay(String command)
parse_arguments(args, command, 1);
if (args[0][0] == '?')
{
SERIAL_PORT.print("minimum step delay ");
SERIAL_PORT.println(min_step_delay);
comPort->print("minimum step delay ");
comPort->println(min_step_delay);
}
else
{
min_step_delay = atol(args[0]);
EEPROM.put(min_step_delay_eeprom, min_step_delay);
SERIAL_PORT.println("done.");
comPort->println("done.");
}
free(args[0]);
}
@ -265,14 +266,14 @@ void stage_ramp_time(String command)
parse_arguments(args, command, 1);
if (args[0][0] == '?')
{
SERIAL_PORT.print("ramp_time ");
SERIAL_PORT.println(ramp_time);
comPort->print("ramp_time ");
comPort->println(ramp_time);
}
else
{
ramp_time = atol(args[0]);
EEPROM.put(ramp_time_eeprom, ramp_time);
SERIAL_PORT.println("done.");
comPort->println("done.");
}
free(args[0]);
}
@ -283,41 +284,41 @@ void update_blocking_moves(String command)
parse_arguments(args, command, 1);
if (args[0][0] == '?')
{
SERIAL_PORT.print("blocking_moves ");
SERIAL_PORT.println(non_blocking_moves ? "false" : "true");
comPort->print("blocking_moves ");
comPort->println(non_blocking_moves ? "false" : "true");
}
else
{
non_blocking_moves = !(args[0][0] == 't');
EEPROM.put(non_blocking_moves_eeprom, non_blocking_moves);
SERIAL_PORT.println("done.");
comPort->println("done.");
}
}
void stage_zero(String command)
{
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);
}
void stage_stop(String command)
{
stage_moving = false;
SERIAL_PORT.println("Move aborted");
comPort->println("Move aborted");
}
void is_stage_moving(String command)
{
//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)
{
if (!stage_moving)
{
SERIAL_PORT.println("Error: stage is not moving");
comPort->println("Error: stage is not moving");
}
else
{

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

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