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farmbot-arduino-firmware
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Fixing arduino crash at boot

pull/118/head
Tim Evers 2019-06-02 17:39:32 +02:00
parent 7e94c7e69e
commit ef0a028e5c
1 changed files with 65 additions and 18 deletions
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83
src/farmbot_arduino_controller.cpp
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@ -77,7 +77,6 @@ void interrupt(void)
#endif
#if defined(FARMDUINO_EXP_V20)
ISR(TIMER2_OVF_vect) {
if (interruptBusy == false)
@ -92,7 +91,6 @@ ISR(TIMER2_OVF_vect) {
//The setup function is called once at startup of the sketch
void setup()
{
#ifdef RAMPS_V14
// Setup pin input/output settings
@ -239,11 +237,6 @@ void setup()
#endif
digitalWrite(X_ENABLE_PIN, HIGH);
digitalWrite(E_ENABLE_PIN, HIGH);
digitalWrite(Y_ENABLE_PIN, HIGH);
digitalWrite(Z_ENABLE_PIN, HIGH);
#if defined(FARMDUINO_V14)
pinMode(READ_ENA_PIN, INPUT_PULLUP);
@ -257,8 +250,60 @@ void setup()
#endif
Serial.begin(115200);
#if defined(FARMDUINO_EXP_V20)
// Motor step, directio and pin is setup using the control chip library
// This board also does not use encoders
pinMode(X_ENABLE_PIN, OUTPUT);
pinMode(X_MIN_PIN, INPUT_PULLUP);
pinMode(X_MAX_PIN, INPUT_PULLUP);
pinMode(E_ENABLE_PIN, OUTPUT);
pinMode(Y_ENABLE_PIN, OUTPUT);
pinMode(Y_MIN_PIN, INPUT_PULLUP);
pinMode(Y_MAX_PIN, INPUT_PULLUP);
pinMode(Z_ENABLE_PIN, OUTPUT);
pinMode(Z_MIN_PIN, INPUT_PULLUP);
pinMode(Z_MAX_PIN, INPUT_PULLUP);
pinMode(AUX_STEP_PIN, OUTPUT);
pinMode(AUX_DIR_PIN, OUTPUT);
pinMode(AUX_ENABLE_PIN, OUTPUT);
pinMode(LED_PIN, OUTPUT);
pinMode(VACUUM_PIN, OUTPUT);
pinMode(WATER_PIN, OUTPUT);
pinMode(LIGHTING_PIN, OUTPUT);
pinMode(PERIPHERAL_4_PIN, OUTPUT);
pinMode(PERIPHERAL_5_PIN, OUTPUT);
pinMode(UTM_C, INPUT_PULLUP);
pinMode(UTM_D, INPUT_PULLUP);
if (UTM_E > 0) { pinMode(UTM_E, INPUT_PULLUP); };
if (UTM_F > 0) { pinMode(UTM_F, INPUT_PULLUP); };
if (UTM_G > 0) { pinMode(UTM_G, INPUT_PULLUP); };
if (UTM_H > 0) { pinMode(UTM_H, INPUT_PULLUP); };
if (UTM_I > 0) { pinMode(UTM_I, INPUT_PULLUP); };
if (UTM_J > 0) { pinMode(UTM_J, INPUT_PULLUP); };
if (UTM_K > 0) { pinMode(UTM_K, INPUT_PULLUP); };
if (UTM_L > 0) { pinMode(UTM_L, INPUT_PULLUP); };
pinMode(SERVO_0_PIN, OUTPUT);
pinMode(SERVO_1_PIN, OUTPUT);
pinMode(SERVO_2_PIN, OUTPUT);
pinMode(SERVO_3_PIN, OUTPUT);
#endif
digitalWrite(X_ENABLE_PIN, HIGH);
digitalWrite(E_ENABLE_PIN, HIGH);
digitalWrite(Y_ENABLE_PIN, HIGH);
digitalWrite(Z_ENABLE_PIN, HIGH);
Serial.begin(115200);
delay(100);
// Start the motor handling
@ -284,12 +329,11 @@ void setup()
Timer1.start();
#endif
#if defined(FARMDUINO_EXP_V20)
#if defined(FARMDUINO_EXP_V20)
TIMSK2 = (TIMSK2 & B11111110) | 0x01; // Enable timer overflow
TCCR2B = (TCCR2B & B11111000) | 0x01; // Set divider to 1
OCR2A = 4; // Set overflow to 4 for total of 64 µs
#endif
#endif
// Initialize the inactivity check
lastAction = millis();
@ -328,25 +372,27 @@ void setup()
}
#if defined(FARMDUINO_EXP_V20)
// initialise the motors
StepperControl::getInstance()->initTMC2130();
StepperControl::getInstance()->loadSettingsTMC2130();
#endif
#if defined(FARMDUINO_EXP_V20)
// initialise the motors
StepperControl::getInstance()->initTMC2130();
StepperControl::getInstance()->loadSettingsTMC2130();
#endif
Serial.print("R99 ARDUINO STARTUP COMPLETE\r\n");
//StepperControl::getInstance()->test2();
}
char commandChar[INCOMING_CMD_BUF_SIZE + 1];
// The loop function is called in an endless loop
void loop()
{
//Serial.print(millis());
//Serial.print("\r\n");
//delay(1000);
//StepperControl::getInstance()->test();
//delayMicroseconds(100);
@ -548,4 +594,5 @@ void loop()
lastAction = millis();
}
}
}