35d969aadd
- Added endstop and light_sensor module - Improved configuration by splitting wiring configs to boards.h - Added a unit test for argument parsing - Fixed many smaller bugs
41 lines
No EOL
1.9 KiB
Markdown
41 lines
No EOL
1.9 KiB
Markdown
# Firmware code for the sangaboard
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*This firmware is Work in Progress and while it should now support all features of the original, many features are untested.*
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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) 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 its 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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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.
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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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- [x] Implement Endstops module
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- [x] Implement Light sensor modules
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- [x] Handle Sangaboardv3
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### Testing
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- [ ] Ensure responses to commands match the original version
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- [ ] Test endstop modules
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- [ ] Test Light sensor module
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- [ ] Test on different platforms
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### Improvements and fixes
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- [ ] Add a CI script
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- [x] Add test for argument parsing
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- [ ] Add more unit tests
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- [ ] Test automatic building and upload
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- [x] Support other platforms
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- [ ] Clean up
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- [ ] Improve handling of unused modules/libraries
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- [ ] Lower RAM use |