Formatting update
parent
413f5c868f
commit
3d573dca0c
219
src/Command.cpp
219
src/Command.cpp
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@ -1,11 +1,11 @@
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#include "Command.h"
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const char axisCodes[3] = { 'X', 'Y', 'Z' };
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const char axisSpeedCodes[3] = { 'A', 'B', 'C' };
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const char axisCodes[3] = {'X', 'Y', 'Z'};
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const char axisSpeedCodes[3] = {'A', 'B', 'C'};
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const char speedCode = 'S';
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const char parameterIdCode = 'P';
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const char parameterValueCode = 'V';
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const char parameterValue2Code= 'W';
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const char parameterValue2Code = 'W';
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const char elementCode = 'E';
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const char timeCode = 'T';
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const char modeCode = 'M';
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@ -13,183 +13,226 @@ const char msgQueueCode = 'Q';
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CommandCodeEnum commandCodeEnum = CODE_UNDEFINED;
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Command::Command(char * commandChar) {
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Command::Command(char *commandChar)
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{
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char * charBuf = commandChar;
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char* charPointer;
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char *charBuf = commandChar;
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char *charPointer;
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bool invalidCommand = false;
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charPointer = strtok(charBuf, " \n\r");
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if (charPointer[0] == 'G' || charPointer[0] == 'F') {
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if (charPointer[0] == 'G' || charPointer[0] == 'F')
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{
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commandCodeEnum = getGCodeEnum(charPointer);
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} else {
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}
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else
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{
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invalidCommand = true;
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return;
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}
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while (charPointer != NULL) {
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while (charPointer != NULL)
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{
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getParameter(charPointer);
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charPointer = strtok(NULL, " \n\r");
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}
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}
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CommandCodeEnum Command::getGCodeEnum(char* code) {
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CommandCodeEnum Command::getGCodeEnum(char *code)
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{
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if (strcmp(code, "G0") == 0 || strcmp(code, "G00") == 0) {
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if (strcmp(code, "G0") == 0 || strcmp(code, "G00") == 0)
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{
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return G00;
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}
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if (strcmp(code, "G1") == 0 || strcmp(code, "G01") == 0) {
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if (strcmp(code, "G1") == 0 || strcmp(code, "G01") == 0)
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{
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return G01;
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}
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//if (strcmp(code, "F3") == 0 || strcmp(code, "F03") == 0) {
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// return F03;
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//}
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if (strcmp(code, "F11") == 0) {
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if (strcmp(code, "F11") == 0)
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{
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return F11;
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}
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if (strcmp(code, "F12") == 0) {
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if (strcmp(code, "F12") == 0)
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{
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return F12;
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}
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if (strcmp(code, "F13") == 0) {
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if (strcmp(code, "F13") == 0)
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{
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return F13;
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}
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if (strcmp(code, "F14") == 0) {
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if (strcmp(code, "F14") == 0)
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{
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return F14;
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}
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if (strcmp(code, "F15") == 0) {
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if (strcmp(code, "F15") == 0)
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{
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return F15;
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}
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if (strcmp(code, "F16") == 0) {
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if (strcmp(code, "F16") == 0)
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{
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return F16;
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}
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if (strcmp(code, "F20") == 0) {
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if (strcmp(code, "F20") == 0)
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{
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return F20;
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}
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if (strcmp(code, "F21") == 0) {
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if (strcmp(code, "F21") == 0)
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{
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return F21;
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}
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if (strcmp(code, "F22") == 0) {
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if (strcmp(code, "F22") == 0)
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{
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return F22;
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}
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if (strcmp(code, "F31") == 0) {
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if (strcmp(code, "F31") == 0)
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{
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return F31;
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}
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if (strcmp(code, "F32") == 0) {
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if (strcmp(code, "F32") == 0)
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{
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return F32;
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}
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if (strcmp(code, "F41") == 0) {
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if (strcmp(code, "F41") == 0)
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{
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return F41;
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}
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if (strcmp(code, "F42") == 0) {
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if (strcmp(code, "F42") == 0)
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{
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return F42;
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}
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if (strcmp(code, "F43") == 0) {
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if (strcmp(code, "F43") == 0)
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{
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return F43;
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}
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if (strcmp(code, "F44") == 0) {
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if (strcmp(code, "F44") == 0)
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{
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return F44;
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}
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if (strcmp(code, "F61") == 0) {
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if (strcmp(code, "F61") == 0)
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{
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return F61;
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}
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if (strcmp(code, "F81") == 0) {
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if (strcmp(code, "F81") == 0)
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{
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return F81;
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}
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if (strcmp(code, "F82") == 0) {
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if (strcmp(code, "F82") == 0)
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{
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return F82;
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}
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if (strcmp(code, "F83") == 0) {
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if (strcmp(code, "F83") == 0)
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{
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return F83;
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}
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if (strcmp(code, "F84") == 0) {
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if (strcmp(code, "F84") == 0)
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{
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return F84;
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}
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return CODE_UNDEFINED;
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}
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double minusNotAllowed(double value) {
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if(value < 0) {
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double minusNotAllowed(double value)
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{
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if (value < 0)
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{
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return 0;
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}
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return value;
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}
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void Command::getParameter(char* charPointer) {
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void Command::getParameter(char *charPointer)
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{
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//msgQueue = 24;
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if (charPointer[0] == axisCodes[0] ){
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axisValue[0] = atof(charPointer + 1 );
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if (charPointer[0] == axisCodes[0])
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{
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axisValue[0] = atof(charPointer + 1);
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//msgQueue = 77;
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}
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if (charPointer[0] == axisCodes[1] ){
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axisValue[1] = atof(charPointer + 1 );
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if (charPointer[0] == axisCodes[1])
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{
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axisValue[1] = atof(charPointer + 1);
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}
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if (charPointer[0] == axisCodes[2] ){
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axisValue[2] = atof(charPointer + 1 );
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if (charPointer[0] == axisCodes[2])
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{
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axisValue[2] = atof(charPointer + 1);
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}
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if (charPointer[0] == axisSpeedCodes[0] ){
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axisSpeedValue[0] = atof(charPointer + 1 );
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if (charPointer[0] == axisSpeedCodes[0])
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{
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axisSpeedValue[0] = atof(charPointer + 1);
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}
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if (charPointer[0] == axisSpeedCodes[1] ){
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axisSpeedValue[1] = atof(charPointer + 1 );
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if (charPointer[0] == axisSpeedCodes[1])
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{
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axisSpeedValue[1] = atof(charPointer + 1);
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}
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if (charPointer[0] == axisSpeedCodes[2] ){
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axisSpeedValue[2] = atof(charPointer + 1 );
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if (charPointer[0] == axisSpeedCodes[2])
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{
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axisSpeedValue[2] = atof(charPointer + 1);
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}
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if (charPointer[0] == speedCode ){
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speedValue = atof(charPointer + 1 );
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if (charPointer[0] == speedCode)
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{
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speedValue = atof(charPointer + 1);
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}
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if (charPointer[0] == parameterIdCode ){
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parameterId = atof(charPointer + 1 );
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if (charPointer[0] == parameterIdCode)
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{
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parameterId = atof(charPointer + 1);
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}
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if (charPointer[0] == parameterValueCode ){
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parameterValue = atof(charPointer + 1 );
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if (charPointer[0] == parameterValueCode)
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{
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parameterValue = atof(charPointer + 1);
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}
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if (charPointer[0] == parameterValue2Code ){
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parameterValue2 = atof(charPointer + 1 );
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if (charPointer[0] == parameterValue2Code)
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{
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parameterValue2 = atof(charPointer + 1);
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}
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if (charPointer[0] == elementCode ){
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element = atof(charPointer + 1 );
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if (charPointer[0] == elementCode)
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{
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element = atof(charPointer + 1);
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}
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if (charPointer[0] == timeCode ){
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time = atof(charPointer + 1 );
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if (charPointer[0] == timeCode)
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{
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time = atof(charPointer + 1);
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}
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if (charPointer[0] == modeCode ){
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mode = atof(charPointer + 1 );
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if (charPointer[0] == modeCode)
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{
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mode = atof(charPointer + 1);
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}
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if (charPointer[0] == msgQueueCode ){
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msgQueue = atof(charPointer + 1 );
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if (charPointer[0] == msgQueueCode)
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{
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msgQueue = atof(charPointer + 1);
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//msgQueue = 5;
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}
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}
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void Command::print() {
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void Command::print()
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{
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Serial.print("R99 Command with code: ");
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Serial.print(commandCodeEnum);
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Serial.print(", X: ");
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Serial.print("\r\n");
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}
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CommandCodeEnum Command::getCodeEnum() {
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CommandCodeEnum Command::getCodeEnum()
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{
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return commandCodeEnum;
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}
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double Command::getX() {
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double Command::getX()
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{
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return axisValue[0];
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}
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double Command::getY() {
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double Command::getY()
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{
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return axisValue[1];
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}
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double Command::getZ() {
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double Command::getZ()
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{
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return axisValue[2];
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}
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long Command::getA() {
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long Command::getA()
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{
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return axisSpeedValue[0];
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}
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long Command::getB() {
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long Command::getB()
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{
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return axisSpeedValue[1];
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}
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long Command::getC() {
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long Command::getC()
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{
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return axisSpeedValue[2];
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}
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long Command::getP() {
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long Command::getP()
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{
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return parameterId;
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}
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long Command::getV() {
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long Command::getV()
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{
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return parameterValue;
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}
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long Command::getW() {
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long Command::getW()
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{
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return parameterValue2;
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}
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long Command::getT() {
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long Command::getT()
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{
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return time;
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}
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long Command::getE() {
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long Command::getE()
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{
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return element;
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}
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long Command::getM() {
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long Command::getM()
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{
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return mode;
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}
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long Command::getQ() {
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long Command::getQ()
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{
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//msgQueue = 9876;
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return msgQueue;
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}
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@ -37,11 +37,13 @@ enum CommandCodeEnum
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//#define NULL 0
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class Command {
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class Command
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{
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CommandCodeEnum codeEnum;
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public:
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// Command(String);
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Command(char * commandChar);
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// Command(String);
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Command(char *commandChar);
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void print();
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CommandCodeEnum getCodeEnum();
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double getX();
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@ -60,12 +62,13 @@ public:
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long getQ();
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void printQAndNewLine();
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private:
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CommandCodeEnum getGCodeEnum(char* code);
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void getParameter(char* charPointer);
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double axisValue[3] = { 0.0, 0.0, 0.0 };
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long axisSpeedValue[3] = { 0, 0, 0 };
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private:
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CommandCodeEnum getGCodeEnum(char *code);
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void getParameter(char *charPointer);
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double axisValue[3] = {0.0, 0.0, 0.0};
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long axisSpeedValue[3] = {0, 0, 0};
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double speedValue = 0.0;
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long parameterId = 0;
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long parameterValue = 0;
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@ -74,7 +77,6 @@ private:
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long time = 0;
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long mode = 0;
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long msgQueue = 0;
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};
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#endif /* COMMAND_H_ */
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20
src/Config.h
20
src/Config.h
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@ -22,15 +22,15 @@ const String COMM_REPORT_CMD_STATUS = "R05";
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const String COMM_REPORT_CALIB_STATUS = "R06";
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*/
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const char COMM_REPORT_CMD_IDLE[4] = {'R','0','0','\0'};
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const char COMM_REPORT_CMD_START[4] = {'R','0','1','\0'};
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const char COMM_REPORT_CMD_DONE[4] = {'R','0','2','\0'};
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const char COMM_REPORT_CMD_ERROR[4] = {'R','0','3','\0'};
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const char COMM_REPORT_CMD_BUSY[4] = {'R','0','4','\0'};
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const char COMM_REPORT_CMD_STATUS[4] = {'R','0','5','\0'};
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const char COMM_REPORT_CALIB_STATUS[4] = {'R','0','6','\0'};
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const char COMM_REPORT_NO_CONFIG[4] = {'R','8','8','\0'};
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const char COMM_REPORT_COMMENT[4] = {'R','9','9','\0'};
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const char COMM_REPORT_CMD_IDLE[4] = {'R', '0', '0', '\0'};
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const char COMM_REPORT_CMD_START[4] = {'R', '0', '1', '\0'};
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const char COMM_REPORT_CMD_DONE[4] = {'R', '0', '2', '\0'};
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const char COMM_REPORT_CMD_ERROR[4] = {'R', '0', '3', '\0'};
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const char COMM_REPORT_CMD_BUSY[4] = {'R', '0', '4', '\0'};
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const char COMM_REPORT_CMD_STATUS[4] = {'R', '0', '5', '\0'};
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const char COMM_REPORT_CALIB_STATUS[4] = {'R', '0', '6', '\0'};
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const char COMM_REPORT_NO_CONFIG[4] = {'R', '8', '8', '\0'};
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const char COMM_REPORT_COMMENT[4] = {'R', '9', '9', '\0'};
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const int COMM_REPORT_MOVE_STATUS_IDLE = 0;
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const int COMM_REPORT_MOVE_STATUS_START_MOTOR = 1;
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@ -46,7 +46,6 @@ const int COMM_REPORT_CALIBRATE_STATUS_TO_HOME = 1;
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const int COMM_REPORT_CALIBRATE_STATUS_TO_END = 2;
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const int COMM_REPORT_CALIBRATE_STATUS_ERROR = -1;
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const int MOVEMENT_INTERRUPT_SPEED = 200; // Interrupt cycle in micro seconds
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const unsigned int MOVEMENT_SPEED_BASE_TIME = 2000;
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@ -144,7 +143,6 @@ const long PIN_GUARD_5_PIN_NR_DEFAULT = 0;
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const long PIN_GUARD_5_TIME_OUT_DEFAULT = 60;
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const long PIN_GUARD_5_ACTIVE_STATE_DEFAULT = 1;
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const long STATUS_GENERAL_DEFAULT = 0;
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const char SOFTWARE_VERSION[] = "GENESIS.V.01.08.EXPERIMENTAL\0";
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@ -7,7 +7,7 @@
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#include "CurrentState.h"
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static CurrentState* instance;
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static CurrentState *instance;
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long x = 0;
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long y = 0;
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long z = 0;
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@ -15,14 +15,17 @@ unsigned int speed = 0;
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bool endStopState[3][2];
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long Q = 0;
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CurrentState * CurrentState::getInstance() {
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if (!instance) {
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CurrentState *CurrentState::getInstance()
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{
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if (!instance)
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{
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instance = new CurrentState();
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};
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return instance;
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};
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CurrentState::CurrentState() {
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CurrentState::CurrentState()
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{
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x = 0;
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y = 0;
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z = 0;
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|
@ -30,49 +33,59 @@ CurrentState::CurrentState() {
|
|||
Q = 0;
|
||||
}
|
||||
|
||||
long CurrentState::getX() {
|
||||
long CurrentState::getX()
|
||||
{
|
||||
return x;
|
||||
}
|
||||
|
||||
long CurrentState::getY() {
|
||||
long CurrentState::getY()
|
||||
{
|
||||
return y;
|
||||
}
|
||||
|
||||
long CurrentState::getZ() {
|
||||
long CurrentState::getZ()
|
||||
{
|
||||
return z;
|
||||
}
|
||||
|
||||
long* CurrentState::getPoint() {
|
||||
long *CurrentState::getPoint()
|
||||
{
|
||||
static long currentPoint[3] = {x, y, z};
|
||||
return currentPoint;
|
||||
}
|
||||
|
||||
void CurrentState::setX(long newX) {
|
||||
void CurrentState::setX(long newX)
|
||||
{
|
||||
x = newX;
|
||||
}
|
||||
|
||||
void CurrentState::setY(long newY) {
|
||||
void CurrentState::setY(long newY)
|
||||
{
|
||||
y = newY;
|
||||
}
|
||||
|
||||
void CurrentState::setZ(long newZ) {
|
||||
void CurrentState::setZ(long newZ)
|
||||
{
|
||||
z = newZ;
|
||||
}
|
||||
|
||||
void CurrentState::setEndStopState(unsigned int axis, unsigned int position, bool state) {
|
||||
void CurrentState::setEndStopState(unsigned int axis, unsigned int position, bool state)
|
||||
{
|
||||
endStopState[axis][position] = state;
|
||||
}
|
||||
|
||||
void CurrentState::storeEndStops() {
|
||||
CurrentState::getInstance()->setEndStopState(0,0,digitalRead(X_MIN_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(0,1,digitalRead(X_MAX_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(1,0,digitalRead(Y_MIN_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(1,1,digitalRead(Y_MAX_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(2,0,digitalRead(Z_MIN_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(2,1,digitalRead(Z_MAX_PIN));
|
||||
void CurrentState::storeEndStops()
|
||||
{
|
||||
CurrentState::getInstance()->setEndStopState(0, 0, digitalRead(X_MIN_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(0, 1, digitalRead(X_MAX_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(1, 0, digitalRead(Y_MIN_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(1, 1, digitalRead(Y_MAX_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(2, 0, digitalRead(Z_MIN_PIN));
|
||||
CurrentState::getInstance()->setEndStopState(2, 1, digitalRead(Z_MAX_PIN));
|
||||
}
|
||||
|
||||
void CurrentState::printPosition() {
|
||||
void CurrentState::printPosition()
|
||||
{
|
||||
Serial.print("R82");
|
||||
Serial.print(" X");
|
||||
Serial.print(x);
|
||||
|
@ -80,7 +93,7 @@ void CurrentState::printPosition() {
|
|||
Serial.print(y);
|
||||
Serial.print(" Z");
|
||||
Serial.print(z);
|
||||
// Serial.print("\r\n");
|
||||
// Serial.print("\r\n");
|
||||
printQAndNewLine();
|
||||
}
|
||||
|
||||
|
@ -96,7 +109,8 @@ void CurrentState::printBool(bool value)
|
|||
}
|
||||
}
|
||||
|
||||
void CurrentState::printEndStops() {
|
||||
void CurrentState::printEndStops()
|
||||
{
|
||||
Serial.print("R81");
|
||||
Serial.print(" XA");
|
||||
printBool(endStopState[0][0]);
|
||||
|
@ -114,20 +128,24 @@ void CurrentState::printEndStops() {
|
|||
printQAndNewLine();
|
||||
}
|
||||
|
||||
void CurrentState::print() {
|
||||
void CurrentState::print()
|
||||
{
|
||||
printPosition();
|
||||
printEndStops();
|
||||
}
|
||||
|
||||
void CurrentState::setQ(long q) {
|
||||
void CurrentState::setQ(long q)
|
||||
{
|
||||
Q = q;
|
||||
}
|
||||
|
||||
void CurrentState::resetQ() {
|
||||
void CurrentState::resetQ()
|
||||
{
|
||||
Q = 0;
|
||||
}
|
||||
|
||||
void CurrentState::printQAndNewLine() {
|
||||
void CurrentState::printQAndNewLine()
|
||||
{
|
||||
Serial.print(" Q");
|
||||
Serial.print(Q);
|
||||
Serial.print("\r\n");
|
||||
|
|
|
@ -10,13 +10,14 @@
|
|||
#include "Arduino.h"
|
||||
#include "pins.h"
|
||||
|
||||
class CurrentState {
|
||||
class CurrentState
|
||||
{
|
||||
public:
|
||||
static CurrentState* getInstance();
|
||||
static CurrentState *getInstance();
|
||||
long getX();
|
||||
long getY();
|
||||
long getZ();
|
||||
long* getPoint();
|
||||
long *getPoint();
|
||||
void setX(long);
|
||||
void setY(long);
|
||||
void setZ(long);
|
||||
|
@ -33,9 +34,8 @@ public:
|
|||
|
||||
private:
|
||||
CurrentState();
|
||||
CurrentState(CurrentState const&);
|
||||
void operator=(CurrentState const&);
|
||||
|
||||
CurrentState(CurrentState const &);
|
||||
void operator=(CurrentState const &);
|
||||
};
|
||||
|
||||
#endif /* CURRENTSTATE_H_ */
|
||||
|
|
|
@ -8,31 +8,34 @@
|
|||
|
||||
#include "F11Handler.h"
|
||||
|
||||
static F11Handler *instance;
|
||||
|
||||
static F11Handler* instance;
|
||||
|
||||
F11Handler * F11Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F11Handler *F11Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F11Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F11Handler::F11Handler() {
|
||||
F11Handler::F11Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F11Handler::execute(Command* command) {
|
||||
int F11Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
Serial.print("R99 HOME X\r\n");
|
||||
}
|
||||
|
||||
StepperControl::getInstance()->moveToCoords(0,0,0, 0,0,0, true, false, false);
|
||||
StepperControl::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, true, false, false);
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
CurrentState::getInstance()->print();
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
@ -14,17 +14,18 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class F11Handler : public GCodeHandler {
|
||||
class F11Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F11Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F11Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F11Handler();
|
||||
F11Handler(F11Handler const&);
|
||||
void operator=(F11Handler const&);
|
||||
F11Handler(F11Handler const &);
|
||||
void operator=(F11Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F11HANDLER_H_ */
|
||||
|
||||
|
|
|
@ -8,31 +8,34 @@
|
|||
|
||||
#include "F12Handler.h"
|
||||
|
||||
static F12Handler *instance;
|
||||
|
||||
static F12Handler* instance;
|
||||
|
||||
F12Handler * F12Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F12Handler *F12Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F12Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F12Handler::F12Handler() {
|
||||
F12Handler::F12Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F12Handler::execute(Command* command) {
|
||||
int F12Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
Serial.print("R99 HOME Y\r\n");
|
||||
}
|
||||
|
||||
StepperControl::getInstance()->moveToCoords(0,0,0, 0,0,0, false, true, false);
|
||||
StepperControl::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, true, false);
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
CurrentState::getInstance()->print();
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
@ -14,17 +14,18 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class F12Handler : public GCodeHandler {
|
||||
class F12Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F12Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F12Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F12Handler();
|
||||
F12Handler(F12Handler const&);
|
||||
void operator=(F12Handler const&);
|
||||
F12Handler(F12Handler const &);
|
||||
void operator=(F12Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F12HANDLER_H_ */
|
||||
|
||||
|
|
|
@ -8,31 +8,34 @@
|
|||
|
||||
#include "F13Handler.h"
|
||||
|
||||
static F13Handler *instance;
|
||||
|
||||
static F13Handler* instance;
|
||||
|
||||
F13Handler * F13Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F13Handler *F13Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F13Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F13Handler::F13Handler() {
|
||||
F13Handler::F13Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F13Handler::execute(Command* command) {
|
||||
int F13Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
Serial.print("R99 HOME Z\r\n");
|
||||
}
|
||||
|
||||
StepperControl::getInstance()->moveToCoords(0,0,0, 0,0,0, false, false, true);
|
||||
StepperControl::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, false, true);
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
CurrentState::getInstance()->print();
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
@ -14,17 +14,18 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class F13Handler : public GCodeHandler {
|
||||
class F13Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F13Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F13Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F13Handler();
|
||||
F13Handler(F13Handler const&);
|
||||
void operator=(F13Handler const&);
|
||||
F13Handler(F13Handler const &);
|
||||
void operator=(F13Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F13HANDLER_H_ */
|
||||
|
||||
|
|
|
@ -8,25 +8,28 @@
|
|||
|
||||
#include "F14Handler.h"
|
||||
|
||||
static F14Handler *instance;
|
||||
|
||||
static F14Handler* instance;
|
||||
|
||||
F14Handler * F14Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F14Handler *F14Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F14Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F14Handler::F14Handler() {
|
||||
F14Handler::F14Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F14Handler::execute(Command* command) {
|
||||
int F14Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
int ret = 0;
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
Serial.print("R99 CALIBRATE X\r\n");
|
||||
}
|
||||
|
||||
|
@ -38,11 +41,10 @@ int F14Handler::execute(Command* command) {
|
|||
}
|
||||
*/
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
CurrentState::getInstance()->print();
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
|
|
@ -15,18 +15,18 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class F14Handler : public GCodeHandler {
|
||||
class F14Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F14Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F14Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F14Handler();
|
||||
F14Handler(F14Handler const&);
|
||||
void operator=(F14Handler const&);
|
||||
F14Handler(F14Handler const &);
|
||||
void operator=(F14Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F14HANDLER_H_ */
|
||||
|
||||
|
||||
|
|
|
@ -8,29 +8,33 @@
|
|||
|
||||
#include "F15Handler.h"
|
||||
|
||||
static F15Handler *instance;
|
||||
|
||||
static F15Handler* instance;
|
||||
|
||||
F15Handler * F15Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F15Handler *F15Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F15Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F15Handler::F15Handler() {
|
||||
F15Handler::F15Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F15Handler::execute(Command* command) {
|
||||
int F15Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
Serial.print("R99 HOME Z\r\n");
|
||||
}
|
||||
|
||||
StepperControl::getInstance()->calibrateAxis(1);
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
CurrentState::getInstance()->print();
|
||||
}
|
||||
|
||||
|
|
|
@ -15,18 +15,18 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class F15Handler : public GCodeHandler {
|
||||
class F15Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F15Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F15Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F15Handler();
|
||||
F15Handler(F15Handler const&);
|
||||
void operator=(F15Handler const&);
|
||||
F15Handler(F15Handler const &);
|
||||
void operator=(F15Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F15HANDLER_H_ */
|
||||
|
||||
|
||||
|
|
|
@ -8,33 +8,35 @@
|
|||
|
||||
#include "F16Handler.h"
|
||||
|
||||
static F16Handler *instance;
|
||||
|
||||
static F16Handler* instance;
|
||||
|
||||
F16Handler * F16Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F16Handler *F16Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F16Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F16Handler::F16Handler() {
|
||||
F16Handler::F16Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F16Handler::execute(Command* command) {
|
||||
int F16Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
Serial.print("R99 HOME Z\r\n");
|
||||
}
|
||||
|
||||
StepperControl::getInstance()->calibrateAxis(2);
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
CurrentState::getInstance()->print();
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
|
|
@ -15,18 +15,18 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class F16Handler : public GCodeHandler {
|
||||
class F16Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F16Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F16Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F16Handler();
|
||||
F16Handler(F16Handler const&);
|
||||
void operator=(F16Handler const&);
|
||||
F16Handler(F16Handler const &);
|
||||
void operator=(F16Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F16HANDLER_H_ */
|
||||
|
||||
|
||||
|
|
|
@ -7,21 +7,23 @@
|
|||
|
||||
#include "F20Handler.h"
|
||||
|
||||
static F20Handler *instance;
|
||||
|
||||
static F20Handler* instance;
|
||||
|
||||
F20Handler * F20Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F20Handler *F20Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F20Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F20Handler::F20Handler() {
|
||||
F20Handler::F20Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F20Handler::execute(Command* command) {
|
||||
int F20Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
ParameterList::getInstance()->readAllValues();
|
||||
|
||||
|
|
|
@ -14,14 +14,16 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class F20Handler : public GCodeHandler {
|
||||
class F20Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F20Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F20Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F20Handler();
|
||||
F20Handler(F20Handler const&);
|
||||
void operator=(F20Handler const&);
|
||||
F20Handler(F20Handler const &);
|
||||
void operator=(F20Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
|
|
@ -7,21 +7,23 @@
|
|||
|
||||
#include "F21Handler.h"
|
||||
|
||||
static F21Handler *instance;
|
||||
|
||||
static F21Handler* instance;
|
||||
|
||||
F21Handler * F21Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F21Handler *F21Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F21Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F21Handler::F21Handler() {
|
||||
F21Handler::F21Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F21Handler::execute(Command* command) {
|
||||
int F21Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
ParameterList::getInstance()->readValue(command->getP());
|
||||
|
||||
|
|
|
@ -15,14 +15,16 @@
|
|||
#include "StepperControl.h"
|
||||
#include "ParameterList.h"
|
||||
|
||||
class F21Handler : public GCodeHandler {
|
||||
class F21Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F21Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F21Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F21Handler();
|
||||
F21Handler(F21Handler const&);
|
||||
void operator=(F21Handler const&);
|
||||
F21Handler(F21Handler const &);
|
||||
void operator=(F21Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
|
|
@ -7,23 +7,25 @@
|
|||
|
||||
#include "F22Handler.h"
|
||||
|
||||
static F22Handler *instance;
|
||||
|
||||
static F22Handler* instance;
|
||||
|
||||
F22Handler * F22Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F22Handler *F22Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F22Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F22Handler::F22Handler() {
|
||||
F22Handler::F22Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F22Handler::execute(Command* command) {
|
||||
int F22Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
/*
|
||||
/*
|
||||
Serial.print("R99");
|
||||
Serial.print(" ");
|
||||
Serial.print("write value");
|
||||
|
|
|
@ -15,14 +15,16 @@
|
|||
#include "StepperControl.h"
|
||||
#include "ParameterList.h"
|
||||
|
||||
class F22Handler : public GCodeHandler {
|
||||
class F22Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F22Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F22Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F22Handler();
|
||||
F22Handler(F22Handler const&);
|
||||
void operator=(F22Handler const&);
|
||||
F22Handler(F22Handler const &);
|
||||
void operator=(F22Handler const &);
|
||||
//long adjustStepAmount(long);
|
||||
//long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
|
|
@ -8,25 +8,25 @@
|
|||
|
||||
#include "F31Handler.h"
|
||||
|
||||
static F31Handler *instance;
|
||||
|
||||
static F31Handler* instance;
|
||||
|
||||
F31Handler * F31Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F31Handler *F31Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F31Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F31Handler::F31Handler() {
|
||||
F31Handler::F31Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F31Handler::execute(Command* command) {
|
||||
int F31Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
StatusList::getInstance()->readValue(command->getP());
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
|
|
@ -16,19 +16,18 @@
|
|||
#include "StepperControl.h"
|
||||
#include "StatusList.h"
|
||||
|
||||
class F31Handler : public GCodeHandler {
|
||||
class F31Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F31Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F31Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F31Handler();
|
||||
F31Handler(F31Handler const&);
|
||||
void operator=(F31Handler const&);
|
||||
F31Handler(F31Handler const &);
|
||||
void operator=(F31Handler const &);
|
||||
//long adjustStepAmount(long);
|
||||
//long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F31HANDLER_H_ */
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -8,25 +8,25 @@
|
|||
|
||||
#include "F32Handler.h"
|
||||
|
||||
static F32Handler *instance;
|
||||
|
||||
static F32Handler* instance;
|
||||
|
||||
F32Handler * F32Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F32Handler *F32Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F32Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F32Handler::F32Handler() {
|
||||
F32Handler::F32Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F32Handler::execute(Command* command) {
|
||||
int F32Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
StatusList::getInstance()->readValue(command->getP());
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
|
|
@ -16,19 +16,18 @@
|
|||
#include "StepperControl.h"
|
||||
#include "StatusList.h"
|
||||
|
||||
class F32Handler : public GCodeHandler {
|
||||
class F32Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F32Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F32Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F32Handler();
|
||||
F32Handler(F32Handler const&);
|
||||
void operator=(F32Handler const&);
|
||||
F32Handler(F32Handler const &);
|
||||
void operator=(F32Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F32HANDLER_H_ */
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -9,23 +9,25 @@
|
|||
|
||||
#include "F41Handler.h"
|
||||
|
||||
static F41Handler *instance;
|
||||
|
||||
static F41Handler* instance;
|
||||
|
||||
F41Handler * F41Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F41Handler *F41Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F41Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F41Handler::F41Handler() {
|
||||
F41Handler::F41Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F41Handler::execute(Command* command) {
|
||||
int F41Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
PinControl::getInstance()->writeValue(command->getP(),command->getV(), command->getM());
|
||||
PinControl::getInstance()->writeValue(command->getP(), command->getV(), command->getM());
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
@ -14,20 +14,16 @@
|
|||
#include "Config.h"
|
||||
#include "PinControl.h"
|
||||
|
||||
class F41Handler : public GCodeHandler {
|
||||
class F41Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F41Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F41Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F41Handler();
|
||||
F41Handler(F41Handler const&);
|
||||
void operator=(F41Handler const&);
|
||||
F41Handler(F41Handler const &);
|
||||
void operator=(F41Handler const &);
|
||||
};
|
||||
|
||||
#endif /* F41HANDLER_H_ */
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -7,21 +7,23 @@
|
|||
|
||||
#include "F42Handler.h"
|
||||
|
||||
static F42Handler *instance;
|
||||
|
||||
static F42Handler* instance;
|
||||
|
||||
F42Handler * F42Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F42Handler *F42Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F42Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F42Handler::F42Handler() {
|
||||
F42Handler::F42Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F42Handler::execute(Command* command) {
|
||||
int F42Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
PinControl::getInstance()->readValue(command->getP(), command->getM());
|
||||
|
||||
|
|
|
@ -14,20 +14,16 @@
|
|||
#include "Config.h"
|
||||
#include "PinControl.h"
|
||||
|
||||
class F42Handler : public GCodeHandler {
|
||||
class F42Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F42Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F42Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F42Handler();
|
||||
F42Handler(F42Handler const&);
|
||||
void operator=(F42Handler const&);
|
||||
F42Handler(F42Handler const &);
|
||||
void operator=(F42Handler const &);
|
||||
};
|
||||
|
||||
#endif /* F42HANDLER_H_ */
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -9,30 +9,25 @@
|
|||
|
||||
#include "F43Handler.h"
|
||||
|
||||
static F43Handler *instance;
|
||||
|
||||
static F43Handler* instance;
|
||||
|
||||
F43Handler * F43Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F43Handler *F43Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F43Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F43Handler::F43Handler() {
|
||||
F43Handler::F43Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F43Handler::execute(Command* command) {
|
||||
int F43Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
PinControl::getInstance()->setMode(command->getP(),command->getM());
|
||||
PinControl::getInstance()->setMode(command->getP(), command->getM());
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -14,14 +14,16 @@
|
|||
#include "Config.h"
|
||||
#include "PinControl.h"
|
||||
|
||||
class F43Handler : public GCodeHandler {
|
||||
class F43Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F43Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F43Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F43Handler();
|
||||
F43Handler(F43Handler const&);
|
||||
void operator=(F43Handler const&);
|
||||
F43Handler(F43Handler const &);
|
||||
void operator=(F43Handler const &);
|
||||
};
|
||||
|
||||
#endif /* F43HANDLER_H_ */
|
||||
|
|
|
@ -9,23 +9,25 @@
|
|||
|
||||
#include "F44Handler.h"
|
||||
|
||||
static F44Handler *instance;
|
||||
|
||||
static F44Handler* instance;
|
||||
|
||||
F44Handler * F44Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F44Handler *F44Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F44Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F44Handler::F44Handler() {
|
||||
F44Handler::F44Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F44Handler::execute(Command* command) {
|
||||
int F44Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
PinControl::getInstance()->writePulse(command->getP(),command->getV(),command->getW(),command->getT(), command->getM());
|
||||
PinControl::getInstance()->writePulse(command->getP(), command->getV(), command->getW(), command->getT(), command->getM());
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
@ -14,17 +14,16 @@
|
|||
#include "Config.h"
|
||||
#include "PinControl.h"
|
||||
|
||||
class F44Handler : public GCodeHandler {
|
||||
class F44Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F44Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F44Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F44Handler();
|
||||
F44Handler(F44Handler const&);
|
||||
void operator=(F44Handler const&);
|
||||
F44Handler(F44Handler const &);
|
||||
void operator=(F44Handler const &);
|
||||
};
|
||||
|
||||
#endif /* F44HANDLER_H_ */
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -9,23 +9,25 @@
|
|||
|
||||
#include "F61Handler.h"
|
||||
|
||||
static F61Handler *instance;
|
||||
|
||||
static F61Handler* instance;
|
||||
|
||||
F61Handler * F61Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F61Handler *F61Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F61Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F61Handler::F61Handler() {
|
||||
F61Handler::F61Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F61Handler::execute(Command* command) {
|
||||
int F61Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
ServoControl::getInstance()->setAngle(command->getP(),command->getV());
|
||||
ServoControl::getInstance()->setAngle(command->getP(), command->getV());
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
@ -14,20 +14,16 @@
|
|||
#include "Config.h"
|
||||
#include "ServoControl.h"
|
||||
|
||||
class F61Handler : public GCodeHandler {
|
||||
class F61Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F61Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F61Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F61Handler();
|
||||
F61Handler(F61Handler const&);
|
||||
void operator=(F61Handler const&);
|
||||
F61Handler(F61Handler const &);
|
||||
void operator=(F61Handler const &);
|
||||
};
|
||||
|
||||
#endif /* F61HANDLER_H_ */
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -9,25 +9,28 @@
|
|||
|
||||
#include "F81Handler.h"
|
||||
|
||||
static F81Handler *instance;
|
||||
|
||||
static F81Handler* instance;
|
||||
|
||||
F81Handler * F81Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F81Handler *F81Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F81Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F81Handler::F81Handler() {
|
||||
F81Handler::F81Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F81Handler::execute(Command* command) {
|
||||
int F81Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
Serial.print("home\r\n");
|
||||
Serial.print("home\r\n");
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
Serial.print("R99 Report end stops\r\n");
|
||||
}
|
||||
|
||||
|
@ -36,13 +39,10 @@ Serial.print("home\r\n");
|
|||
CurrentState::getInstance()->printEndStops();
|
||||
|
||||
// Also report back some selected pin numbers: 8, 9, 10, 13
|
||||
PinControl::getInstance()->readValue( 8, 0);
|
||||
PinControl::getInstance()->readValue( 9, 0);
|
||||
PinControl::getInstance()->readValue(8, 0);
|
||||
PinControl::getInstance()->readValue(9, 0);
|
||||
PinControl::getInstance()->readValue(10, 0);
|
||||
PinControl::getInstance()->readValue(13, 0);
|
||||
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
@ -15,17 +15,18 @@
|
|||
#include "StepperControl.h"
|
||||
#include "PinControl.h"
|
||||
|
||||
class F81Handler : public GCodeHandler {
|
||||
class F81Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F81Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F81Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F81Handler();
|
||||
F81Handler(F81Handler const&);
|
||||
void operator=(F81Handler const&);
|
||||
F81Handler(F81Handler const &);
|
||||
void operator=(F81Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F81HANDLER_H_ */
|
||||
|
||||
|
|
|
@ -9,23 +9,26 @@
|
|||
|
||||
#include "F82Handler.h"
|
||||
|
||||
static F82Handler *instance;
|
||||
|
||||
static F82Handler* instance;
|
||||
|
||||
F82Handler * F82Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F82Handler *F82Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F82Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F82Handler::F82Handler() {
|
||||
F82Handler::F82Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F82Handler::execute(Command* command) {
|
||||
int F82Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
Serial.print("R99 Report current position\r\n");
|
||||
}
|
||||
|
||||
|
@ -33,6 +36,3 @@ int F82Handler::execute(Command* command) {
|
|||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -14,17 +14,18 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class F82Handler : public GCodeHandler {
|
||||
class F82Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F82Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F82Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F82Handler();
|
||||
F82Handler(F82Handler const&);
|
||||
void operator=(F82Handler const&);
|
||||
F82Handler(F82Handler const &);
|
||||
void operator=(F82Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F82HANDLER_H_ */
|
||||
|
||||
|
|
|
@ -9,23 +9,26 @@
|
|||
|
||||
#include "F83Handler.h"
|
||||
|
||||
static F83Handler *instance;
|
||||
|
||||
static F83Handler* instance;
|
||||
|
||||
F83Handler * F83Handler::getInstance() {
|
||||
if (!instance) {
|
||||
F83Handler *F83Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new F83Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
F83Handler::F83Handler() {
|
||||
F83Handler::F83Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int F83Handler::execute(Command* command) {
|
||||
int F83Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
Serial.print("R99 Report server version\r\n");
|
||||
}
|
||||
|
||||
|
@ -36,6 +39,3 @@ int F83Handler::execute(Command* command) {
|
|||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -14,17 +14,18 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class F83Handler : public GCodeHandler {
|
||||
class F83Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static F83Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static F83Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
F83Handler();
|
||||
F83Handler(F83Handler const&);
|
||||
void operator=(F83Handler const&);
|
||||
F83Handler(F83Handler const &);
|
||||
void operator=(F83Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
||||
#endif /* F83HANDLER_H_ */
|
||||
|
||||
|
|
|
@ -7,50 +7,48 @@
|
|||
|
||||
#include "G00Handler.h"
|
||||
|
||||
static G00Handler *instance;
|
||||
|
||||
static G00Handler* instance;
|
||||
|
||||
G00Handler * G00Handler::getInstance() {
|
||||
if (!instance) {
|
||||
G00Handler *G00Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new G00Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
G00Handler::G00Handler() {
|
||||
G00Handler::G00Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int G00Handler::execute(Command* command) {
|
||||
int G00Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
// Serial.print("G00 was here\r\n");
|
||||
|
||||
// Serial.print("G00 was here\r\n");
|
||||
// Serial.print("R99");
|
||||
// Serial.print(" X ");
|
||||
// Serial.print(command->getX());
|
||||
// Serial.print(" Y ");
|
||||
// Serial.print(command->getY());
|
||||
// Serial.print(" Z ");
|
||||
// Serial.print(command->getZ());
|
||||
// Serial.print(" A ");
|
||||
// Serial.print(command->getA());
|
||||
// Serial.print(" B ");
|
||||
// Serial.print(command->getB());
|
||||
// Serial.print(" C ");
|
||||
// Serial.print(command->getC());
|
||||
// Serial.print("\r\n");
|
||||
|
||||
|
||||
// Serial.print("R99");
|
||||
// Serial.print(" X ");
|
||||
// Serial.print(command->getX());
|
||||
// Serial.print(" Y ");
|
||||
// Serial.print(command->getY());
|
||||
// Serial.print(" Z ");
|
||||
// Serial.print(command->getZ());
|
||||
// Serial.print(" A ");
|
||||
// Serial.print(command->getA());
|
||||
// Serial.print(" B ");
|
||||
// Serial.print(command->getB());
|
||||
// Serial.print(" C ");
|
||||
// Serial.print(command->getC());
|
||||
// Serial.print("\r\n");
|
||||
|
||||
|
||||
StepperControl::getInstance()->moveToCoords
|
||||
(
|
||||
StepperControl::getInstance()->moveToCoords(
|
||||
command->getX(), command->getY(), command->getZ(),
|
||||
command->getA(), command->getB(), command->getC(),
|
||||
false, false, false
|
||||
);
|
||||
false, false, false);
|
||||
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
CurrentState::getInstance()->print();
|
||||
}
|
||||
return 0;
|
||||
|
|
|
@ -14,14 +14,16 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class G00Handler : public GCodeHandler {
|
||||
class G00Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static G00Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static G00Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
G00Handler();
|
||||
G00Handler(G00Handler const&);
|
||||
void operator=(G00Handler const&);
|
||||
G00Handler(G00Handler const &);
|
||||
void operator=(G00Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
|
|
@ -7,28 +7,31 @@
|
|||
|
||||
#include "G28Handler.h"
|
||||
|
||||
static G28Handler *instance;
|
||||
|
||||
static G28Handler* instance;
|
||||
|
||||
G28Handler * G28Handler::getInstance() {
|
||||
if (!instance) {
|
||||
G28Handler *G28Handler::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new G28Handler();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
G28Handler::G28Handler() {
|
||||
G28Handler::G28Handler()
|
||||
{
|
||||
}
|
||||
|
||||
int G28Handler::execute(Command* command) {
|
||||
int G28Handler::execute(Command *command)
|
||||
{
|
||||
|
||||
//Serial.print("home\r\n");
|
||||
//Serial.print("home\r\n");
|
||||
|
||||
StepperControl::getInstance()->moveToCoords(0,0,0, 0,0,0, false, false, true);
|
||||
StepperControl::getInstance()->moveToCoords(0,0,0, 0,0,0, true, true, false);
|
||||
StepperControl::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, false, true);
|
||||
StepperControl::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, true, true, false);
|
||||
//StepperControl::getInstance()->moveAbsoluteConstant(0,0,0,HOME_MOVEMENT_SPEED_S_P_S,true);
|
||||
if (LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
CurrentState::getInstance()->print();
|
||||
}
|
||||
return 0;
|
||||
|
|
|
@ -14,14 +14,16 @@
|
|||
#include "Config.h"
|
||||
#include "StepperControl.h"
|
||||
|
||||
class G28Handler : public GCodeHandler {
|
||||
class G28Handler : public GCodeHandler
|
||||
{
|
||||
public:
|
||||
static G28Handler* getInstance();
|
||||
int execute(Command*);
|
||||
static G28Handler *getInstance();
|
||||
int execute(Command *);
|
||||
|
||||
private:
|
||||
G28Handler();
|
||||
G28Handler(G28Handler const&);
|
||||
void operator=(G28Handler const&);
|
||||
G28Handler(G28Handler const &);
|
||||
void operator=(G28Handler const &);
|
||||
long adjustStepAmount(long);
|
||||
long getNumberOfSteps(double, double);
|
||||
};
|
||||
|
|
|
@ -7,13 +7,15 @@
|
|||
|
||||
#include "GCodeHandler.h"
|
||||
|
||||
GCodeHandler::GCodeHandler() {
|
||||
|
||||
GCodeHandler::GCodeHandler()
|
||||
{
|
||||
}
|
||||
|
||||
GCodeHandler::~GCodeHandler() {
|
||||
GCodeHandler::~GCodeHandler()
|
||||
{
|
||||
}
|
||||
|
||||
int GCodeHandler::execute(Command*) {
|
||||
int GCodeHandler::execute(Command *)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
|
|
@ -9,11 +9,12 @@
|
|||
#define GCODEHANDLER_H_
|
||||
#include "Command.h"
|
||||
|
||||
class GCodeHandler {
|
||||
class GCodeHandler
|
||||
{
|
||||
public:
|
||||
GCodeHandler();
|
||||
virtual ~GCodeHandler();
|
||||
virtual int execute(Command*);
|
||||
virtual int execute(Command *);
|
||||
};
|
||||
|
||||
#endif /* GCODEHANDLER_H_ */
|
||||
|
|
|
@ -9,26 +9,28 @@
|
|||
#include "GCodeProcessor.h"
|
||||
#include "CurrentState.h"
|
||||
|
||||
GCodeProcessor::GCodeProcessor() {
|
||||
|
||||
GCodeProcessor::GCodeProcessor()
|
||||
{
|
||||
}
|
||||
|
||||
GCodeProcessor::~GCodeProcessor() {
|
||||
GCodeProcessor::~GCodeProcessor()
|
||||
{
|
||||
}
|
||||
|
||||
void GCodeProcessor::printCommandLog(Command* command) {
|
||||
void GCodeProcessor::printCommandLog(Command *command)
|
||||
{
|
||||
Serial.print("command == NULL: ");
|
||||
Serial.println("\r\n");
|
||||
}
|
||||
|
||||
int GCodeProcessor::execute(Command* command) {
|
||||
int GCodeProcessor::execute(Command *command)
|
||||
{
|
||||
|
||||
int execution = 0;
|
||||
|
||||
long Q = command->getQ();
|
||||
CurrentState::getInstance()->setQ(Q);
|
||||
|
||||
|
||||
// Do not execute the command when the config complete parameter is not
|
||||
// set by the raspberry pi and it's asked to do a move command
|
||||
|
||||
|
@ -53,15 +55,19 @@ int GCodeProcessor::execute(Command* command) {
|
|||
|
||||
// Return error when no command or invalid command is found
|
||||
|
||||
if(command == NULL) {
|
||||
if(LOGGING) {
|
||||
if (command == NULL)
|
||||
{
|
||||
if (LOGGING)
|
||||
{
|
||||
printCommandLog(command);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
if(command->getCodeEnum() == CODE_UNDEFINED) {
|
||||
if(LOGGING) {
|
||||
if (command->getCodeEnum() == CODE_UNDEFINED)
|
||||
{
|
||||
if (LOGGING)
|
||||
{
|
||||
printCommandLog(command);
|
||||
}
|
||||
return -1;
|
||||
|
@ -69,9 +75,10 @@ int GCodeProcessor::execute(Command* command) {
|
|||
|
||||
// Get the right handler for this command
|
||||
|
||||
GCodeHandler* handler = getGCodeHandler(command->getCodeEnum());
|
||||
GCodeHandler *handler = getGCodeHandler(command->getCodeEnum());
|
||||
|
||||
if(handler == NULL) {
|
||||
if (handler == NULL)
|
||||
{
|
||||
Serial.println("R99 handler == NULL\r\n");
|
||||
return -1;
|
||||
}
|
||||
|
@ -82,10 +89,13 @@ int GCodeProcessor::execute(Command* command) {
|
|||
CurrentState::getInstance()->printQAndNewLine();
|
||||
|
||||
execution = handler->execute(command);
|
||||
if(execution == 0) {
|
||||
if (execution == 0)
|
||||
{
|
||||
Serial.print(COMM_REPORT_CMD_DONE);
|
||||
CurrentState::getInstance()->printQAndNewLine();
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.print(COMM_REPORT_CMD_ERROR);
|
||||
CurrentState::getInstance()->printQAndNewLine();
|
||||
}
|
||||
|
@ -94,47 +104,104 @@ int GCodeProcessor::execute(Command* command) {
|
|||
return execution;
|
||||
};
|
||||
|
||||
GCodeHandler* GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) {
|
||||
GCodeHandler *GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum)
|
||||
{
|
||||
|
||||
GCodeHandler* handler = NULL;
|
||||
GCodeHandler *handler = NULL;
|
||||
|
||||
// These are if statements so they can be disabled as test
|
||||
// Usefull when running into memory issues again
|
||||
|
||||
if (codeEnum == G00)
|
||||
{
|
||||
handler = G00Handler::getInstance();
|
||||
}
|
||||
|
||||
if (codeEnum == G00) {handler = G00Handler::getInstance();}
|
||||
if (codeEnum == G28)
|
||||
{
|
||||
handler = G28Handler::getInstance();
|
||||
}
|
||||
|
||||
if (codeEnum == G28) {handler = G28Handler::getInstance();}
|
||||
if (codeEnum == F11)
|
||||
{
|
||||
handler = F11Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F12)
|
||||
{
|
||||
handler = F12Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F13)
|
||||
{
|
||||
handler = F13Handler::getInstance();
|
||||
}
|
||||
|
||||
if (codeEnum == F11) {handler = F11Handler::getInstance();}
|
||||
if (codeEnum == F12) {handler = F12Handler::getInstance();}
|
||||
if (codeEnum == F13) {handler = F13Handler::getInstance();}
|
||||
if (codeEnum == F14)
|
||||
{
|
||||
handler = F14Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F15)
|
||||
{
|
||||
handler = F15Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F16)
|
||||
{
|
||||
handler = F16Handler::getInstance();
|
||||
}
|
||||
|
||||
if (codeEnum == F14) {handler = F14Handler::getInstance();}
|
||||
if (codeEnum == F15) {handler = F15Handler::getInstance();}
|
||||
if (codeEnum == F16) {handler = F16Handler::getInstance();}
|
||||
if (codeEnum == F20)
|
||||
{
|
||||
handler = F20Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F21)
|
||||
{
|
||||
handler = F21Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F22)
|
||||
{
|
||||
handler = F22Handler::getInstance();
|
||||
}
|
||||
|
||||
if (codeEnum == F20) {handler = F20Handler::getInstance();}
|
||||
if (codeEnum == F21) {handler = F21Handler::getInstance();}
|
||||
if (codeEnum == F22) {handler = F22Handler::getInstance();}
|
||||
// if (codeEnum == F31) {handler = F31Handler::getInstance();}
|
||||
// if (codeEnum == F32) {handler = F32Handler::getInstance();}
|
||||
|
||||
// if (codeEnum == F31) {handler = F31Handler::getInstance();}
|
||||
// if (codeEnum == F32) {handler = F32Handler::getInstance();}
|
||||
if (codeEnum == F41)
|
||||
{
|
||||
handler = F41Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F42)
|
||||
{
|
||||
handler = F42Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F43)
|
||||
{
|
||||
handler = F43Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F44)
|
||||
{
|
||||
handler = F44Handler::getInstance();
|
||||
}
|
||||
|
||||
if (codeEnum == F41) {handler = F41Handler::getInstance();}
|
||||
if (codeEnum == F42) {handler = F42Handler::getInstance();}
|
||||
if (codeEnum == F43) {handler = F43Handler::getInstance();}
|
||||
if (codeEnum == F44) {handler = F44Handler::getInstance();}
|
||||
|
||||
if (codeEnum == F61) {handler = F61Handler::getInstance();}
|
||||
|
||||
if (codeEnum == F81) {handler = F81Handler::getInstance();}
|
||||
if (codeEnum == F82) {handler = F82Handler::getInstance();}
|
||||
if (codeEnum == F83) {handler = F83Handler::getInstance();}
|
||||
if (codeEnum == F84) {handler = F84Handler::getInstance();}
|
||||
if (codeEnum == F61)
|
||||
{
|
||||
handler = F61Handler::getInstance();
|
||||
}
|
||||
|
||||
if (codeEnum == F81)
|
||||
{
|
||||
handler = F81Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F82)
|
||||
{
|
||||
handler = F82Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F83)
|
||||
{
|
||||
handler = F83Handler::getInstance();
|
||||
}
|
||||
if (codeEnum == F84)
|
||||
{
|
||||
handler = F84Handler::getInstance();
|
||||
}
|
||||
|
||||
return handler;
|
||||
}
|
||||
|
||||
|
||||
|
|
|
@ -42,15 +42,18 @@
|
|||
#include "F83Handler.h"
|
||||
#include "F84Handler.h"
|
||||
|
||||
class GCodeProcessor {
|
||||
class GCodeProcessor
|
||||
{
|
||||
public:
|
||||
GCodeProcessor();
|
||||
virtual ~GCodeProcessor();
|
||||
int execute(Command* command);
|
||||
int execute(Command *command);
|
||||
|
||||
protected:
|
||||
GCodeHandler* getGCodeHandler(CommandCodeEnum);
|
||||
GCodeHandler *getGCodeHandler(CommandCodeEnum);
|
||||
|
||||
private:
|
||||
void printCommandLog(Command*);
|
||||
void printCommandLog(Command *);
|
||||
};
|
||||
|
||||
#endif /* GCODEPROCESSOR_H_ */
|
||||
|
|
|
@ -25,12 +25,12 @@ extern struct __freelist *__flp;
|
|||
/* Calculates the size of the free list */
|
||||
int freeListSize()
|
||||
{
|
||||
struct __freelist* current;
|
||||
struct __freelist *current;
|
||||
int total = 0;
|
||||
for (current = __flp; current; current = current->nx)
|
||||
{
|
||||
total += 2; /* Add two bytes for the memory block's header */
|
||||
total += (int) current->sz;
|
||||
total += (int)current->sz;
|
||||
}
|
||||
|
||||
return total;
|
||||
|
|
|
@ -1,17 +1,20 @@
|
|||
#include "ParameterList.h"
|
||||
#include <EEPROM.h>
|
||||
|
||||
static ParameterList* instanceParam;
|
||||
static ParameterList *instanceParam;
|
||||
int paramValues[PARAM_NR_OF_PARAMS];
|
||||
|
||||
ParameterList * ParameterList::getInstance() {
|
||||
if (!instanceParam) {
|
||||
ParameterList *ParameterList::getInstance()
|
||||
{
|
||||
if (!instanceParam)
|
||||
{
|
||||
instanceParam = new ParameterList();
|
||||
};
|
||||
return instanceParam;
|
||||
}
|
||||
|
||||
ParameterList::ParameterList() {
|
||||
ParameterList::ParameterList()
|
||||
{
|
||||
// at the first boot, load default parameters and set the parameter version
|
||||
// so during subsequent boots the values are just loaded from eeprom
|
||||
// unless the eeprom is disabled with a parameter
|
||||
|
@ -19,10 +22,13 @@ ParameterList::ParameterList() {
|
|||
int paramChangeNr = 0;
|
||||
|
||||
int paramVersion = readValueEeprom(0);
|
||||
if (paramVersion <= 0) {
|
||||
if (paramVersion <= 0)
|
||||
{
|
||||
setAllValuesToDefault();
|
||||
writeAllValuesToEeprom();
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
//if (readValueEeprom(PARAM_USE_EEPROM) == 1) {
|
||||
readAllValuesFromEeprom();
|
||||
//} else {
|
||||
|
@ -33,10 +39,12 @@ ParameterList::ParameterList() {
|
|||
|
||||
// ===== Interface functions for the raspberry pi =====
|
||||
|
||||
int ParameterList::readValue(int id) {
|
||||
int ParameterList::readValue(int id)
|
||||
{
|
||||
|
||||
// Check if the value is an existing parameter
|
||||
if (validParam(id)) {
|
||||
if (validParam(id))
|
||||
{
|
||||
// Retrieve the value from memory
|
||||
int value = paramValues[id];
|
||||
|
||||
|
@ -50,33 +58,40 @@ int ParameterList::readValue(int id) {
|
|||
Serial.print(value);
|
||||
//Serial.print("\r\n");
|
||||
CurrentState::getInstance()->printQAndNewLine();
|
||||
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.print("R99 Error: invalid parameter id\r\n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int ParameterList::writeValue(int id, int value) {
|
||||
int ParameterList::writeValue(int id, int value)
|
||||
{
|
||||
|
||||
if (paramChangeNr < 9999) {
|
||||
if (paramChangeNr < 9999)
|
||||
{
|
||||
paramChangeNr++;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
paramChangeNr = 0;
|
||||
}
|
||||
|
||||
// Check if the value is a valid parameter
|
||||
if (validParam(id)) {
|
||||
if (validParam(id))
|
||||
{
|
||||
// Store the value in memory
|
||||
paramValues[id] = value;
|
||||
writeValueEeprom(id, value);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.print("R99 Error: invalid parameter id\r\n");
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
/*
|
||||
// Debugging output
|
||||
Serial.print("R99");
|
||||
Serial.print(" ");
|
||||
|
@ -100,36 +115,40 @@ int ParameterList::writeValue(int id, int value) {
|
|||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void ParameterList::sendConfigToModules() {
|
||||
void ParameterList::sendConfigToModules()
|
||||
{
|
||||
// Trigger other modules to load the new values
|
||||
PinGuard::getInstance()->loadConfig();
|
||||
}
|
||||
|
||||
int ParameterList::readAllValues() {
|
||||
|
||||
int ParameterList::readAllValues()
|
||||
{
|
||||
|
||||
// Make a dump of all values
|
||||
// Check if it's a valid value to keep the junk out of the list
|
||||
for (int i=0; i < PARAM_NR_OF_PARAMS; i++) {
|
||||
if (validParam(i)) {
|
||||
for (int i = 0; i < PARAM_NR_OF_PARAMS; i++)
|
||||
{
|
||||
if (validParam(i))
|
||||
{
|
||||
readValue(i);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int ParameterList::getValue(int id) {
|
||||
int ParameterList::getValue(int id)
|
||||
{
|
||||
return paramValues[id];
|
||||
}
|
||||
|
||||
int ParameterList::paramChangeNumber() {
|
||||
int ParameterList::paramChangeNumber()
|
||||
{
|
||||
return paramChangeNr;
|
||||
}
|
||||
|
||||
|
||||
// ===== eeprom handling ====
|
||||
|
||||
int ParameterList::readValueEeprom(int id) {
|
||||
int ParameterList::readValueEeprom(int id)
|
||||
{
|
||||
|
||||
// Assume all values are ints and calculate address for that
|
||||
int address = id * 2;
|
||||
|
@ -142,7 +161,8 @@ int ParameterList::readValueEeprom(int id) {
|
|||
return ((two << 0) & 0xFF) + ((one << 8) & 0xFFFF);
|
||||
}
|
||||
|
||||
int ParameterList::writeValueEeprom(int id, int value) {
|
||||
int ParameterList::writeValueEeprom(int id, int value)
|
||||
{
|
||||
|
||||
// Assume all values are ints and calculate address for that
|
||||
int address = id * 2;
|
||||
|
@ -153,141 +173,273 @@ int ParameterList::writeValueEeprom(int id, int value) {
|
|||
byte one = ((value >> 8) & 0xFF);
|
||||
|
||||
//Write the 4 bytes into the eeprom memory.
|
||||
EEPROM.write(address , two);
|
||||
EEPROM.write(address, two);
|
||||
EEPROM.write(address + 1, one);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int ParameterList::readAllValuesFromEeprom() {
|
||||
int ParameterList::readAllValuesFromEeprom()
|
||||
{
|
||||
// Write all existing values to eeprom
|
||||
for (int i=0; i < PARAM_NR_OF_PARAMS; i++) {
|
||||
if (validParam(i)) {
|
||||
for (int i = 0; i < PARAM_NR_OF_PARAMS; i++)
|
||||
{
|
||||
if (validParam(i))
|
||||
{
|
||||
paramValues[i] = readValueEeprom(i);
|
||||
if (paramValues[i] == -1) {
|
||||
if (paramValues[i] == -1)
|
||||
{
|
||||
// When parameters are still on default,
|
||||
// load a good value and save it
|
||||
loadDefaultValue(i);
|
||||
writeValueEeprom(i,paramValues[i]);
|
||||
writeValueEeprom(i, paramValues[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int ParameterList::writeAllValuesToEeprom() {
|
||||
int ParameterList::writeAllValuesToEeprom()
|
||||
{
|
||||
// Write all existing values to eeprom
|
||||
for (int i=0; i < 150; i++)
|
||||
for (int i = 0; i < 150; i++)
|
||||
{
|
||||
if (validParam(i)) {
|
||||
writeValueEeprom(i,paramValues[i]);
|
||||
if (validParam(i))
|
||||
{
|
||||
writeValueEeprom(i, paramValues[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ==== parameter valdation and defaults
|
||||
|
||||
int ParameterList::setAllValuesToDefault() {
|
||||
int ParameterList::setAllValuesToDefault()
|
||||
{
|
||||
// Copy default values to the memory values
|
||||
for (int i=0; i < PARAM_NR_OF_PARAMS; i++)
|
||||
for (int i = 0; i < PARAM_NR_OF_PARAMS; i++)
|
||||
{
|
||||
if (validParam(i))
|
||||
{
|
||||
if (validParam(i)) {
|
||||
loadDefaultValue(i);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ParameterList::loadDefaultValue(int id) {
|
||||
void ParameterList::loadDefaultValue(int id)
|
||||
{
|
||||
|
||||
switch(id)
|
||||
switch (id)
|
||||
{
|
||||
case PARAM_VERSION : paramValues[id] = PARAM_VERSION_DEFAULT; break;
|
||||
case PARAM_TEST : paramValues[id] = PARAM_TEST_DEFAULT; break;
|
||||
case PARAM_CONFIG_OK : paramValues[id] = PARAM_CONFIG_OK_DEFAULT; break;
|
||||
case PARAM_USE_EEPROM : paramValues[id] = PARAM_USE_EEPROM; break;
|
||||
case PARAM_VERSION:
|
||||
paramValues[id] = PARAM_VERSION_DEFAULT;
|
||||
break;
|
||||
case PARAM_TEST:
|
||||
paramValues[id] = PARAM_TEST_DEFAULT;
|
||||
break;
|
||||
case PARAM_CONFIG_OK:
|
||||
paramValues[id] = PARAM_CONFIG_OK_DEFAULT;
|
||||
break;
|
||||
case PARAM_USE_EEPROM:
|
||||
paramValues[id] = PARAM_USE_EEPROM;
|
||||
break;
|
||||
|
||||
case MOVEMENT_TIMEOUT_X : paramValues[id] = MOVEMENT_TIMEOUT_X_DEFAULT; break;
|
||||
case MOVEMENT_TIMEOUT_Y : paramValues[id] = MOVEMENT_TIMEOUT_Y_DEFAULT; break;
|
||||
case MOVEMENT_TIMEOUT_Z : paramValues[id] = MOVEMENT_TIMEOUT_Z_DEFAULT; break;
|
||||
case MOVEMENT_TIMEOUT_X:
|
||||
paramValues[id] = MOVEMENT_TIMEOUT_X_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_TIMEOUT_Y:
|
||||
paramValues[id] = MOVEMENT_TIMEOUT_Y_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_TIMEOUT_Z:
|
||||
paramValues[id] = MOVEMENT_TIMEOUT_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case MOVEMENT_INVERT_ENDPOINTS_X : paramValues[id] = MOVEMENT_INVERT_ENDPOINTS_X_DEFAULT; break;
|
||||
case MOVEMENT_INVERT_ENDPOINTS_Y : paramValues[id] = MOVEMENT_INVERT_ENDPOINTS_Y_DEFAULT; break;
|
||||
case MOVEMENT_INVERT_ENDPOINTS_Z : paramValues[id] = MOVEMENT_INVERT_ENDPOINTS_Z_DEFAULT; break;
|
||||
case MOVEMENT_INVERT_ENDPOINTS_X:
|
||||
paramValues[id] = MOVEMENT_INVERT_ENDPOINTS_X_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_INVERT_ENDPOINTS_Y:
|
||||
paramValues[id] = MOVEMENT_INVERT_ENDPOINTS_Y_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_INVERT_ENDPOINTS_Z:
|
||||
paramValues[id] = MOVEMENT_INVERT_ENDPOINTS_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case MOVEMENT_ENABLE_ENDPOINTS_X : paramValues[id] = MOVEMENT_ENABLE_ENDPOINTS_X_DEFAULT; break;
|
||||
case MOVEMENT_ENABLE_ENDPOINTS_Y : paramValues[id] = MOVEMENT_ENABLE_ENDPOINTS_Y_DEFAULT; break;
|
||||
case MOVEMENT_ENABLE_ENDPOINTS_Z : paramValues[id] = MOVEMENT_ENABLE_ENDPOINTS_Z_DEFAULT; break;
|
||||
case MOVEMENT_ENABLE_ENDPOINTS_X:
|
||||
paramValues[id] = MOVEMENT_ENABLE_ENDPOINTS_X_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_ENABLE_ENDPOINTS_Y:
|
||||
paramValues[id] = MOVEMENT_ENABLE_ENDPOINTS_Y_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_ENABLE_ENDPOINTS_Z:
|
||||
paramValues[id] = MOVEMENT_ENABLE_ENDPOINTS_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case MOVEMENT_INVERT_MOTOR_X : paramValues[id] = MOVEMENT_INVERT_MOTOR_X_DEFAULT; break;
|
||||
case MOVEMENT_INVERT_MOTOR_Y : paramValues[id] = MOVEMENT_INVERT_MOTOR_Y_DEFAULT; break;
|
||||
case MOVEMENT_INVERT_MOTOR_Z : paramValues[id] = MOVEMENT_INVERT_MOTOR_Z_DEFAULT; break;
|
||||
case MOVEMENT_INVERT_MOTOR_X:
|
||||
paramValues[id] = MOVEMENT_INVERT_MOTOR_X_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_INVERT_MOTOR_Y:
|
||||
paramValues[id] = MOVEMENT_INVERT_MOTOR_Y_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_INVERT_MOTOR_Z:
|
||||
paramValues[id] = MOVEMENT_INVERT_MOTOR_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case MOVEMENT_SECONDARY_MOTOR_X : paramValues[id] = MOVEMENT_SECONDARY_MOTOR_X_DEFAULT; break;
|
||||
case MOVEMENT_SECONDARY_MOTOR_INVERT_X : paramValues[id] = MOVEMENT_SECONDARY_MOTOR_INVERT_X_DEFAULT; break;
|
||||
case MOVEMENT_SECONDARY_MOTOR_X:
|
||||
paramValues[id] = MOVEMENT_SECONDARY_MOTOR_X_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_SECONDARY_MOTOR_INVERT_X:
|
||||
paramValues[id] = MOVEMENT_SECONDARY_MOTOR_INVERT_X_DEFAULT;
|
||||
break;
|
||||
|
||||
case MOVEMENT_STEPS_ACC_DEC_X : paramValues[id] = MOVEMENT_STEPS_ACC_DEC_X_DEFAULT; break;
|
||||
case MOVEMENT_STEPS_ACC_DEC_Y : paramValues[id] = MOVEMENT_STEPS_ACC_DEC_Y_DEFAULT; break;
|
||||
case MOVEMENT_STEPS_ACC_DEC_Z : paramValues[id] = MOVEMENT_STEPS_ACC_DEC_Z_DEFAULT; break;
|
||||
case MOVEMENT_STEPS_ACC_DEC_X:
|
||||
paramValues[id] = MOVEMENT_STEPS_ACC_DEC_X_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_STEPS_ACC_DEC_Y:
|
||||
paramValues[id] = MOVEMENT_STEPS_ACC_DEC_Y_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_STEPS_ACC_DEC_Z:
|
||||
paramValues[id] = MOVEMENT_STEPS_ACC_DEC_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case MOVEMENT_HOME_UP_X : paramValues[id] = MOVEMENT_HOME_UP_X_DEFAULT; break;
|
||||
case MOVEMENT_HOME_UP_Y : paramValues[id] = MOVEMENT_HOME_UP_Y_DEFAULT; break;
|
||||
case MOVEMENT_HOME_UP_Z : paramValues[id] = MOVEMENT_HOME_UP_Z_DEFAULT; break;
|
||||
case MOVEMENT_HOME_UP_X:
|
||||
paramValues[id] = MOVEMENT_HOME_UP_X_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_HOME_UP_Y:
|
||||
paramValues[id] = MOVEMENT_HOME_UP_Y_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_HOME_UP_Z:
|
||||
paramValues[id] = MOVEMENT_HOME_UP_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case MOVEMENT_MIN_SPD_X : paramValues[id] = MOVEMENT_MIN_SPD_X_DEFAULT; break;
|
||||
case MOVEMENT_MIN_SPD_Y : paramValues[id] = MOVEMENT_MIN_SPD_Y_DEFAULT; break;
|
||||
case MOVEMENT_MIN_SPD_Z : paramValues[id] = MOVEMENT_MIN_SPD_Z_DEFAULT; break;
|
||||
case MOVEMENT_MIN_SPD_X:
|
||||
paramValues[id] = MOVEMENT_MIN_SPD_X_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_MIN_SPD_Y:
|
||||
paramValues[id] = MOVEMENT_MIN_SPD_Y_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_MIN_SPD_Z:
|
||||
paramValues[id] = MOVEMENT_MIN_SPD_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case MOVEMENT_MAX_SPD_X : paramValues[id] = MOVEMENT_MAX_SPD_X_DEFAULT; break;
|
||||
case MOVEMENT_MAX_SPD_Y : paramValues[id] = MOVEMENT_MAX_SPD_Y_DEFAULT; break;
|
||||
case MOVEMENT_MAX_SPD_Z : paramValues[id] = MOVEMENT_MAX_SPD_Z_DEFAULT; break;
|
||||
case MOVEMENT_MAX_SPD_X:
|
||||
paramValues[id] = MOVEMENT_MAX_SPD_X_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_MAX_SPD_Y:
|
||||
paramValues[id] = MOVEMENT_MAX_SPD_Y_DEFAULT;
|
||||
break;
|
||||
case MOVEMENT_MAX_SPD_Z:
|
||||
paramValues[id] = MOVEMENT_MAX_SPD_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case ENCODER_ENABLED_X : paramValues[id] = ENCODER_ENABLED_X_DEFAULT; break;
|
||||
case ENCODER_ENABLED_Y : paramValues[id] = ENCODER_ENABLED_Y_DEFAULT; break;
|
||||
case ENCODER_ENABLED_Z : paramValues[id] = ENCODER_ENABLED_Z_DEFAULT; break;
|
||||
case ENCODER_ENABLED_X:
|
||||
paramValues[id] = ENCODER_ENABLED_X_DEFAULT;
|
||||
break;
|
||||
case ENCODER_ENABLED_Y:
|
||||
paramValues[id] = ENCODER_ENABLED_Y_DEFAULT;
|
||||
break;
|
||||
case ENCODER_ENABLED_Z:
|
||||
paramValues[id] = ENCODER_ENABLED_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case ENCODER_TYPE_X : paramValues[id] = ENCODER_TYPE_X_DEFAULT; break;
|
||||
case ENCODER_TYPE_Y : paramValues[id] = ENCODER_TYPE_Y_DEFAULT; break;
|
||||
case ENCODER_TYPE_Z : paramValues[id] = ENCODER_TYPE_Z_DEFAULT; break;
|
||||
case ENCODER_TYPE_X:
|
||||
paramValues[id] = ENCODER_TYPE_X_DEFAULT;
|
||||
break;
|
||||
case ENCODER_TYPE_Y:
|
||||
paramValues[id] = ENCODER_TYPE_Y_DEFAULT;
|
||||
break;
|
||||
case ENCODER_TYPE_Z:
|
||||
paramValues[id] = ENCODER_TYPE_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case ENCODER_MISSED_STEPS_MAX_X : paramValues[id] = ENCODER_MISSED_STEPS_MAX_X_DEFAULT; break;
|
||||
case ENCODER_MISSED_STEPS_MAX_Y : paramValues[id] = ENCODER_MISSED_STEPS_MAX_Y_DEFAULT; break;
|
||||
case ENCODER_MISSED_STEPS_MAX_Z : paramValues[id] = ENCODER_MISSED_STEPS_MAX_Z_DEFAULT; break;
|
||||
case ENCODER_MISSED_STEPS_MAX_X:
|
||||
paramValues[id] = ENCODER_MISSED_STEPS_MAX_X_DEFAULT;
|
||||
break;
|
||||
case ENCODER_MISSED_STEPS_MAX_Y:
|
||||
paramValues[id] = ENCODER_MISSED_STEPS_MAX_Y_DEFAULT;
|
||||
break;
|
||||
case ENCODER_MISSED_STEPS_MAX_Z:
|
||||
paramValues[id] = ENCODER_MISSED_STEPS_MAX_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case ENCODER_SCALING_X : paramValues[id] = ENCODER_SCALING_X_DEFAULT; break;
|
||||
case ENCODER_SCALING_Y : paramValues[id] = ENCODER_SCALING_Y_DEFAULT; break;
|
||||
case ENCODER_SCALING_Z : paramValues[id] = ENCODER_SCALING_Z_DEFAULT; break;
|
||||
case ENCODER_SCALING_X:
|
||||
paramValues[id] = ENCODER_SCALING_X_DEFAULT;
|
||||
break;
|
||||
case ENCODER_SCALING_Y:
|
||||
paramValues[id] = ENCODER_SCALING_Y_DEFAULT;
|
||||
break;
|
||||
case ENCODER_SCALING_Z:
|
||||
paramValues[id] = ENCODER_SCALING_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case ENCODER_MISSED_STEPS_DECAY_X : paramValues[id] = ENCODER_MISSED_STEPS_DECAY_X_DEFAULT; break;
|
||||
case ENCODER_MISSED_STEPS_DECAY_Y : paramValues[id] = ENCODER_MISSED_STEPS_DECAY_Y_DEFAULT; break;
|
||||
case ENCODER_MISSED_STEPS_DECAY_Z : paramValues[id] = ENCODER_MISSED_STEPS_DECAY_Z_DEFAULT; break;
|
||||
case ENCODER_MISSED_STEPS_DECAY_X:
|
||||
paramValues[id] = ENCODER_MISSED_STEPS_DECAY_X_DEFAULT;
|
||||
break;
|
||||
case ENCODER_MISSED_STEPS_DECAY_Y:
|
||||
paramValues[id] = ENCODER_MISSED_STEPS_DECAY_Y_DEFAULT;
|
||||
break;
|
||||
case ENCODER_MISSED_STEPS_DECAY_Z:
|
||||
paramValues[id] = ENCODER_MISSED_STEPS_DECAY_Z_DEFAULT;
|
||||
break;
|
||||
|
||||
case PIN_GUARD_1_PIN_NR : paramValues[id] = PIN_GUARD_1_PIN_NR_DEFAULT; break;
|
||||
case PIN_GUARD_1_TIME_OUT : paramValues[id] = PIN_GUARD_1_TIME_OUT_DEFAULT; break;
|
||||
case PIN_GUARD_1_ACTIVE_STATE : paramValues[id] = PIN_GUARD_1_ACTIVE_STATE_DEFAULT; break;
|
||||
case PIN_GUARD_1_PIN_NR:
|
||||
paramValues[id] = PIN_GUARD_1_PIN_NR_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_1_TIME_OUT:
|
||||
paramValues[id] = PIN_GUARD_1_TIME_OUT_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_1_ACTIVE_STATE:
|
||||
paramValues[id] = PIN_GUARD_1_ACTIVE_STATE_DEFAULT;
|
||||
break;
|
||||
|
||||
case PIN_GUARD_2_PIN_NR : paramValues[id] = PIN_GUARD_2_PIN_NR_DEFAULT; break;
|
||||
case PIN_GUARD_2_TIME_OUT : paramValues[id] = PIN_GUARD_2_TIME_OUT_DEFAULT; break;
|
||||
case PIN_GUARD_2_ACTIVE_STATE : paramValues[id] = PIN_GUARD_2_ACTIVE_STATE_DEFAULT; break;
|
||||
case PIN_GUARD_2_PIN_NR:
|
||||
paramValues[id] = PIN_GUARD_2_PIN_NR_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_2_TIME_OUT:
|
||||
paramValues[id] = PIN_GUARD_2_TIME_OUT_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_2_ACTIVE_STATE:
|
||||
paramValues[id] = PIN_GUARD_2_ACTIVE_STATE_DEFAULT;
|
||||
break;
|
||||
|
||||
case PIN_GUARD_3_PIN_NR : paramValues[id] = PIN_GUARD_3_PIN_NR_DEFAULT; break;
|
||||
case PIN_GUARD_3_TIME_OUT : paramValues[id] = PIN_GUARD_3_TIME_OUT_DEFAULT; break;
|
||||
case PIN_GUARD_3_ACTIVE_STATE : paramValues[id] = PIN_GUARD_3_ACTIVE_STATE_DEFAULT; break;
|
||||
case PIN_GUARD_3_PIN_NR:
|
||||
paramValues[id] = PIN_GUARD_3_PIN_NR_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_3_TIME_OUT:
|
||||
paramValues[id] = PIN_GUARD_3_TIME_OUT_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_3_ACTIVE_STATE:
|
||||
paramValues[id] = PIN_GUARD_3_ACTIVE_STATE_DEFAULT;
|
||||
break;
|
||||
|
||||
case PIN_GUARD_4_PIN_NR : paramValues[id] = PIN_GUARD_4_PIN_NR_DEFAULT; break;
|
||||
case PIN_GUARD_4_TIME_OUT : paramValues[id] = PIN_GUARD_4_TIME_OUT_DEFAULT; break;
|
||||
case PIN_GUARD_4_ACTIVE_STATE : paramValues[id] = PIN_GUARD_4_ACTIVE_STATE_DEFAULT; break;
|
||||
case PIN_GUARD_4_PIN_NR:
|
||||
paramValues[id] = PIN_GUARD_4_PIN_NR_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_4_TIME_OUT:
|
||||
paramValues[id] = PIN_GUARD_4_TIME_OUT_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_4_ACTIVE_STATE:
|
||||
paramValues[id] = PIN_GUARD_4_ACTIVE_STATE_DEFAULT;
|
||||
break;
|
||||
|
||||
case PIN_GUARD_5_PIN_NR : paramValues[id] = PIN_GUARD_5_PIN_NR_DEFAULT; break;
|
||||
case PIN_GUARD_5_TIME_OUT : paramValues[id] = PIN_GUARD_5_TIME_OUT_DEFAULT; break;
|
||||
case PIN_GUARD_5_ACTIVE_STATE : paramValues[id] = PIN_GUARD_5_ACTIVE_STATE_DEFAULT; break;
|
||||
case PIN_GUARD_5_PIN_NR:
|
||||
paramValues[id] = PIN_GUARD_5_PIN_NR_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_5_TIME_OUT:
|
||||
paramValues[id] = PIN_GUARD_5_TIME_OUT_DEFAULT;
|
||||
break;
|
||||
case PIN_GUARD_5_ACTIVE_STATE:
|
||||
paramValues[id] = PIN_GUARD_5_ACTIVE_STATE_DEFAULT;
|
||||
break;
|
||||
|
||||
default : paramValues[id] = 0; break;
|
||||
default:
|
||||
paramValues[id] = 0;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
bool ParameterList::validParam(int id) {
|
||||
bool ParameterList::validParam(int id)
|
||||
{
|
||||
|
||||
// Check if the id is a valid one
|
||||
switch(id)
|
||||
switch (id)
|
||||
{
|
||||
case PARAM_VERSION:
|
||||
case PARAM_CONFIG_OK:
|
||||
|
@ -353,4 +505,3 @@ bool ParameterList::validParam(int id) {
|
|||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -9,7 +9,6 @@
|
|||
//#define NULL 0
|
||||
const int PARAM_NR_OF_PARAMS = 225;
|
||||
|
||||
|
||||
enum ParamListEnum
|
||||
{
|
||||
PARAM_VERSION = 0,
|
||||
|
@ -80,7 +79,6 @@ enum ParamListEnum
|
|||
MOVEMENT_AXIS_NR_STEPS_Y = 142,
|
||||
MOVEMENT_AXIS_NR_STEPS_Z = 143,
|
||||
|
||||
|
||||
// pin guard settings
|
||||
PIN_GUARD_1_PIN_NR = 201,
|
||||
PIN_GUARD_1_TIME_OUT = 202,
|
||||
|
@ -108,10 +106,12 @@ enum ParamListEnum
|
|||
#define NULL 0
|
||||
*/
|
||||
|
||||
class ParameterList {
|
||||
class ParameterList
|
||||
{
|
||||
ParamListEnum paramListEnum;
|
||||
|
||||
public:
|
||||
static ParameterList* getInstance();
|
||||
static ParameterList *getInstance();
|
||||
int writeValue(int id, int value);
|
||||
int readValue(int id);
|
||||
int getValue(int id);
|
||||
|
@ -133,12 +133,10 @@ public:
|
|||
|
||||
private:
|
||||
ParameterList();
|
||||
ParameterList(ParameterList const&);
|
||||
void operator=(ParameterList const&);
|
||||
ParameterList(ParameterList const &);
|
||||
void operator=(ParameterList const &);
|
||||
|
||||
int paramChangeNr;
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif /* PARAMETERLIST_H_ */
|
||||
|
|
|
@ -1,50 +1,61 @@
|
|||
|
||||
#include "PinControl.h"
|
||||
|
||||
static PinControl* instance;
|
||||
static PinControl *instance;
|
||||
|
||||
PinControl * PinControl::getInstance() {
|
||||
if (!instance) {
|
||||
PinControl *PinControl::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new PinControl();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
PinControl::PinControl() {
|
||||
PinControl::PinControl()
|
||||
{
|
||||
}
|
||||
|
||||
int PinControl::setMode(int pinNr, int mode) {
|
||||
pinMode(pinNr , mode );
|
||||
int PinControl::setMode(int pinNr, int mode)
|
||||
{
|
||||
pinMode(pinNr, mode);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PinControl::writeValue(int pinNr, int value, int mode) {
|
||||
if (mode == 0) {
|
||||
int PinControl::writeValue(int pinNr, int value, int mode)
|
||||
{
|
||||
if (mode == 0)
|
||||
{
|
||||
digitalWrite(pinNr, value);
|
||||
return 0;
|
||||
}
|
||||
if (mode == 1) {
|
||||
if (mode == 1)
|
||||
{
|
||||
analogWrite(pinNr, value);
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
int PinControl::readValue(int pinNr, int mode) {
|
||||
int PinControl::readValue(int pinNr, int mode)
|
||||
{
|
||||
|
||||
int value = 0;
|
||||
|
||||
if (mode == 0) {
|
||||
if (digitalRead(pinNr) == 1){
|
||||
if (mode == 0)
|
||||
{
|
||||
if (digitalRead(pinNr) == 1)
|
||||
{
|
||||
value = 1;
|
||||
}
|
||||
}
|
||||
if (mode == 1) {
|
||||
if (mode == 1)
|
||||
{
|
||||
value = analogRead(pinNr);
|
||||
}
|
||||
|
||||
if (mode == 0 || mode == 1) {
|
||||
if (mode == 0 || mode == 1)
|
||||
{
|
||||
|
||||
Serial.print("R41");
|
||||
Serial.print(" ");
|
||||
|
@ -58,14 +69,16 @@ int PinControl::readValue(int pinNr, int mode) {
|
|||
|
||||
return 0;
|
||||
}
|
||||
else {
|
||||
else
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
int PinControl::writePulse(int pinNr, int valueOne, int valueTwo, long time, int mode) {
|
||||
writeValue( pinNr, valueOne, mode);
|
||||
int PinControl::writePulse(int pinNr, int valueOne, int valueTwo, long time, int mode)
|
||||
{
|
||||
writeValue(pinNr, valueOne, mode);
|
||||
delay(time);
|
||||
writeValue( pinNr, valueTwo, mode);
|
||||
writeValue(pinNr, valueTwo, mode);
|
||||
return 0;
|
||||
}
|
||||
|
|
|
@ -16,9 +16,10 @@
|
|||
#include <stdlib.h>
|
||||
#include "CurrentState.h"
|
||||
|
||||
class PinControl {
|
||||
class PinControl
|
||||
{
|
||||
public:
|
||||
static PinControl* getInstance();
|
||||
static PinControl *getInstance();
|
||||
|
||||
int setMode(int pinNr, int mode);
|
||||
int writeValue(int pinNr, int value, int mode);
|
||||
|
@ -27,8 +28,8 @@ public:
|
|||
|
||||
private:
|
||||
PinControl();
|
||||
PinControl(PinControl const&);
|
||||
void operator=(PinControl const&);
|
||||
PinControl(PinControl const &);
|
||||
void operator=(PinControl const &);
|
||||
};
|
||||
|
||||
#endif /* PINCONTROL_H_ */
|
||||
|
|
|
@ -1,17 +1,19 @@
|
|||
|
||||
#include "PinGuard.h"
|
||||
|
||||
static PinGuard* instance;
|
||||
static PinGuard *instance;
|
||||
|
||||
PinGuard * PinGuard::getInstance() {
|
||||
if (!instance) {
|
||||
PinGuard *PinGuard::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new PinGuard();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
PinGuard::PinGuard() {
|
||||
PinGuard::PinGuard()
|
||||
{
|
||||
|
||||
pinGuardPin[0] = PinGuardPin();
|
||||
pinGuardPin[1] = PinGuardPin();
|
||||
|
@ -19,10 +21,10 @@ PinGuard::PinGuard() {
|
|||
pinGuardPin[3] = PinGuardPin();
|
||||
pinGuardPin[4] = PinGuardPin();
|
||||
loadConfig();
|
||||
|
||||
}
|
||||
|
||||
void PinGuard::loadConfig() {
|
||||
void PinGuard::loadConfig()
|
||||
{
|
||||
pinGuardPin[0].loadPinConfig(PIN_GUARD_1_PIN_NR, PIN_GUARD_1_ACTIVE_STATE, PIN_GUARD_1_TIME_OUT);
|
||||
pinGuardPin[1].loadPinConfig(PIN_GUARD_2_PIN_NR, PIN_GUARD_2_ACTIVE_STATE, PIN_GUARD_2_TIME_OUT);
|
||||
pinGuardPin[2].loadPinConfig(PIN_GUARD_3_PIN_NR, PIN_GUARD_3_ACTIVE_STATE, PIN_GUARD_3_TIME_OUT);
|
||||
|
@ -30,7 +32,8 @@ void PinGuard::loadConfig() {
|
|||
pinGuardPin[4].loadPinConfig(PIN_GUARD_5_PIN_NR, PIN_GUARD_5_ACTIVE_STATE, PIN_GUARD_5_TIME_OUT);
|
||||
}
|
||||
|
||||
void PinGuard::checkPins() {
|
||||
void PinGuard::checkPins()
|
||||
{
|
||||
pinGuardPin[0].processTick();
|
||||
pinGuardPin[1].processTick();
|
||||
pinGuardPin[2].processTick();
|
||||
|
|
|
@ -17,16 +17,15 @@
|
|||
#include "PinGuardPin.h"
|
||||
#include "ParameterList.h"
|
||||
|
||||
class PinGuard {
|
||||
class PinGuard
|
||||
{
|
||||
public:
|
||||
static PinGuard* getInstance();
|
||||
static PinGuard *getInstance();
|
||||
|
||||
void loadConfig();
|
||||
void checkPins();
|
||||
|
||||
private:
|
||||
|
||||
|
||||
//long pinTimeOut[100];
|
||||
//long pinCurrentTime[100];
|
||||
//void checkPin;
|
||||
|
@ -36,8 +35,8 @@ private:
|
|||
//PinGuardPin test;
|
||||
|
||||
PinGuard();
|
||||
PinGuard(PinGuard const&);
|
||||
void operator=(PinGuard const&);
|
||||
PinGuard(PinGuard const &);
|
||||
void operator=(PinGuard const &);
|
||||
};
|
||||
|
||||
#endif /* PINGUARD_H_ */
|
||||
|
|
|
@ -2,38 +2,44 @@
|
|||
#include "PinGuardPin.h"
|
||||
#include "ParameterList.h"
|
||||
|
||||
PinGuardPin::PinGuardPin() {
|
||||
PinGuardPin::PinGuardPin()
|
||||
{
|
||||
pinNr = 0;
|
||||
}
|
||||
|
||||
// Set the initial settings for what pin to check
|
||||
void PinGuardPin::loadPinConfig(int pinNrParamNr, int activeStateParamNr, int timeOutParamNr) {
|
||||
void PinGuardPin::loadPinConfig(int pinNrParamNr, int activeStateParamNr, int timeOutParamNr)
|
||||
{
|
||||
|
||||
pinNr = ParameterList::getInstance()->getValue(pinNrParamNr);
|
||||
activeState = (ParameterList::getInstance()->getValue(activeStateParamNr)== 1);
|
||||
activeState = (ParameterList::getInstance()->getValue(activeStateParamNr) == 1);
|
||||
timeOut = ParameterList::getInstance()->getValue(timeOutParamNr);
|
||||
|
||||
timeOutCount = 0;
|
||||
}
|
||||
|
||||
// Check each second if the time out is lapsed or the value has changed
|
||||
void PinGuardPin::processTick() {
|
||||
void PinGuardPin::processTick()
|
||||
{
|
||||
|
||||
if (pinNr==0) {
|
||||
if (pinNr == 0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
currentStatePin = digitalRead(pinNr);
|
||||
|
||||
if (currentStatePin != activeState) {
|
||||
if (currentStatePin != activeState)
|
||||
{
|
||||
timeOutCount = 0;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
timeOutCount++;
|
||||
}
|
||||
|
||||
if (timeOutCount >= timeOut) {
|
||||
if (timeOutCount >= timeOut)
|
||||
{
|
||||
digitalWrite(pinNr, !activeState);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
@ -16,13 +16,14 @@
|
|||
#include <stdlib.h>
|
||||
//#include "ParameterList.h"
|
||||
|
||||
class PinGuardPin {
|
||||
class PinGuardPin
|
||||
{
|
||||
public:
|
||||
|
||||
PinGuardPin();
|
||||
|
||||
void processTick();
|
||||
void loadPinConfig(int pinNrParamNr, int activeStateParamNr, int timeOutParamNr);
|
||||
|
||||
private:
|
||||
//PinControlPin(PinControlPin const&);
|
||||
///void operator=(PinControlPin const&);
|
||||
|
@ -32,7 +33,6 @@ private:
|
|||
long timeOutCount;
|
||||
bool activeState;
|
||||
bool currentStatePin;
|
||||
|
||||
};
|
||||
|
||||
#endif /* PINGUARDPIN_H_ */
|
||||
|
|
|
@ -7,29 +7,33 @@ Servo pin layout
|
|||
D11 D6 D5 D4
|
||||
*/
|
||||
|
||||
static ServoControl* instance;
|
||||
static ServoControl *instance;
|
||||
|
||||
Servo servos[2];
|
||||
|
||||
ServoControl * ServoControl::getInstance() {
|
||||
if (!instance) {
|
||||
ServoControl *ServoControl::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new ServoControl();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
ServoControl::ServoControl() {
|
||||
ServoControl::ServoControl()
|
||||
{
|
||||
}
|
||||
|
||||
int ServoControl::attach() {
|
||||
int ServoControl::attach()
|
||||
{
|
||||
servos[0].attach(SERVO_0_PIN);
|
||||
servos[1].attach(SERVO_1_PIN);
|
||||
}
|
||||
|
||||
int ServoControl::setAngle(int pin, int angle) {
|
||||
int ServoControl::setAngle(int pin, int angle)
|
||||
{
|
||||
|
||||
/*
|
||||
/*
|
||||
Serial.print("R99");
|
||||
Serial.print(" ");
|
||||
Serial.print("SERVO");
|
||||
|
@ -45,7 +49,8 @@ int ServoControl::setAngle(int pin, int angle) {
|
|||
Serial.print("\r\n");
|
||||
*/
|
||||
|
||||
switch(pin) {
|
||||
switch (pin)
|
||||
{
|
||||
case 4:
|
||||
servos[0].write(angle);
|
||||
break;
|
||||
|
@ -58,6 +63,3 @@ int ServoControl::setAngle(int pin, int angle) {
|
|||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -14,16 +14,18 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
class ServoControl {
|
||||
class ServoControl
|
||||
{
|
||||
public:
|
||||
static ServoControl* getInstance();
|
||||
static ServoControl *getInstance();
|
||||
|
||||
int attach();
|
||||
int setAngle(int pin, int angle);
|
||||
|
||||
private:
|
||||
ServoControl();
|
||||
ServoControl(ServoControl const&);
|
||||
void operator=(ServoControl const&);
|
||||
ServoControl(ServoControl const &);
|
||||
void operator=(ServoControl const &);
|
||||
};
|
||||
|
||||
#endif /* SERVOCONTROL_H_ */
|
||||
|
|
|
@ -1,32 +1,32 @@
|
|||
#include "StatusList.h"
|
||||
|
||||
static StatusList* instanceParam;
|
||||
static StatusList *instanceParam;
|
||||
long statusValues[150];
|
||||
|
||||
StatusList * StatusList::getInstance() {
|
||||
if (!instanceParam) {
|
||||
StatusList *StatusList::getInstance()
|
||||
{
|
||||
if (!instanceParam)
|
||||
{
|
||||
instanceParam = new StatusList();
|
||||
};
|
||||
return instanceParam;
|
||||
}
|
||||
|
||||
StatusList::StatusList() {
|
||||
|
||||
StatusList::StatusList()
|
||||
{
|
||||
|
||||
statusValues[STATUS_GENERAL] = STATUS_GENERAL_DEFAULT;
|
||||
|
||||
//paramValues[MOVEMENT_MAX_SPD_X] = MOVEMENT_MAX_SPD_X_DEFAULT;
|
||||
//paramValues[MOVEMENT_MAX_SPD_Y] = MOVEMENT_MAX_SPD_Y_DEFAULT;
|
||||
//paramValues[MOVEMENT_MAX_SPD_Z] = MOVEMENT_MAX_SPD_Z_DEFAULT;
|
||||
|
||||
}
|
||||
|
||||
|
||||
int StatusList::readValue(int id) {
|
||||
int StatusList::readValue(int id)
|
||||
{
|
||||
|
||||
long value = statusValues[id];
|
||||
|
||||
|
||||
Serial.print("R31");
|
||||
Serial.print(" ");
|
||||
Serial.print("P");
|
||||
|
@ -37,14 +37,13 @@ int StatusList::readValue(int id) {
|
|||
//Serial.print("\r\n");
|
||||
CurrentState::getInstance()->printQAndNewLine();
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
long StatusList::getValue(int id)
|
||||
{
|
||||
|
||||
long StatusList::getValue(int id) {
|
||||
|
||||
/*
|
||||
/*
|
||||
Serial.print("R99");
|
||||
Serial.print(" ");
|
||||
Serial.print("getValue");
|
||||
|
@ -58,10 +57,10 @@ long StatusList::getValue(int id) {
|
|||
return statusValues[id];
|
||||
}
|
||||
|
||||
int StatusList::setValue(int id, long value) {
|
||||
int StatusList::setValue(int id, long value)
|
||||
{
|
||||
|
||||
statusValues[id] = value;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
@ -7,7 +7,6 @@
|
|||
|
||||
//#define NULL 0
|
||||
|
||||
|
||||
enum StatusListEnum
|
||||
{
|
||||
STATUS_GENERAL = 0,
|
||||
|
@ -22,19 +21,21 @@ enum StatusListEnum
|
|||
#define NULL 0
|
||||
*/
|
||||
|
||||
class StatusList {
|
||||
class StatusList
|
||||
{
|
||||
StatusListEnum statusListEnum;
|
||||
|
||||
public:
|
||||
static StatusList* getInstance();
|
||||
static StatusList *getInstance();
|
||||
int writeValue(int id, long value);
|
||||
int readValue(int id);
|
||||
long getValue(int id);
|
||||
int setValue(int id, long value);
|
||||
|
||||
private:
|
||||
StatusList();
|
||||
StatusList(StatusList const&);
|
||||
void operator=(StatusList const&);
|
||||
StatusList(StatusList const &);
|
||||
void operator=(StatusList const &);
|
||||
};
|
||||
|
||||
|
||||
#endif /* STATUSLIST_H_ */
|
||||
|
|
|
@ -1,16 +1,18 @@
|
|||
#include "StepperControl.h"
|
||||
|
||||
static StepperControl* instance;
|
||||
static StepperControl *instance;
|
||||
|
||||
StepperControl * StepperControl::getInstance() {
|
||||
if (!instance) {
|
||||
StepperControl *StepperControl::getInstance()
|
||||
{
|
||||
if (!instance)
|
||||
{
|
||||
instance = new StepperControl();
|
||||
};
|
||||
return instance;
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
void StepperControl::reportStatus(StepperControlAxis* axis, int axisStatus) {
|
||||
void StepperControl::reportStatus(StepperControlAxis *axis, int axisStatus)
|
||||
{
|
||||
Serial.print(COMM_REPORT_CMD_STATUS);
|
||||
Serial.print(" ");
|
||||
Serial.print(axis->label);
|
||||
|
@ -19,7 +21,8 @@ void StepperControl::reportStatus(StepperControlAxis* axis, int axisStatus) {
|
|||
CurrentState::getInstance()->printQAndNewLine();
|
||||
}
|
||||
|
||||
void StepperControl::reportCalib(StepperControlAxis* axis, int calibStatus) {
|
||||
void StepperControl::reportCalib(StepperControlAxis *axis, int calibStatus)
|
||||
{
|
||||
Serial.print(COMM_REPORT_CALIB_STATUS);
|
||||
Serial.print(" ");
|
||||
Serial.print(axis->label);
|
||||
|
@ -28,40 +31,48 @@ void StepperControl::reportCalib(StepperControlAxis* axis, int calibStatus) {
|
|||
CurrentState::getInstance()->printQAndNewLine();
|
||||
}
|
||||
|
||||
void StepperControl::checkAxisSubStatus(StepperControlAxis* axis, int* axisSubStatus) {
|
||||
void StepperControl::checkAxisSubStatus(StepperControlAxis *axis, int *axisSubStatus)
|
||||
{
|
||||
int newStatus = 0;
|
||||
bool statusChanged = false;
|
||||
|
||||
if (axis->isAccelerating()) {
|
||||
if (axis->isAccelerating())
|
||||
{
|
||||
newStatus = COMM_REPORT_MOVE_STATUS_ACCELERATING;
|
||||
}
|
||||
|
||||
if (axis->isCruising()) {
|
||||
if (axis->isCruising())
|
||||
{
|
||||
newStatus = COMM_REPORT_MOVE_STATUS_CRUISING;
|
||||
}
|
||||
|
||||
if (axis->isDecelerating()) {
|
||||
if (axis->isDecelerating())
|
||||
{
|
||||
newStatus = COMM_REPORT_MOVE_STATUS_DECELERATING;
|
||||
}
|
||||
|
||||
if (axis->isCrawling()) {
|
||||
if (axis->isCrawling())
|
||||
{
|
||||
newStatus = COMM_REPORT_MOVE_STATUS_CRAWLING;
|
||||
}
|
||||
|
||||
// if the status changes, send out a status report
|
||||
if (*axisSubStatus != newStatus && newStatus > 0) {
|
||||
if (*axisSubStatus != newStatus && newStatus > 0)
|
||||
{
|
||||
statusChanged = true;
|
||||
}
|
||||
*axisSubStatus = newStatus;
|
||||
|
||||
if (statusChanged) {
|
||||
if (statusChanged)
|
||||
{
|
||||
reportStatus(&axisX, *axisSubStatus);
|
||||
}
|
||||
}
|
||||
|
||||
//const int MOVEMENT_INTERRUPT_SPEED = 100; // Interrupt cycle in micro seconds
|
||||
|
||||
StepperControl::StepperControl() {
|
||||
StepperControl::StepperControl()
|
||||
{
|
||||
|
||||
// Initialize some variables for testing
|
||||
|
||||
|
@ -91,11 +102,11 @@ StepperControl::StepperControl() {
|
|||
|
||||
loadSettings();
|
||||
|
||||
|
||||
motorMotorsEnabled = false;
|
||||
}
|
||||
|
||||
void StepperControl::loadSettings() {
|
||||
void StepperControl::loadSettings()
|
||||
{
|
||||
|
||||
// Load motor settings
|
||||
|
||||
|
@ -117,13 +128,13 @@ void StepperControl::loadSettings() {
|
|||
encoderY.loadPinNumbers(Y_ENCDR_A, Y_ENCDR_B, Y_ENCDR_A_Q, Y_ENCDR_B_Q);
|
||||
encoderZ.loadPinNumbers(Z_ENCDR_A, Z_ENCDR_B, Z_ENCDR_A_Q, Z_ENCDR_B_Q);
|
||||
|
||||
encoderX.loadSettings( motorConsEncoderType[0], motorConsEncoderScaling[0]);
|
||||
encoderY.loadSettings( motorConsEncoderType[1], motorConsEncoderScaling[1]);
|
||||
encoderZ.loadSettings( motorConsEncoderType[2], motorConsEncoderScaling[2]);
|
||||
|
||||
encoderX.loadSettings(motorConsEncoderType[0], motorConsEncoderScaling[0]);
|
||||
encoderY.loadSettings(motorConsEncoderType[1], motorConsEncoderScaling[1]);
|
||||
encoderZ.loadSettings(motorConsEncoderType[2], motorConsEncoderScaling[2]);
|
||||
}
|
||||
|
||||
void StepperControl::test() {
|
||||
void StepperControl::test()
|
||||
{
|
||||
|
||||
Serial.print("R99");
|
||||
Serial.print(" mot x = ");
|
||||
|
@ -159,7 +170,8 @@ void StepperControl::test() {
|
|||
//Serial.print("\r\n");
|
||||
}
|
||||
|
||||
void StepperControl::test2() {
|
||||
void StepperControl::test2()
|
||||
{
|
||||
CurrentState::getInstance()->printPosition();
|
||||
encoderX.test();
|
||||
//encoderY.test();
|
||||
|
@ -173,10 +185,10 @@ void StepperControl::test2() {
|
|||
* maxStepsPerSecond - maximum number of steps per second
|
||||
* maxAccelerationStepsPerSecond - maximum number of acceleration in steps per second
|
||||
*/
|
||||
int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
||||
int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
|
||||
unsigned int xMaxSpd, unsigned int yMaxSpd, unsigned int zMaxSpd,
|
||||
bool xHome, bool yHome, bool zHome
|
||||
) {
|
||||
bool xHome, bool yHome, bool zHome)
|
||||
{
|
||||
|
||||
unsigned long currentMillis = 0;
|
||||
unsigned long timeStart = millis();
|
||||
|
@ -191,18 +203,20 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
// load current encoder coordinates
|
||||
//axisX.setCurrentPosition(encoderX.currentPosition());
|
||||
|
||||
|
||||
// if a speed is given in the command, use that instead of the config speed
|
||||
|
||||
if (xMaxSpd > 0 && xMaxSpd < speedMax[0]) {
|
||||
if (xMaxSpd > 0 && xMaxSpd < speedMax[0])
|
||||
{
|
||||
speedMax[0] = xMaxSpd;
|
||||
}
|
||||
|
||||
if (yMaxSpd > 0 && yMaxSpd < speedMax[1]) {
|
||||
if (yMaxSpd > 0 && yMaxSpd < speedMax[1])
|
||||
{
|
||||
speedMax[1] = yMaxSpd;
|
||||
}
|
||||
|
||||
if (zMaxSpd > 0 && zMaxSpd < speedMax[2]) {
|
||||
if (zMaxSpd > 0 && zMaxSpd < speedMax[2])
|
||||
{
|
||||
speedMax[2] = zMaxSpd;
|
||||
}
|
||||
|
||||
|
@ -212,17 +226,17 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
|
||||
// Load coordinates into axis class
|
||||
|
||||
long sourcePoint[3] = {0,0,0};
|
||||
long sourcePoint[3] = {0, 0, 0};
|
||||
sourcePoint[0] = CurrentState::getInstance()->getX();
|
||||
sourcePoint[1] = CurrentState::getInstance()->getY();
|
||||
sourcePoint[2] = CurrentState::getInstance()->getZ();
|
||||
|
||||
long currentPoint[3] = {0,0,0};
|
||||
long currentPoint[3] = {0, 0, 0};
|
||||
currentPoint[0] = CurrentState::getInstance()->getX();
|
||||
currentPoint[1] = CurrentState::getInstance()->getY();
|
||||
currentPoint[2] = CurrentState::getInstance()->getZ();
|
||||
|
||||
long destinationPoint[3]= {0,0,0};
|
||||
long destinationPoint[3] = {0, 0, 0};
|
||||
destinationPoint[0] = xDest;
|
||||
destinationPoint[1] = yDest;
|
||||
destinationPoint[2] = zDest;
|
||||
|
@ -237,9 +251,9 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
|
||||
// Load coordinates into motor control
|
||||
|
||||
axisX.loadCoordinates(currentPoint[0],destinationPoint[0],xHome);
|
||||
axisY.loadCoordinates(currentPoint[1],destinationPoint[1],yHome);
|
||||
axisZ.loadCoordinates(currentPoint[2],destinationPoint[2],zHome);
|
||||
axisX.loadCoordinates(currentPoint[0], destinationPoint[0], xHome);
|
||||
axisY.loadCoordinates(currentPoint[1], destinationPoint[1], yHome);
|
||||
axisZ.loadCoordinates(currentPoint[2], destinationPoint[2], zHome);
|
||||
|
||||
// Prepare for movement
|
||||
|
||||
|
@ -277,7 +291,8 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
axisZ.checkMovement();
|
||||
|
||||
// Let the interrupt handle all the movements
|
||||
while (axisActive[0] || axisActive[1] || axisActive[2]) {
|
||||
while (axisActive[0] || axisActive[1] || axisActive[2])
|
||||
{
|
||||
|
||||
checkAxisSubStatus(&axisX, &axisSubStep[0]);
|
||||
checkAxisSubStatus(&axisY, &axisSubStep[1]);
|
||||
|
@ -298,29 +313,32 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
//checkAxisVsEncoder(&axisY, &encoderY, &motorConsMissedSteps[1], &motorLastPosition[1], &motorConsMissedStepsDecay[1], &motorConsEncoderEnabled[1]);
|
||||
//checkAxisVsEncoder(&axisZ, &encoderZ, &motorConsMissedSteps[2], &motorLastPosition[2], &motorConsMissedStepsDecay[2], &motorConsEncoderEnabled[2]);
|
||||
|
||||
if (motorConsMissedSteps[0] > motorConsMissedStepsMax[0]) {
|
||||
if (motorConsMissedSteps[0] > motorConsMissedStepsMax[0])
|
||||
{
|
||||
axisX.deactivateAxis();
|
||||
Serial.print("R99");
|
||||
Serial.print(" deactivate motor X due to missed steps");
|
||||
Serial.print("\r\n");
|
||||
|
||||
if (axisX.movingToHome()) {
|
||||
if (axisX.movingToHome())
|
||||
{
|
||||
encoderX.setPosition(0);
|
||||
axisX.setCurrentPosition(0);
|
||||
Serial.print("R99");
|
||||
Serial.print(" home position X axis detected with encoder");
|
||||
Serial.print("\r\n");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (motorConsMissedSteps[1] > motorConsMissedStepsMax[1]) {
|
||||
if (motorConsMissedSteps[1] > motorConsMissedStepsMax[1])
|
||||
{
|
||||
axisY.deactivateAxis();
|
||||
Serial.print("R99");
|
||||
Serial.print(" deactivate motor Y due to missed steps");
|
||||
Serial.print("\r\n");
|
||||
|
||||
if (axisY.movingToHome()) {
|
||||
if (axisY.movingToHome())
|
||||
{
|
||||
encoderY.setPosition(0);
|
||||
axisY.setCurrentPosition(0);
|
||||
Serial.print("R99");
|
||||
|
@ -329,13 +347,15 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
}
|
||||
}
|
||||
|
||||
if (motorConsMissedSteps[2] > motorConsMissedStepsMax[2]) {
|
||||
if (motorConsMissedSteps[2] > motorConsMissedStepsMax[2])
|
||||
{
|
||||
axisZ.deactivateAxis();
|
||||
Serial.print("R99");
|
||||
Serial.print(" deactivate motor Z due to missed steps");
|
||||
Serial.print("\r\n");
|
||||
|
||||
if (axisZ.movingToHome()) {
|
||||
if (axisZ.movingToHome())
|
||||
{
|
||||
encoderZ.setPosition(0);
|
||||
axisZ.setCurrentPosition(0);
|
||||
Serial.print("R99");
|
||||
|
@ -344,22 +364,24 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
}
|
||||
}
|
||||
|
||||
if (axisX.endStopAxisReached(false)) {
|
||||
if (axisX.endStopAxisReached(false))
|
||||
{
|
||||
axisX.setCurrentPosition(0);
|
||||
encoderX.setPosition(0);
|
||||
}
|
||||
|
||||
if (axisY.endStopAxisReached(false)) {
|
||||
if (axisY.endStopAxisReached(false))
|
||||
{
|
||||
axisY.setCurrentPosition(0);
|
||||
encoderY.setPosition(0);
|
||||
}
|
||||
|
||||
if (axisZ.endStopAxisReached(false)) {
|
||||
if (axisZ.endStopAxisReached(false))
|
||||
{
|
||||
axisZ.setCurrentPosition(0);
|
||||
encoderZ.setPosition(0);
|
||||
}
|
||||
|
||||
|
||||
axisActive[0] = axisX.isAxisActive();
|
||||
axisActive[1] = axisY.isAxisActive();
|
||||
axisActive[2] = axisZ.isAxisActive();
|
||||
|
@ -375,23 +397,28 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
storeEndStops();
|
||||
|
||||
// Check timeouts
|
||||
if (axisActive[0] == true && ((millis() >= timeStart && millis() - timeStart > timeOut[0] * 1000) || (millis() < timeStart && millis() > timeOut[0] * 1000))) {
|
||||
if (axisActive[0] == true && ((millis() >= timeStart && millis() - timeStart > timeOut[0] * 1000) || (millis() < timeStart && millis() > timeOut[0] * 1000)))
|
||||
{
|
||||
Serial.print("R99 timeout X axis\r\n");
|
||||
error = 1;
|
||||
}
|
||||
if (axisActive[1] == true && ((millis() >= timeStart && millis() - timeStart > timeOut[0] * 1000) || (millis() < timeStart && millis() > timeOut[0] * 1000))) {
|
||||
if (axisActive[1] == true && ((millis() >= timeStart && millis() - timeStart > timeOut[0] * 1000) || (millis() < timeStart && millis() > timeOut[0] * 1000)))
|
||||
{
|
||||
Serial.print("R99 timeout Y axis\r\n");
|
||||
error = 1;
|
||||
}
|
||||
if (axisActive[2] == true && ((millis() >= timeStart && millis() - timeStart > timeOut[0] * 1000) || (millis() < timeStart && millis() > timeOut[0] * 1000))) {
|
||||
if (axisActive[2] == true && ((millis() >= timeStart && millis() - timeStart > timeOut[0] * 1000) || (millis() < timeStart && millis() > timeOut[0] * 1000)))
|
||||
{
|
||||
Serial.print("R99 timeout Z axis\r\n");
|
||||
error = 1;
|
||||
}
|
||||
|
||||
// Check if there is an emergency stop command
|
||||
if (Serial.available() > 0) {
|
||||
if (Serial.available() > 0)
|
||||
{
|
||||
incomingByte = Serial.read();
|
||||
if (incomingByte == 69 || incomingByte == 101) {
|
||||
if (incomingByte == 69 || incomingByte == 101)
|
||||
{
|
||||
Serial.print("R99 emergency stop\r\n");
|
||||
axisX.deactivateAxis();
|
||||
axisY.deactivateAxis();
|
||||
|
@ -400,7 +427,8 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
}
|
||||
}
|
||||
|
||||
if (error == 1) {
|
||||
if (error == 1)
|
||||
{
|
||||
Serial.print("R99 error\r\n");
|
||||
|
||||
axisActive[0] = false;
|
||||
|
@ -445,9 +473,7 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
//Serial.print(" axis pos ");
|
||||
//Serial.print(axisX.currentPosition());
|
||||
//Serial.print("\r\n");
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Serial.print("R99 stopped\r\n");
|
||||
|
@ -499,7 +525,8 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
|
|||
// Calibration
|
||||
//
|
||||
|
||||
int StepperControl::calibrateAxis(int axis) {
|
||||
int StepperControl::calibrateAxis(int axis)
|
||||
{
|
||||
|
||||
// Load motor and encoder settings
|
||||
|
||||
|
@ -515,17 +542,16 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
int incomingByte = 0;
|
||||
int error = 0;
|
||||
|
||||
|
||||
bool invertEndStops = false;
|
||||
int parEndInv;
|
||||
int parNbrStp;
|
||||
|
||||
float * missedSteps;
|
||||
int * missedStepsMax;
|
||||
long * lastPosition;
|
||||
float * encoderStepDecay;
|
||||
bool * encoderEnabled;
|
||||
int * axisStatus;
|
||||
float *missedSteps;
|
||||
int *missedStepsMax;
|
||||
long *lastPosition;
|
||||
float *encoderStepDecay;
|
||||
bool *encoderEnabled;
|
||||
int *axisStatus;
|
||||
|
||||
// Prepare for movement
|
||||
|
||||
|
@ -533,10 +559,11 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
reportEndStops();
|
||||
|
||||
// Select the right axis
|
||||
StepperControlAxis* calibAxis;
|
||||
StepperControlEncoder* calibEncoder;
|
||||
StepperControlAxis *calibAxis;
|
||||
StepperControlEncoder *calibEncoder;
|
||||
|
||||
switch (axis) {
|
||||
switch (axis)
|
||||
{
|
||||
case 0:
|
||||
calibAxis = &axisX;
|
||||
calibEncoder = &encoderX;
|
||||
|
@ -553,7 +580,8 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
case 1:
|
||||
calibAxis = &axisY;
|
||||
calibEncoder = &encoderY;
|
||||
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Y;;
|
||||
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Y;
|
||||
;
|
||||
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Y;
|
||||
invertEndStops = endStInv[1];
|
||||
missedSteps = &motorConsMissedSteps[1];
|
||||
|
@ -581,10 +609,10 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
|
||||
// Preliminary checks
|
||||
|
||||
if (calibAxis->endStopMin() || calibAxis->endStopMax()) {
|
||||
if (calibAxis->endStopMin() || calibAxis->endStopMax())
|
||||
{
|
||||
Serial.print("R99 Calibration error: end stop active before start\r\n");
|
||||
return 1;
|
||||
}
|
||||
|
@ -616,14 +644,17 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
|
||||
reportCalib(&axisX, COMM_REPORT_CALIBRATE_STATUS_TO_HOME);
|
||||
|
||||
while (!movementDone && error == 0) {
|
||||
while (!movementDone && error == 0)
|
||||
{
|
||||
|
||||
//checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
|
||||
|
||||
// Check if there is an emergency stop command
|
||||
if (Serial.available() > 0) {
|
||||
if (Serial.available() > 0)
|
||||
{
|
||||
incomingByte = Serial.read();
|
||||
if (incomingByte == 69 || incomingByte == 101) {
|
||||
if (incomingByte == 69 || incomingByte == 101)
|
||||
{
|
||||
Serial.print("R99 emergency stop\r\n");
|
||||
movementDone = true;
|
||||
error = 1;
|
||||
|
@ -636,11 +667,12 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
//}
|
||||
|
||||
// Move until the end stop for home position is reached, either by end stop or motot skipping
|
||||
if ((!calibAxis->endStopMin() && !calibAxis->endStopMax()) && !movementDone && (*missedSteps < *missedStepsMax)) {
|
||||
if ((!calibAxis->endStopMin() && !calibAxis->endStopMax()) && !movementDone && (*missedSteps < *missedStepsMax))
|
||||
{
|
||||
|
||||
calibAxis->setStepAxis();
|
||||
|
||||
delayMicroseconds(100000 / speedMin[axis] /2);
|
||||
delayMicroseconds(100000 / speedMin[axis] / 2);
|
||||
|
||||
stepsCount++;
|
||||
if (stepsCount % (speedMin[axis] * 3) == 0)
|
||||
|
@ -668,9 +700,10 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
}
|
||||
|
||||
calibAxis->resetMotorStep();
|
||||
delayMicroseconds(100000 / speedMin[axis] /2);
|
||||
|
||||
} else {
|
||||
delayMicroseconds(100000 / speedMin[axis] / 2);
|
||||
}
|
||||
else
|
||||
{
|
||||
movementDone = true;
|
||||
Serial.print("R99 movement done\r\n");
|
||||
|
||||
|
@ -692,10 +725,14 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
|
||||
// Report back the end stop setting
|
||||
|
||||
if (error == 0) {
|
||||
if (invertEndStops) {
|
||||
if (error == 0)
|
||||
{
|
||||
if (invertEndStops)
|
||||
{
|
||||
paramValueInt = 1;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
paramValueInt = 0;
|
||||
}
|
||||
|
||||
|
@ -735,12 +772,15 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
long encoderStartPoint = calibEncoder->currentPosition();
|
||||
long encoderEndPoint = calibEncoder->currentPosition();
|
||||
|
||||
while (!movementDone && error == 0) {
|
||||
while (!movementDone && error == 0)
|
||||
{
|
||||
|
||||
// Check if there is an emergency stop command
|
||||
if (Serial.available() > 0) {
|
||||
if (Serial.available() > 0)
|
||||
{
|
||||
incomingByte = Serial.read();
|
||||
if (incomingByte == 69 || incomingByte == 101) {
|
||||
if (incomingByte == 69 || incomingByte == 101)
|
||||
{
|
||||
Serial.print("R99 emergency stop\r\n");
|
||||
movementDone = true;
|
||||
error = 1;
|
||||
|
@ -748,20 +788,21 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
}
|
||||
|
||||
// Ignore the missed steps at startup time
|
||||
if (stepsCount < 10) {
|
||||
if (stepsCount < 10)
|
||||
{
|
||||
*missedSteps = 0;
|
||||
}
|
||||
|
||||
// Move until the end stop at the other side of the axis is reached
|
||||
if (((!invertEndStops && !calibAxis->endStopMax()) || (invertEndStops && !calibAxis->endStopMin())) && !movementDone && (*missedSteps < *missedStepsMax)) {
|
||||
if (((!invertEndStops && !calibAxis->endStopMax()) || (invertEndStops && !calibAxis->endStopMin())) && !movementDone && (*missedSteps < *missedStepsMax))
|
||||
{
|
||||
|
||||
calibAxis->setStepAxis();
|
||||
stepsCount++;
|
||||
|
||||
//checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
|
||||
|
||||
|
||||
delayMicroseconds(100000 / speedMin[axis] /2);
|
||||
delayMicroseconds(100000 / speedMin[axis] / 2);
|
||||
|
||||
if (stepsCount % (speedMin[axis] * 3) == 0)
|
||||
{
|
||||
|
@ -772,15 +813,15 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
}
|
||||
|
||||
calibAxis->resetMotorStep();
|
||||
delayMicroseconds(100000 / speedMin[axis] /2);
|
||||
|
||||
} else {
|
||||
delayMicroseconds(100000 / speedMin[axis] / 2);
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.print("R99 movement done\r\n");
|
||||
movementDone = true;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Serial.print("R99");
|
||||
Serial.print(" axis ");
|
||||
Serial.print(calibAxis->label);
|
||||
|
@ -791,13 +832,15 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
|
||||
// if the encoder is enabled, use the encoder data instead of the step count
|
||||
|
||||
if (encoderEnabled) {
|
||||
if (encoderEnabled)
|
||||
{
|
||||
stepsCount = abs(encoderEndPoint - encoderStartPoint);
|
||||
}
|
||||
|
||||
// Report back the end stop setting
|
||||
|
||||
if (error == 0) {
|
||||
if (error == 0)
|
||||
{
|
||||
Serial.print("R23");
|
||||
Serial.print(" ");
|
||||
Serial.print("P");
|
||||
|
@ -816,8 +859,8 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
storeEndStops();
|
||||
reportEndStops();
|
||||
|
||||
|
||||
switch (axis) {
|
||||
switch (axis)
|
||||
{
|
||||
case 0:
|
||||
CurrentState::getInstance()->setX(stepsCount);
|
||||
break;
|
||||
|
@ -831,7 +874,6 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
|
||||
reportPosition();
|
||||
|
||||
|
||||
*axisStatus = COMM_REPORT_MOVE_STATUS_IDLE;
|
||||
reportStatus(&axisX, axisSubStep[0]);
|
||||
|
||||
|
@ -840,9 +882,9 @@ int StepperControl::calibrateAxis(int axis) {
|
|||
return error;
|
||||
}
|
||||
|
||||
|
||||
// Handle movement by checking each axis
|
||||
void StepperControl::handleMovementInterrupt(void){
|
||||
void StepperControl::handleMovementInterrupt(void)
|
||||
{
|
||||
|
||||
encoderX.readEncoder();
|
||||
encoderY.readEncoder();
|
||||
|
@ -855,17 +897,18 @@ void StepperControl::handleMovementInterrupt(void){
|
|||
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
|
||||
checkAxisVsEncoder(&axisY, &encoderY, &motorConsMissedSteps[1], &motorLastPosition[1], &motorConsMissedStepsDecay[1], &motorConsEncoderEnabled[1]);
|
||||
checkAxisVsEncoder(&axisZ, &encoderZ, &motorConsMissedSteps[2], &motorLastPosition[2], &motorConsMissedStepsDecay[2], &motorConsEncoderEnabled[2]);
|
||||
|
||||
}
|
||||
|
||||
int debugPrintCount = 0;
|
||||
|
||||
// Check encoder to verify the motor is at the right position
|
||||
void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition, float* encoderStepDecay, bool* encoderEnabled) {
|
||||
void StepperControl::checkAxisVsEncoder(StepperControlAxis *axis, StepperControlEncoder *encoder, float *missedSteps, long *lastPosition, float *encoderStepDecay, bool *encoderEnabled)
|
||||
{
|
||||
|
||||
// If a step is done
|
||||
//if (axis->isStepDone() && axis->currentPosition() % 3 == 0) {
|
||||
if (*encoderEnabled && axis->isStepDone()) {
|
||||
if (*encoderEnabled && axis->isStepDone())
|
||||
{
|
||||
|
||||
bool stepMissed = false;
|
||||
|
||||
|
@ -899,21 +942,25 @@ void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControl
|
|||
*/
|
||||
|
||||
// Decrease amount of missed steps if there are no missed step
|
||||
if (*missedSteps > 0) {
|
||||
(*missedSteps)-= (*encoderStepDecay);
|
||||
if (*missedSteps > 0)
|
||||
{
|
||||
(*missedSteps) -= (*encoderStepDecay);
|
||||
}
|
||||
|
||||
// Check if the encoder goes in the wrong direction or nothing moved
|
||||
if (( axis->movingUp() && *lastPosition >= axis->currentPosition()) ||
|
||||
(!axis->movingUp() && *lastPosition <= axis->currentPosition())) {
|
||||
if ((axis->movingUp() && *lastPosition >= axis->currentPosition()) ||
|
||||
(!axis->movingUp() && *lastPosition <= axis->currentPosition()))
|
||||
{
|
||||
stepMissed = true;
|
||||
}
|
||||
|
||||
if (abs(axis->currentPosition() - encoder->currentPosition()) > 2) {
|
||||
if (abs(axis->currentPosition() - encoder->currentPosition()) > 2)
|
||||
{
|
||||
stepMissed = true;
|
||||
}
|
||||
|
||||
if (stepMissed) {
|
||||
if (stepMissed)
|
||||
{
|
||||
axis->setCurrentPosition(encoder->currentPosition());
|
||||
(*missedSteps)++;
|
||||
}
|
||||
|
@ -923,7 +970,8 @@ void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControl
|
|||
}
|
||||
}
|
||||
|
||||
void StepperControl::loadMotorSettings() {
|
||||
void StepperControl::loadMotorSettings()
|
||||
{
|
||||
|
||||
// Load settings
|
||||
|
||||
|
@ -970,17 +1018,19 @@ void StepperControl::loadMotorSettings() {
|
|||
axisX.loadMotorSettings(speedMax[0], speedMin[0], stepsAcc[0], timeOut[0], homeIsUp[0], motorInv[0], endStInv[0], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[0], motor2Inv[0], endStEnbl[0]);
|
||||
axisY.loadMotorSettings(speedMax[1], speedMin[1], stepsAcc[1], timeOut[1], homeIsUp[1], motorInv[1], endStInv[1], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[1], motor2Inv[1], endStEnbl[1]);
|
||||
axisZ.loadMotorSettings(speedMax[2], speedMin[2], stepsAcc[2], timeOut[2], homeIsUp[2], motorInv[2], endStInv[2], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[2], motor2Inv[2], endStEnbl[2]);
|
||||
|
||||
}
|
||||
|
||||
bool StepperControl::intToBool(int value) {
|
||||
if (value == 1) {
|
||||
bool StepperControl::intToBool(int value)
|
||||
{
|
||||
if (value == 1)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void StepperControl::loadEncoderSettings() {
|
||||
void StepperControl::loadEncoderSettings()
|
||||
{
|
||||
|
||||
// Load encoder settings
|
||||
|
||||
|
@ -996,9 +1046,9 @@ void StepperControl::loadEncoderSettings() {
|
|||
motorConsMissedStepsDecay[1] = motorConsMissedStepsDecay[1] / 100;
|
||||
motorConsMissedStepsDecay[2] = motorConsMissedStepsDecay[2] / 100;
|
||||
|
||||
motorConsMissedStepsDecay[0] = min(max(motorConsMissedStepsDecay[0],0.01),99);
|
||||
motorConsMissedStepsDecay[1] = min(max(motorConsMissedStepsDecay[1],0.01),99);
|
||||
motorConsMissedStepsDecay[2] = min(max(motorConsMissedStepsDecay[2],0.01),99);
|
||||
motorConsMissedStepsDecay[0] = min(max(motorConsMissedStepsDecay[0], 0.01), 99);
|
||||
motorConsMissedStepsDecay[1] = min(max(motorConsMissedStepsDecay[1], 0.01), 99);
|
||||
motorConsMissedStepsDecay[2] = min(max(motorConsMissedStepsDecay[2], 0.01), 99);
|
||||
|
||||
motorConsEncoderType[0] = ParameterList::getInstance()->getValue(ENCODER_TYPE_X);
|
||||
motorConsEncoderType[1] = ParameterList::getInstance()->getValue(ENCODER_TYPE_Y);
|
||||
|
@ -1008,37 +1058,49 @@ void StepperControl::loadEncoderSettings() {
|
|||
motorConsEncoderScaling[1] = ParameterList::getInstance()->getValue(ENCODER_SCALING_Y);
|
||||
motorConsEncoderScaling[2] = ParameterList::getInstance()->getValue(ENCODER_SCALING_Z);
|
||||
|
||||
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_X) == 1) {
|
||||
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_X) == 1)
|
||||
{
|
||||
motorConsEncoderEnabled[0] = true;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
motorConsEncoderEnabled[0] = false;
|
||||
}
|
||||
|
||||
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_Y) == 1) {
|
||||
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_Y) == 1)
|
||||
{
|
||||
motorConsEncoderEnabled[1] = true;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
motorConsEncoderEnabled[1] = false;
|
||||
}
|
||||
|
||||
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_Z) == 1) {
|
||||
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_Z) == 1)
|
||||
{
|
||||
motorConsEncoderEnabled[2] = true;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
motorConsEncoderEnabled[2] = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
unsigned long StepperControl::getMaxLength(unsigned long lengths[3]) {
|
||||
unsigned long StepperControl::getMaxLength(unsigned long lengths[3])
|
||||
{
|
||||
unsigned long max = lengths[0];
|
||||
for (int i = 1; i < 3; i++) {
|
||||
if (lengths[i] > max) {
|
||||
for (int i = 1; i < 3; i++)
|
||||
{
|
||||
if (lengths[i] > max)
|
||||
{
|
||||
max = lengths[i];
|
||||
}
|
||||
}
|
||||
return max;
|
||||
}
|
||||
|
||||
void StepperControl::enableMotors() {
|
||||
void StepperControl::enableMotors()
|
||||
{
|
||||
motorMotorsEnabled = true;
|
||||
|
||||
axisX.enableMotor();
|
||||
|
@ -1047,7 +1109,8 @@ void StepperControl::enableMotors() {
|
|||
delay(100);
|
||||
}
|
||||
|
||||
void StepperControl::disableMotors() {
|
||||
void StepperControl::disableMotors()
|
||||
{
|
||||
motorMotorsEnabled = false;
|
||||
|
||||
axisX.disableMotor();
|
||||
|
@ -1056,66 +1119,83 @@ void StepperControl::disableMotors() {
|
|||
delay(100);
|
||||
}
|
||||
|
||||
bool StepperControl::motorsEnabled() {
|
||||
bool StepperControl::motorsEnabled()
|
||||
{
|
||||
return motorMotorsEnabled;
|
||||
}
|
||||
|
||||
bool StepperControl::endStopsReached() {
|
||||
bool StepperControl::endStopsReached()
|
||||
{
|
||||
|
||||
if ( axisX.endStopsReached() ||
|
||||
if (axisX.endStopsReached() ||
|
||||
axisY.endStopsReached() ||
|
||||
axisZ.endStopsReached()) {
|
||||
axisZ.endStopsReached())
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
void StepperControl::storePosition(){
|
||||
void StepperControl::storePosition()
|
||||
{
|
||||
|
||||
if (motorConsEncoderEnabled[0]) {
|
||||
if (motorConsEncoderEnabled[0])
|
||||
{
|
||||
CurrentState::getInstance()->setX(encoderX.currentPosition());
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
CurrentState::getInstance()->setX(axisX.currentPosition());
|
||||
}
|
||||
|
||||
if (motorConsEncoderEnabled[1]) {
|
||||
if (motorConsEncoderEnabled[1])
|
||||
{
|
||||
CurrentState::getInstance()->setY(encoderY.currentPosition());
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
CurrentState::getInstance()->setY(axisY.currentPosition());
|
||||
}
|
||||
|
||||
if (motorConsEncoderEnabled[2]) {
|
||||
if (motorConsEncoderEnabled[2])
|
||||
{
|
||||
CurrentState::getInstance()->setZ(encoderZ.currentPosition());
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
CurrentState::getInstance()->setZ(axisZ.currentPosition());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void StepperControl::reportEndStops() {
|
||||
void StepperControl::reportEndStops()
|
||||
{
|
||||
CurrentState::getInstance()->printEndStops();
|
||||
}
|
||||
|
||||
void StepperControl::reportPosition(){
|
||||
void StepperControl::reportPosition()
|
||||
{
|
||||
CurrentState::getInstance()->printPosition();
|
||||
}
|
||||
|
||||
void StepperControl::storeEndStops() {
|
||||
void StepperControl::storeEndStops()
|
||||
{
|
||||
CurrentState::getInstance()->storeEndStops();
|
||||
}
|
||||
|
||||
void StepperControl::setPositionX(long pos) {
|
||||
void StepperControl::setPositionX(long pos)
|
||||
{
|
||||
axisX.setCurrentPosition(pos);
|
||||
encoderX.setPosition(pos);
|
||||
}
|
||||
|
||||
void StepperControl::setPositionY(long pos) {
|
||||
void StepperControl::setPositionY(long pos)
|
||||
{
|
||||
axisY.setCurrentPosition(pos);
|
||||
encoderY.setPosition(pos);
|
||||
}
|
||||
|
||||
void StepperControl::setPositionZ(long pos) {
|
||||
void StepperControl::setPositionZ(long pos)
|
||||
{
|
||||
axisZ.setCurrentPosition(pos);
|
||||
encoderZ.setPosition(pos);
|
||||
}
|
||||
|
|
|
@ -19,20 +19,20 @@
|
|||
#include <stdlib.h>
|
||||
#include "Command.h"
|
||||
|
||||
class StepperControl {
|
||||
class StepperControl
|
||||
{
|
||||
public:
|
||||
StepperControl();
|
||||
StepperControl(StepperControl const&);
|
||||
void operator=(StepperControl const&);
|
||||
StepperControl(StepperControl const &);
|
||||
void operator=(StepperControl const &);
|
||||
|
||||
static StepperControl* getInstance();
|
||||
static StepperControl *getInstance();
|
||||
//int moveAbsolute( long xDest, long yDest,long zDest,
|
||||
// unsigned int maxStepsPerSecond,
|
||||
// unsigned int maxAccelerationStepsPerSecond);
|
||||
int moveToCoords( long xDest, long yDest, long zDest,
|
||||
int moveToCoords(long xDest, long yDest, long zDest,
|
||||
unsigned int xMaxSpd, unsigned int yMaxSpd, unsigned int zMaxSpd,
|
||||
bool homeX, bool homeY, bool homeZ
|
||||
);
|
||||
bool homeX, bool homeY, bool homeZ);
|
||||
|
||||
void handleMovementInterrupt();
|
||||
int calibrateAxis(int axis);
|
||||
|
@ -60,8 +60,8 @@ private:
|
|||
StepperControlEncoder encoderY;
|
||||
StepperControlEncoder encoderZ;
|
||||
|
||||
void checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition, float* encoderStepDecay, bool* encoderEnabled);
|
||||
void checkAxisSubStatus(StepperControlAxis* axis, int* axisSubStatus);
|
||||
void checkAxisVsEncoder(StepperControlAxis *axis, StepperControlEncoder *encoder, float *missedSteps, long *lastPosition, float *encoderStepDecay, bool *encoderEnabled);
|
||||
void checkAxisSubStatus(StepperControlAxis *axis, int *axisSubStatus);
|
||||
|
||||
bool axisActive[3];
|
||||
int axisSubStep[3];
|
||||
|
@ -73,8 +73,8 @@ private:
|
|||
void reportPosition();
|
||||
void storeEndStops();
|
||||
void reportEndStops();
|
||||
void reportStatus(StepperControlAxis* axis, int axisSubStatus);
|
||||
void reportCalib(StepperControlAxis* axis, int calibStatus);
|
||||
void reportStatus(StepperControlAxis *axis, int axisSubStatus);
|
||||
void reportCalib(StepperControlAxis *axis, int calibStatus);
|
||||
|
||||
unsigned long getMaxLength(unsigned long lengths[3]);
|
||||
bool endStopsReached();
|
||||
|
|
|
@ -1,6 +1,7 @@
|
|||
#include "StepperControlAxis.h"
|
||||
|
||||
StepperControlAxis::StepperControlAxis() {
|
||||
StepperControlAxis::StepperControlAxis()
|
||||
{
|
||||
lastCalcLog = 0;
|
||||
|
||||
pinStep = 0;
|
||||
|
@ -31,7 +32,8 @@ StepperControlAxis::StepperControlAxis() {
|
|||
movementMoving = false;
|
||||
}
|
||||
|
||||
void StepperControlAxis::test() {
|
||||
void StepperControlAxis::test()
|
||||
{
|
||||
Serial.print("R99");
|
||||
Serial.print(" cur loc = ");
|
||||
Serial.print(coordCurrentPoint);
|
||||
|
@ -43,7 +45,8 @@ void StepperControlAxis::test() {
|
|||
Serial.print("\r\n");
|
||||
}
|
||||
|
||||
unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long currentPosition, long destinationPosition, long minSpeed, long maxSpeed, long stepsAccDec) {
|
||||
unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long currentPosition, long destinationPosition, long minSpeed, long maxSpeed, long stepsAccDec)
|
||||
{
|
||||
|
||||
int newSpeed = 0;
|
||||
|
||||
|
@ -52,50 +55,66 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
|
|||
long staPos;
|
||||
long endPos;
|
||||
|
||||
|
||||
movementAccelerating = false;
|
||||
movementDecelerating = false;
|
||||
movementCruising = false;
|
||||
movementCrawling = false;
|
||||
movementMoving = false;
|
||||
|
||||
if (abs(sourcePosition) < abs(destinationPosition)) {
|
||||
if (abs(sourcePosition) < abs(destinationPosition))
|
||||
{
|
||||
staPos = abs(sourcePosition);
|
||||
endPos = abs(destinationPosition);;
|
||||
} else {
|
||||
staPos = abs(destinationPosition);;
|
||||
endPos = abs(destinationPosition);
|
||||
;
|
||||
}
|
||||
else
|
||||
{
|
||||
staPos = abs(destinationPosition);
|
||||
;
|
||||
endPos = abs(sourcePosition);
|
||||
}
|
||||
|
||||
unsigned long halfway = ((endPos - staPos) / 2) + staPos;
|
||||
|
||||
// Set the minimum speed if the position would be out of bounds
|
||||
if (curPos < staPos || curPos > endPos) {
|
||||
if (curPos < staPos || curPos > endPos)
|
||||
{
|
||||
newSpeed = minSpeed;
|
||||
movementCrawling = true;
|
||||
movementMoving = true;
|
||||
} else {
|
||||
if (curPos >= staPos && curPos <= halfway) {
|
||||
}
|
||||
else
|
||||
{
|
||||
if (curPos >= staPos && curPos <= halfway)
|
||||
{
|
||||
// accelerating
|
||||
if (curPos > (staPos + stepsAccDec)) {
|
||||
if (curPos > (staPos + stepsAccDec))
|
||||
{
|
||||
// now beyond the accelleration point to go full speed
|
||||
newSpeed = maxSpeed + 1;
|
||||
movementCruising = true;
|
||||
movementMoving = true;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
// speeding up, increase speed linear within the first period
|
||||
newSpeed = (1.0 * (curPos - staPos) / stepsAccDec * (maxSpeed - minSpeed)) + minSpeed;
|
||||
movementAccelerating = true;
|
||||
movementMoving = true;
|
||||
}
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
// decelerating
|
||||
if (curPos < (endPos - stepsAccDec)) {
|
||||
if (curPos < (endPos - stepsAccDec))
|
||||
{
|
||||
// still before the deceleration point so keep going at full speed
|
||||
newSpeed = maxSpeed + 2;
|
||||
movementCruising = true;
|
||||
movementMoving = true;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
// speeding up, increase speed linear within the first period
|
||||
newSpeed = (1.0 * (endPos - curPos) / stepsAccDec * (maxSpeed - minSpeed)) + minSpeed;
|
||||
movementDecelerating = true;
|
||||
|
@ -104,8 +123,8 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
if (debugPrint && (millis() - lastCalcLog > 1000)) {
|
||||
if (debugPrint && (millis() - lastCalcLog > 1000))
|
||||
{
|
||||
|
||||
lastCalcLog = millis();
|
||||
|
||||
|
@ -133,39 +152,48 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
|
|||
Serial.print("\r\n");
|
||||
}
|
||||
|
||||
|
||||
// Return the calculated speed, in steps per second
|
||||
return newSpeed;
|
||||
}
|
||||
|
||||
void StepperControlAxis::checkAxisDirection() {
|
||||
void StepperControlAxis::checkAxisDirection()
|
||||
{
|
||||
|
||||
if (coordHomeAxis){
|
||||
if (coordHomeAxis)
|
||||
{
|
||||
// When home is active, the direction is fixed
|
||||
movementUp = motorHomeIsUp;
|
||||
movementToHome = true;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
// For normal movement, move in direction of destination
|
||||
movementUp = ( coordCurrentPoint < coordDestinationPoint );
|
||||
movementUp = (coordCurrentPoint < coordDestinationPoint);
|
||||
movementToHome = (abs(coordCurrentPoint) >= abs(coordDestinationPoint));
|
||||
}
|
||||
|
||||
if (coordCurrentPoint == 0) {
|
||||
if (coordCurrentPoint == 0)
|
||||
{
|
||||
// Go slow when theoretical end point reached but there is no end stop siganl
|
||||
axisSpeed = motorSpeedMin;
|
||||
}
|
||||
}
|
||||
|
||||
void StepperControlAxis::setDirectionAxis() {
|
||||
void StepperControlAxis::setDirectionAxis()
|
||||
{
|
||||
|
||||
if (((!coordHomeAxis && coordCurrentPoint < coordDestinationPoint) || (coordHomeAxis && motorHomeIsUp)) ^ motorMotorInv) {
|
||||
if (((!coordHomeAxis && coordCurrentPoint < coordDestinationPoint) || (coordHomeAxis && motorHomeIsUp)) ^ motorMotorInv)
|
||||
{
|
||||
setDirectionUp();
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
setDirectionDown();
|
||||
}
|
||||
}
|
||||
|
||||
void StepperControlAxis::checkMovement() {
|
||||
void StepperControlAxis::checkMovement()
|
||||
{
|
||||
|
||||
checkAxisDirection();
|
||||
|
||||
|
@ -174,18 +202,18 @@ void StepperControlAxis::checkMovement() {
|
|||
(
|
||||
(coordDestinationPoint > coordSourcePoint && coordCurrentPoint < coordDestinationPoint) ||
|
||||
(coordDestinationPoint < coordSourcePoint && coordCurrentPoint > coordDestinationPoint) ||
|
||||
coordHomeAxis
|
||||
)
|
||||
&& axisActive
|
||||
) {
|
||||
coordHomeAxis) &&
|
||||
axisActive)
|
||||
{
|
||||
|
||||
// home or destination not reached, keep moving
|
||||
|
||||
// If end stop reached or the encoder doesn't move anymore, stop moving motor, otherwise set the timing for the next step
|
||||
if ((coordHomeAxis && !endStopAxisReached(false)) || (!coordHomeAxis && !endStopAxisReached(!movementToHome))) {
|
||||
if ((coordHomeAxis && !endStopAxisReached(false)) || (!coordHomeAxis && !endStopAxisReached(!movementToHome)))
|
||||
{
|
||||
|
||||
// Get the axis speed, in steps per second
|
||||
axisSpeed = calculateSpeed( coordSourcePoint, coordCurrentPoint, coordDestinationPoint,
|
||||
axisSpeed = calculateSpeed(coordSourcePoint, coordCurrentPoint, coordDestinationPoint,
|
||||
motorSpeedMin, motorSpeedMax, motorStepsAcc);
|
||||
|
||||
// Set the moments when the step is set to true and false
|
||||
|
@ -195,41 +223,49 @@ void StepperControlAxis::checkMovement() {
|
|||
// Take the requested speed (steps / second) and divide by the interrupt speed (interrupts per seconde)
|
||||
// This gives the number of interrupts (called ticks here) before the pulse needs to be set for the next step
|
||||
stepOnTick = moveTicks + (1000.0 * 1000.0 / motorInterruptSpeed / axisSpeed / 2);
|
||||
stepOffTick = moveTicks + (1000.0 * 1000.0 / motorInterruptSpeed / axisSpeed );
|
||||
stepOffTick = moveTicks + (1000.0 * 1000.0 / motorInterruptSpeed / axisSpeed);
|
||||
}
|
||||
}
|
||||
else {
|
||||
else
|
||||
{
|
||||
axisActive = false;
|
||||
}
|
||||
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
// Destination or home reached. Deactivate the axis.
|
||||
axisActive = false;
|
||||
}
|
||||
|
||||
// If end stop for home is active, set the position to zero
|
||||
if (endStopAxisReached(false)) {
|
||||
if (endStopAxisReached(false))
|
||||
{
|
||||
coordCurrentPoint = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void StepperControlAxis::checkTiming() {
|
||||
void StepperControlAxis::checkTiming()
|
||||
{
|
||||
|
||||
//int i;
|
||||
|
||||
if (axisActive) {
|
||||
if (axisActive)
|
||||
{
|
||||
|
||||
moveTicks++;
|
||||
|
||||
if (moveTicks >= stepOffTick) {
|
||||
if (moveTicks >= stepOffTick)
|
||||
{
|
||||
|
||||
// Negative flank for the steps
|
||||
resetMotorStep();
|
||||
checkMovement();
|
||||
}
|
||||
else {
|
||||
else
|
||||
{
|
||||
|
||||
if (moveTicks == stepOnTick) {
|
||||
if (moveTicks == stepOnTick)
|
||||
{
|
||||
|
||||
// Positive flank for the steps
|
||||
setStepAxis();
|
||||
|
@ -238,11 +274,15 @@ void StepperControlAxis::checkTiming() {
|
|||
}
|
||||
}
|
||||
|
||||
void StepperControlAxis::setStepAxis() {
|
||||
void StepperControlAxis::setStepAxis()
|
||||
{
|
||||
|
||||
if (movementUp) {
|
||||
if (movementUp)
|
||||
{
|
||||
coordCurrentPoint++;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
coordCurrentPoint--;
|
||||
}
|
||||
|
||||
|
@ -250,22 +290,27 @@ void StepperControlAxis::setStepAxis() {
|
|||
setMotorStep();
|
||||
}
|
||||
|
||||
bool StepperControlAxis::endStopAxisReached(bool movement_forward) {
|
||||
bool StepperControlAxis::endStopAxisReached(bool movement_forward)
|
||||
{
|
||||
|
||||
bool min_endstop = false;
|
||||
bool max_endstop = false;
|
||||
bool invert = false;
|
||||
|
||||
if (motorEndStopInv) {
|
||||
if (motorEndStopInv)
|
||||
{
|
||||
invert = true;
|
||||
}
|
||||
|
||||
// for the axis to check, retrieve the end stop status
|
||||
|
||||
if (!invert) {
|
||||
if (!invert)
|
||||
{
|
||||
min_endstop = endStopMin();
|
||||
max_endstop = endStopMax();
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
min_endstop = endStopMax();
|
||||
max_endstop = endStopMin();
|
||||
}
|
||||
|
@ -273,14 +318,16 @@ bool StepperControlAxis::endStopAxisReached(bool movement_forward) {
|
|||
// if moving forward, only check the end stop max
|
||||
// for moving backwards, check only the end stop min
|
||||
|
||||
if((!movement_forward && min_endstop) || (movement_forward && max_endstop)) {
|
||||
if ((!movement_forward && min_endstop) || (movement_forward && max_endstop))
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void StepperControlAxis::StepperControlAxis::loadPinNumbers(int step, int dir, int enable, int min, int max,int step2, int dir2, int enable2) {
|
||||
void StepperControlAxis::StepperControlAxis::loadPinNumbers(int step, int dir, int enable, int min, int max, int step2, int dir2, int enable2)
|
||||
{
|
||||
pinStep = step;
|
||||
pinDirection = dir;
|
||||
pinEnable = enable;
|
||||
|
@ -293,10 +340,10 @@ void StepperControlAxis::StepperControlAxis::loadPinNumbers(int step, int dir, i
|
|||
pinMax = max;
|
||||
}
|
||||
|
||||
|
||||
void StepperControlAxis::loadMotorSettings(
|
||||
long speedMax, long speedMin, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv,
|
||||
bool endStInv, long interruptSpeed, bool motor2Enbl,bool motor2Inv, bool endStEnbl) {
|
||||
bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl)
|
||||
{
|
||||
|
||||
motorSpeedMax = speedMax;
|
||||
motorSpeedMin = speedMin;
|
||||
|
@ -311,7 +358,8 @@ void StepperControlAxis::loadMotorSettings(
|
|||
motorMotor2Inv = motor2Inv;
|
||||
}
|
||||
|
||||
void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint, bool home) {
|
||||
void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint, bool home)
|
||||
{
|
||||
|
||||
coordSourcePoint = sourcePoint;
|
||||
coordCurrentPoint = sourcePoint;
|
||||
|
@ -319,11 +367,13 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
|
|||
coordHomeAxis = home;
|
||||
|
||||
// Limit normal movmement to the home position
|
||||
if (!motorHomeIsUp && coordDestinationPoint < 0) {
|
||||
if (!motorHomeIsUp && coordDestinationPoint < 0)
|
||||
{
|
||||
coordDestinationPoint = 0;
|
||||
}
|
||||
|
||||
if ( motorHomeIsUp && coordDestinationPoint > 0) {
|
||||
if (motorHomeIsUp && coordDestinationPoint > 0)
|
||||
{
|
||||
coordDestinationPoint = 0;
|
||||
}
|
||||
|
||||
|
@ -332,176 +382,230 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
|
|||
axisActive = true;
|
||||
}
|
||||
|
||||
void StepperControlAxis::enableMotor() {
|
||||
void StepperControlAxis::enableMotor()
|
||||
{
|
||||
digitalWrite(pinEnable, LOW);
|
||||
if (motorMotor2Enl) {
|
||||
if (motorMotor2Enl)
|
||||
{
|
||||
digitalWrite(pin2Enable, LOW);
|
||||
}
|
||||
movementMotorActive = true;
|
||||
}
|
||||
|
||||
void StepperControlAxis::disableMotor() {
|
||||
void StepperControlAxis::disableMotor()
|
||||
{
|
||||
digitalWrite(pinEnable, HIGH);
|
||||
if (motorMotor2Enl) {
|
||||
if (motorMotor2Enl)
|
||||
{
|
||||
digitalWrite(pin2Enable, HIGH);
|
||||
}
|
||||
movementMotorActive = false;
|
||||
}
|
||||
|
||||
void StepperControlAxis::setDirectionUp() {
|
||||
if (motorMotorInv) {
|
||||
void StepperControlAxis::setDirectionUp()
|
||||
{
|
||||
if (motorMotorInv)
|
||||
{
|
||||
digitalWrite(pinDirection, LOW);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
digitalWrite(pinDirection, HIGH);
|
||||
}
|
||||
|
||||
if (motorMotor2Enl && motorMotor2Inv) {
|
||||
if (motorMotor2Enl && motorMotor2Inv)
|
||||
{
|
||||
digitalWrite(pin2Direction, LOW);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
digitalWrite(pin2Direction, HIGH);
|
||||
}
|
||||
}
|
||||
|
||||
void StepperControlAxis::setDirectionDown() {
|
||||
if (motorMotorInv) {
|
||||
void StepperControlAxis::setDirectionDown()
|
||||
{
|
||||
if (motorMotorInv)
|
||||
{
|
||||
digitalWrite(pinDirection, HIGH);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
digitalWrite(pinDirection, LOW);
|
||||
}
|
||||
|
||||
if (motorMotor2Enl && motorMotor2Inv) {
|
||||
if (motorMotor2Enl && motorMotor2Inv)
|
||||
{
|
||||
digitalWrite(pin2Direction, HIGH);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
digitalWrite(pin2Direction, LOW);
|
||||
}
|
||||
}
|
||||
|
||||
void StepperControlAxis::setMovementUp() {
|
||||
void StepperControlAxis::setMovementUp()
|
||||
{
|
||||
movementUp = true;
|
||||
}
|
||||
|
||||
void StepperControlAxis::setMovementDown() {
|
||||
void StepperControlAxis::setMovementDown()
|
||||
{
|
||||
movementUp = false;
|
||||
}
|
||||
|
||||
void StepperControlAxis::setDirectionHome() {
|
||||
if (motorHomeIsUp) {
|
||||
void StepperControlAxis::setDirectionHome()
|
||||
{
|
||||
if (motorHomeIsUp)
|
||||
{
|
||||
setDirectionUp();
|
||||
setMovementUp();
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
setDirectionDown();
|
||||
setMovementDown();
|
||||
}
|
||||
}
|
||||
|
||||
void StepperControlAxis::setDirectionAway() {
|
||||
if (motorHomeIsUp) {
|
||||
void StepperControlAxis::setDirectionAway()
|
||||
{
|
||||
if (motorHomeIsUp)
|
||||
{
|
||||
setDirectionDown();
|
||||
setMovementDown();
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
setDirectionUp();
|
||||
setMovementUp();
|
||||
}
|
||||
}
|
||||
|
||||
unsigned long StepperControlAxis::getLength(long l1, long l2) {
|
||||
if (l1 > l2) {
|
||||
unsigned long StepperControlAxis::getLength(long l1, long l2)
|
||||
{
|
||||
if (l1 > l2)
|
||||
{
|
||||
return l1 - l2;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
return l2 - l1;
|
||||
}
|
||||
}
|
||||
|
||||
bool StepperControlAxis::endStopsReached() {
|
||||
bool StepperControlAxis::endStopsReached()
|
||||
{
|
||||
return ((digitalRead(pinMin) == motorEndStopInv) || (digitalRead(pinMax) == motorEndStopInv)) && motorEndStopEnbl;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::endStopMin() {
|
||||
bool StepperControlAxis::endStopMin()
|
||||
{
|
||||
//return ((digitalRead(pinMin) == motorEndStopInv) || (digitalRead(pinMax) == motorEndStopInv));
|
||||
return digitalRead(pinMin) && motorEndStopEnbl;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::endStopMax() {
|
||||
bool StepperControlAxis::endStopMax()
|
||||
{
|
||||
//return ((digitalRead(pinMin) == motorEndStopInv) || (digitalRead(pinMax) == motorEndStopInv));
|
||||
return digitalRead(pinMax) && motorEndStopEnbl;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::isAxisActive() {
|
||||
bool StepperControlAxis::isAxisActive()
|
||||
{
|
||||
return axisActive;
|
||||
}
|
||||
|
||||
void StepperControlAxis::deactivateAxis() {
|
||||
void StepperControlAxis::deactivateAxis()
|
||||
{
|
||||
axisActive = false;
|
||||
}
|
||||
|
||||
void StepperControlAxis::setMotorStep() {
|
||||
void StepperControlAxis::setMotorStep()
|
||||
{
|
||||
digitalWrite(pinStep, HIGH);
|
||||
if (pin2Enable) {
|
||||
if (pin2Enable)
|
||||
{
|
||||
digitalWrite(pin2Step, HIGH);
|
||||
}
|
||||
}
|
||||
|
||||
void StepperControlAxis::resetMotorStep() {
|
||||
void StepperControlAxis::resetMotorStep()
|
||||
{
|
||||
movementStepDone = true;
|
||||
digitalWrite(pinStep, LOW);
|
||||
if (pin2Enable) {
|
||||
if (pin2Enable)
|
||||
{
|
||||
digitalWrite(pin2Step, LOW);
|
||||
}
|
||||
}
|
||||
|
||||
bool StepperControlAxis::pointReached(long currentPoint, long destinationPoint) {
|
||||
bool StepperControlAxis::pointReached(long currentPoint, long destinationPoint)
|
||||
{
|
||||
return (destinationPoint == currentPoint);
|
||||
}
|
||||
|
||||
long StepperControlAxis::currentPosition() {
|
||||
long StepperControlAxis::currentPosition()
|
||||
{
|
||||
return coordCurrentPoint;
|
||||
}
|
||||
|
||||
void StepperControlAxis::setCurrentPosition(long newPos) {
|
||||
void StepperControlAxis::setCurrentPosition(long newPos)
|
||||
{
|
||||
coordCurrentPoint = newPos;
|
||||
}
|
||||
|
||||
void StepperControlAxis::setMaxSpeed(long speed) {
|
||||
void StepperControlAxis::setMaxSpeed(long speed)
|
||||
{
|
||||
motorSpeedMax = speed;
|
||||
}
|
||||
|
||||
void StepperControlAxis::activateDebugPrint() {
|
||||
void StepperControlAxis::activateDebugPrint()
|
||||
{
|
||||
debugPrint = true;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::isStepDone() {
|
||||
bool StepperControlAxis::isStepDone()
|
||||
{
|
||||
return movementStepDone;
|
||||
}
|
||||
|
||||
void StepperControlAxis::resetStepDone() {
|
||||
void StepperControlAxis::resetStepDone()
|
||||
{
|
||||
movementStepDone = false;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::movingToHome() {
|
||||
bool StepperControlAxis::movingToHome()
|
||||
{
|
||||
return movementToHome;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::movingUp() {
|
||||
bool StepperControlAxis::movingUp()
|
||||
{
|
||||
return movementUp;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::isAccelerating() {
|
||||
bool StepperControlAxis::isAccelerating()
|
||||
{
|
||||
return movementAccelerating;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::isDecelerating() {
|
||||
bool StepperControlAxis::isDecelerating()
|
||||
{
|
||||
return movementDecelerating;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::isCruising() {
|
||||
bool StepperControlAxis::isCruising()
|
||||
{
|
||||
return movementCruising;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::isCrawling() {
|
||||
bool StepperControlAxis::isCrawling()
|
||||
{
|
||||
return movementCrawling;
|
||||
}
|
||||
|
||||
bool StepperControlAxis::isMotorActive() {
|
||||
bool StepperControlAxis::isMotorActive()
|
||||
{
|
||||
return movementMotorActive;
|
||||
}
|
||||
|
||||
|
|
|
@ -17,14 +17,14 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
class StepperControlAxis {
|
||||
class StepperControlAxis
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
StepperControlAxis();
|
||||
|
||||
void loadPinNumbers(int step, int dir, int enable, int min, int max, int step2, int dir2, int enable2);
|
||||
void loadMotorSettings( long speedMax, long speedMin, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv, bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl);
|
||||
void loadMotorSettings(long speedMax, long speedMin, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv, bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl);
|
||||
void loadCoordinates(long sourcePoint, long destinationPoint, bool home);
|
||||
void setMaxSpeed(long speed);
|
||||
|
||||
|
@ -76,7 +76,6 @@ public:
|
|||
bool movementStarted;
|
||||
|
||||
private:
|
||||
|
||||
int lastCalcLog = 0;
|
||||
bool debugPrint = false;
|
||||
|
||||
|
@ -139,8 +138,6 @@ private:
|
|||
unsigned int calculateSpeed(long sourcePosition, long currentPosition, long destinationPosition, long minSpeed, long maxSpeed, long stepsAccDec);
|
||||
unsigned long getLength(long l1, long l2);
|
||||
void checkAxisDirection();
|
||||
|
||||
};
|
||||
|
||||
#endif /* STEPPERCONTROLAXIS_H_ */
|
||||
|
||||
|
|
|
@ -1,6 +1,7 @@
|
|||
#include "StepperControlEncoder.h"
|
||||
|
||||
StepperControlEncoder::StepperControlEncoder() {
|
||||
StepperControlEncoder::StepperControlEncoder()
|
||||
{
|
||||
//lastCalcLog = 0;
|
||||
|
||||
pinChannelA = 0;
|
||||
|
@ -21,8 +22,9 @@ StepperControlEncoder::StepperControlEncoder() {
|
|||
readChannelBQ = false;
|
||||
}
|
||||
|
||||
void StepperControlEncoder::test() {
|
||||
/*
|
||||
void StepperControlEncoder::test()
|
||||
{
|
||||
/*
|
||||
Serial.print("R88 ");
|
||||
Serial.print("position ");
|
||||
Serial.print(position);
|
||||
|
@ -38,7 +40,8 @@ void StepperControlEncoder::test() {
|
|||
*/
|
||||
}
|
||||
|
||||
void StepperControlEncoder::loadPinNumbers(int channelA, int channelB, int channelAQ, int channelBQ) {
|
||||
void StepperControlEncoder::loadPinNumbers(int channelA, int channelB, int channelAQ, int channelBQ)
|
||||
{
|
||||
pinChannelA = channelA;
|
||||
pinChannelB = channelB;
|
||||
pinChannelAQ = channelAQ;
|
||||
|
@ -48,22 +51,28 @@ void StepperControlEncoder::loadPinNumbers(int channelA, int channelB, int chann
|
|||
shiftChannels();
|
||||
}
|
||||
|
||||
void StepperControlEncoder::loadSettings(int encType, int scaling) {
|
||||
void StepperControlEncoder::loadSettings(int encType, int scaling)
|
||||
{
|
||||
encoderType = encType;
|
||||
scalingFactor = scaling;
|
||||
}
|
||||
|
||||
void StepperControlEncoder::setPosition(long newPosition) {
|
||||
void StepperControlEncoder::setPosition(long newPosition)
|
||||
{
|
||||
position = newPosition;
|
||||
}
|
||||
|
||||
long StepperControlEncoder::currentPosition() {
|
||||
long StepperControlEncoder::currentPosition()
|
||||
{
|
||||
|
||||
// Apply scaling to the output of the encoder, except when scaling is zero or lower
|
||||
|
||||
if (scalingFactor == 100 || scalingFactor <= 0) {
|
||||
if (scalingFactor == 100 || scalingFactor <= 0)
|
||||
{
|
||||
return position;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
return position * scalingFactor / 100;
|
||||
}
|
||||
}
|
||||
|
@ -83,8 +92,8 @@ rotation ----------------------------------------------------->
|
|||
|
||||
*/
|
||||
|
||||
|
||||
void StepperControlEncoder::readEncoder() {
|
||||
void StepperControlEncoder::readEncoder()
|
||||
{
|
||||
|
||||
// save the old values, read the new values
|
||||
shiftChannels();
|
||||
|
@ -94,21 +103,45 @@ void StepperControlEncoder::readEncoder() {
|
|||
|
||||
// and check for a position change
|
||||
// no fancy code, just a few simple compares. sorry
|
||||
if (prvValChannelA == true && curValChannelA == true && prvValChannelB == false && curValChannelB == true ) {delta++;}
|
||||
if (prvValChannelA == true && curValChannelA == false && prvValChannelB == true && curValChannelB == true ) {delta++;}
|
||||
if (prvValChannelA == false && curValChannelA == false && prvValChannelB == true && curValChannelB == false) {delta++;}
|
||||
if (prvValChannelA == false && curValChannelA == true && prvValChannelB == false && curValChannelB == false) {delta++;}
|
||||
if (prvValChannelA == true && curValChannelA == true && prvValChannelB == false && curValChannelB == true)
|
||||
{
|
||||
delta++;
|
||||
}
|
||||
if (prvValChannelA == true && curValChannelA == false && prvValChannelB == true && curValChannelB == true)
|
||||
{
|
||||
delta++;
|
||||
}
|
||||
if (prvValChannelA == false && curValChannelA == false && prvValChannelB == true && curValChannelB == false)
|
||||
{
|
||||
delta++;
|
||||
}
|
||||
if (prvValChannelA == false && curValChannelA == true && prvValChannelB == false && curValChannelB == false)
|
||||
{
|
||||
delta++;
|
||||
}
|
||||
|
||||
if (prvValChannelA == false && curValChannelA == false && prvValChannelB == false && curValChannelB == true ) {delta--;}
|
||||
if (prvValChannelA == false && curValChannelA == true && prvValChannelB == true && curValChannelB == true ) {delta--;}
|
||||
if (prvValChannelA == true && curValChannelA == true && prvValChannelB == true && curValChannelB == false) {delta--;}
|
||||
if (prvValChannelA == true && curValChannelA == false && prvValChannelB == false && curValChannelB == false) {delta--;}
|
||||
if (prvValChannelA == false && curValChannelA == false && prvValChannelB == false && curValChannelB == true)
|
||||
{
|
||||
delta--;
|
||||
}
|
||||
if (prvValChannelA == false && curValChannelA == true && prvValChannelB == true && curValChannelB == true)
|
||||
{
|
||||
delta--;
|
||||
}
|
||||
if (prvValChannelA == true && curValChannelA == true && prvValChannelB == true && curValChannelB == false)
|
||||
{
|
||||
delta--;
|
||||
}
|
||||
if (prvValChannelA == true && curValChannelA == false && prvValChannelB == false && curValChannelB == false)
|
||||
{
|
||||
delta--;
|
||||
}
|
||||
|
||||
position += delta;
|
||||
|
||||
}
|
||||
|
||||
void StepperControlEncoder::readChannels() {
|
||||
void StepperControlEncoder::readChannels()
|
||||
{
|
||||
|
||||
// read the new values from the coder
|
||||
|
||||
|
@ -117,15 +150,18 @@ void StepperControlEncoder::readChannels() {
|
|||
readChannelB = digitalRead(pinChannelB);
|
||||
readChannelBQ = digitalRead(pinChannelBQ);
|
||||
|
||||
if (encoderType == 1) {
|
||||
if (encoderType == 1)
|
||||
{
|
||||
|
||||
// differential encoder
|
||||
if ((readChannelA ^ readChannelAQ) && (readChannelB ^ readChannelBQ)) {
|
||||
if ((readChannelA ^ readChannelAQ) && (readChannelB ^ readChannelBQ))
|
||||
{
|
||||
curValChannelA = readChannelA;
|
||||
curValChannelB = readChannelB;
|
||||
}
|
||||
}
|
||||
else {
|
||||
else
|
||||
{
|
||||
|
||||
// encoderType <= 0
|
||||
// non-differential incremental encoder
|
||||
|
@ -133,16 +169,15 @@ void StepperControlEncoder::readChannels() {
|
|||
curValChannelB = readChannelB;
|
||||
}
|
||||
|
||||
|
||||
//curValChannelA = readChannelA;
|
||||
//curValChannelB = readChannelB;
|
||||
|
||||
// curValChannelA = digitalRead(pinChannelA);
|
||||
// curValChannelB = digitalRead(pinChannelB);
|
||||
|
||||
// curValChannelA = digitalRead(pinChannelA);
|
||||
// curValChannelB = digitalRead(pinChannelB);
|
||||
}
|
||||
|
||||
void StepperControlEncoder::shiftChannels() {
|
||||
void StepperControlEncoder::shiftChannels()
|
||||
{
|
||||
|
||||
// Save the current enoder status to later on compare with new values
|
||||
|
||||
|
|
|
@ -16,10 +16,10 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
class StepperControlEncoder {
|
||||
class StepperControlEncoder
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
StepperControlEncoder();
|
||||
|
||||
void loadPinNumbers(int channelA, int channelB, int channelAQ, int channelBQ);
|
||||
|
@ -34,7 +34,6 @@ public:
|
|||
void test();
|
||||
|
||||
private:
|
||||
|
||||
// pin settings
|
||||
int pinChannelA;
|
||||
int pinChannelAQ;
|
||||
|
@ -56,8 +55,6 @@ private:
|
|||
long position;
|
||||
int scalingFactor;
|
||||
int encoderType;
|
||||
|
||||
};
|
||||
|
||||
#endif /* STEPPERCONTROLENCODER_H_ */
|
||||
|
||||
|
|
|
@ -33,11 +33,13 @@ ISR(TIMER1_OVF_vect)
|
|||
void ftm1_isr(void)
|
||||
{
|
||||
uint32_t sc = FTM1_SC;
|
||||
#ifdef KINETISL
|
||||
if (sc & 0x80) FTM1_SC = sc;
|
||||
#else
|
||||
if (sc & 0x80) FTM1_SC = sc & 0x7F;
|
||||
#endif
|
||||
#ifdef KINETISL
|
||||
if (sc & 0x80)
|
||||
FTM1_SC = sc;
|
||||
#else
|
||||
if (sc & 0x80)
|
||||
FTM1_SC = sc & 0x7F;
|
||||
#endif
|
||||
Timer1.isrCallback();
|
||||
}
|
||||
|
||||
|
|
259
src/TimerOne.h
259
src/TimerOne.h
|
@ -27,49 +27,55 @@
|
|||
|
||||
#define TIMER1_RESOLUTION 65536UL // Timer1 is 16 bit
|
||||
|
||||
|
||||
// Placing nearly all the code in this .h file allows the functions to be
|
||||
// inlined by the compiler. In the very common case with constant values
|
||||
// the compiler will perform all calculations and simply write constants
|
||||
// to the hardware registers (for example, setPeriod).
|
||||
|
||||
|
||||
class TimerOne
|
||||
{
|
||||
|
||||
|
||||
#if defined(__AVR__)
|
||||
public:
|
||||
public:
|
||||
//****************************
|
||||
// Configuration
|
||||
//****************************
|
||||
void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) {
|
||||
void initialize(unsigned long microseconds = 1000000) __attribute__((always_inline))
|
||||
{
|
||||
TCCR1B = _BV(WGM13); // set mode as phase and frequency correct pwm, stop the timer
|
||||
TCCR1A = 0; // clear control register A
|
||||
setPeriod(microseconds);
|
||||
}
|
||||
void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
|
||||
void setPeriod(unsigned long microseconds) __attribute__((always_inline))
|
||||
{
|
||||
const unsigned long cycles = (F_CPU / 2000000) * microseconds;
|
||||
if (cycles < TIMER1_RESOLUTION) {
|
||||
if (cycles < TIMER1_RESOLUTION)
|
||||
{
|
||||
clockSelectBits = _BV(CS10);
|
||||
pwmPeriod = cycles;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 8) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 8)
|
||||
{
|
||||
clockSelectBits = _BV(CS11);
|
||||
pwmPeriod = cycles / 8;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 64) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 64)
|
||||
{
|
||||
clockSelectBits = _BV(CS11) | _BV(CS10);
|
||||
pwmPeriod = cycles / 64;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 256) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 256)
|
||||
{
|
||||
clockSelectBits = _BV(CS12);
|
||||
pwmPeriod = cycles / 256;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 1024) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 1024)
|
||||
{
|
||||
clockSelectBits = _BV(CS12) | _BV(CS10);
|
||||
pwmPeriod = cycles / 1024;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
clockSelectBits = _BV(CS12) | _BV(CS10);
|
||||
pwmPeriod = TIMER1_RESOLUTION - 1;
|
||||
}
|
||||
|
@ -80,136 +86,174 @@ class TimerOne
|
|||
//****************************
|
||||
// Run Control
|
||||
//****************************
|
||||
void start() __attribute__((always_inline)) {
|
||||
void start() __attribute__((always_inline))
|
||||
{
|
||||
TCCR1B = 0;
|
||||
TCNT1 = 0; // TODO: does this cause an undesired interrupt?
|
||||
resume();
|
||||
}
|
||||
void stop() __attribute__((always_inline)) {
|
||||
void stop() __attribute__((always_inline))
|
||||
{
|
||||
TCCR1B = _BV(WGM13);
|
||||
}
|
||||
void restart() __attribute__((always_inline)) {
|
||||
void restart() __attribute__((always_inline))
|
||||
{
|
||||
start();
|
||||
}
|
||||
void resume() __attribute__((always_inline)) {
|
||||
void resume() __attribute__((always_inline))
|
||||
{
|
||||
TCCR1B = _BV(WGM13) | clockSelectBits;
|
||||
}
|
||||
|
||||
//****************************
|
||||
// PWM outputs
|
||||
//****************************
|
||||
void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) {
|
||||
void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline))
|
||||
{
|
||||
unsigned long dutyCycle = pwmPeriod;
|
||||
dutyCycle *= duty;
|
||||
dutyCycle >>= 10;
|
||||
if (pin == TIMER1_A_PIN) OCR1A = dutyCycle;
|
||||
#ifdef TIMER1_B_PIN
|
||||
else if (pin == TIMER1_B_PIN) OCR1B = dutyCycle;
|
||||
#endif
|
||||
#ifdef TIMER1_C_PIN
|
||||
else if (pin == TIMER1_C_PIN) OCR1C = dutyCycle;
|
||||
#endif
|
||||
if (pin == TIMER1_A_PIN)
|
||||
OCR1A = dutyCycle;
|
||||
#ifdef TIMER1_B_PIN
|
||||
else if (pin == TIMER1_B_PIN)
|
||||
OCR1B = dutyCycle;
|
||||
#endif
|
||||
#ifdef TIMER1_C_PIN
|
||||
else if (pin == TIMER1_C_PIN)
|
||||
OCR1C = dutyCycle;
|
||||
#endif
|
||||
}
|
||||
void pwm(char pin, unsigned int duty) __attribute__((always_inline)) {
|
||||
if (pin == TIMER1_A_PIN) { pinMode(TIMER1_A_PIN, OUTPUT); TCCR1A |= _BV(COM1A1); }
|
||||
#ifdef TIMER1_B_PIN
|
||||
else if (pin == TIMER1_B_PIN) { pinMode(TIMER1_B_PIN, OUTPUT); TCCR1A |= _BV(COM1B1); }
|
||||
#endif
|
||||
#ifdef TIMER1_C_PIN
|
||||
else if (pin == TIMER1_C_PIN) { pinMode(TIMER1_C_PIN, OUTPUT); TCCR1A |= _BV(COM1C1); }
|
||||
#endif
|
||||
void pwm(char pin, unsigned int duty) __attribute__((always_inline))
|
||||
{
|
||||
if (pin == TIMER1_A_PIN)
|
||||
{
|
||||
pinMode(TIMER1_A_PIN, OUTPUT);
|
||||
TCCR1A |= _BV(COM1A1);
|
||||
}
|
||||
#ifdef TIMER1_B_PIN
|
||||
else if (pin == TIMER1_B_PIN)
|
||||
{
|
||||
pinMode(TIMER1_B_PIN, OUTPUT);
|
||||
TCCR1A |= _BV(COM1B1);
|
||||
}
|
||||
#endif
|
||||
#ifdef TIMER1_C_PIN
|
||||
else if (pin == TIMER1_C_PIN)
|
||||
{
|
||||
pinMode(TIMER1_C_PIN, OUTPUT);
|
||||
TCCR1A |= _BV(COM1C1);
|
||||
}
|
||||
#endif
|
||||
setPwmDuty(pin, duty);
|
||||
TCCR1B = _BV(WGM13) | clockSelectBits;
|
||||
}
|
||||
void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) {
|
||||
if (microseconds > 0) setPeriod(microseconds);
|
||||
void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline))
|
||||
{
|
||||
if (microseconds > 0)
|
||||
setPeriod(microseconds);
|
||||
pwm(pin, duty);
|
||||
}
|
||||
void disablePwm(char pin) __attribute__((always_inline)) {
|
||||
if (pin == TIMER1_A_PIN) TCCR1A &= ~_BV(COM1A1);
|
||||
#ifdef TIMER1_B_PIN
|
||||
else if (pin == TIMER1_B_PIN) TCCR1A &= ~_BV(COM1B1);
|
||||
#endif
|
||||
#ifdef TIMER1_C_PIN
|
||||
else if (pin == TIMER1_C_PIN) TCCR1A &= ~_BV(COM1C1);
|
||||
#endif
|
||||
void disablePwm(char pin) __attribute__((always_inline))
|
||||
{
|
||||
if (pin == TIMER1_A_PIN)
|
||||
TCCR1A &= ~_BV(COM1A1);
|
||||
#ifdef TIMER1_B_PIN
|
||||
else if (pin == TIMER1_B_PIN)
|
||||
TCCR1A &= ~_BV(COM1B1);
|
||||
#endif
|
||||
#ifdef TIMER1_C_PIN
|
||||
else if (pin == TIMER1_C_PIN)
|
||||
TCCR1A &= ~_BV(COM1C1);
|
||||
#endif
|
||||
}
|
||||
|
||||
//****************************
|
||||
// Interrupt Function
|
||||
//****************************
|
||||
void attachInterrupt(void (*isr)()) __attribute__((always_inline)) {
|
||||
void attachInterrupt(void (*isr)()) __attribute__((always_inline))
|
||||
{
|
||||
isrCallback = isr;
|
||||
TIMSK1 = _BV(TOIE1);
|
||||
}
|
||||
void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) {
|
||||
if(microseconds > 0) setPeriod(microseconds);
|
||||
void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline))
|
||||
{
|
||||
if (microseconds > 0)
|
||||
setPeriod(microseconds);
|
||||
attachInterrupt(isr);
|
||||
}
|
||||
void detachInterrupt() __attribute__((always_inline)) {
|
||||
void detachInterrupt() __attribute__((always_inline))
|
||||
{
|
||||
TIMSK1 = 0;
|
||||
}
|
||||
static void (*isrCallback)();
|
||||
|
||||
private:
|
||||
private:
|
||||
// properties
|
||||
static unsigned short pwmPeriod;
|
||||
static unsigned char clockSelectBits;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#elif defined(__arm__) && defined(CORE_TEENSY)
|
||||
|
||||
#if defined(KINETISK)
|
||||
#define F_TIMER F_BUS
|
||||
#elif defined(KINETISL)
|
||||
#define F_TIMER (F_PLL/2)
|
||||
#define F_TIMER (F_PLL / 2)
|
||||
#endif
|
||||
|
||||
public:
|
||||
public:
|
||||
//****************************
|
||||
// Configuration
|
||||
//****************************
|
||||
void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) {
|
||||
void initialize(unsigned long microseconds = 1000000) __attribute__((always_inline))
|
||||
{
|
||||
setPeriod(microseconds);
|
||||
}
|
||||
void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
|
||||
void setPeriod(unsigned long microseconds) __attribute__((always_inline))
|
||||
{
|
||||
const unsigned long cycles = (F_TIMER / 2000000) * microseconds;
|
||||
if (cycles < TIMER1_RESOLUTION) {
|
||||
if (cycles < TIMER1_RESOLUTION)
|
||||
{
|
||||
clockSelectBits = 0;
|
||||
pwmPeriod = cycles;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 2) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 2)
|
||||
{
|
||||
clockSelectBits = 1;
|
||||
pwmPeriod = cycles >> 1;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 4) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 4)
|
||||
{
|
||||
clockSelectBits = 2;
|
||||
pwmPeriod = cycles >> 2;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 8) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 8)
|
||||
{
|
||||
clockSelectBits = 3;
|
||||
pwmPeriod = cycles >> 3;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 16) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 16)
|
||||
{
|
||||
clockSelectBits = 4;
|
||||
pwmPeriod = cycles >> 4;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 32) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 32)
|
||||
{
|
||||
clockSelectBits = 5;
|
||||
pwmPeriod = cycles >> 5;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 64) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 64)
|
||||
{
|
||||
clockSelectBits = 6;
|
||||
pwmPeriod = cycles >> 6;
|
||||
} else
|
||||
if (cycles < TIMER1_RESOLUTION * 128) {
|
||||
}
|
||||
else if (cycles < TIMER1_RESOLUTION * 128)
|
||||
{
|
||||
clockSelectBits = 7;
|
||||
pwmPeriod = cycles >> 7;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
clockSelectBits = 7;
|
||||
pwmPeriod = TIMER1_RESOLUTION - 1;
|
||||
}
|
||||
|
@ -222,50 +266,68 @@ class TimerOne
|
|||
//****************************
|
||||
// Run Control
|
||||
//****************************
|
||||
void start() __attribute__((always_inline)) {
|
||||
void start() __attribute__((always_inline))
|
||||
{
|
||||
stop();
|
||||
FTM1_CNT = 0;
|
||||
resume();
|
||||
}
|
||||
void stop() __attribute__((always_inline)) {
|
||||
void stop() __attribute__((always_inline))
|
||||
{
|
||||
FTM1_SC = FTM1_SC & (FTM_SC_TOIE | FTM_SC_CPWMS | FTM_SC_PS(7));
|
||||
}
|
||||
void restart() __attribute__((always_inline)) {
|
||||
void restart() __attribute__((always_inline))
|
||||
{
|
||||
start();
|
||||
}
|
||||
void resume() __attribute__((always_inline)) {
|
||||
void resume() __attribute__((always_inline))
|
||||
{
|
||||
FTM1_SC = (FTM1_SC & (FTM_SC_TOIE | FTM_SC_PS(7))) | FTM_SC_CPWMS | FTM_SC_CLKS(1);
|
||||
}
|
||||
|
||||
//****************************
|
||||
// PWM outputs
|
||||
//****************************
|
||||
void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) {
|
||||
void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline))
|
||||
{
|
||||
unsigned long dutyCycle = pwmPeriod;
|
||||
dutyCycle *= duty;
|
||||
dutyCycle >>= 10;
|
||||
if (pin == TIMER1_A_PIN) {
|
||||
if (pin == TIMER1_A_PIN)
|
||||
{
|
||||
FTM1_C0V = dutyCycle;
|
||||
} else if (pin == TIMER1_B_PIN) {
|
||||
}
|
||||
else if (pin == TIMER1_B_PIN)
|
||||
{
|
||||
FTM1_C1V = dutyCycle;
|
||||
}
|
||||
}
|
||||
void pwm(char pin, unsigned int duty) __attribute__((always_inline)) {
|
||||
void pwm(char pin, unsigned int duty) __attribute__((always_inline))
|
||||
{
|
||||
setPwmDuty(pin, duty);
|
||||
if (pin == TIMER1_A_PIN) {
|
||||
if (pin == TIMER1_A_PIN)
|
||||
{
|
||||
*portConfigRegister(TIMER1_A_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
|
||||
} else if (pin == TIMER1_B_PIN) {
|
||||
}
|
||||
else if (pin == TIMER1_B_PIN)
|
||||
{
|
||||
*portConfigRegister(TIMER1_B_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
|
||||
}
|
||||
}
|
||||
void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) {
|
||||
if (microseconds > 0) setPeriod(microseconds);
|
||||
void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline))
|
||||
{
|
||||
if (microseconds > 0)
|
||||
setPeriod(microseconds);
|
||||
pwm(pin, duty);
|
||||
}
|
||||
void disablePwm(char pin) __attribute__((always_inline)) {
|
||||
if (pin == TIMER1_A_PIN) {
|
||||
void disablePwm(char pin) __attribute__((always_inline))
|
||||
{
|
||||
if (pin == TIMER1_A_PIN)
|
||||
{
|
||||
*portConfigRegister(TIMER1_A_PIN) = 0;
|
||||
} else if (pin == TIMER1_B_PIN) {
|
||||
}
|
||||
else if (pin == TIMER1_B_PIN)
|
||||
{
|
||||
*portConfigRegister(TIMER1_B_PIN) = 0;
|
||||
}
|
||||
}
|
||||
|
@ -273,22 +335,26 @@ class TimerOne
|
|||
//****************************
|
||||
// Interrupt Function
|
||||
//****************************
|
||||
void attachInterrupt(void (*isr)()) __attribute__((always_inline)) {
|
||||
void attachInterrupt(void (*isr)()) __attribute__((always_inline))
|
||||
{
|
||||
isrCallback = isr;
|
||||
FTM1_SC |= FTM_SC_TOIE;
|
||||
NVIC_ENABLE_IRQ(IRQ_FTM1);
|
||||
}
|
||||
void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) {
|
||||
if(microseconds > 0) setPeriod(microseconds);
|
||||
void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline))
|
||||
{
|
||||
if (microseconds > 0)
|
||||
setPeriod(microseconds);
|
||||
attachInterrupt(isr);
|
||||
}
|
||||
void detachInterrupt() __attribute__((always_inline)) {
|
||||
void detachInterrupt() __attribute__((always_inline))
|
||||
{
|
||||
FTM1_SC &= ~FTM_SC_TOIE;
|
||||
NVIC_DISABLE_IRQ(IRQ_FTM1);
|
||||
}
|
||||
static void (*isrCallback)();
|
||||
|
||||
private:
|
||||
private:
|
||||
// properties
|
||||
static unsigned short pwmPeriod;
|
||||
static unsigned char clockSelectBits;
|
||||
|
@ -301,4 +367,3 @@ class TimerOne
|
|||
extern TimerOne Timer1;
|
||||
|
||||
#endif
|
||||
|
||||
|
|
|
@ -8,9 +8,8 @@
|
|||
#include "TimerOne.h"
|
||||
#include "MemoryFree.h"
|
||||
|
||||
|
||||
static char commandEndChar = 0x0A;
|
||||
static GCodeProcessor* gCodeProcessor = new GCodeProcessor();
|
||||
static GCodeProcessor *gCodeProcessor = new GCodeProcessor();
|
||||
|
||||
unsigned long lastAction;
|
||||
unsigned long currentTime;
|
||||
|
@ -25,9 +24,10 @@ int incomingCommandPointer = 0;
|
|||
|
||||
// Blink led routine used for testing
|
||||
bool blink = false;
|
||||
void blinkLed() {
|
||||
void blinkLed()
|
||||
{
|
||||
blink = !blink;
|
||||
digitalWrite(LED_PIN,blink);
|
||||
digitalWrite(LED_PIN, blink);
|
||||
}
|
||||
|
||||
// Interrupt handling for:
|
||||
|
@ -37,16 +37,19 @@ void blinkLed() {
|
|||
//
|
||||
bool interruptBusy = false;
|
||||
int interruptSecondTimer = 0;
|
||||
void interrupt(void) {
|
||||
void interrupt(void)
|
||||
{
|
||||
interruptSecondTimer++;
|
||||
|
||||
if (interruptBusy == false) {
|
||||
if (interruptBusy == false)
|
||||
{
|
||||
|
||||
interruptBusy = true;
|
||||
StepperControl::getInstance()->handleMovementInterrupt();
|
||||
|
||||
// Check the actions triggered once per second
|
||||
if (interruptSecondTimer >= 1000000 / MOVEMENT_INTERRUPT_SPEED) {
|
||||
if (interruptSecondTimer >= 1000000 / MOVEMENT_INTERRUPT_SPEED)
|
||||
{
|
||||
interruptSecondTimer = 0;
|
||||
PinGuard::getInstance()->checkPins();
|
||||
//blinkLed();
|
||||
|
@ -56,36 +59,36 @@ void interrupt(void) {
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
//The setup function is called once at startup of the sketch
|
||||
void setup() {
|
||||
void setup()
|
||||
{
|
||||
|
||||
// Setup pin input/output settings
|
||||
pinMode(X_STEP_PIN , OUTPUT);
|
||||
pinMode(X_DIR_PIN , OUTPUT);
|
||||
pinMode(X_STEP_PIN, OUTPUT);
|
||||
pinMode(X_DIR_PIN, OUTPUT);
|
||||
pinMode(X_ENABLE_PIN, OUTPUT);
|
||||
pinMode(E_STEP_PIN , OUTPUT);
|
||||
pinMode(E_DIR_PIN , OUTPUT);
|
||||
pinMode(E_STEP_PIN, OUTPUT);
|
||||
pinMode(E_DIR_PIN, OUTPUT);
|
||||
pinMode(E_ENABLE_PIN, OUTPUT);
|
||||
pinMode(X_MIN_PIN , INPUT_PULLUP );
|
||||
pinMode(X_MAX_PIN , INPUT_PULLUP );
|
||||
pinMode(X_MIN_PIN, INPUT_PULLUP);
|
||||
pinMode(X_MAX_PIN, INPUT_PULLUP);
|
||||
|
||||
pinMode(Y_STEP_PIN , OUTPUT);
|
||||
pinMode(Y_DIR_PIN , OUTPUT);
|
||||
pinMode(Y_STEP_PIN, OUTPUT);
|
||||
pinMode(Y_DIR_PIN, OUTPUT);
|
||||
pinMode(Y_ENABLE_PIN, OUTPUT);
|
||||
pinMode(Y_MIN_PIN , INPUT_PULLUP );
|
||||
pinMode(Y_MAX_PIN , INPUT_PULLUP );
|
||||
pinMode(Y_MIN_PIN, INPUT_PULLUP);
|
||||
pinMode(Y_MAX_PIN, INPUT_PULLUP);
|
||||
|
||||
pinMode(Z_STEP_PIN , OUTPUT);
|
||||
pinMode(Z_DIR_PIN , OUTPUT);
|
||||
pinMode(Z_STEP_PIN, OUTPUT);
|
||||
pinMode(Z_DIR_PIN, OUTPUT);
|
||||
pinMode(Z_ENABLE_PIN, OUTPUT);
|
||||
pinMode(Z_MIN_PIN , INPUT_PULLUP );
|
||||
pinMode(Z_MAX_PIN , INPUT_PULLUP );
|
||||
pinMode(Z_MIN_PIN, INPUT_PULLUP);
|
||||
pinMode(Z_MAX_PIN, INPUT_PULLUP);
|
||||
|
||||
pinMode(HEATER_0_PIN, OUTPUT);
|
||||
pinMode(HEATER_1_PIN, OUTPUT);
|
||||
pinMode(FAN_PIN , OUTPUT);
|
||||
pinMode(LED_PIN , OUTPUT);
|
||||
pinMode(FAN_PIN, OUTPUT);
|
||||
pinMode(LED_PIN, OUTPUT);
|
||||
|
||||
//pinMode(SERVO_0_PIN , OUTPUT);
|
||||
//pinMode(SERVO_1_PIN , OUTPUT);
|
||||
|
@ -121,9 +124,11 @@ void setup() {
|
|||
}
|
||||
|
||||
// The loop function is called in an endless loop
|
||||
void loop() {
|
||||
void loop()
|
||||
{
|
||||
|
||||
if (Serial.available()) {
|
||||
if (Serial.available())
|
||||
{
|
||||
|
||||
// Save current time stamp for timeout actions
|
||||
lastAction = millis();
|
||||
|
@ -134,13 +139,15 @@ void loop() {
|
|||
incomingCommandPointer++;
|
||||
|
||||
// If the string is getting to long, cap it off with a new line and let it process anyway
|
||||
if (incomingCommandPointer >= INCOMING_CMD_BUF_SIZE - 1) {
|
||||
if (incomingCommandPointer >= INCOMING_CMD_BUF_SIZE - 1)
|
||||
{
|
||||
incomingChar = '\n';
|
||||
incomingCommandArray[incomingCommandPointer] = incomingChar;
|
||||
incomingCommandPointer++;
|
||||
}
|
||||
|
||||
if (incomingChar == '\n' || incomingCommandPointer >= INCOMING_CMD_BUF_SIZE) {
|
||||
if (incomingChar == '\n' || incomingCommandPointer >= INCOMING_CMD_BUF_SIZE)
|
||||
{
|
||||
|
||||
//commandString += incomingChar;
|
||||
//String commandString = Serial.readStringUntil(commandEndChar);
|
||||
|
@ -148,13 +155,14 @@ void loop() {
|
|||
//currentCommand.toCharArray(commandChar, currentCommand.length());
|
||||
|
||||
char commandChar[incomingCommandPointer + 1];
|
||||
for (int i = 0; i < incomingCommandPointer -1; i++) {
|
||||
for (int i = 0; i < incomingCommandPointer - 1; i++)
|
||||
{
|
||||
commandChar[i] = incomingCommandArray[i];
|
||||
}
|
||||
commandChar[incomingCommandPointer] = 0;
|
||||
|
||||
if (incomingCommandPointer > 1) {
|
||||
|
||||
if (incomingCommandPointer > 1)
|
||||
{
|
||||
|
||||
// Copy the command to another string object.
|
||||
// because there are issues with passing the
|
||||
|
@ -162,9 +170,10 @@ void loop() {
|
|||
|
||||
// Create a command and let it execute
|
||||
//Command* command = new Command(commandString);
|
||||
Command* command = new Command(commandChar);
|
||||
Command *command = new Command(commandChar);
|
||||
|
||||
if(LOGGING) {
|
||||
if (LOGGING)
|
||||
{
|
||||
command->print();
|
||||
}
|
||||
|
||||
|
@ -181,7 +190,8 @@ void loop() {
|
|||
|
||||
// Check if parameters are changes, and if so load the new settings
|
||||
|
||||
if (lastParamChangeNr != ParameterList::getInstance()->paramChangeNumber()) {
|
||||
if (lastParamChangeNr != ParameterList::getInstance()->paramChangeNumber())
|
||||
{
|
||||
lastParamChangeNr = ParameterList::getInstance()->paramChangeNumber();
|
||||
|
||||
Serial.print(COMM_REPORT_COMMENT);
|
||||
|
@ -192,18 +202,20 @@ void loop() {
|
|||
PinGuard::getInstance()->loadConfig();
|
||||
}
|
||||
|
||||
|
||||
// Do periodic checks and feedback
|
||||
|
||||
currentTime = millis();
|
||||
if (currentTime < lastAction) {
|
||||
if (currentTime < lastAction)
|
||||
{
|
||||
|
||||
// If the device timer overruns, reset the idle counter
|
||||
lastAction = millis();
|
||||
}
|
||||
else {
|
||||
else
|
||||
{
|
||||
|
||||
if ((currentTime - lastAction) > 5000) {
|
||||
if ((currentTime - lastAction) > 5000)
|
||||
{
|
||||
// After an idle time, send the idle message
|
||||
|
||||
Serial.print(COMM_REPORT_CMD_IDLE);
|
||||
|
@ -229,16 +241,14 @@ void loop() {
|
|||
|
||||
//ParameterList::getInstance()->readAllValues();
|
||||
|
||||
|
||||
//StepperControl::getInstance()->test();
|
||||
|
||||
// if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1) {
|
||||
// Serial.print(COMM_REPORT_NO_CONFIG);
|
||||
// }
|
||||
// if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1) {
|
||||
// Serial.print(COMM_REPORT_NO_CONFIG);
|
||||
// }
|
||||
|
||||
cycleCounter++;
|
||||
lastAction = millis();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -25,6 +25,5 @@ void setup();
|
|||
|
||||
|
||||
|
||||
|
||||
//Do not add code below this line
|
||||
#endif /* _farmbot_arduino_controller_H_ */
|
||||
|
|
|
@ -4,139 +4,139 @@
|
|||
// Wiring-S
|
||||
//
|
||||
#if defined(__AVR_ATmega644P__) && defined(WIRING)
|
||||
#define TIMER1_A_PIN 5
|
||||
#define TIMER1_B_PIN 4
|
||||
#define TIMER1_ICP_PIN 6
|
||||
#define TIMER1_A_PIN 5
|
||||
#define TIMER1_B_PIN 4
|
||||
#define TIMER1_ICP_PIN 6
|
||||
|
||||
// Teensy 2.0
|
||||
//
|
||||
#elif defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY)
|
||||
#define TIMER1_A_PIN 14
|
||||
#define TIMER1_B_PIN 15
|
||||
#define TIMER1_C_PIN 4
|
||||
#define TIMER1_ICP_PIN 22
|
||||
#define TIMER1_CLK_PIN 11
|
||||
#define TIMER3_A_PIN 9
|
||||
#define TIMER3_ICP_PIN 10
|
||||
#define TIMER1_A_PIN 14
|
||||
#define TIMER1_B_PIN 15
|
||||
#define TIMER1_C_PIN 4
|
||||
#define TIMER1_ICP_PIN 22
|
||||
#define TIMER1_CLK_PIN 11
|
||||
#define TIMER3_A_PIN 9
|
||||
#define TIMER3_ICP_PIN 10
|
||||
|
||||
// Teensy++ 2.0
|
||||
#elif defined(__AVR_AT90USB1286__) && defined(CORE_TEENSY)
|
||||
#define TIMER1_A_PIN 25
|
||||
#define TIMER1_B_PIN 26
|
||||
#define TIMER1_C_PIN 27
|
||||
#define TIMER1_ICP_PIN 4
|
||||
#define TIMER1_CLK_PIN 6
|
||||
#define TIMER3_A_PIN 16
|
||||
#define TIMER3_B_PIN 15
|
||||
#define TIMER3_C_PIN 14
|
||||
#define TIMER3_ICP_PIN 17
|
||||
#define TIMER3_CLK_PIN 13
|
||||
#define TIMER1_A_PIN 25
|
||||
#define TIMER1_B_PIN 26
|
||||
#define TIMER1_C_PIN 27
|
||||
#define TIMER1_ICP_PIN 4
|
||||
#define TIMER1_CLK_PIN 6
|
||||
#define TIMER3_A_PIN 16
|
||||
#define TIMER3_B_PIN 15
|
||||
#define TIMER3_C_PIN 14
|
||||
#define TIMER3_ICP_PIN 17
|
||||
#define TIMER3_CLK_PIN 13
|
||||
|
||||
// Teensy 3.0
|
||||
//
|
||||
#elif defined(__MK20DX128__)
|
||||
#define TIMER1_A_PIN 3
|
||||
#define TIMER1_B_PIN 4
|
||||
#define TIMER1_ICP_PIN 4
|
||||
#define TIMER1_A_PIN 3
|
||||
#define TIMER1_B_PIN 4
|
||||
#define TIMER1_ICP_PIN 4
|
||||
|
||||
// Teensy 3.1
|
||||
//
|
||||
#elif defined(__MK20DX256__)
|
||||
#define TIMER1_A_PIN 3
|
||||
#define TIMER1_B_PIN 4
|
||||
#define TIMER1_ICP_PIN 4
|
||||
#define TIMER3_A_PIN 32
|
||||
#define TIMER3_B_PIN 25
|
||||
#define TIMER3_ICP_PIN 32
|
||||
#define TIMER1_A_PIN 3
|
||||
#define TIMER1_B_PIN 4
|
||||
#define TIMER1_ICP_PIN 4
|
||||
#define TIMER3_A_PIN 32
|
||||
#define TIMER3_B_PIN 25
|
||||
#define TIMER3_ICP_PIN 32
|
||||
|
||||
// Teensy-LC
|
||||
//
|
||||
#elif defined(__MKL26Z64__)
|
||||
#define TIMER1_A_PIN 16
|
||||
#define TIMER1_B_PIN 17
|
||||
#define TIMER1_ICP_PIN 17
|
||||
#define TIMER3_A_PIN 3
|
||||
#define TIMER3_B_PIN 4
|
||||
#define TIMER3_ICP_PIN 4
|
||||
#define TIMER1_A_PIN 16
|
||||
#define TIMER1_B_PIN 17
|
||||
#define TIMER1_ICP_PIN 17
|
||||
#define TIMER3_A_PIN 3
|
||||
#define TIMER3_B_PIN 4
|
||||
#define TIMER3_ICP_PIN 4
|
||||
|
||||
// Arduino Mega
|
||||
//
|
||||
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
#define TIMER1_A_PIN 11
|
||||
#define TIMER1_B_PIN 12
|
||||
#define TIMER1_C_PIN 13
|
||||
#define TIMER3_A_PIN 5
|
||||
#define TIMER3_B_PIN 2
|
||||
#define TIMER3_C_PIN 3
|
||||
#define TIMER4_A_PIN 6
|
||||
#define TIMER4_B_PIN 7
|
||||
#define TIMER4_C_PIN 8
|
||||
#define TIMER4_ICP_PIN 49
|
||||
#define TIMER5_A_PIN 46
|
||||
#define TIMER5_B_PIN 45
|
||||
#define TIMER5_C_PIN 44
|
||||
#define TIMER3_ICP_PIN 48
|
||||
#define TIMER3_CLK_PIN 47
|
||||
#define TIMER1_A_PIN 11
|
||||
#define TIMER1_B_PIN 12
|
||||
#define TIMER1_C_PIN 13
|
||||
#define TIMER3_A_PIN 5
|
||||
#define TIMER3_B_PIN 2
|
||||
#define TIMER3_C_PIN 3
|
||||
#define TIMER4_A_PIN 6
|
||||
#define TIMER4_B_PIN 7
|
||||
#define TIMER4_C_PIN 8
|
||||
#define TIMER4_ICP_PIN 49
|
||||
#define TIMER5_A_PIN 46
|
||||
#define TIMER5_B_PIN 45
|
||||
#define TIMER5_C_PIN 44
|
||||
#define TIMER3_ICP_PIN 48
|
||||
#define TIMER3_CLK_PIN 47
|
||||
|
||||
// Arduino Leonardo, Yun, etc
|
||||
//
|
||||
#elif defined(__AVR_ATmega32U4__)
|
||||
#define TIMER1_A_PIN 9
|
||||
#define TIMER1_B_PIN 10
|
||||
#define TIMER1_C_PIN 11
|
||||
#define TIMER1_ICP_PIN 4
|
||||
#define TIMER1_CLK_PIN 12
|
||||
#define TIMER3_A_PIN 5
|
||||
#define TIMER3_ICP_PIN 13
|
||||
#define TIMER1_A_PIN 9
|
||||
#define TIMER1_B_PIN 10
|
||||
#define TIMER1_C_PIN 11
|
||||
#define TIMER1_ICP_PIN 4
|
||||
#define TIMER1_CLK_PIN 12
|
||||
#define TIMER3_A_PIN 5
|
||||
#define TIMER3_ICP_PIN 13
|
||||
|
||||
// Uno, Duemilanove, LilyPad, etc
|
||||
//
|
||||
#elif defined (__AVR_ATmega168__) || defined (__AVR_ATmega328P__)
|
||||
#define TIMER1_A_PIN 9
|
||||
#define TIMER1_B_PIN 10
|
||||
#define TIMER1_ICP_PIN 8
|
||||
#define TIMER1_CLK_PIN 5
|
||||
#elif defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
|
||||
#define TIMER1_A_PIN 9
|
||||
#define TIMER1_B_PIN 10
|
||||
#define TIMER1_ICP_PIN 8
|
||||
#define TIMER1_CLK_PIN 5
|
||||
|
||||
// Sanguino
|
||||
//
|
||||
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
|
||||
#define TIMER1_A_PIN 13
|
||||
#define TIMER1_B_PIN 12
|
||||
#define TIMER1_ICP_PIN 14
|
||||
#define TIMER1_CLK_PIN 1
|
||||
#define TIMER1_A_PIN 13
|
||||
#define TIMER1_B_PIN 12
|
||||
#define TIMER1_ICP_PIN 14
|
||||
#define TIMER1_CLK_PIN 1
|
||||
|
||||
// Wildfire - Wicked Devices
|
||||
//
|
||||
#elif defined(__AVR_ATmega1284P__) && defined(WILDFIRE_VERSION) && WILDFIRE_VERSION >= 3
|
||||
#define TIMER1_A_PIN 5 // PD5
|
||||
#define TIMER1_B_PIN 8 // PD4
|
||||
#define TIMER1_ICP_PIN 6 // PD6
|
||||
#define TIMER1_CLK_PIN 23 // PB1
|
||||
#define TIMER3_A_PIN 12 // PB6
|
||||
#define TIMER3_B_PIN 13 // PB7
|
||||
#define TIMER3_ICP_PIN 9 // PB5
|
||||
#define TIMER3_CLK_PIN 0 // PD0
|
||||
#define TIMER1_A_PIN 5 // PD5
|
||||
#define TIMER1_B_PIN 8 // PD4
|
||||
#define TIMER1_ICP_PIN 6 // PD6
|
||||
#define TIMER1_CLK_PIN 23 // PB1
|
||||
#define TIMER3_A_PIN 12 // PB6
|
||||
#define TIMER3_B_PIN 13 // PB7
|
||||
#define TIMER3_ICP_PIN 9 // PB5
|
||||
#define TIMER3_CLK_PIN 0 // PD0
|
||||
#elif defined(__AVR_ATmega1284P__) && defined(WILDFIRE_VERSION) && WILDFIRE_VERSION < 3
|
||||
#define TIMER1_A_PIN 5 // PD5
|
||||
#define TIMER1_B_PIN 4 // PD4
|
||||
#define TIMER1_ICP_PIN 6 // PD6
|
||||
#define TIMER1_CLK_PIN 15 // PB1
|
||||
#define TIMER3_A_PIN 12 // PB6
|
||||
#define TIMER3_B_PIN 13 // PB7
|
||||
#define TIMER3_ICP_PIN 11 // PB5
|
||||
#define TIMER3_CLK_PIN 0 // PD0
|
||||
#define TIMER1_A_PIN 5 // PD5
|
||||
#define TIMER1_B_PIN 4 // PD4
|
||||
#define TIMER1_ICP_PIN 6 // PD6
|
||||
#define TIMER1_CLK_PIN 15 // PB1
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||||
#define TIMER3_A_PIN 12 // PB6
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||||
#define TIMER3_B_PIN 13 // PB7
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||||
#define TIMER3_ICP_PIN 11 // PB5
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||||
#define TIMER3_CLK_PIN 0 // PD0
|
||||
|
||||
// Mighty-1284 - Maniacbug
|
||||
//
|
||||
#elif defined(__AVR_ATmega1284P__)
|
||||
#define TIMER1_A_PIN 12 // PD5
|
||||
#define TIMER1_B_PIN 13 // PD4
|
||||
#define TIMER1_ICP_PIN 14 // PD6
|
||||
#define TIMER1_CLK_PIN 1 // PB1
|
||||
#define TIMER3_A_PIN 6 // PB6
|
||||
#define TIMER3_B_PIN 7 // PB7
|
||||
#define TIMER3_ICP_PIN 5 // PB5
|
||||
#define TIMER3_CLK_PIN 8 // PD0
|
||||
#define TIMER1_A_PIN 12 // PD5
|
||||
#define TIMER1_B_PIN 13 // PD4
|
||||
#define TIMER1_ICP_PIN 14 // PD6
|
||||
#define TIMER1_CLK_PIN 1 // PB1
|
||||
#define TIMER3_A_PIN 6 // PB6
|
||||
#define TIMER3_B_PIN 7 // PB7
|
||||
#define TIMER3_ICP_PIN 5 // PB5
|
||||
#define TIMER3_CLK_PIN 8 // PD0
|
||||
|
||||
#endif
|
||||
|
||||
|
|
Loading…
Reference in New Issue