Merge branch 'sangaboard-v5' into 'new_env_for_hw_serial'

# Conflicts:
#   src/modules/illumination/illumination.cpp

src/config.h

@@ -9,7 +9,7 @@
     #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 v1.0-beta"
+    #define VERSION_STRING "Sangaboard Firmware v0.5.0"
     #define DEBUG_ON
 
     //module choice

src/modules/illumination/illumination.cpp

@@ -78,17 +78,62 @@ void illumination_setup()
     register_module(illumination_commands, NULL);
 }
 
+#ifdef WIRING_CC_LED
+
+//these functions are useful testing
+float multi_read(uint8_t pin, uint16_t reads)
+{
+    float total = 0;
+    for(uint16_t i = 0; i<reads; i++)
+        total += analogRead(pin);
+
+    return total/reads;
+}
+
+void cc_test()
+{
+    analogReadResolution(12);
+    cc_set_value(0);
+
+    for (float v = 0; v <= 1; v+=0.02)
+    {
+
+        Serial.print(v);
+        Serial.print(" ");
+        cc_set_value(v);
+        Serial.print(" ");
+        delay(2000);
+        float current = multi_read(A0, 1000)/4095.0*3.3;
+        Serial.println(current*1000);
+    }
+
+    cc_set_value(0);
+}
+#endif
+
 void cc_set(String command)
 {
-    #ifdef WIRING_CC_LED
-        const uint8_t td = 3; // >= 1.5 us
-        const uint8_t tup = 25; // 1-75 us
-        const uint8_t tdown = 230; //180-300us
-
     char * args[1];
     parse_arguments(args, command, 1);
     float val = atof(args[0]);
+
     free(args[0]);
+    cc_set_value(val);
+}
+
+void cc_set_value(float val)
+{
+    #ifdef WIRING_CC_LED
+        if (val<0)
+        {
+            cc_test();
+            return;
+        }
+
+        const uint8_t td = 3; // >= 1.5 us
+        const uint8_t tup = 2; // 1-75 us
+        const uint8_t tdown = 180; //180-300us
+        const uint8_t tstart = 110; //100-150us
 
         //reset the device
         digitalWrite(WIRING_CC_LED, LOW);
@@ -96,11 +141,11 @@ void cc_set(String command)
             return;
 
         uint8_t setting = val*32;
-        delayMicroseconds(650);
+        delayMicroseconds(650); //reset device
 
         //start sequence
         digitalWrite(WIRING_CC_LED, HIGH);
-        delayMicroseconds(130);
+        delayMicroseconds(tstart);
 
         uint8_t stepd = tup;
         uint8_t dir = 1;
@@ -112,14 +157,16 @@ void cc_set(String command)
         }
 
         //step up
+        uint8_t steps_done =0;
         for (uint8_t i=16; i!=setting; i+=dir)
         {
             digitalWrite(WIRING_CC_LED, LOW);
             delayMicroseconds(stepd);
             digitalWrite(WIRING_CC_LED, HIGH);
             delayMicroseconds(td);
-            comPort->println("Stepping CC"); //TODO remove debug print
+            steps_done++;
         }
+        Serial.print(steps_done);
     #else
         comPort->println("CC LED not supported");
     #endif

src/modules/illumination/illumination.h

@@ -9,6 +9,8 @@ void illumination_pwm(String command);
 void illumination_pwm_freq(String command);
 
 void cc_set(String command);
+void cc_set_value(float val);
+
 
 void illumination_setup();
 extern const Command illumination_commands[];

src/modules/stage/stage.cpp

@@ -223,6 +223,9 @@ void stage_mr(String command)
     parse_arguments(args, command, 3);
     EACH_MOTOR
     {
+        if (i>3)
+            continue;
+
         displacement[i] = atol(args[i]);
         free(args[i]);
     }