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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

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

17
src/boards.h
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@ -28,7 +28,7 @@
#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 {}
#elif defined(BOARD_SANGABOARDv2) #elif defined(BOARD_SANGABOARDv2)
@ -40,7 +40,7 @@
#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 {}
#elif defined(BOARD_CUSTOM_BLUEPILL) #elif defined(BOARD_CUSTOM_BLUEPILL)
@ -52,7 +52,7 @@
#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 {}
#elif defined(BOARD_CUSTOM_PICO) #elif defined(BOARD_CUSTOM_PICO)
@ -67,7 +67,7 @@
#define ADDITIONAL_STEPPERS 1 #define ADDITIONAL_STEPPERS 1
#define WIRING_ADDITIONAL_STEPPERS = {{0, 1, 22, 23}} #define WIRING_ADDITIONAL_STEPPERS = {{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 PWM_NUM 0 #define PWM_NUM 0
#define WIRING_PWM_LEDS {} #define WIRING_PWM_LEDS {}
#elif defined(BOARD_SANGABOARDv5) #elif defined(BOARD_SANGABOARDv5)
@ -85,9 +85,10 @@
#define WIRING_SERIAL_TX 8 #define WIRING_SERIAL_TX 8
#define WIRING_SERIAL_RX 9 #define WIRING_SERIAL_RX 9
#ifdef USB_SERIAL #ifdef USB_SERIAL
#define SERIAL_PORT Serial #define PRIMARY_SERIAL_PORT Serial
#else #else
#define SERIAL_PORT Serial2 #define PRIMARY_SERIAL_PORT Serial
#define SECONDARY_SERIAL_PORT Serial2
#endif #endif
#define PWM_NUM 2 #define PWM_NUM 2
#define WIRING_PWM_LEDS {25, 29} #define WIRING_PWM_LEDS {25, 29}
@ -103,7 +104,7 @@
#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 {}
#elif defined(BOARD_CUSTOM) #elif defined(BOARD_CUSTOM)
@ -118,7 +119,7 @@
#define ADDITIONAL_STEPPERS 1 #define ADDITIONAL_STEPPERS 1
#define WIRING_ADDITIONAL_STEPPERS = {{0, 1, 22, 23}} #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 {}
#endif #endif

46
src/main.cpp
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@ -19,6 +19,7 @@
#include "config.h" #include "config.h"
#include <Arduino.h> #include <Arduino.h>
#include <stdint.h> #include <stdint.h>
#include <ComPort.h>
#ifdef HELP #ifdef HELP
#include "modules/help/help.h" #include "modules/help/help.h"
@ -73,9 +74,9 @@ void handle_command(String received_command)
} }
#ifdef HELP #ifdef HELP
SERIAL_PORT.println(F("Type 'help' for a list of commands.")); 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
} }
@ -104,32 +105,32 @@ 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; 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--"); comPort->println("--END--");
} }
#ifndef UNIT_TEST #ifndef UNIT_TEST
@ -141,9 +142,15 @@ void setup()
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);
while (!PRIMARY_SERIAL_PORT)
delay(1); delay(1);
#if defined(SECONDARY_SERIAL_PORT)
SECONDARY_SERIAL_PORT->begin(115200);
while (!SECONDARY_SERIAL_PORT)
delay(1);
#endif
register_module(core_commands, NULL); register_module(core_commands, NULL);
@ -173,14 +180,21 @@ 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()) if (PRIMARY_SERIAL_PORT.available())
{ {
handle_command(SERIAL_PORT.readStringUntil('\n')); comPort = (HardwareSerial*) &PRIMARY_SERIAL_PORT;
handle_command(comPort->readStringUntil('\n'));
}
#if defined(SECONDARY_SERIAL_PORT)
if (SECONDARY_SERIAL_PORT.available())
{
comPort = (HardwareSerial*) &SECONDARY_SERIAL_PORT;
handle_command(comPort->readStringUntil('\n'));
} }
for (int i = 0; i < registered_loop_fn_count; i++) for (int i = 0; i < registered_loop_fn_count; i++)

3
src/main.h
View file

@ -1,8 +1,9 @@
#ifndef MAIN_H #ifndef MAIN_H
#include "config.h" #include "config.h"
#include <Arduino.h> #include <Arduino.h>
#include <ComPort.h>
#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

35
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
@ -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

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

@ -1,6 +1,7 @@
#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
@ -16,11 +17,11 @@ void illumination_pwm_freq(String command)
analogWriteFreq(atol(args[0]));//32khz seems sensible analogWriteFreq(atol(args[0]));//32khz seems sensible
analogWriteRange(65535); analogWriteRange(65535);
SERIAL_PORT.print("Frequency set: "); comPort->print("Frequency set: ");
SERIAL_PORT.print(atol(args[0])); comPort->print(atol(args[0]));
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]); free(args[0]);
@ -35,7 +36,7 @@ void illumination_pwm(String command)
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]);
@ -50,8 +51,8 @@ void illumination_pwm(String command)
#endif #endif
analogWrite(pwm_led_pins[index], pwm_val); analogWrite(pwm_led_pins[index], pwm_val);
SERIAL_PORT.print("Illumination set"); comPort->print("Illumination set");
SERIAL_PORT.println(pwm_val); comPort->println(pwm_val);
free(args[0]); free(args[0]);
free(args[1]); free(args[1]);
@ -117,10 +118,10 @@ void cc_set(String command)
delayMicroseconds(stepd); delayMicroseconds(stepd);
digitalWrite(WIRING_CC_LED, HIGH); digitalWrite(WIRING_CC_LED, HIGH);
delayMicroseconds(td); delayMicroseconds(td);
Serial.println("Stepping CC"); //TODO remove debug print comPort->println("Stepping CC"); //TODO remove debug print
} }
#else #else
SERIAL_PORT.println("CC LED not supported"); comPort->println("CC LED not supported");
#endif #endif
} }

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

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

@ -8,6 +8,7 @@
#include "dummyEEPROM.h" #include "dummyEEPROM.h"
#endif #endif
#include "main.h" #include "main.h"
#include <ComPort.h>
// 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; const uint8_t n_motors = STAGE_N_MOTORS;
@ -76,10 +77,10 @@ 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;
@ -124,7 +125,7 @@ void start_move(long displ[n_motors])
} }
else else
{ {
SERIAL_PORT.println("done."); comPort->println("done.");
} }
} }
@ -183,7 +184,7 @@ void stage_loop()
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;
} }
} }
@ -233,7 +234,7 @@ 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)
@ -247,14 +248,14 @@ 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]);
} }
@ -265,14 +266,14 @@ 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]);
} }
@ -283,41 +284,41 @@ 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_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
{ {

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");
} }
} }

4
test/test_argument_parsing.cpp
View file

@ -70,9 +70,9 @@ void test_multiple_argument_parsing(void)
void setup() { void setup() {
Serial.begin(115200); comPort->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(2000);
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