2f78522064
First and incomplete version of the refactor, stage module works, including aborting moves.
30 lines
No EOL
1.5 KiB
Markdown
30 lines
No EOL
1.5 KiB
Markdown
# Firmware code for the sangaboard
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*This firmware is Work in Progress and has not reached feature parity with the original yet (see below for more details)*
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Firmware for the control board of OpenFlexure Microscope. This is a refactor of the (original arduino code](https://gitlab.com/bath_open_instrumentation_group/sangaboard/-/blob/master/arduino_code/README.md) with some improvements to the infrastructure and features.
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## Notable changes
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This version of the firmware uses PlatformIO rather than Arduino IDE.
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The code is split into the main part which mostly handles command parsing and modules which execute actual commands, allowing the firmware to be easily extensible with new features (add a module based on one of the existing ones and add a line to setup() to register it's commands and loop function).
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Motor moves now do not block command processing and a new command `stop` was added which aborts any move in progress.
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## Hardware
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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.
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## TODO list
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### Original firmware feature parity
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- [] Implement Endstops module
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- [] Implement Light sensor modules
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- [] Handle Sangaboardv3
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- [] Ensure responses to commands match the original version
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### Improvements and fixes
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- [] Add a CI script
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- [] Add tests (argument parsing)
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- [] Test automatic building and upload
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- [] Support other platforms
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- [] Clean up some of the messier bits |