Debugging pin guard

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/StepperControl.cpp

@@ -826,7 +826,7 @@ int StepperControl::calibrateAxis(int axis)
     encoderEnabled = &motorConsEncoderEnabled[2];
     axisStatus = &axisSubStep[2];
     //axisStepsPerMm = &axisStepsPerMm[2];
-    axisStepsPerMm = &stepsPerMm[1];
+    axisStepsPerMm = &stepsPerMm[2];
     break;
   default:
     Serial.print("R99 Calibration error: invalid axis selected\r\n");

src/farmbot_arduino_controller.cpp

@@ -173,6 +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);
@@ -222,7 +223,7 @@ void setup()
     pinMode(UTM_E, INPUT_PULLUP);
     pinMode(UTM_F, INPUT_PULLUP);
     pinMode(UTM_G, INPUT_PULLUP);
-    pinMode(UTM_H, INPUT_PULLUP);
+    if (UTM_H > 0) { pinMode(UTM_H, INPUT_PULLUP) };
     pinMode(UTM_I, INPUT_PULLUP);
     pinMode(UTM_J, INPUT_PULLUP);
     pinMode(UTM_K, INPUT_PULLUP);
@@ -268,6 +269,9 @@ 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");
@@ -301,24 +305,25 @@ 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())
   {
 
-    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();
 

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>