spacecruft
/
farmbot-arduino-firmware
1
0
Fork 0
Code Issues Pull Requests Releases Activity

Merge branch 'master' of https://github.com/FarmBot/farmbot-arduino-firmware

pull/100/head
Tim Evers 2018-01-29 19:52:56 +01:00
parent c0c69e6086 31f6247a05
commit 720d66ea78
7 changed files with 92 additions and 54 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
README.md
View File

@ -139,12 +139,12 @@ _F_ | | |_Farm commands, commands specially added for FarmBot
F |01 |T |Dose amount of water using time in millisecond (not implemented)
F |02 |N |Dose amount of water using flow meter that measures pulses (not implemented)
F |09 | |Reset emergency stop
F |11 | |Home X axis
F |12 | |Home Y axis
F |13 | |Home Z axis
F |14 | |Calibrate X axis
F |15 | |Calibrate Y axis
F |16 | |Calibrate Z axis
F |11 | |Home X axis (find 0) __*__
F |12 | |Home Y axis (find 0) __*__
F |13 | |Home Z axis (find 0) __*__
F |14 | |Calibrate X axis (measure length + find 0) __*__
F |15 | |Calibrate Y axis (measure length + find 0) __*__
F |16 | |Calibrate Z axis (measure length + find 0) __*__
F |20 | |List all parameters and value
F |21 |P |Read parameter
F |22 |P V |Write parameter
@ -161,9 +161,11 @@ F |61 |P V |Set the servo on the pin P (only pin 4 and 5) to the
F |81 | |Report end stop
F |82 | |Report current position
F       |83   |         |Report software version
F        |84    |X Y Z     |Set axis current position to zero (yes=1/no=0)
F       |84    |X Y Z     |Set axis current position to zero (yes=1/no=0)
E       |     |          |Emergency stop
__*__ Requires the use of encoders or end stops.
### Codes received from the arduino
Code type|Number|Parameters |Function

1
src/Command.cpp
View File

@ -29,6 +29,7 @@ Command::Command(char *commandChar)
else
{
invalidCommand = true;
commandCodeEnum = CODE_UNDEFINED;
return;
}

12
src/Config.h
View File

@ -149,10 +149,10 @@
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 = 56;
const long ENCODER_SCALING_Y_DEFAULT = 56;
const long ENCODER_SCALING_Z_DEFAULT = 56;
// Position = encoder position * scaling / 10000
const long ENCODER_SCALING_X_DEFAULT = 5556;
const long ENCODER_SCALING_Y_DEFAULT = 5556;
const long ENCODER_SCALING_Z_DEFAULT = 5556;
// Number of steps missed before motor is seen as not moving
const long ENCODER_MISSED_STEPS_MAX_X_DEFAULT = 5;
@ -208,9 +208,9 @@
#endif /* CONFIG_H_ */
#if defined(RAMPS_V14) && !defined(SOFTWARE_VERSION)
#define SOFTWARE_VERSION "6.0.0.R\0"
#define SOFTWARE_VERSION "6.0.1.R\0"
#endif
#if defined(FARMDUINO_V10) && !defined(SOFTWARE_VERSION)
#define SOFTWARE_VERSION "6.0.0.F\0"
#define SOFTWARE_VERSION "6.0.1.F\0"
#endif

9
src/GCodeProcessor.cpp
View File

@ -29,6 +29,9 @@ int GCodeProcessor::execute(Command *command)
int execution = 0;
bool isMovement = false;
bool emergencyStop = false;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
int attempt = 0;
int maximumAttempts = ParameterList::getInstance()->getValue(PARAM_MOV_NR_RETRY);
@ -54,7 +57,7 @@ int GCodeProcessor::execute(Command *command)
//Only allow reset of emergency stop when emergency stop is engaged
if (CurrentState::getInstance()->isEmergencyStop())
if (emergencyStop)
{
if (!(
command->getCodeEnum() == F09 ||
@ -143,7 +146,8 @@ int GCodeProcessor::execute(Command *command)
// Execute command with retry
CurrentState::getInstance()->setLastError(0);
while (attempt < 1 || (attempt < maximumAttempts && execution != 0))
while (attempt < 1 || (!emergencyStop && attempt < maximumAttempts && execution != 0 && execution != 2))
// error 2 is timeout error: stop movement retries
{
if (LOGGING || debugMessages)
@ -164,6 +168,7 @@ int GCodeProcessor::execute(Command *command)
handler->execute(command);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (LOGGING || debugMessages)
{

24
src/ParameterList.cpp
View File

@ -161,22 +161,30 @@ long ParameterList::readValueEeprom(int id)
long three = 0;
long four = 0;
// Process 2-byte or 4-byte EEPROM value
// Return -1 for negative values (1 in highest bit) to indicate value should be set to default.
if (id == 141 || id == 142 || id == 143)
{
// 4-byte EEPROM value
three = EEPROM.read(address + 20);
four = EEPROM.read(address + 21);
if ((three == 255 && four == 255) && !(one == 255 && two == 255))
{
// Value may have been recently increased to 4 bytes. Keep only the first two.
three = 0;
four = 0;
if (two > 127) { return -1; }
}
if (four > 127) { return -1; }
}
// just in case there are non uninitialized EEPROM bytes
// put them both to zero
if (three == -1 && four == -1)
else
{
three = 0;
four = 0;
// 2-byte EEPROM value
if (two > 127) { return -1; }
}
//Return the recomposed long by using bitshift.
return ((one << 0) & 0xFF) + ((two << 8) & 0xFF00) + ((three << 16) & 0xFF0000) + ((four << 24) & 0xFF000000);
// Return the recomposed long by using bitshift.
return ((one & 0xFFl) << 0) + ((two & 0xFFl) << 8) + ((three & 0xFFl) << 16) + ((four & 0xFFl) << 24);
}
int ParameterList::writeValueEeprom(int id, long value)

78
src/StepperControl.cpp
View File

@ -538,23 +538,26 @@ int StepperControl::moveToCoords(double xDestScaled, double yDestScaled, double
serialBuffer += "\r\n";
serialBuffer += "R99 timeout X axis\r\n";
//Serial.print("R99 timeout X axis\r\n");
error = 1;
// error 2 is timeout error: stop movement retries
error = 2;
}
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[1] * 1000) || (millis() < timeStart && millis() > timeOut[1] * 1000)))
{
serialBuffer += COMM_REPORT_TIMEOUT_Y;
serialBuffer += "\r\n";
serialBuffer += "R99 timeout Y axis\r\n";
//Serial.print("R99 timeout Y axis\r\n");
error = 1;
// error 2 is timeout error: stop movement retries
error = 2;
}
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[2] * 1000) || (millis() < timeStart && millis() > timeOut[2] * 1000)))
{
serialBuffer += COMM_REPORT_TIMEOUT_Z;
serialBuffer += "\r\n";
serialBuffer += "R99 timeout Z axis\r\n";
//Serial.print("R99 timeout Z axis\r\n");
error = 1;
// error 2 is timeout error: stop movement retries
error = 2;
}
// Check if there is an emergency stop command
@ -584,7 +587,7 @@ int StepperControl::moveToCoords(double xDestScaled, double yDestScaled, double
}
}
if (error == 1)
if (error != 0)
{
serialBuffer += "R99 error\r\n";
//Serial.print("R99 error\r\n");
@ -849,7 +852,9 @@ int StepperControl::calibrateAxis(int axis)
break;
default:
Serial.print("R99 Calibration error: invalid axis selected\r\n");
return 1;
error = 1;
CurrentState::getInstance()->setLastError(error);
return error;
}
// Preliminary checks
@ -857,7 +862,9 @@ int StepperControl::calibrateAxis(int axis)
if (calibAxis->endStopMin() || calibAxis->endStopMax())
{
Serial.print("R99 Calibration error: end stop active before start\r\n");
return 1;
error = 1;
CurrentState::getInstance()->setLastError(error);
return error;
}
Serial.print("R99");
@ -867,7 +874,7 @@ int StepperControl::calibrateAxis(int axis)
Serial.print("\r\n");
*axisStatus = COMM_REPORT_MOVE_STATUS_START_MOTOR;
reportStatus(calibAxis, axisSubStep[0]);
reportStatus(calibAxis, axisStatus[0]);
// Move towards home
calibAxis->enableMotor();
@ -883,7 +890,7 @@ int StepperControl::calibrateAxis(int axis)
motorConsMissedSteps[2] = 0;
*axisStatus = COMM_REPORT_MOVE_STATUS_CRAWLING;
reportStatus(calibAxis, axisSubStep[0]);
reportStatus(calibAxis, axisStatus[0]);
reportCalib(calibAxis, COMM_REPORT_CALIBRATE_STATUS_TO_HOME);
@ -900,11 +907,14 @@ int StepperControl::calibrateAxis(int axis)
{
Serial.print("R99 emergency stop\r\n");
movementDone = true;
CurrentState::getInstance()->setEmergencyStop();
Serial.print(COMM_REPORT_EMERGENCY_STOP);
CurrentState::getInstance()->printQAndNewLine();
error = 1;
}
}
// Move until the end stop for home position is reached, either by end stop or motot skipping
// Move until the end stop for home position is reached, either by end stop or motor skipping
if ((!calibAxis->endStopMin() && !calibAxis->endStopMax()) && !movementDone && (*missedSteps < *missedStepsMax))
{
@ -922,20 +932,23 @@ int StepperControl::calibrateAxis(int axis)
CurrentState::getInstance()->printQAndNewLine();
}
if (stepsCount % (speedHome[axis] / 6) == 0 /*|| *missedSteps > 3*/)
if (debugMessages)
{
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");
if (stepsCount % (speedHome[axis] / 6) == 0 /*|| *missedSteps > 3*/)
{
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();
@ -1025,6 +1038,9 @@ int StepperControl::calibrateAxis(int axis)
{
Serial.print("R99 emergency stop\r\n");
movementDone = true;
CurrentState::getInstance()->setEmergencyStop();
Serial.print(COMM_REPORT_EMERGENCY_STOP);
CurrentState::getInstance()->printQAndNewLine();
error = 1;
}
}
@ -1052,6 +1068,11 @@ int StepperControl::calibrateAxis(int axis)
Serial.print(COMM_REPORT_CMD_BUSY);
//Serial.print("\r\n");
CurrentState::getInstance()->printQAndNewLine();
Serial.print("R99");
Serial.print(" step count: ");
Serial.print(stepsCount);
Serial.print("\r\n");
}
calibAxis->resetMotorStep();
@ -1094,7 +1115,7 @@ int StepperControl::calibrateAxis(int axis)
}
*axisStatus = COMM_REPORT_MOVE_STATUS_STOP_MOTOR;
reportStatus(calibAxis, axisSubStep[0]);
reportStatus(calibAxis, axisStatus[0]);
calibAxis->disableMotor();
@ -1117,10 +1138,11 @@ int StepperControl::calibrateAxis(int axis)
reportPosition();
*axisStatus = COMM_REPORT_MOVE_STATUS_IDLE;
reportStatus(calibAxis, axisSubStep[0]);
reportStatus(calibAxis, axisStatus[0]);
reportCalib(calibAxis, COMM_REPORT_CALIBRATE_STATUS_IDLE);
CurrentState::getInstance()->setLastError(error);
return error;
}
@ -1238,8 +1260,8 @@ void StepperControl::loadMotorSettings()
endStEnbl[2] = intToBool(ParameterList::getInstance()->getValue(MOVEMENT_ENABLE_ENDPOINTS_Z));
timeOut[0] = ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X);
timeOut[1] = ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X);
timeOut[2] = ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X);
timeOut[1] = ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_Y);
timeOut[2] = ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_Z);
motorKeepActive[0] = ParameterList::getInstance()->getValue(MOVEMENT_KEEP_ACTIVE_X);
motorKeepActive[1] = ParameterList::getInstance()->getValue(MOVEMENT_KEEP_ACTIVE_Y);

6
src/StepperControlEncoder.cpp
View File

@ -9,7 +9,7 @@ StepperControlEncoder::StepperControlEncoder()
position = 0;
encoderType = 0; // default type
scalingFactor = 100;
scalingFactor = 10000;
curValChannelA = false;
curValChannelA = false;
@ -75,13 +75,13 @@ void StepperControlEncoder::setPosition(long newPosition)
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 == 10000 || scalingFactor <= 0)
{
return position * encoderInvert;
}
else
{
return position * scalingFactor / 100 * encoderInvert;
return position * scalingFactor / 10000 * encoderInvert;
}
}