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Merge pull request #66 from TimEvWw/master 

Many many things
pull/67/head
Tim Evers 2017-04-18 22:50:20 +02:00 committed by GitHub
parent 0303f1b2f8 4792813e65
commit 413f5c868f
22 changed files with 1082 additions and 178 deletions
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63
.gitattributes vendored 100644
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@ -0,0 +1,63 @@
###############################################################################
# Set default behavior to automatically normalize line endings.
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* text=auto
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#
# This is need for earlier builds of msysgit that does not have it on by
# default for csharp files.
# Note: This is only used by command line
###############################################################################
#*.cs diff=csharp
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# Set the merge driver for project and solution files
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# are conflicts (Merging from VS is not affected by the settings below, in VS
# the diff markers are never inserted). Diff markers may cause the following
# file extensions to fail to load in VS. An alternative would be to treat
# these files as binary and thus will always conflict and require user
# intervention with every merge. To do so, just uncomment the entries below
###############################################################################
#*.sln merge=binary
#*.csproj merge=binary
#*.vbproj merge=binary
#*.vcxproj merge=binary
#*.vcproj merge=binary
#*.dbproj merge=binary
#*.fsproj merge=binary
#*.lsproj merge=binary
#*.wixproj merge=binary
#*.modelproj merge=binary
#*.sqlproj merge=binary
#*.wwaproj merge=binary
###############################################################################
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#
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#*.gif binary
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3
.gitignore vendored
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@ -23,3 +23,6 @@
/spec.d
/arduino
/.build
/.vs
/src/Debug
/src/__vm

22
src.sln 100644
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@ -0,0 +1,22 @@

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 15
VisualStudioVersion = 15.0.26403.3
MinimumVisualStudioVersion = 10.0.40219.1
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "src", "src\src.vcxproj", "{C5F80730-F44F-4478-BDAE-6634EFC2CA88}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|x86 = Debug|x86
Release|x86 = Release|x86
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.ActiveCfg = Debug|Win32
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.Build.0 = Debug|Win32
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.ActiveCfg = Release|Win32
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.Build.0 = Release|Win32
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal

16
src/Command.cpp
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@ -11,17 +11,6 @@ const char timeCode = 'T';
const char modeCode = 'M';
const char msgQueueCode = 'Q';
double axisValue[3] = { 0.0, 0.0, 0.0 };
long axisSpeedValue[3] = { 0, 0, 0 };
double speedValue = 0.0;
long parameterId = 0;
long parameterValue = 0;
long parameterValue2 = 0;
long element = 0;
long time = 0;
long mode = 0;
long msgQueue = 0;
CommandCodeEnum commandCodeEnum = CODE_UNDEFINED;
Command::Command(char * commandChar) {
@ -30,7 +19,7 @@ Command::Command(char * commandChar) {
char* charPointer;
bool invalidCommand = false;
charPointer = strtok(charBuf, " ");
charPointer = strtok(charBuf, " \n\r");
if (charPointer[0] == 'G' || charPointer[0] == 'F') {
commandCodeEnum = getGCodeEnum(charPointer);
@ -122,6 +111,9 @@ CommandCodeEnum Command::getGCodeEnum(char* code) {
if (strcmp(code, "F83") == 0) {
return F83;
}
if (strcmp(code, "F84") == 0) {
return F84;
}
return CODE_UNDEFINED;
}

15
src/Command.h
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@ -31,7 +31,8 @@ enum CommandCodeEnum
F61 = 161,
F81 = 181,
F82 = 182,
F83 = 183
F83 = 183,
F84 = 184
};
//#define NULL 0
@ -62,6 +63,18 @@ public:
private:
CommandCodeEnum getGCodeEnum(char* code);
void getParameter(char* charPointer);
double axisValue[3] = { 0.0, 0.0, 0.0 };
long axisSpeedValue[3] = { 0, 0, 0 };
double speedValue = 0.0;
long parameterId = 0;
long parameterValue = 0;
long parameterValue2 = 0;
long element = 0;
long time = 0;
long mode = 0;
long msgQueue = 0;
};
#endif /* COMMAND_H_ */

46
src/Config.h
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@ -12,25 +12,25 @@ const int LOGGING = 0;
const int INCOMING_CMD_BUF_SIZE = 50;
//const unsigned long STEPS_FOR_ACC_DEC = 20;
//const unsigned int MAX_ACCELERATION_STEPS_PER_SECOND = 2;
//const unsigned int MOVEMENT_STEPS_ACC_DEC = 100;
//const unsigned int MOVEMENT_MAX_STEPS_PER_SECOND = 1000;
//const unsigned int MOVEMENT_HOME_SPEED_S_P_S = 200;
//const unsigned int MOVEMENT_TIMEOUT = 30;
//const unsigned int INVERT_ENDSTOPS = 1;
//const bool AXIS_HOME_UP_X = false;
//const bool AXIS_HOME_UP_Y = false;
//const bool AXIS_HOME_UP_Z = true;
/*
const String COMM_REPORT_CMD_IDLE = "R00";
const String COMM_REPORT_CMD_START = "R01";
const String COMM_REPORT_CMD_DONE = "R02";
const String COMM_REPORT_CMD_ERROR = "R03";
const String COMM_REPORT_CMD_BUSY = "R04";
const String COMM_REPORT_CMD_STATUS = "R05";
const String COMM_REPORT_CALIB_STATUS = "R06";
const String COMM_REPORT_COMMENT = "R99";
*/
const char COMM_REPORT_CMD_IDLE[4] = {'R','0','0','\0'};
const char COMM_REPORT_CMD_START[4] = {'R','0','1','\0'};
const char COMM_REPORT_CMD_DONE[4] = {'R','0','2','\0'};
const char COMM_REPORT_CMD_ERROR[4] = {'R','0','3','\0'};
const char COMM_REPORT_CMD_BUSY[4] = {'R','0','4','\0'};
const char COMM_REPORT_CMD_STATUS[4] = {'R','0','5','\0'};
const char COMM_REPORT_CALIB_STATUS[4] = {'R','0','6','\0'};
const char COMM_REPORT_NO_CONFIG[4] = {'R','8','8','\0'};
const char COMM_REPORT_COMMENT[4] = {'R','9','9','\0'};
const int COMM_REPORT_MOVE_STATUS_IDLE = 0;
const int COMM_REPORT_MOVE_STATUS_START_MOTOR = 1;
@ -47,7 +47,7 @@ const int COMM_REPORT_CALIBRATE_STATUS_TO_END = 2;
const int COMM_REPORT_CALIBRATE_STATUS_ERROR = -1;
const int MOVEMENT_INTERRUPT_SPEED = 100; // Interrupt cycle in micro seconds
const int MOVEMENT_INTERRUPT_SPEED = 200; // Interrupt cycle in micro seconds
const unsigned int MOVEMENT_SPEED_BASE_TIME = 2000;
const unsigned int MOVEMENT_DELAY = 250;
@ -55,6 +55,9 @@ const unsigned int MOVEMENT_DELAY = 250;
const long PARAM_VERSION_DEFAULT = 1;
const long PARAM_TEST_DEFAULT = 0;
const long PARAM_CONFIG_OK_DEFAULT = 0;
const long PARAM_USE_EEPROM_DEFAULT = 1;
const long MOVEMENT_TIMEOUT_X_DEFAULT = 120;
const long MOVEMENT_TIMEOUT_Y_DEFAULT = 120;
const long MOVEMENT_TIMEOUT_Z_DEFAULT = 120;
@ -98,6 +101,18 @@ const long ENCODER_ENABLED_X_DEFAULT = 0;
const long ENCODER_ENABLED_Y_DEFAULT = 0;
const long ENCODER_ENABLED_Z_DEFAULT = 0;
// Type of enocder.
// 0 = non-differential encoder, channel A,B
// 1 = differenttial encoder, channel A, A*, B, B*
const long ENCODER_TYPE_X_DEFAULT = 0;
const long ENCODER_TYPE_Y_DEFAULT = 0;
const long ENCODER_TYPE_Z_DEFAULT = 0;
// Position = encoder position * scaling / 100
const long ENCODER_SCALING_X_DEFAULT = 100;
const long ENCODER_SCALING_Y_DEFAULT = 100;
const long ENCODER_SCALING_Z_DEFAULT = 100;
// Number of stes missed before motor is seen as not moving
const long ENCODER_MISSED_STEPS_MAX_X_DEFAULT = 10;
const long ENCODER_MISSED_STEPS_MAX_Y_DEFAULT = 10;
@ -132,7 +147,6 @@ const long PIN_GUARD_5_ACTIVE_STATE_DEFAULT = 1;
const long STATUS_GENERAL_DEFAULT = 0;
const String SOFTWARE_VERSION = "GENESIS V.01.07.EXPERIMENTAL";
const char SOFTWARE_VERSION[] = "GENESIS.V.01.08.EXPERIMENTAL\0";
#endif /* CONFIG_H_ */

49
src/F84Handler.cpp 100644
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@ -0,0 +1,49 @@
/*
* F84Handler.cpp
*
* Created on: 2017/04/13
* Author: Rick Carlino
*/
#include "F84Handler.h"
static F84Handler *instance;
const double DO_RESET = 1;
F84Handler *F84Handler::getInstance()
{
if (!instance)
{
instance = new F84Handler();
};
return instance;
};
F84Handler::F84Handler()
{
}
int F84Handler::execute(Command *command)
{
if (command->getX() == DO_RESET)
{
Serial.print("R99 Will zero X");
StepperControl::getInstance()->setPositionX(0);
}
if (command->getY() == DO_RESET)
{
Serial.print("R99 Will zero Y");
StepperControl::getInstance()->setPositionY(0);
}
if (command->getZ() == DO_RESET)
{
Serial.print("R99 Will zero Z");
StepperControl::getInstance()->setPositionZ(0);
}
CurrentState::getInstance()->printQAndNewLine();
return 0;
}

31
src/F84Handler.h 100644
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@ -0,0 +1,31 @@
/*
* F84Handler.h
*
* Created on: 2017/4/13
* Author: Rick Carlino
*/
#ifndef F84HANDLER_H_
#define F84HANDLER_H_
#include "GCodeHandler.h"
#include "Config.h"
#include "CurrentState.h"
#include "pins.h"
#include "Config.h"
#include "StepperControl.h"
class F84Handler : public GCodeHandler
{
public:
static F84Handler *getInstance();
int execute(Command *);
private:
F84Handler();
F84Handler(F84Handler const &);
void operator=(F84Handler const &);
long adjustStepAmount(long);
long getNumberOfSteps(double, double);
};
#endif /* F84HANDLER_H_ */

93
src/GCodeProcessor.cpp
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@ -25,10 +25,34 @@ 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
// Tim 2017-04-15 Disable until the raspberry code is ready
/*
if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1) {
if ( command->getCodeEnum() == G00 ||
command->getCodeEnum() == G01 ||
command->getCodeEnum() == F11 ||
command->getCodeEnum() == F12 ||
command->getCodeEnum() == F13 ||
command->getCodeEnum() == F14 ||
command->getCodeEnum() == F15 ||
command->getCodeEnum() == F16 ) {
Serial.print(COMM_REPORT_NO_CONFIG);
CurrentState::getInstance()->printQAndNewLine();
return -1;
}
}
*/
// Return error when no command or invalid command is found
if(command == NULL) {
if(LOGGING) {
printCommandLog(command);
@ -43,6 +67,8 @@ int GCodeProcessor::execute(Command* command) {
return -1;
}
// Get the right handler for this command
GCodeHandler* handler = getGCodeHandler(command->getCodeEnum());
if(handler == NULL) {
@ -50,6 +76,8 @@ int GCodeProcessor::execute(Command* command) {
return -1;
}
// Execute te command, report start and end
Serial.print(COMM_REPORT_CMD_START);
CurrentState::getInstance()->printQAndNewLine();
@ -70,6 +98,10 @@ GCodeHandler* GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) {
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 == G28) {handler = G28Handler::getInstance();}
@ -94,67 +126,12 @@ GCodeHandler* GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) {
if (codeEnum == F43) {handler = F43Handler::getInstance();}
if (codeEnum == F44) {handler = F44Handler::getInstance();}
// if (codeEnum == F61) {handler = F61Handler::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();}
/*
switch(codeEnum) {
case G00:
return G00Handler::getInstance();
case G28:
return G28Handler::getInstance();
case F11:
return F11Handler::getInstance();
case F12:
return F12Handler::getInstance();
case F13:
return F13Handler::getInstance();
case F14:
return F14Handler::getInstance();
case F15:
return F15Handler::getInstance();
case F16:
return F16Handler::getInstance();
case F20:
return F20Handler::getInstance();
case F21:
return F21Handler::getInstance();
case F22:
return F22Handler::getInstance();
case F31:
return F31Handler::getInstance();
case F32:
return F32Handler::getInstance();
case F41:
return F41Handler::getInstance();
case F42:
return F42Handler::getInstance();
case F43:
return F43Handler::getInstance();
case F44:
return F44Handler::getInstance();
case F61:
return F61Handler::getInstance();
case F81:
return F81Handler::getInstance();
case F82:
return F82Handler::getInstance();
case F83:
return F83Handler::getInstance();
}
*/
if (codeEnum == F84) {handler = F84Handler::getInstance();}
return handler;

3
src/GCodeProcessor.h
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@ -35,11 +35,12 @@
#include "F43Handler.h"
#include "F44Handler.h"
//#include "F61Handler.h"
#include "F61Handler.h"
#include "F81Handler.h"
#include "F82Handler.h"
#include "F83Handler.h"
#include "F84Handler.h"
class GCodeProcessor {
public:

52
src/MemoryFree.cpp 100644
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@ -0,0 +1,52 @@
#if (ARDUINO >= 100)
#include <Arduino.h>
#else
#include <WProgram.h>
#endif
extern unsigned int __heap_start;
extern void *__brkval;
/*
* The free list structure as maintained by the
* avr-libc memory allocation routines.
*/
struct __freelist
{
size_t sz;
struct __freelist *nx;
};
/* The head of the free list structure */
extern struct __freelist *__flp;
#include "MemoryFree.h"
/* Calculates the size of the free list */
int freeListSize()
{
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;
}
return total;
}
int freeMemory()
{
int free_memory;
if ((int)__brkval == 0)
{
free_memory = ((int)&free_memory) - ((int)&__heap_start);
}
else
{
free_memory = ((int)&free_memory) - ((int)__brkval);
free_memory += freeListSize();
}
return free_memory;
}

18
src/MemoryFree.h 100644
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@ -0,0 +1,18 @@
// MemoryFree library based on code posted here:
// http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1213583720/15
// Extended by Matthew Murdoch to include walking of the free list.
#ifndef MEMORY_FREE_H
#define MEMORY_FREE_H
#ifdef __cplusplus
extern "C" {
#endif
int freeMemory();
#ifdef __cplusplus
}
#endif
#endif

40
src/ParameterList.cpp
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@ -14,12 +14,20 @@ ParameterList * ParameterList::getInstance() {
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
int paramChangeNr = 0;
int paramVersion = readValueEeprom(0);
if (paramVersion <= 0) {
setAllValuesToDefault();
writeAllValuesToEeprom();
} else {
readAllValuesFromEeprom();
//if (readValueEeprom(PARAM_USE_EEPROM) == 1) {
readAllValuesFromEeprom();
//} else {
// setAllValuesToDefault();
//}
}
}
@ -52,6 +60,12 @@ int ParameterList::readValue(int id) {
int ParameterList::writeValue(int id, int value) {
if (paramChangeNr < 9999) {
paramChangeNr++;
} else {
paramChangeNr = 0;
}
// Check if the value is a valid parameter
if (validParam(id)) {
// Store the value in memory
@ -108,6 +122,11 @@ int ParameterList::getValue(int id) {
return paramValues[id];
}
int ParameterList::paramChangeNumber() {
return paramChangeNr;
}
// ===== eeprom handling ====
int ParameterList::readValueEeprom(int id) {
@ -183,6 +202,8 @@ void ParameterList::loadDefaultValue(int 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 MOVEMENT_TIMEOUT_X : paramValues[id] = MOVEMENT_TIMEOUT_X_DEFAULT; break;
case MOVEMENT_TIMEOUT_Y : paramValues[id] = MOVEMENT_TIMEOUT_Y_DEFAULT; break;
@ -223,15 +244,22 @@ void ParameterList::loadDefaultValue(int id) {
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_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_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;
@ -262,6 +290,8 @@ bool ParameterList::validParam(int id) {
switch(id)
{
case PARAM_VERSION:
case PARAM_CONFIG_OK:
case PARAM_USE_EEPROM:
case MOVEMENT_TIMEOUT_X:
case MOVEMENT_TIMEOUT_Y:
case MOVEMENT_TIMEOUT_Z:
@ -291,9 +321,15 @@ bool ParameterList::validParam(int id) {
case ENCODER_ENABLED_X:
case ENCODER_ENABLED_Y:
case ENCODER_ENABLED_Z:
case ENCODER_TYPE_X:
case ENCODER_TYPE_Y:
case ENCODER_TYPE_Z:
case ENCODER_MISSED_STEPS_MAX_X:
case ENCODER_MISSED_STEPS_MAX_Y:
case ENCODER_MISSED_STEPS_MAX_Z:
case ENCODER_SCALING_X:
case ENCODER_SCALING_Y:
case ENCODER_SCALING_Z:
case ENCODER_MISSED_STEPS_DECAY_X:
case ENCODER_MISSED_STEPS_DECAY_Y:
case ENCODER_MISSED_STEPS_DECAY_Z:

17
src/ParameterList.h
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@ -7,13 +7,15 @@
#include "CurrentState.h"
//#define NULL 0
const int PARAM_NR_OF_PARAMS = 300;
const int PARAM_NR_OF_PARAMS = 225;
enum ParamListEnum
{
PARAM_VERSION = 0,
PARAM_TEST = 1,
PARAM_CONFIG_OK = 2,
PARAM_USE_EEPROM = 3,
// stepper motor settings
@ -57,10 +59,18 @@ enum ParamListEnum
ENCODER_ENABLED_Y = 102,
ENCODER_ENABLED_Z = 103,
ENCODER_TYPE_X = 105,
ENCODER_TYPE_Y = 106,
ENCODER_TYPE_Z = 107,
ENCODER_MISSED_STEPS_MAX_X = 111,
ENCODER_MISSED_STEPS_MAX_Y = 112,
ENCODER_MISSED_STEPS_MAX_Z = 113,
ENCODER_SCALING_X = 115,
ENCODER_SCALING_Y = 116,
ENCODER_SCALING_Z = 117,
ENCODER_MISSED_STEPS_DECAY_X = 121,
ENCODER_MISSED_STEPS_DECAY_Y = 122,
ENCODER_MISSED_STEPS_DECAY_Z = 123,
@ -119,10 +129,15 @@ public:
void sendConfigToModules();
int paramChangeNumber();
private:
ParameterList();
ParameterList(ParameterList const&);
void operator=(ParameterList const&);
int paramChangeNr;
};

187
src/StepperControl.cpp
View File

@ -65,10 +65,6 @@ StepperControl::StepperControl() {
// Initialize some variables for testing
//motorConsMissedStepsMax[0] = 50;
//motorConsMissedStepsMax[1] = 50;
//motorConsMissedStepsMax[2] = 50;
motorMotorsEnabled = false;
motorConsMissedSteps[0] = 0;
@ -85,6 +81,24 @@ StepperControl::StepperControl() {
axisY.label = 'Y';
axisZ.label = 'Z';
// Create the encoder controller
encoderX = StepperControlEncoder();
encoderY = StepperControlEncoder();
encoderZ = StepperControlEncoder();
// Load settings
loadSettings();
motorMotorsEnabled = false;
}
void StepperControl::loadSettings() {
// Load motor settings
axisX.loadPinNumbers(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, E_STEP_PIN, E_DIR_PIN, E_ENABLE_PIN);
axisY.loadPinNumbers(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, 0, 0, 0);
axisZ.loadPinNumbers(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, 0, 0, 0);
@ -94,21 +108,44 @@ StepperControl::StepperControl() {
axisSubStep[2] = COMM_REPORT_MOVE_STATUS_IDLE;
loadMotorSettings();
// Load encoder settings
loadEncoderSettings();
// Create the encoder controller
encoderX = StepperControlEncoder();
encoderY = StepperControlEncoder();
encoderZ = StepperControlEncoder();
encoderX.loadPinNumbers(X_ENCDR_A, X_ENCDR_B, X_ENCDR_A_Q, X_ENCDR_B_Q);
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.loadPinNumbers(X_ENCDR_A, X_ENCDR_B);
encoderY.loadPinNumbers(Y_ENCDR_A, Y_ENCDR_B);
encoderZ.loadPinNumbers(Z_ENCDR_A, Z_ENCDR_B);
encoderX.loadSettings( motorConsEncoderType[0], motorConsEncoderScaling[0]);
encoderY.loadSettings( motorConsEncoderType[1], motorConsEncoderScaling[1]);
encoderZ.loadSettings( motorConsEncoderType[2], motorConsEncoderScaling[2]);
motorMotorsEnabled = false;
}
void StepperControl::test() {
Serial.print("R99");
Serial.print(" mot x = ");
Serial.print(axisX.currentPosition());
Serial.print(" enc x = ");
Serial.print(encoderX.currentPosition());
Serial.print("\r\n");
Serial.print("R99");
Serial.print(" mot y = ");
Serial.print(axisY.currentPosition());
Serial.print(" enc y = ");
Serial.print(encoderY.currentPosition());
Serial.print("\r\n");
Serial.print("R99");
Serial.print(" mot z = ");
Serial.print(axisZ.currentPosition());
Serial.print(" enc z = ");
Serial.print(encoderZ.currentPosition());
Serial.print("\r\n");
// read changes in encoder
//encoderX.readEncoder();
//encoderY.readEncoder();
@ -253,9 +290,9 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
//encoderY.currentPosition();
//encoderZ.currentPosition();
//axisX.checkTiming();
//axisY.checkTiming();
//axisZ.checkTiming();
//axisX.checkTiming();
//axisY.checkTiming();
//axisZ.checkTiming();
//checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
//checkAxisVsEncoder(&axisY, &encoderY, &motorConsMissedSteps[1], &motorLastPosition[1], &motorConsMissedStepsDecay[1], &motorConsEncoderEnabled[1]);
@ -353,12 +390,15 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
// Check if there is an emergency stop command
if (Serial.available() > 0) {
Serial.print("R99 emergency stop\r\n");
incomingByte = Serial.read();
incomingByte = Serial.read();
if (incomingByte == 69 || incomingByte == 101) {
Serial.print("R99 emergency stop\r\n");
axisX.deactivateAxis();
axisY.deactivateAxis();
axisZ.deactivateAxis();
error = 1;
}
}
}
if (error == 1) {
Serial.print("R99 error\r\n");
@ -434,7 +474,7 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
CurrentState::getInstance()->setY(currentPoint[1]);
CurrentState::getInstance()->setZ(currentPoint[2]);
storeEndStops();
storeEndStops();
reportEndStops();
reportPosition();
@ -480,8 +520,8 @@ int StepperControl::calibrateAxis(int axis) {
int parEndInv;
int parNbrStp;
float * missedSteps;
int * missedStepsMax;
float * missedSteps;
int * missedStepsMax;
long * lastPosition;
float * encoderStepDecay;
bool * encoderEnabled;
@ -730,23 +770,6 @@ int StepperControl::calibrateAxis(int axis) {
//Serial.print("\r\n");
CurrentState::getInstance()->printQAndNewLine();
}
/*
if (stepsCount % (speedMin[axis] / 6) == 0)
{
Serial.print("R99");
Serial.print(" step count ");
Serial.print(stepsCount);
Serial.print(" missed steps ");
Serial.print(*missedSteps);
Serial.print(" max steps ");
Serial.print(*missedStepsMax);
Serial.print(" cur pos mtr ");
Serial.print(calibAxis->currentPosition());
Serial.print(" cur pos enc ");
Serial.print(calibEncoder->currentPosition());
Serial.print("\r\n");
}
*/
calibAxis->resetMotorStep();
delayMicroseconds(100000 / speedMin[axis] /2);
@ -785,16 +808,16 @@ int StepperControl::calibrateAxis(int axis) {
Serial.print("\r\n");
}
*axisStatus = COMM_REPORT_MOVE_STATUS_STOP_MOTOR;
reportStatus(&axisX, axisSubStep[0]);
*axisStatus = COMM_REPORT_MOVE_STATUS_STOP_MOTOR;
reportStatus(&axisX, axisSubStep[0]);
calibAxis->disableMotor();
storeEndStops();
storeEndStops();
reportEndStops();
switch (axis) {
switch (axis) {
case 0:
CurrentState::getInstance()->setX(stepsCount);
break;
@ -809,8 +832,8 @@ int StepperControl::calibrateAxis(int axis) {
reportPosition();
*axisStatus = COMM_REPORT_MOVE_STATUS_IDLE;
reportStatus(&axisX, axisSubStep[0]);
*axisStatus = COMM_REPORT_MOVE_STATUS_IDLE;
reportStatus(&axisX, axisSubStep[0]);
reportCalib(&axisX, COMM_REPORT_CALIBRATE_STATUS_IDLE);
@ -825,9 +848,9 @@ void StepperControl::handleMovementInterrupt(void){
encoderY.readEncoder();
encoderZ.readEncoder();
axisX.checkTiming();
axisY.checkTiming();
axisZ.checkTiming();
axisX.checkTiming();
axisY.checkTiming();
axisZ.checkTiming();
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
checkAxisVsEncoder(&axisY, &encoderY, &motorConsMissedSteps[1], &motorLastPosition[1], &motorConsMissedStepsDecay[1], &motorConsEncoderEnabled[1]);
@ -912,19 +935,19 @@ void StepperControl::loadMotorSettings() {
speedMax[1] = ParameterList::getInstance()->getValue(MOVEMENT_MAX_SPD_Y);
speedMax[2] = ParameterList::getInstance()->getValue(MOVEMENT_MAX_SPD_Z);
speedMin[0] = ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_X);
speedMin[0] = ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_X);
speedMin[1] = ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_Y);
speedMin[2] = ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_Z);
stepsAcc[0] = ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_X);
stepsAcc[0] = ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_X);
stepsAcc[1] = ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_Y);
stepsAcc[2] = ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_Z);
motorInv[0] = ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_X);
motorInv[0] = ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_X);
motorInv[1] = ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_Y);
motorInv[2] = ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_Z);
endStInv[0] = ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_X);
endStInv[0] = ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_X);
endStInv[1] = ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Y);
endStInv[2] = ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Z);
@ -961,22 +984,30 @@ void StepperControl::loadEncoderSettings() {
// Load encoder settings
motorConsMissedStepsMax[0] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_X);
motorConsMissedStepsMax[1] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Y);
motorConsMissedStepsMax[2] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Z);
motorConsMissedStepsMax[0] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_X);
motorConsMissedStepsMax[1] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Y);
motorConsMissedStepsMax[2] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Z);
motorConsMissedStepsDecay[0] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_X);
motorConsMissedStepsDecay[1] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Y);
motorConsMissedStepsDecay[2] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Z);
motorConsMissedStepsDecay[0] = motorConsMissedStepsDecay[0] / 100;
motorConsMissedStepsDecay[1] = motorConsMissedStepsDecay[1] / 100;
motorConsMissedStepsDecay[2] = motorConsMissedStepsDecay[2] / 100;
motorConsMissedStepsDecay[0] = motorConsMissedStepsDecay[0] / 100;
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);
motorConsEncoderType[0] = ParameterList::getInstance()->getValue(ENCODER_TYPE_X);
motorConsEncoderType[1] = ParameterList::getInstance()->getValue(ENCODER_TYPE_Y);
motorConsEncoderType[2] = ParameterList::getInstance()->getValue(ENCODER_TYPE_Z);
motorConsEncoderScaling[0] = ParameterList::getInstance()->getValue(ENCODER_SCALING_X);
motorConsEncoderScaling[1] = ParameterList::getInstance()->getValue(ENCODER_SCALING_Y);
motorConsEncoderScaling[2] = ParameterList::getInstance()->getValue(ENCODER_SCALING_Z);
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_X) == 1) {
motorConsEncoderEnabled[0] = true;
} else {
@ -994,6 +1025,7 @@ void StepperControl::loadEncoderSettings() {
} else {
motorConsEncoderEnabled[2] = false;
}
}
unsigned long StepperControl::getMaxLength(unsigned long lengths[3]) {
@ -1009,7 +1041,7 @@ unsigned long StepperControl::getMaxLength(unsigned long lengths[3]) {
void StepperControl::enableMotors() {
motorMotorsEnabled = true;
axisX.enableMotor();
axisX.enableMotor();
axisY.enableMotor();
axisZ.enableMotor();
delay(100);
@ -1018,7 +1050,7 @@ void StepperControl::enableMotors() {
void StepperControl::disableMotors() {
motorMotorsEnabled = false;
axisX.disableMotor();
axisX.disableMotor();
axisY.disableMotor();
//axisZ.disableMotor();
delay(100);
@ -1039,6 +1071,28 @@ bool StepperControl::endStopsReached() {
}
void StepperControl::storePosition(){
if (motorConsEncoderEnabled[0]) {
CurrentState::getInstance()->setX(encoderX.currentPosition());
} else {
CurrentState::getInstance()->setX(axisX.currentPosition());
}
if (motorConsEncoderEnabled[1]) {
CurrentState::getInstance()->setY(encoderY.currentPosition());
} else {
CurrentState::getInstance()->setY(axisY.currentPosition());
}
if (motorConsEncoderEnabled[2]) {
CurrentState::getInstance()->setZ(encoderZ.currentPosition());
} else {
CurrentState::getInstance()->setZ(axisZ.currentPosition());
}
}
void StepperControl::reportEndStops() {
CurrentState::getInstance()->printEndStops();
}
@ -1050,3 +1104,18 @@ void StepperControl::reportPosition(){
void StepperControl::storeEndStops() {
CurrentState::getInstance()->storeEndStops();
}
void StepperControl::setPositionX(long pos) {
axisX.setCurrentPosition(pos);
encoderX.setPosition(pos);
}
void StepperControl::setPositionY(long pos) {
axisY.setCurrentPosition(pos);
encoderY.setPosition(pos);
}
void StepperControl::setPositionZ(long pos) {
axisZ.setCurrentPosition(pos);
encoderZ.setPosition(pos);
}

9
src/StepperControl.h
View File

@ -41,6 +41,13 @@ public:
void disableMotors();
bool motorsEnabled();
void storePosition();
void loadSettings();
void setPositionX(long pos);
void setPositionY(long pos);
void setPositionZ(long pos);
void test();
void test2();
@ -89,6 +96,8 @@ private:
int motorConsMissedStepsMax[3];
float motorConsMissedStepsDecay[3];
bool motorConsEncoderEnabled[3];
int motorConsEncoderType[3];
int motorConsEncoderScaling[3];
bool motorMotorsEnabled;
};

82
src/StepperControlEncoder.cpp
View File

@ -3,13 +3,26 @@
StepperControlEncoder::StepperControlEncoder() {
//lastCalcLog = 0;
pinChannelA = 0;
pinChannelB = 0;
pinChannelA = 0;
pinChannelB = 0;
position = 0;
position = 0;
encoderType = 0; // default type
scalingFactor = 100;
curValChannelA = false;
curValChannelA = false;
prvValChannelA = false;
prvValChannelA = false;
readChannelA = false;
readChannelAQ = false;
readChannelB = false;
readChannelBQ = false;
}
void StepperControlEncoder::test() {
/*
Serial.print("R88 ");
Serial.print("position ");
Serial.print(position);
@ -22,22 +35,37 @@ void StepperControlEncoder::test() {
Serial.print(" -> ");
Serial.print(curValChannelB);
Serial.print("\r\n");
*/
}
void StepperControlEncoder::loadPinNumbers(int channelA, int channelB) {
pinChannelA = channelA;
pinChannelB = channelB;
void StepperControlEncoder::loadPinNumbers(int channelA, int channelB, int channelAQ, int channelBQ) {
pinChannelA = channelA;
pinChannelB = channelB;
pinChannelAQ = channelAQ;
pinChannelBQ = channelBQ;
readChannels();
shiftChannels();
}
void StepperControlEncoder::loadSettings(int encType, int scaling) {
encoderType = encType;
scalingFactor = scaling;
}
void StepperControlEncoder::setPosition(long newPosition) {
position = newPosition;
}
long StepperControlEncoder::currentPosition() {
return position;
// Apply scaling to the output of the encoder, except when scaling is zero or lower
if (scalingFactor == 100 || scalingFactor <= 0) {
return position;
} else {
return position * scalingFactor / 100;
}
}
/* Check the encoder channels for movement accoridng to thisspecification
@ -78,18 +106,46 @@ void StepperControlEncoder::readEncoder() {
position += delta;
//if (delta != 0) {
// test();
//}
}
void StepperControlEncoder::readChannels() {
curValChannelA = digitalRead(pinChannelA);
curValChannelB = digitalRead(pinChannelB);
// read the new values from the coder
readChannelA = digitalRead(pinChannelA);
readChannelAQ = digitalRead(pinChannelAQ);
readChannelB = digitalRead(pinChannelB);
readChannelBQ = digitalRead(pinChannelBQ);
if (encoderType == 1) {
// differential encoder
if ((readChannelA ^ readChannelAQ) && (readChannelB ^ readChannelBQ)) {
curValChannelA = readChannelA;
curValChannelB = readChannelB;
}
}
else {
// encoderType <= 0
// non-differential incremental encoder
curValChannelA = readChannelA;
curValChannelB = readChannelB;
}
//curValChannelA = readChannelA;
//curValChannelB = readChannelB;
// curValChannelA = digitalRead(pinChannelA);
// curValChannelB = digitalRead(pinChannelB);
}
void StepperControlEncoder::shiftChannels() {
// Save the current enoder status to later on compare with new values
prvValChannelA = curValChannelA;
prvValChannelB = curValChannelB;
}

12
src/StepperControlEncoder.h
View File

@ -22,7 +22,8 @@ public:
StepperControlEncoder();
void loadPinNumbers(int channelA, int channelB);
void loadPinNumbers(int channelA, int channelB, int channelAQ, int channelBQ);
void loadSettings(int encType, int scaling);
void setPosition(long newPosition);
long currentPosition();
@ -36,7 +37,9 @@ private:
// pin settings
int pinChannelA;
int pinChannelAQ;
int pinChannelB;
int pinChannelBQ;
// channels
bool prvValChannelA;
@ -44,8 +47,15 @@ private:
bool curValChannelA;
bool curValChannelB;
bool readChannelA;
bool readChannelAQ;
bool readChannelB;
bool readChannelBQ;
// encoder
long position;
int scalingFactor;
int encoderType;
};

60
src/farmbot_arduino_controller.cpp
View File

@ -3,15 +3,20 @@
#include "pins.h"
#include "Config.h"
#include "StepperControl.h"
//#include "ServoControl.h"
#include "ServoControl.h"
#include "PinGuard.h"
#include "TimerOne.h"
#include "MemoryFree.h"
static char commandEndChar = 0x0A;
static GCodeProcessor* gCodeProcessor = new GCodeProcessor();
unsigned long lastAction;
unsigned long currentTime;
unsigned long cycleCounter = 0;
int lastParamChangeNr = 0;
String commandString = "";
char incomingChar = 0;
@ -94,10 +99,6 @@ void setup() {
delay(100);
//ParameterList::getInstance()->setAllValuesToDefault();
//ParameterList::getInstance()->writeAllValuesToEeprom();
//ParameterList::getInstance()->readAllValuesFromEeprom();
// Start the motor handling
//ServoControl::getInstance()->attach();
@ -107,9 +108,10 @@ void setup() {
// Get the settings for the pin guard
PinGuard::getInstance()->loadConfig();
// Start the interrupt used for moviing
// Start the interrupt used for moving
// Interrupt management code library written by Paul Stoffregen
// The default time 100 micro seconds
Timer1.attachInterrupt(interrupt);
Timer1.initialize(MOVEMENT_INTERRUPT_SPEED);
Timer1.start();
@ -145,16 +147,12 @@ void loop() {
//char commandChar[currentCommand.length()];
//currentCommand.toCharArray(commandChar, currentCommand.length());
char commandChar[incomingCommandPointer + 1];
char commandChar[incomingCommandPointer + 1];
for (int i = 0; i < incomingCommandPointer -1; i++) {
commandChar[i] = incomingCommandArray[i];
}
commandChar[incomingCommandPointer] = 0;
commandString.toCharArray(commandChar, commandString.length());
String currentCommand = String(commandString);
if (incomingCommandPointer > 1) {
@ -181,6 +179,22 @@ void loop() {
//StepperControl::getInstance()->test();
// Check if parameters are changes, and if so load the new settings
if (lastParamChangeNr != ParameterList::getInstance()->paramChangeNumber()) {
lastParamChangeNr = ParameterList::getInstance()->paramChangeNumber();
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" loading parameters ");
CurrentState::getInstance()->printQAndNewLine();
StepperControl::getInstance()->loadSettings();
PinGuard::getInstance()->loadConfig();
}
// Do periodic checks and feedback
currentTime = millis();
if (currentTime < lastAction) {
@ -191,18 +205,38 @@ void loop() {
if ((currentTime - lastAction) > 5000) {
// After an idle time, send the idle message
Serial.print("R00");
Serial.print(COMM_REPORT_CMD_IDLE);
CurrentState::getInstance()->printQAndNewLine();
StepperControl::getInstance()->storePosition();
CurrentState::getInstance()->printPosition();
CurrentState::getInstance()->storeEndStops();
CurrentState::getInstance()->printEndStops();
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" MEM ");
Serial.print(freeMemory());
CurrentState::getInstance()->printQAndNewLine();
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" Cycle ");
Serial.print(cycleCounter);
CurrentState::getInstance()->printQAndNewLine();
StepperControl::getInstance()->test();
//ParameterList::getInstance()->readAllValues();
StepperControl::getInstance()->test();
//StepperControl::getInstance()->test();
// if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1) {
// Serial.print(COMM_REPORT_NO_CONFIG);
// }
cycleCounter++;
lastAction = millis();
}
}

2
src/src.ino
View File

@ -1 +1 @@
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176
src/src.vcxproj 100644
View File

@ -0,0 +1,176 @@
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