Fix for pin guard, fix for axis length parameter

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;
     }
@@ -252,6 +255,7 @@ 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
@@ -300,6 +304,21 @@ void loop()
   if (Serial.available())
   {
 
+    unsigned long pinGuardLastCheck;
+    pinGuardCurrentTime = millis();
+    if (pinGuardCurrentTime < pinGuardLastCheck)
+    {
+      pinGuardLastCheck = pinGuardCurrentTime;
+    }
+    else
+    {
+      if (pinGuardLastCheck - pinGuardCurrentTime >= 999)
+      {
+        // check the pins for timeouts
+        PinGuard::getInstance()->checkPins();
+      }
+    }
+
     // Save current time stamp for timeout actions
     lastAction = millis();