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Hardware UART comms + partial v5 modules support

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This commit is contained in:
Filip Ayazi 2022-09-03 22:04:28 +01:00
parent dfd4a99f1f
commit fde7a90480
10 changed files with 296 additions and 120 deletions
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53
src/main.cpp
View file

@ -32,10 +32,22 @@
#include "modules/endstops/endstops.h" #include "modules/endstops/endstops.h"
#endif #endif
#ifdef STEPSTICK
#include "modules/stepstick/stepstick.h"
#endif
#ifdef ILLUMINATION
#include "modules/illumination/illumination.h"
#endif
#ifdef LIGHT_SENSOR #ifdef LIGHT_SENSOR
#include "modules/light_sensor/light_sensor.h" #include "modules/light_sensor/light_sensor.h"
#endif #endif
#ifdef BOARD_SANGABOARDv5
//arduino::UART PiSerial(8, 9, NC, NC); //TODO this shouldn't be here
#endif
const Command *registered_commands[MAX_COMMANDS]; const Command *registered_commands[MAX_COMMANDS];
void (*registered_loop_functions[MAX_MODULES])(void); void (*registered_loop_functions[MAX_MODULES])(void);
@ -65,9 +77,9 @@ void handle_command(String received_command)
} }
#ifdef HELP #ifdef HELP
Serial.println(F("Type 'help' for a list of commands.")); SERIAL_PORT.println(F("Type 'help' for a list of commands."));
#else #else
Serial.println(F("Invalid command")); SERIAL_PORT.println(F("Invalid command"));
#endif #endif
} }
@ -96,40 +108,41 @@ uint8_t parse_arguments(char **arguments, String command, uint8_t max_args)
void get_version(String) void get_version(String)
{ {
Serial.println(F(VERSION_STRING)); SERIAL_PORT.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.println(F("Light Sensor: TSL2591")); SERIAL_PORT.println(F("Light Sensor: TSL2591"));
#elif defined(LIGHTSENSOR) && defined(LIGHT_SENSOR_ADAFRUIT_ADS1115) #elif defined(LIGHTSENSOR) && defined(LIGHT_SENSOR_ADAFRUIT_ADS1115)
Serial.println(F("Light Sensor: ADS1115")); SERIAL_PORT.println(F("Light Sensor: ADS1115"));
#endif #endif
#if defined(ENDSTOPS) #if defined(ENDSTOPS)
Serial.print("Endstops:"); SERIAL_PORT.print("Endstops:");
#ifdef ENDSTOPS_MIN #ifdef ENDSTOPS_MIN
Serial.print(" min"); SERIAL_PORT.print(" min");
#endif #endif
#ifdef ENDSTOPS_MAX #ifdef ENDSTOPS_MAX
Serial.print(" max"); SERIAL_PORT.print(" max");
#endif #endif
#ifdef ENDSTOPS_SOFT #ifdef ENDSTOPS_SOFT
Serial.print(" soft"); SERIAL_PORT.print(" soft");
#endif #endif
Serial.println(); SERIAL_PORT.println();
#endif #endif
Serial.println("--END--"); SERIAL_PORT.println("--END--");
} }
#ifndef UNIT_TEST #ifndef UNIT_TEST
void setup() void setup()
{ {
// initialise serial port // initialise serial port
Serial.begin(115200); //SERIAL_PORT.begin(115200);
while (!Serial) SERIAL_PORT.begin(115200);
while (!SERIAL_PORT)
delay(1); delay(1);
register_module(core_commands, NULL); register_module(core_commands, NULL);
@ -151,15 +164,23 @@ void setup()
endstops_setup(); endstops_setup();
#endif #endif
#ifdef STEPSTICK
stepstick_setup();
#endif
#ifdef ILLUMINATION
illumination_setup();
#endif
registered_commands[registered_commands_count] = &end_command; registered_commands[registered_commands_count] = &end_command;
Serial.println(F(VERSION_STRING)); SERIAL_PORT.println(F(VERSION_STRING));
} }
void loop() void loop()
{ {
if (Serial.available()) if (SERIAL_PORT.available())
{ {
handle_command(Serial.readStringUntil('\n')); handle_command(SERIAL_PORT.readStringUntil('\n'));
} }
for (int i = 0; i < registered_loop_fn_count; i++) for (int i = 0; i < registered_loop_fn_count; i++)

4
src/main.h
View file

@ -13,6 +13,10 @@
} }
#define CHECK_END_COMMAND(C) check_end_command(C) #define CHECK_END_COMMAND(C) check_end_command(C)
#ifdef BOARD_SANGABOARDv5
extern arduino::UART PiSerial;
#endif
struct Command struct Command
{ {
const char * command; const char * command;

34
src/modules/endstops/endstops.cpp
View file

@ -99,7 +99,7 @@ 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.println("done."); SERIAL_PORT.println("done.");
return; return;
} }
} }
@ -121,8 +121,8 @@ int8_t endstops_check()
if (endstop_break != 0 && stage_moving) if (endstop_break != 0 && stage_moving)
{ {
Serial.print(F("Endstop hit:")); SERIAL_PORT.print(F("Endstop hit:"));
Serial.println(endstop_break); SERIAL_PORT.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 +154,16 @@ void endstops_status(String command)
EACH_MOTOR EACH_MOTOR
{ {
if (i > 0) if (i > 0)
Serial.print(" "); SERIAL_PORT.print(" ");
if (endstop_triggered(i, -1)) if (endstop_triggered(i, -1))
Serial.print("-1"); SERIAL_PORT.print("-1");
else if (endstop_triggered(i, 1)) else if (endstop_triggered(i, 1))
Serial.print("1"); SERIAL_PORT.print("1");
else else
Serial.print("0"); SERIAL_PORT.print("0");
} }
Serial.println(); SERIAL_PORT.println();
} }
void print_axes_max(String command) void print_axes_max(String command)
@ -171,10 +171,10 @@ void print_axes_max(String command)
EACH_MOTOR EACH_MOTOR
{ {
if (i > 0) if (i > 0)
Serial.print(" "); SERIAL_PORT.print(" ");
Serial.print(axis_max[i]); SERIAL_PORT.print(axis_max[i]);
} }
Serial.println(); SERIAL_PORT.println();
} }
void home_start(uint8_t axes, int8_t direction) void home_start(uint8_t axes, int8_t direction)
@ -226,7 +226,7 @@ void home_final()
void endstops_home_min(String command) void endstops_home_min(String command)
{ {
#ifndef ENDSTOPS_MIN #ifndef ENDSTOPS_MIN
Serial.println(F("Min endstops not installed")); SERIAL_PORT.println(F("Min endstops not installed"));
return; return;
#endif #endif
if (command.equals("home_min")) if (command.equals("home_min"))
@ -241,7 +241,7 @@ 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.println(F("Max endstops not installed")); SERIAL_PORT.println(F("Max endstops not installed"));
return; return;
#endif #endif
if (command.equals("home_max")) if (command.equals("home_max"))
@ -293,10 +293,10 @@ 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.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_min <axes?> - home given (00000zyx byte, e.g. 1 for x) or all axes to their min position"));
// Serial.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("home_max <axes?> - home given (00000zyx byte, e.g. 3 for x and y) or all axes to their max position"));
// Serial.println(F("max_p? - return positions of max endstops")); // SERIAL_PORT.println(F("max_p? - return positions of max endstops"));
// Serial.println(F("max <d> <d> <d> // SERIAL_PORT.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},

91
src/modules/help/help.cpp
View file

@ -9,73 +9,78 @@ void help_setup()
void help(String command) void help(String command)
{ {
Serial.println(""); SERIAL_PORT.println("");
Serial.print("Board: "); SERIAL_PORT.print("Board: ");
Serial.println(F(BOARD_STRING)); SERIAL_PORT.println(F(BOARD_STRING));
#ifdef LIGHT_SENSOR #ifdef LIGHT_SENSOR
#if defined ADAFRUIT_TSL2591 #if defined ADAFRUIT_TSL2591
Serial.println(F("Compiled with Adafruit TSL2591 support")); SERIAL_PORT.println(F("Compiled with Adafruit TSL2591 support"));
#elif defined ADAFRUIT_ADS1115 #elif defined ADAFRUIT_ADS1115
Serial.println(F("Compiled with Adafruit ADS1115 support")); SERIAL_PORT.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.println(F("Compiled with min endstops support")); SERIAL_PORT.println(F("Compiled with min endstops support"));
#endif #endif
#ifdef ENDSTOPS_MAX #ifdef ENDSTOPS_MAX
Serial.println(F("Compiled with max endstops support")); SERIAL_PORT.println(F("Compiled with max endstops support"));
#endif #endif
#endif //ENDSTOPS #endif //ENDSTOPS
Serial.println(""); SERIAL_PORT.println("");
Serial.println(F("Commands (terminated by a newline character):")); SERIAL_PORT.println(F("Commands (terminated by a newline character):"));
#ifdef STAGE #ifdef STAGE
Serial.println(F("mrx <d> - relative move in x")); SERIAL_PORT.println(F("mrx <d> - relative move in x"));
Serial.println(F("mry <d> - relative move in y")); SERIAL_PORT.println(F("mry <d> - relative move in y"));
Serial.println(F("mrz <d> - relative move in z")); SERIAL_PORT.println(F("mrz <d> - relative move in z"));
Serial.println(F("mr <d> <d> <d> - relative move in all 3 axes")); SERIAL_PORT.println(F("mr <d> <d> <d> - relative move in all 3 axes"));
Serial.println(F("release - de-energise all motors")); SERIAL_PORT.println(F("release - de-energise all motors"));
Serial.println(F("p? - print position (3 space-separated integers")); SERIAL_PORT.println(F("p? - print position (3 space-separated integers"));
Serial.println(F("ramp_time <d> - set the time taken to accelerate/decelerate in us")); SERIAL_PORT.println(F("ramp_time <d> - set the time taken to accelerate/decelerate in us"));
Serial.println(F("min_step_delay <d> - set the minimum time between steps in us.")); SERIAL_PORT.println(F("min_step_delay <d> - set the minimum time between steps in us."));
Serial.println(F("dt <d> - set the minimum time between steps in us.")); SERIAL_PORT.println(F("dt <d> - set the minimum time between steps in us."));
Serial.println(F("ramp_time? - get the time taken to accelerate/decelerate in us")); SERIAL_PORT.println(F("ramp_time? - get the time taken to accelerate/decelerate in us"));
Serial.println(F("min_step_delay? - get the minimum time between steps in us.")); SERIAL_PORT.println(F("min_step_delay? - get the minimum time between steps in us."));
Serial.println(F("zero - set the current position to zero.")); SERIAL_PORT.println(F("zero - set the current position to zero."));
Serial.println(F("stop - stop a move in progress.")); SERIAL_PORT.println(F("stop - stop a move in progress."));
Serial.println(F("blocking_moves? - get blocking moves enabled")); SERIAL_PORT.println(F("blocking_moves? - get blocking moves enabled"));
Serial.println(F("blocking_moves <bool> - enable/disable blocking moves")); SERIAL_PORT.println(F("blocking_moves <bool> - enable/disable blocking moves"));
Serial.println(F("moving? - check if a move is in progress")); SERIAL_PORT.println(F("moving? - check if a move is in progress"));
Serial.println(F("notify_on_stop - respond with stopped when current move finishes")); SERIAL_PORT.println(F("notify_on_stop - respond with stopped when current move finishes"));
#endif //STAGE #endif //STAGE
#ifdef LIGHT_SENSOR #ifdef LIGHT_SENSOR
Serial.println(F("light_sensor_gain <d> - set the gain of the light sensor")); SERIAL_PORT.println(F("light_sensor_gain <d> - set the gain of the light sensor"));
Serial.println(F("light_sensor_gain? - get the gain of the light sensor")); SERIAL_PORT.println(F("light_sensor_gain? - get the gain of the light sensor"));
Serial.println(F("light_sensor_gain_values? - get the allowable gain values of the light sensor")); SERIAL_PORT.println(F("light_sensor_gain_values? - get the allowable gain values of the light sensor"));
Serial.println(F("light_sensor_integration_time? - get the integration time in milliseconds")); SERIAL_PORT.println(F("light_sensor_integration_time? - get the integration time in milliseconds"));
Serial.println(F("light_sensor_intensity? - read the current value from the full spectrum diode")); SERIAL_PORT.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.println(F("endstops? - get triggered endstops in (1,0,-1) format for max, none, min")); SERIAL_PORT.println(F("endstops? - get triggered endstops in (1,0,-1) format for max, none, min"));
Serial.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_min <axes?> - home given (00000zyx byte, e.g. 1 for x) or all axes to their min position"));
Serial.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("home_max <axes?> - home given (00000zyx byte, e.g. 3 for x and y) or all axes to their max position"));
Serial.println(F("max_p? - return positions of max endstops")); SERIAL_PORT.println(F("max_p? - return positions of max endstops"));
Serial.println(F("max <d> <d> <d> - set maximum positions")); SERIAL_PORT.println(F("max <d> <d> <d> - set maximum positions"));
#endif #endif
//Serial.println(F("test_mode <s> - set test_mode <on> <off>")); #ifdef STEPSTICK
Serial.println(F("version - get firmware version string")); SERIAL_PORT.println(F("stepstick_move <f> <d> - move stepper by <d> with max speed <f>"));
Serial.println(""); SERIAL_PORT.println(F("stepstick_release - release stepstick stepper"));
Serial.println("Input Key:"); SERIAL_PORT.println(F("stepstick_stop - abort stepstick move"));
Serial.println(F("<d> - a decimal integer.")); #endif
Serial.println(""); //SERIAL_PORT.println(F("test_mode <s> - set test_mode <on> <off>"));
Serial.println("--END--"); 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--");
} }
#endif //HELP #endif //HELP

41
src/modules/illumination/illumination.cpp Normal file
View file

@ -0,0 +1,41 @@
#include "config.h"
#ifdef ILLUMINATION
#include "illumination.h"
#ifdef SUPPORT_EEPROM
#include <EEPROM.h>
#else
#include "dummyEEPROM.h"
#endif
#define WIRING_PWM_LED_NUM 1
#define WIRING_PWM_LEDS {25}
//TODO: implement some fancier features of TMC controllers
const uint8_t pwm_led_pins[] = WIRING_PWM_LEDS;
void illumination_pwm(String command)
{
//TODO: make this properly, this is just a test for hacked on/off
char * args[2];
parse_arguments(args, command, 2);
if (atof(args[1]) < 0.001)
{
digitalWrite(pwm_led_pins[0], LOW);//start with motor disabled
}
else
{
digitalWrite(pwm_led_pins[0], HIGH);
}
SERIAL_PORT.println("Illumination set");
free(args[0]);
free(args[1]);
}
void illumination_setup()
{
pinMode(pwm_led_pins[0], OUTPUT);
register_module(illumination_commands, NULL);
}
extern const Command illumination_commands[] = {
{"led_pwm", illumination_pwm},
END_COMMAND};
#endif

13
src/modules/illumination/illumination.h Normal file
View file

@ -0,0 +1,13 @@
#include "config.h"
#ifdef ILLUMINATION
#ifndef ILLUMINATION_H
#include "config.h"
#include "main.h"
#include <Arduino.h>
void illumination_pwm(String command);
void illumination_setup();
extern const Command illumination_commands[];
#define ILLUMINATION_H
#endif
#endif

57
src/modules/light_sensor/light_sensor.cpp
View file

@ -54,35 +54,35 @@ void setup_light_sensor_device()
} }
else else
{ {
Serial.println(F("No light sensor found. NB your board will start up faster if you recompile without light sensor support.")); SERIAL_PORT.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.print(F("light sensor gain ")); SERIAL_PORT.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.println(F("1x (Low)")); SERIAL_PORT.println(F("1x (Low)"));
break; break;
case TSL2591_GAIN_MED: case TSL2591_GAIN_MED:
Serial.println(F("25x (Medium)")); SERIAL_PORT.println(F("25x (Medium)"));
break; break;
case TSL2591_GAIN_HIGH: case TSL2591_GAIN_HIGH:
Serial.println(F("428x (High)")); SERIAL_PORT.println(F("428x (High)"));
break; break;
case TSL2591_GAIN_MAX: case TSL2591_GAIN_MAX:
Serial.println(F("9876x (Max)")); SERIAL_PORT.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.println(F("light sensor gains: 1x, 25x, 428x, 9876x")); SERIAL_PORT.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 +103,7 @@ void set_light_sensor_gain(int newgain)
tsl.setGain(TSL2591_GAIN_MAX); tsl.setGain(TSL2591_GAIN_MAX);
break; break;
default: default:
Serial.println(F("Error: gain may only be 1, 25, 428, or 9876.")); SERIAL_PORT.println(F("Error: gain may only be 1, 25, 428, or 9876."));
return; return;
} }
print_light_sensor_gain(); print_light_sensor_gain();
@ -112,16 +112,16 @@ 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.print(F("light sensor integration time ")); SERIAL_PORT.print(F("light sensor integration time "));
Serial.print((tsl.getTiming() + 1) * 100, DEC); SERIAL_PORT.print((tsl.getTiming() + 1) * 100, DEC);
Serial.println(F(" ms")); SERIAL_PORT.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.println(x, DEC); SERIAL_PORT.println(x, DEC);
} }
#endif // ADAFRUIT_TSL2591 #endif // ADAFRUIT_TSL2591
@ -137,34 +137,34 @@ 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.print(F("light sensor gain ")); SERIAL_PORT.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.println(F("0.66x (specify 0)")); SERIAL_PORT.println(F("0.66x (specify 0)"));
break; break;
case GAIN_ONE: case GAIN_ONE:
Serial.println(F("1x")); SERIAL_PORT.println(F("1x"));
break; break;
case GAIN_TWO: case GAIN_TWO:
Serial.println(F("2x")); SERIAL_PORT.println(F("2x"));
break; break;
case GAIN_FOUR: case GAIN_FOUR:
Serial.println(F("4x")); SERIAL_PORT.println(F("4x"));
break; break;
case GAIN_EIGHT: case GAIN_EIGHT:
Serial.println(F("8x")); SERIAL_PORT.println(F("8x"));
break; break;
case GAIN_SIXTEEN: case GAIN_SIXTEEN:
Serial.println(F("16x")); SERIAL_PORT.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.println(F("light sensor gains: 0.66x (specify 0), 1x, 2x, 4x, 8x, 16x")); SERIAL_PORT.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 +191,7 @@ void set_light_sensor_gain(int newgain)
ads.setGain(GAIN_SIXTEEN); ads.setGain(GAIN_SIXTEEN);
break; break;
default: default:
Serial.println(F("Error: gain may only be 0, 1, 2, 4, 8, 16 (0 means 2/3).")); SERIAL_PORT.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();
@ -200,15 +200,22 @@ 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.println(F("integration time not supported for ADS1115")); SERIAL_PORT.println(F("integration time not supported for ADS1115"));
} }
void light_sensor_intensity(String command) void light_sensor_intensity(String command)
{ {
int ch;
char *args[1];
parse_arguments(args, command, 1);
ch = atoi(args[0]);
free(args[0]);
// Print the current light value // Print the current light value
// uint16_t x = ads.readADC_SingleEnded(0); //single ended measurement on pin 0 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.println(x, DEC);
SERIAL_PORT.println(x, DEC);
} }
#endif // ADAFRUIT_ADS1115 #endif // ADAFRUIT_ADS1115
#endif #endif

38
src/modules/stage/stage.cpp
View file

@ -76,10 +76,10 @@ void print_position()
EACH_MOTOR EACH_MOTOR
{ {
if (i > 0) if (i > 0)
Serial.print(" "); SERIAL_PORT.print(" ");
Serial.print(current_pos[i]); SERIAL_PORT.print(current_pos[i]);
} }
Serial.println(); SERIAL_PORT.println();
} }
unsigned long move_start_time = 0; unsigned long move_start_time = 0;
@ -124,7 +124,7 @@ void start_move(long displ[n_motors])
} }
else else
{ {
Serial.println("done."); SERIAL_PORT.println("done.");
} }
} }
@ -183,7 +183,7 @@ void stage_loop()
if (!stage_moving && notify_on_stop) if (!stage_moving && notify_on_stop)
{ {
Serial.println("stopped"); SERIAL_PORT.println("stopped");
notify_on_stop = false; notify_on_stop = false;
} }
} }
@ -233,7 +233,7 @@ void stage_release(String command)
{ {
releaseMotor(i); releaseMotor(i);
} }
Serial.println("done"); SERIAL_PORT.println("done");
} }
void stage_p(String command) void stage_p(String command)
@ -247,14 +247,14 @@ 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.print("minimum step delay "); SERIAL_PORT.print("minimum step delay ");
Serial.println(min_step_delay); SERIAL_PORT.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.println("done."); SERIAL_PORT.println("done.");
} }
free(args[0]); free(args[0]);
} }
@ -265,14 +265,14 @@ 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.print("ramp_time "); SERIAL_PORT.print("ramp_time ");
Serial.println(ramp_time); SERIAL_PORT.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.println("done."); SERIAL_PORT.println("done.");
} }
free(args[0]); free(args[0]);
} }
@ -283,41 +283,41 @@ 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.print("blocking_moves "); SERIAL_PORT.print("blocking_moves ");
Serial.println(non_blocking_moves ? "false" : "true"); SERIAL_PORT.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.println("done."); SERIAL_PORT.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.println(F("position reset to 0 0 0")); SERIAL_PORT.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.println("Move aborted"); SERIAL_PORT.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.println(stage_moving ? "true" : "false"); SERIAL_PORT.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.println("Error: stage is not moving"); SERIAL_PORT.println("Error: stage is not moving");
} }
else else
{ {

68
src/modules/stepstick/stepstick.cpp Normal file
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@ -0,0 +1,68 @@
#include "config.h"
#define STEPSTICK //TODO: remove
#ifdef STEPSTICK
#include "stepstick.h"
#ifdef SUPPORT_EEPROM
#include <EEPROM.h>
#else
#include "dummyEEPROM.h"
#endif
#include <AccelStepper.h>
//TODO: implement some fancier features of TMC controllers
const uint8_t stepstick_pins[] = WIRING_STEPSTICK;
AccelStepper stepper(AccelStepper::DRIVER, stepstick_pins[1], stepstick_pins[2]);
bool moving = false;
void stepstick_release(String command)
{
digitalWrite(stepstick_pins[0], HIGH);//start with motor disabled
SERIAL_PORT.println("Stepstick released");
}
void stepstick_stop(String command)
{
stepper.stop();
SERIAL_PORT.println("Stepstick stopping");
}
void stepstick_move(String command)
{
digitalWrite(stepstick_pins[0], LOW);
char * args[2];
parse_arguments(args, command, 2);
float speed = atof(args[0]);
long distance = atol(args[1]);
stepper.setMaxSpeed(speed);
stepper.moveTo(stepper.currentPosition() + distance);
free(args[0]);
free(args[1]);
SERIAL_PORT.println("Stepstick started");
moving = true;
}
void stepstick_setup()
{
pinMode(stepstick_pins[0], OUTPUT);
digitalWrite(stepstick_pins[0], HIGH);//start with motor disabled
register_module(stepstick_commands, stepstick_loop);
stepper.setAcceleration(50000);//256 microsteps
}
void stepstick_loop()
{
stepper.run();
if (stepper.distanceToGo() == 0 && moving)
{
moving = false;
SERIAL_PORT.println("Stepstick stopped");
}
}
extern const Command stepstick_commands[] = {
{"stepstick_move", stepstick_move},
{"stepstick_release", stepstick_release},
{"stepstick_stop", stepstick_stop},
END_COMMAND};
#endif

17
src/modules/stepstick/stepstick.h Normal file
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@ -0,0 +1,17 @@
#include "config.h"
#ifdef STEPSTICK
#ifndef STEPSTICK_H
#include "config.h"
#include "main.h"
#include <Arduino.h>
void stepstick_setup();
void stepstick_loop();
void stepstick_move(String command);
void stepstick_release(String command);
void stepstick_stop(String command);
extern const Command stepstick_commands[];
#define STEPSTICK_H
#endif
#endif