some compatibility fixes and upload instructions

README.md

@@ -11,11 +11,20 @@ The code is split into the main part which mostly handles command parsing and mo
 
 Motor moves now do not block command processing and a new command `stop` was added which aborts any move in progress.
 
-The firware can be build against different platforms (pi pico, stm32). `boards.h` contains wiring configuration which will need to be adjusted when used with a custom board.
-
 ## Hardware
+This is mainly intended for Sangaboard control boards and all configuration for these is already in `boards.h`, but it can also be used on different platforms (pi pico, stm32 (bluepill)). To use a custom board based on any of these platforms adjust `boards.h` to match your wiring.
 
-Currently works on Arduino Nano + Sangaboard v0.2. Other platforms might work with appropriate `platform.ini` and `config.h` changes and will be supported in due course.
+If you have additional hardware connected to the board (Endstops, Light sensor) support for these can be enabled in `config.h`.
+
+## Building and uploading
+The easiest way to build and upload this firmware is to install `pio core` via pip. For arduino nano with sangaboard v0.2 run
+```
+pip3 install platformio
+pio lib install
+pio run -e nano
+pio run -e nano -t upload
+```
+for sangaboard v0.3 replace `nano` with `leonardo` in the above commands (untested).
 
 ## TODO list
 

src/config.h

@@ -10,13 +10,13 @@
     #define MAX_COMMANDS 50
     #define MAX_MODULES 10
     #define MAX_ARGUMENT_LENGTH 20 //used in argument parsing, takes up ram
-    #define VERSION_STRING "Sangaboard Firmware v0.6"
+    #define VERSION_STRING "Sangaboard Firmware v0.5" //TODO: temporarily using the same version string for sangaboard.py compatibility
     #define DEBUG_ON
 
     //module choice
     #define HELP
     #define STAGE
-    #define ENDSTOPS
+ //   #define ENDSTOPS
  //   #define LIGHT_SENSOR
 
     //module configs

src/main.cpp

@@ -44,6 +44,7 @@ uint8_t registered_loop_fn_count = 0;
 
 const Command core_commands[] = {
     {"version", get_version},
+    {"list_modules", get_modules},
     END_COMMAND};
 
 void register_module(const Command commands[], void (*loop_fn)(void))
@@ -95,10 +96,34 @@ uint8_t parse_arguments(char ** arguments, String command, uint8_t max_args)
 
 void get_version(String)
 {
-    Serial.println(F(VER_STRING));
+    Serial.println(F(VERSION_STRING));
     return;
 }
 
+void get_modules(String)
+{
+    #if defined(LIGHTSENSOR) && defined(LIGHT_SENSOR_ADAFRUIT_TSL2591)
+        Serial.println(F("Light Sensor: TSL2591"));
+    #elif defined(LIGHTSENSOR) && defined(LIGHT_SENSOR_ADAFRUIT_ADS1115)
+        Serial.println(F("Light Sensor: ADS1115"));
+    #endif
+
+    #if defined(ENDSTOPS)
+        Serial.print("Endstops:");
+        #ifdef ENDSTOPS_MIN
+            Serial.print(" min");
+        #endif
+        #ifdef ENDSTOPS_MAX
+            Serial.print(" max");
+        #endif
+        #ifdef ENDSTOPS_SOFT
+            Serial.print(" soft");
+        #endif
+      Serial.println();
+    #endif
+    Serial.println("--END--");
+}
+
 #ifndef UNIT_TEST
 void setup()
 {

src/main.h

@@ -23,5 +23,6 @@ uint8_t parse_arguments(char ** arguments, String, uint8_t);
 extern void register_module(const Command commands[], void (*loop_fn)(void));
 
 void get_version(String);
+void get_modules(String);
 #define MAIN_H
 #endif

src/modules/stage/stage.cpp

@@ -110,6 +110,7 @@ void start_move(long displ[n_motors])
     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
     stage_moving = true;
+    Serial.println("done.");
 }
 
 void stage_loop()
@@ -209,6 +210,7 @@ void stage_release(String command)
     {
         releaseMotor(i);
     }
+    Serial.println("done");
 }
 
 void stage_p(String command)

src/modules/stage/stage.h

@@ -4,7 +4,6 @@
 #include <Arduino.h>
 
 #define EACH_MOTOR for (int i = 0; i < STAGE_N_MOTORS; i++)
-#define VER_STRING "Sangaboard Firmware v0.6"
 
 void stage_setup();
 void stage_loop();