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farmbot-arduino-firmware
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debugging

pull/75/head
Tim Evers 2017-04-28 20:36:56 +02:00
parent be96876113
commit 6222f77016
9 changed files with 88 additions and 38 deletions
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5
src/Command.cpp
View File

@ -55,6 +55,11 @@ CommandCodeEnum Command::getGCodeEnum(char *code)
// return F03;
//}
if (strcmp(code, "F09") == 0 || strcmp(code, "F9") == 0)
{
return F09;
}
if (strcmp(code, "F11") == 0)
{
return F11;

3
src/Config.h
View File

@ -20,6 +20,7 @@ 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_EMERGENCY_STOP[4] = { 'R', '8', '7', '\0' };
const char COMM_REPORT_NO_CONFIG[4] = {'R', '8', '8', '\0'};
const char COMM_REPORT_COMMENT[4] = {'R', '9', '9', '\0'};
@ -58,7 +59,7 @@ const long MOVEMENT_KEEP_ACTIVE_Z_DEFAULT = 1;
const long MOVEMENT_HOME_AT_BOOT_X_DEFAULT = 0;
const long MOVEMENT_HOME_AT_BOOT_Y_DEFAULT = 0;
const long MOVEMENT_HOME_AT_BOOT_Z_DEFAULT = 1;
const long MOVEMENT_HOME_AT_BOOT_Z_DEFAULT = 0;
const long MOVEMENT_ENABLE_ENDPOINTS_X_DEFAULT = 0;
const long MOVEMENT_ENABLE_ENDPOINTS_Y_DEFAULT = 0;

2
src/Debug.h
View File

@ -6,6 +6,6 @@
*/
#ifndef DEBUG_H_
#define debugMessages false
#define debugMessages true
#define debugInterrupt false
#endif /* DEBUG_H_ */

2
src/F09Handler.cpp
View File

@ -31,7 +31,7 @@ int F09Handler::execute(Command *command)
Serial.print("R99 Reset emergency stop\r\n");
}
CurrentState::getInstance()->setEmergencyStop();
CurrentState::getInstance()->resetEmergencyStop();
return 0;
}

33
src/GCodeProcessor.cpp
View File

@ -31,12 +31,34 @@ int GCodeProcessor::execute(Command *command)
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
//Only allow reset of emergency stop when emergency stop is engaged
if (CurrentState::getInstance()->isEmergencyStop())
{
if (!(
command->getCodeEnum() == F09 ||
command->getCodeEnum() == F20 ||
command->getCodeEnum() == F21 ||
command->getCodeEnum() == F22 ||
command->getCodeEnum() == F81 ||
command->getCodeEnum() == F82 ||
command->getCodeEnum() == F83 ))
{
Serial.print(COMM_REPORT_EMERGENCY_STOP);
CurrentState::getInstance()->printQAndNewLine();
return -1;
}
}
// Tim 2017-04-15 Disable until the raspberry code is ready
/*
if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1) {
// 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
if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1)
{
if ( command->getCodeEnum() == G00 ||
command->getCodeEnum() == G01 ||
command->getCodeEnum() == F11 ||
@ -44,13 +66,14 @@ int GCodeProcessor::execute(Command *command)
command->getCodeEnum() == F13 ||
command->getCodeEnum() == F14 ||
command->getCodeEnum() == F15 ||
command->getCodeEnum() == F16 ) {
command->getCodeEnum() == F16 )
{
Serial.print(COMM_REPORT_NO_CONFIG);
CurrentState::getInstance()->printQAndNewLine();
return -1;
}
}
}
*/
// Return error when no command or invalid command is found

48
src/StepperControl.cpp
View File

@ -326,14 +326,14 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
Serial.print(" deactivate motor X due to missed steps");
Serial.print("\r\n");
//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 (xHome)
{
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])
@ -343,14 +343,14 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
Serial.print(" deactivate motor Y due to missed steps");
Serial.print("\r\n");
//if (axisY.movingToHome())
//{
// encoderY.setPosition(0);
// axisY.setCurrentPosition(0);
// Serial.print("R99");
// Serial.print(" home position Y axis detected with encoder");
// Serial.print("\r\n");
//}
if (yHome)
{
encoderY.setPosition(0);
axisY.setCurrentPosition(0);
Serial.print("R99");
Serial.print(" home position Y axis detected with encoder");
Serial.print("\r\n");
}
}
if (motorConsMissedSteps[2] > motorConsMissedStepsMax[2])
@ -360,14 +360,14 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
Serial.print(" deactivate motor Z due to missed steps");
Serial.print("\r\n");
//if (axisZ.movingToHome())
//{
// encoderZ.setPosition(0);
// axisZ.setCurrentPosition(0);
// Serial.print("R99");
// Serial.print(" home position Z axis detected with encoder");
// Serial.print("\r\n");
//}
if (zHome)
{
encoderZ.setPosition(0);
axisZ.setCurrentPosition(0);
Serial.print("R99");
Serial.print(" home position Z axis detected with encoder");
Serial.print("\r\n");
}
}
if (axisX.endStopAxisReached(false))

2
src/StepperControl.h
View File

@ -86,7 +86,7 @@ private:
long speedMin[3] = { 0, 0, 0 };
long stepsAcc[3] = { 0, 0, 0 };
bool motorInv[3] = { false, false, false };
bool motorMaxSize[3] = { false, false, false };
long motorMaxSize[3] = { 0, 0, 0};
bool motorKeepActive[3] = { false, false, false };
bool motor2Inv[3] = { false, false, false };
bool motor2Enbl[3] = { false, false, false };

4
src/StepperControlAxis.cpp
View File

@ -398,11 +398,11 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
{
if (coordDestinationPoint < 0)
{
coordDestinationPoint = abs(motorMaxSize);
coordDestinationPoint = -abs(motorMaxSize);
}
else
{
coordDestinationPoint = -abs(motorMaxSize);
coordDestinationPoint = abs(motorMaxSize);
}
}
}

27
src/farmbot_arduino_controller.cpp
View File

@ -228,8 +228,14 @@ void loop()
{
StepperControl::getInstance()->disableMotors();
PinControl::getInstance()->resetPinsUsed();
if (debugMessages)
{
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" Going to safe state");
CurrentState::getInstance()->printQAndNewLine();
}
}
previousEmergencyStop == CurrentState::getInstance()->isEmergencyStop();
previousEmergencyStop = CurrentState::getInstance()->isEmergencyStop();
// Check if parameters are changes, and if so load the new settings
if (lastParamChangeNr != ParameterList::getInstance()->paramChangeNumber())
@ -260,8 +266,23 @@ void loop()
{
// After an idle time, send the idle message
Serial.print(COMM_REPORT_CMD_IDLE);
CurrentState::getInstance()->printQAndNewLine();
if (CurrentState::getInstance()->isEmergencyStop())
{
Serial.print(COMM_REPORT_EMERGENCY_STOP);
CurrentState::getInstance()->printQAndNewLine();
if (debugMessages)
{
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" Emergency stop engaged");
CurrentState::getInstance()->printQAndNewLine();
}
}
else
{
Serial.print(COMM_REPORT_CMD_IDLE);
CurrentState::getInstance()->printQAndNewLine();
}
StepperControl::getInstance()->storePosition();
CurrentState::getInstance()->printPosition();