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farmbot-arduino-firmware
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debugging

pull/3/head
TimEvWw 2014-07-24 20:04:19 -01:00
parent fe55f588bd
commit 4e28fa5069
8 changed files with 44 additions and 78 deletions
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24
src/Command.h
View File

@ -7,18 +7,18 @@
enum CommandCodeEnum
{
CODE_UNDEFINED = -1,
G00 = 0,
G01,
G28,
F01,
F02,
F03,
F11,
F12,
F13,
F81,
F82,
F83
G00 = 0,
G01 = 1,
G28 = 28,
F01 = 101,
F02 = 102,
F03 = 103,
F11 = 111,
F12 = 112,
F13 = 113,
F81 = 181,
F82 = 182,
F83 = 183
};
#define NULL 0

2
src/Config.h
View File

@ -8,7 +8,7 @@
#ifndef CONFIG_H_
#define CONFIG_H_
const int LOGGING = 1;
const int LOGGING = 0;
const unsigned int MAX_STEPS_PER_SECOND = 100;
const unsigned int MAX_ACCELERATION_STEPS_PER_SECOND = 2;

25
src/CurrentState.cpp
View File

@ -28,32 +28,32 @@ CurrentState::CurrentState() {
speed = 0;
}
unsigned int CurrentState::getX() {
long CurrentState::getX() {
return x;
}
unsigned int CurrentState::getY() {
long CurrentState::getY() {
return y;
}
unsigned int CurrentState::getZ() {
long CurrentState::getZ() {
return z;
}
unsigned int* CurrentState::getPoint() {
unsigned int currentPoint[3] = {x, y, z};
long* CurrentState::getPoint() {
long currentPoint[3] = {x, y, z};
return currentPoint;
}
void CurrentState::setX(unsigned int newX) {
void CurrentState::setX(long newX) {
x = newX;
}
void CurrentState::setY(unsigned int newY) {
void CurrentState::setY(long newY) {
y = newY;
}
void CurrentState::setZ(unsigned int newZ) {
void CurrentState::setZ(long newZ) {
z = newZ;
}
@ -61,6 +61,15 @@ void CurrentState::setEndStopState(unsigned int axis, unsigned int position, boo
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(3,1,digitalRead(Z_MAX_PIN));
}
void CurrentState::printPosition() {
Serial.print("R82");
Serial.print(" X");

16
src/CurrentState.h
View File

@ -8,19 +8,21 @@
#ifndef CURRENTSTATE_H_
#define CURRENTSTATE_H_
#include "Arduino.h"
#include "pins.h"
class CurrentState {
public:
static CurrentState* getInstance();
unsigned int getX();
unsigned int getY();
unsigned int getZ();
unsigned int* getPoint();
void setX(unsigned int);
void setY(unsigned int);
void setZ(unsigned int);
long getX();
long getY();
long getZ();
long* getPoint();
void setX(long);
void setY(long);
void setZ(long);
void setEndStopState(unsigned int, unsigned int, bool);
void printPosition();
void storeEndStops();
void printEndStops();
void print();
void printBool(bool);

1
src/F81Handler.cpp
View File

@ -31,6 +31,7 @@ Serial.print("home\n");
Serial.print("R99 Report end stops\n");
}
CurrentState::getInstance()->storeEndStops();
CurrentState::getInstance()->printEndStops();
return 0;

6
src/F83Handler.cpp
View File

@ -25,8 +25,6 @@ F83Handler::F83Handler() {
int F83Handler::execute(Command* command) {
Serial.print("home\n");
if (LOGGING) {
Serial.print("R99 Report server version\n");
}
@ -35,10 +33,6 @@ Serial.print("home\n");
Serial.print(SOFTWARE_VERSION);
Serial.print("\n");
StepperControl::getInstance()->moveAbsoluteConstant(0,0,0,0, false, false, true);
if (LOGGING) {
CurrentState::getInstance()->print();
}
return 0;
}

2
src/GCodeProcessor.cpp
View File

@ -37,6 +37,8 @@ int GCodeProcessor::execute(Command* command) {
int execution = handler->execute(command);
if(execution == 0) {
Serial.println("R02");
} else {
Serial.println("R03");
}
return execution;
};

46
src/StepperControl.cpp
View File

@ -242,18 +242,6 @@ int endStopsReached() {
bool z_min_endstop=(digitalRead(Z_MIN_PIN) == INVERT_ENDSTOPS);
bool z_max_endstop=(digitalRead(Z_MAX_PIN) == INVERT_ENDSTOPS);
if(x_min_endstop || x_max_endstop || y_min_endstop || y_max_endstop || z_min_endstop || z_max_endstop) {
Serial.print("R03 ");
Serial.print(x_min_endstop);
Serial.print(" ");
Serial.print(x_max_endstop);
Serial.print(" ");
Serial.print(y_min_endstop);
Serial.print(" ");
Serial.print(y_max_endstop);
Serial.print(" ");
Serial.print(z_min_endstop);
Serial.print(" ");
Serial.println(z_max_endstop);
return 1;
}
return 0;
@ -293,42 +281,12 @@ int endStopAxisReached(int axis_nr, bool movement_forward) {
void reportEndStops() {
CurrentState::getInstance()->printEndStops();
/*
bool x_min_endstop=(digitalRead(X_MIN_PIN) == INVERT_ENDSTOPS);
bool x_max_endstop=(digitalRead(X_MAX_PIN) == INVERT_ENDSTOPS);
bool y_min_endstop=(digitalRead(Y_MIN_PIN) == INVERT_ENDSTOPS);
bool y_max_endstop=(digitalRead(Y_MAX_PIN) == INVERT_ENDSTOPS);
bool z_min_endstop=(digitalRead(Z_MIN_PIN) == INVERT_ENDSTOPS);
bool z_max_endstop=(digitalRead(Z_MAX_PIN) == INVERT_ENDSTOPS);
if(x_min_endstop || x_max_endstop || y_min_endstop || y_max_endstop || z_min_endstop || z_max_endstop) {
Serial.print("R03 ");
Serial.print(x_min_endstop);
Serial.print(" ");
Serial.print(x_max_endstop);
Serial.print(" ");
Serial.print(y_min_endstop);
Serial.print(" ");
Serial.print(y_max_endstop);
Serial.print(" ");
Serial.print(z_min_endstop);
Serial.print(" ");
Serial.println(z_max_endstop);
return 1;
}
return 0;
*/
}
void 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(3,1,digitalRead(Z_MAX_PIN));
}
CurrentState::getInstance()->storeEndStops();
}
/**
* xDest - destination X in steps