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Genesis 1.5 board support and Express reporting encoder position

pull/132/head
Tim Evers 2020-02-11 21:32:04 +01:00
parent 3a9f629034
commit 37bc380681
12 changed files with 47 additions and 77 deletions
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6
src/Board.h
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@ -1,9 +1,15 @@
#ifndef FARMBOT_BOARD_ID
// Farmbot using RAMPS board
//#define RAMPS_V14
//#define FARMDUINO_V10
//#define FARMDUINO_V14
// Farmbot Genesis 1.5
//#define FARMDUINO_V30
// Farmbot Express
#define FARMDUINO_EXP_V20
#else

70
src/Movement.cpp
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@ -208,7 +208,7 @@ void Movement::loadSettings()
}
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
void Movement::initTMC2130()
{
axisX.initTMC2130();
@ -289,7 +289,7 @@ void Movement::loadSettings()
void Movement::test()
{
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
//axisX.enableMotor();
//axisX.setMotorStep();
//delayMicroseconds(500);
@ -747,18 +747,16 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
break;
case 2:
#if defined(FARMDUINO_EXP_V20)
serialBuffer += "R89";
serialBuffer += " X";
serialBuffer += axisX.getLoad();
serialBuffer += " Y";
serialBuffer += axisY.getLoad();
serialBuffer += " Z";
serialBuffer += axisZ.getLoad();
serialBuffer += CurrentState::getInstance()->getQAndNewLine();
#endif
//#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
//serialBuffer += "R89";
//serialBuffer += " X";
//serialBuffer += axisX.getLoad();
//serialBuffer += " Y";
//serialBuffer += axisY.getLoad();
//serialBuffer += " Z";
//serialBuffer += axisZ.getLoad();
//serialBuffer += CurrentState::getInstance()->getQAndNewLine();
//#endif
break;
default:
@ -767,14 +765,14 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
serialMessageNr++;
#if !defined(FARMDUINO_EXP_V20)
#if !defined(FARMDUINO_EXP_V20) && !defined(FARMDUINO_V30)
if (serialMessageNr > 1)
{
serialMessageNr = 0;
}
#endif
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
if (serialMessageNr > 2)
{
@ -1400,27 +1398,6 @@ void Movement::checkAxisVsEncoder(MovementAxis *axis, MovementEncoder *encoder,
#if defined(FARMDUINO_EXP_V20)
void Movement::checkAxisVsEncoder(MovementAxis *axis, MovementEncoder *encoder, float *missedSteps, long *lastPosition, long *encoderLastPosition, int *encoderUseForPos, float *encoderStepDecay, bool *encoderEnabled)
{
//
// /**/
// /*
// Serial.print("R99");
// Serial.print(" XXX ");
// Serial.print(" cur pos ");
// Serial.print(axis->currentPosition());
// Serial.print(" last pos ");
// Serial.print(*lastPosition);
// */
//
//if (axis->stallDetected()) {
// Serial.print("X");
//}
//else
//{
// Serial.print(".");
//}
/**/
bool stallGuard = false;
bool standStill = false;
@ -1428,28 +1405,15 @@ void Movement::checkAxisVsEncoder(MovementAxis *axis, MovementEncoder *encoder,
if (*encoderEnabled) {
//TMC2130X.read_STAT();
status = axis->getStatus();
stallGuard = status & FB_TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
standStill = status & FB_TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
if (stallGuard || standStill) {
//Serial.print(".");
// In case of stall detection, count this as a missed step
(*missedSteps)++;
axis->setCurrentPosition(*lastPosition);
//if (int(*missedSteps) % 10 == 0) {
// Serial.println();
// Serial.print(*missedSteps);
// Serial.print("/");
// Serial.print(axis->currentPosition());
// Serial.println();
//}
}
else {
// Decrease amount of missed steps if there are no missed step
@ -1570,7 +1534,7 @@ void Movement::loadMotorSettings()
/**/
/*
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
loadSettingsTMC2130();
#endif
*/
@ -1722,7 +1686,7 @@ bool Movement::endStopsReached()
void Movement::storePosition()
{
#if !defined(FARMDUINO_EXP_V20)
#if !defined(FARMDUINO_EXP_V20) && !defined(FARMDUINO_V30)
if (motorConsEncoderEnabled[0])
{
CurrentState::getInstance()->setX(encoderX.currentPosition());
@ -1751,7 +1715,7 @@ void Movement::storePosition()
}
#endif
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
CurrentState::getInstance()->setX(axisX.currentPosition());
CurrentState::getInstance()->setY(axisY.currentPosition());
CurrentState::getInstance()->setZ(axisZ.currentPosition());

2
src/Movement.h
View File

@ -37,7 +37,7 @@ public:
void handleMovementInterrupt();
void checkEncoders();
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
void initTMC2130();
void loadSettingsTMC2130();
#endif

8
src/MovementAxis.cpp
View File

@ -71,7 +71,7 @@ void MovementAxis::test()
}
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
unsigned int MovementAxis::getLostSteps()
{
@ -611,7 +611,7 @@ void MovementAxis::setDirectionUp()
//#endif
/*
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
// The TMC2130 uses a command to change direction, not a pin
if (motorMotorInv)
@ -660,7 +660,7 @@ void MovementAxis::setDirectionDown()
//#endif
/*
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
// The TMC2130 uses a command to change direction, not a pin
if (motorMotorInv)
@ -941,7 +941,7 @@ void MovementAxis::resetMotorStepWrite46()
PORTL &= B11110111;
}
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
//// TMC2130 Functions
void MovementAxis::setMotorStepWriteTMC2130()

6
src/MovementAxis.h
View File

@ -29,7 +29,7 @@ class MovementAxis
public:
MovementAxis();
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
TMC2130_Basics *TMC2130A;
TMC2130_Basics *TMC2130B;
#endif
@ -92,14 +92,14 @@ public:
char channelLabel;
bool movementStarted;
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
void initTMC2130();
void loadSettingsTMC2130(int motorCurrent, int stallSensitivity, int microSteps);
uint16_t getLoad();
#endif
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
void setMotorStepWriteTMC2130();
void setMotorStepWriteTMC2130_2();
void resetMotorStepWriteTMC2130();

6
src/MovementEncoder.cpp
View File

@ -76,7 +76,7 @@ void MovementEncoder::loadMdlEncoderId(MdlSpiEncoders encoder)
void MovementEncoder::setPosition(long newPosition)
{
#if defined(RAMPS_V14) || defined(FARMDUINO_V10)
#if defined(RAMPS_V14) || defined(FARMDUINO_V10) || defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
position = newPosition;
#endif
@ -277,7 +277,7 @@ float MovementEncoder::getMissedSteps()
void MovementEncoder::checkMissedSteps()
{
#if !defined(FARMDUINO_EXP_V20)
#if !defined(FARMDUINO_EXP_V20) && !defined(FARMDUINO_V30)
if (encoderEnabled)
{
bool stepMissed = false;
@ -307,7 +307,7 @@ void MovementEncoder::checkMissedSteps()
#endif
/*
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
if (encoderEnabled) {
if (axis->stallDetected()) {

2
src/TMC2130.cpp
View File

@ -8,7 +8,7 @@
#include "TMC2130.h"
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
//void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int current, int sensitivity)
void loadTMC2130ParametersMotor(TMC2130_Basics *tb, int microsteps, int current, int sensitivity)

2
src/TMC2130.h
View File

@ -14,7 +14,7 @@
#include "pins.h"
#include "Board.h"
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
#include "TMC2130_Basics.h"
static TMC2130_Basics TMC2130X(X_CHIP_SELECT);

14
src/farmbot_arduino_controller.cpp
View File

@ -2,7 +2,7 @@
#include "farmbot_arduino_controller.h"
/**/
//#if !defined(FARMDUINO_EXP_V20)
//#if !defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
#include "TimerOne.h"
//#endif
@ -52,7 +52,7 @@ unsigned long interruptDurationMax = 0;
bool interruptBusy = false;
int interruptSecondTimer = 0;
//#if !defined(FARMDUINO_EXP_V20)
//#if !defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
void interrupt(void)
{
if (!debugInterrupt)
@ -284,7 +284,7 @@ void checkParamsChanged()
}
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
Movement::getInstance()->loadSettingsTMC2130();
#endif
@ -503,7 +503,7 @@ void setPinInputOutput()
}
#endif
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
void setPinInputOutput()
{
Serial.print(COMM_REPORT_COMMENT);
@ -621,13 +621,13 @@ void startInterrupt()
// Interrupt management code library written by Paul Stoffregen
// The default time 100 micro seconds
//#if !defined(FARMDUINO_EXP_V20)
//#if !defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
Timer1.attachInterrupt(interrupt);
Timer1.initialize(MOVEMENT_INTERRUPT_SPEED);
Timer1.start();
//#endif
//#if defined(FARMDUINO_EXP_V20)
//#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
// Serial.println("set timer");
// TIMSK2 = (TIMSK2 & B11111110) | 0x01; // Enable timer overflow
// TCCR2B = (TCCR2B & B11111000) | 0x01; // Set divider to 1
@ -735,7 +735,7 @@ void startServo()
ServoControl::getInstance()->attach();
}
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
/**/
//static Trinamic_TMC2130 controllerTMC2130_X(X_CHIP_SELECT);

4
src/farmbot_arduino_controller.h
View File

@ -16,7 +16,7 @@
#include "MemoryFree.h"
#include "Debug.h"
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
#include "TMC2130.h"
#endif
@ -49,7 +49,7 @@ void setup();
void setPinInputOutput();
void startSerial();
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
void loadTMC2130drivers();
void loadTMC2130parameters();
void startupTmc();

2
src/pins.h
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@ -257,7 +257,7 @@
#endif
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
// X1-AXIS
#define X_STEP_PIN 26 // X1_STEP_PIN

2
src/src.ino
View File

@ -19,7 +19,7 @@ void setup()
readParameters();
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
loadTMC2130drivers();
startupTmc();
loadTMC2130parameters();