Merge branch 'master' of https://github.com/TimEvWw/farmbot-arduino-controller

src/CurrentState.cpp

@@ -86,7 +86,7 @@ void CurrentState::setEndStopState(unsigned int axis, unsigned int position, boo
   endStopState[axis][position] = state;
 }
 
-void CurrentState::setStepsPerMm(int stepsX, int stepsY, int stepsZ)
+void CurrentState::setStepsPerMm(long stepsX, long stepsY, long stepsZ)
 {
   stepsPerMmX = stepsX;
   stepsPerMmY = stepsY;

src/CurrentState.h

@@ -43,16 +43,16 @@ public:
   void resetEmergencyStop();
   bool isEmergencyStop();
 
-  void setStepsPerMm(int stepsX, int stepsY, int stepsZ);
+  void setStepsPerMm(long stepsX, long stepsY, long stepsZ);
 
 private:
   CurrentState();
   CurrentState(CurrentState const &);
   void operator=(CurrentState const &);
 
-  int stepsPerMmX;
-  int stepsPerMmY;
-  int stepsPerMmZ;
+  long stepsPerMmX;
+  long stepsPerMmY;
+  long stepsPerMmZ;
 
   bool emergencyStop = false;
 };

src/ParameterList.cpp

@@ -148,35 +148,60 @@ int ParameterList::paramChangeNumber()
 
 // ===== eeprom handling ====
 
-int ParameterList::readValueEeprom(int id)
+long ParameterList::readValueEeprom(int id)
 {
 
   // Assume all values are ints and calculate address for that
   int address = id * 2;
 
   //Read the 2 bytes from the eeprom memory.
-  long two = EEPROM.read(address);
-  long one = EEPROM.read(address + 1);
+  long one   = EEPROM.read(address + 0);
+  long two   = EEPROM.read(address + 1);
+
+  long three = 0;
+  long four  = 0;
+
+  if (id == 141 || id == 142 || id == 143)
+  {
+    three = EEPROM.read(address + 20);
+    four = EEPROM.read(address + 21);
+  }
+
+  // just in case there are non uninitialized EEPROM bytes
+  // put them both to zero
+  if (three == -1 && four == -1)
+  {
+    three = 0;
+    four = 0;
+  }
 
   //Return the recomposed long by using bitshift.
-  return ((two << 0) & 0xFF) + ((one << 8) & 0xFFFF);
+  return ((one << 0) & 0xFF) + ((two << 8) & 0xFF00) + ((three << 16) & 0xFF0000); +((four << 24) & 0xFF000000);
 }
 
-int ParameterList::writeValueEeprom(int id, int value)
+int ParameterList::writeValueEeprom(int id, long value)
 {
 
   // Assume all values are ints and calculate address for that
   int address = id * 2;
 
   //Decomposition from a int to 2 bytes by using bitshift.
-  //One = Most significant -> Two = Least significant byte
-  byte two = (value & 0xFF);
-  byte one = ((value >> 8) & 0xFF);
+  //One = Least significant -> Four = Most significant byte
+  byte one= (value & 0xFF);
+  byte two = ((value >> 8) & 0xFF);
+  byte three = ((value >> 16) & 0xFF);
+  byte four = ((value >> 24) & 0xFF);
 
   //Write the 4 bytes into the eeprom memory.
-  EEPROM.write(address, two);
-  EEPROM.write(address + 1, one);
+  EEPROM.write(address + 0, one);
+  EEPROM.write(address + 1, two);
 
+  // Only this parameter needs a long value
+  if (id == 141 || id == 142 || id == 143)
+  {
+    EEPROM.write(address + 20, one);
+    EEPROM.write(address + 21, two);
+  }
   return 0;
 }
 

src/ParameterList.h

@@ -105,11 +105,15 @@ enum ParamListEnum
   ENCODER_INVERT_Y = 132,
   ENCODER_INVERT_Z = 133,
 
-  // sizes of axis
+  // sizes of axis, lower byte and higher byte
   MOVEMENT_AXIS_NR_STEPS_X = 141,
   MOVEMENT_AXIS_NR_STEPS_Y = 142,
   MOVEMENT_AXIS_NR_STEPS_Z = 143,
 
+  MOVEMENT_AXIS_NR_STEPS_H_X = 151,/**/
+  MOVEMENT_AXIS_NR_STEPS_H_Y = 152,
+  MOVEMENT_AXIS_NR_STEPS_H_Z = 153,
+
   // stop at end of axis
   MOVEMENT_STOP_AT_MAX_X = 145,
   MOVEMENT_STOP_AT_MAX_Y = 146,
@@ -160,8 +164,8 @@ public:
   int writeAllValuesToEeprom();
   int setAllValuesToDefault();
 
-  int readValueEeprom(int id);
-  int writeValueEeprom(int id, int value);
+  long readValueEeprom(int id);
+  int writeValueEeprom(int id, long value);
 
   void sendConfigToModules();
 

src/farmbot_arduino_controller.cpp

@@ -18,6 +18,9 @@ unsigned long currentTime;
 unsigned long cycleCounter = 0;
 bool previousEmergencyStop = false;
 
+unsigned long pinGuardLastCheck;
+unsigned long pinGuardCurrentTime;
+
 int lastParamChangeNr = 0;
 
 String commandString = "";
@@ -50,11 +53,11 @@ void interrupt(void)
 {
   if (!debugInterrupt)
   {
-    interruptSecondTimer++;
+    //interruptSecondTimer++;
 
     if (interruptBusy == false)
     {
-      interruptStartTime = micros();
+      //interruptStartTime = micros();
 
       interruptBusy = true;
       StepperControl::getInstance()->handleMovementInterrupt();
@@ -67,17 +70,17 @@ void interrupt(void)
       //  //blinkLed();
       //}
 
-      interruptStopTime = micros();
+      //interruptStopTime = micros();
 
-      if (interruptStopTime > interruptStartTime)
-      {
-        interruptDuration = interruptStopTime - interruptStartTime;
-      }
+      //if (interruptStopTime > interruptStartTime)
+      //{
+      //  interruptDuration = interruptStopTime - interruptStartTime;
+      //}
 
-      if (interruptDuration > interruptDurationMax)
-      {
-        interruptDurationMax = interruptDuration;
-      }
+      //if (interruptDuration > interruptDurationMax)
+      //{
+      //  interruptDurationMax = interruptDuration;
+      //}
 
       interruptBusy = false;
     }
@@ -170,6 +173,7 @@ void setup()
     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_ENABLE_PIN, OUTPUT);
@@ -253,6 +257,7 @@ void setup()
 
   // Get the settings for the pin guard
   PinGuard::getInstance()->loadConfig();
+  pinGuardLastCheck = millis();
 
   // Start the interrupt used for moving
   // Interrupt management code library written by Paul Stoffregen
@@ -265,6 +270,9 @@ void setup()
   // Initialize the inactivity check
   lastAction = millis();
 
+  pinGuardCurrentTime = millis();
+  pinGuardLastCheck = millis();
+
   if (ParameterList::getInstance()->getValue(MOVEMENT_HOME_AT_BOOT_Z) == 1)
   {
     Serial.print("R99 HOME Z ON STARTUP\r\n");
@@ -298,6 +306,22 @@ void loop()
     StepperControl::getInstance()->handleMovementInterrupt();
   }
 
+  pinGuardCurrentTime = millis();
+  if (pinGuardCurrentTime < pinGuardLastCheck)
+  {
+    pinGuardLastCheck = pinGuardCurrentTime;
+  }
+  else
+  {
+    if (pinGuardCurrentTime - pinGuardLastCheck >= 1000)
+    {
+      pinGuardLastCheck += 1000;
+
+      // check the pins for timeouts
+      PinGuard::getInstance()->checkPins();
+    }
+  }
+
   if (Serial.available())
   {
 

src/pins.h

@@ -134,13 +134,16 @@
   #define X_STEP_PIN 26 // X1_STEP_PIN
   #define X_DIR_PIN 27 // X1_DIR_PIN
   #define X_ENABLE_PIN 25 // X1_ENABLE_PIN
+
   #define E_STEP_PIN 15 // X2_STEP_PIN
   #define E_DIR_PIN 30 // X2_DIR_PIN
   #define E_ENABLE_PIN 14 // X2_ENABLE_PIN
+
   #define X_MIN_PIN 69
   #define X_MAX_PIN 68
   #define X_ENCDR_A 16
   #define X_ENCDR_B 17
+  
   #define X2_ENCDR_A 22
   #define X2_ENCDR_B 39
   #define X_ENCDR_A_Q -1 // N/A

src/src.vcxproj

@@ -174,7 +174,7 @@
   </ImportGroup>
   <ProjectExtensions>
     <VisualStudio>
-      <UserProperties vm.programmer_name="avrisp" arduino.upload.port="COM4" />
+      <UserProperties vm.programmer_name="avrisp" arduino.upload.port="COM5" />
     </VisualStudio>
   </ProjectExtensions>
 </Project>