959 lines
24 KiB
C++
959 lines
24 KiB
C++
// Do not remove the include below
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#include "farmbot_arduino_controller.h"
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/**/
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//#if !defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
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#include "TimerOne.h"
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//#endif
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bool stepperInit = false;
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bool stepperFlip = false;
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static char commandEndChar = 0x0A;
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char commandChar[INCOMING_CMD_BUF_SIZE + 1];
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//String commandString = "";
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char incomingChar = 0;
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char incomingCommandArray[INCOMING_CMD_BUF_SIZE];
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int incomingCommandPointer = 0;
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static GCodeProcessor *gCodeProcessor = new GCodeProcessor();
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int reportingPeriod = 5000;
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unsigned long lastAction;
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unsigned long currentTime;
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unsigned long cycleCounter = 0;
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bool previousEmergencyStop = false;
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unsigned long pinGuardLastCheck;
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unsigned long pinGuardCurrentTime;
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int lastParamChangeNr = 0;
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int lastTmcParamChangeNr = 0;
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// Blink led routine used for testing
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bool blink = false;
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void blinkLed()
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{
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blink = !blink;
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//digitalWrite(LED_PIN, blink);
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digitalWrite(13, blink);
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}
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// Interrupt handling for:
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// - movement
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// - encoders
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// - pin guard
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//
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unsigned long interruptStartTime = 0;
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unsigned long interruptStopTime = 0;
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unsigned long interruptDuration = 0;
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unsigned long interruptDurationMax = 0;
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bool interruptBusy = false;
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int interruptSecondTimer = 0;
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//#if !defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
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void interrupt(void)
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{
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if (!debugInterrupt)
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{
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//interruptSecondTimer++;
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if (interruptBusy == false)
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{
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//interruptStartTime = micros();
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interruptBusy = true;
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Movement::getInstance()->handleMovementInterrupt();
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interruptBusy = false;
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}
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}
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}
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//#endif
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/**/ // unsigned long intrCounter = 0;
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#if defined(FARMDUINO_EXP_V20xxx)
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ISR(TIMER2_OVF_vect) {
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if (interruptBusy == false)
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{
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interruptBusy = true;
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Movement::getInstance()->handleMovementInterrupt();
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interruptBusy = false;
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}
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}
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#endif
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void checkPinGuard()
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{
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pinGuardCurrentTime = millis();
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if (pinGuardCurrentTime < pinGuardLastCheck)
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{
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pinGuardLastCheck = pinGuardCurrentTime;
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}
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else
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{
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if (pinGuardCurrentTime - pinGuardLastCheck >= 1000)
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{
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pinGuardLastCheck += 1000;
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// check the pins for timeouts
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PinGuard::getInstance()->checkPins();
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}
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}
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}
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void periodicChecksAndReport()
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{
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// Do periodic checks and feedback
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currentTime = millis();
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if (currentTime < lastAction)
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{
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// If the device timer overruns, reset the idle counter
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lastAction = millis();
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}
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else
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{
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if ((currentTime - lastAction) > reportingPeriod)
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{
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// After an idle time, send the idle message
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//Movement::getInstance()->test2();
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if (CurrentState::getInstance()->isEmergencyStop())
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{
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Serial.print(COMM_REPORT_EMERGENCY_STOP);
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CurrentState::getInstance()->printQAndNewLine();
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if (debugMessages)
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{
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Serial.print(COMM_REPORT_COMMENT);
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Serial.print(" Emergency stop engaged");
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CurrentState::getInstance()->printQAndNewLine();
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}
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}
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else
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{
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Serial.print(COMM_REPORT_CMD_IDLE);
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CurrentState::getInstance()->printQAndNewLine();
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}
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Movement::getInstance()->storePosition();
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CurrentState::getInstance()->printPosition();
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Movement::getInstance()->reportEncoders();
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CurrentState::getInstance()->storeEndStops();
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CurrentState::getInstance()->printEndStops();
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// Movement::getInstance()->test();
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if (debugMessages)
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{
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Serial.print(COMM_REPORT_COMMENT);
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Serial.print(" MEM ");
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Serial.print(freeMemory());
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CurrentState::getInstance()->printQAndNewLine();
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Serial.print(COMM_REPORT_COMMENT);
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Serial.print(" IND DUR ");
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Serial.print(interruptDuration);
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Serial.print(" MAX ");
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Serial.print(interruptDurationMax);
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CurrentState::getInstance()->printQAndNewLine();
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//Movement::getInstance()->test();
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}
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if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1)
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{
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Serial.print(COMM_REPORT_NO_CONFIG);
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CurrentState::getInstance()->printQAndNewLine();
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}
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cycleCounter++;
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lastAction = millis();
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}
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}
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}
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void checkSerialInputs()
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{
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if (Serial.available())
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{
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// Save current time stamp for timeout actions
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lastAction = millis();
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// Get the input and start processing on receiving 'new line'
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incomingChar = Serial.read();
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// Filter out emergency stop.
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if (!(incomingChar == 69 || incomingChar == 101))
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{
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incomingCommandArray[incomingCommandPointer] = incomingChar;
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incomingCommandPointer++;
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}
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else
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{
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CurrentState::getInstance()->setEmergencyStop();
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}
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// If the string is getting to long, cap it off with a new line and let it process anyway
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if (incomingCommandPointer >= INCOMING_CMD_BUF_SIZE - 1)
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{
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incomingChar = '\n';
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incomingCommandArray[incomingCommandPointer] = incomingChar;
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incomingCommandPointer++;
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}
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if (incomingChar == '\n' || incomingCommandPointer >= INCOMING_CMD_BUF_SIZE)
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{
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//char commandChar[incomingCommandPointer + 1];
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for (int i = 0; i < incomingCommandPointer - 1; i++)
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{
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commandChar[i] = incomingCommandArray[i];
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}
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commandChar[incomingCommandPointer-1] = '\0';
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if (incomingCommandPointer > 1)
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{
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// Report back the received command
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Serial.print(COMM_REPORT_CMD_ECHO);
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Serial.print(" ");
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Serial.print("*");
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Serial.print(commandChar);
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Serial.print("*");
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Serial.print("\r\n");
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// Create a command and let it execute
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Command *command = new Command(commandChar);
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// Log the values if needed for debugging
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if (LOGGING || debugMessages)
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{
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command->print();
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}
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gCodeProcessor->execute(command);
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free(command);
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}
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incomingCommandPointer = 0;
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}
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}
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}
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void checkEmergencyStop()
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{
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// In case of emergency stop, disable movement and
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// shut down the pins used
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if (previousEmergencyStop == false && CurrentState::getInstance()->isEmergencyStop())
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{
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Movement::getInstance()->disableMotorsEmergency();
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PinControl::getInstance()->resetPinsUsed();
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ServoControl::getInstance()->detachServos();
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if (debugMessages)
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{
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Serial.print(COMM_REPORT_COMMENT);
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Serial.print(" Going to safe state");
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CurrentState::getInstance()->printQAndNewLine();
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}
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}
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previousEmergencyStop = CurrentState::getInstance()->isEmergencyStop();
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}
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void checkParamsChanged()
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{
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// Check if parameters are changed, and if so load the new settings
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if (lastParamChangeNr != ParameterList::getInstance()->paramChangeNumber())
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{
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lastParamChangeNr = ParameterList::getInstance()->paramChangeNumber();
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if (debugMessages)
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{
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Serial.print(COMM_REPORT_COMMENT);
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Serial.print(" loading parameters");
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CurrentState::getInstance()->printQAndNewLine();
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}
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#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
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if (lastTmcParamChangeNr != ParameterList::getInstance()->tmcParamChangeNumber())
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{
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lastTmcParamChangeNr = ParameterList::getInstance()->tmcParamChangeNumber();
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Movement::getInstance()->loadSettingsTMC2130();
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}
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#endif
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Movement::getInstance()->loadSettings();
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PinGuard::getInstance()->loadConfig();
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}
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}
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void checkEncoders()
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{
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#if defined(FARMDUINO_V14) || defined(FARMDUINO_V30)
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// Check encoders out of interrupt for farmduino 1.4
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Movement::getInstance()->checkEncoders();
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#endif
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}
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// Set pins input output
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#ifdef RAMPS_V14
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void setPinInputOutput()
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{
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// pin input/output settings
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pinMode(X_STEP_PIN, OUTPUT);
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pinMode(X_DIR_PIN, OUTPUT);
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pinMode(X_ENABLE_PIN, OUTPUT);
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pinMode(E_STEP_PIN, OUTPUT);
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pinMode(E_DIR_PIN, OUTPUT);
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pinMode(E_ENABLE_PIN, OUTPUT);
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pinMode(X_MIN_PIN, INPUT_PULLUP);
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pinMode(X_MAX_PIN, INPUT_PULLUP);
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pinMode(X_ENCDR_A, INPUT_PULLUP);
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pinMode(X_ENCDR_B, INPUT_PULLUP);
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pinMode(X_ENCDR_A_Q, INPUT_PULLUP);
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pinMode(X_ENCDR_B_Q, INPUT_PULLUP);
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pinMode(Y_STEP_PIN, OUTPUT);
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pinMode(Y_DIR_PIN, OUTPUT);
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pinMode(Y_ENABLE_PIN, OUTPUT);
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pinMode(Y_MIN_PIN, INPUT_PULLUP);
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pinMode(Y_MAX_PIN, INPUT_PULLUP);
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pinMode(Y_ENCDR_A, INPUT_PULLUP);
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pinMode(Y_ENCDR_B, INPUT_PULLUP);
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pinMode(Y_ENCDR_A_Q, INPUT_PULLUP);
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pinMode(Y_ENCDR_B_Q, INPUT_PULLUP);
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pinMode(Z_STEP_PIN, OUTPUT);
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pinMode(Z_DIR_PIN, OUTPUT);
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pinMode(Z_ENABLE_PIN, OUTPUT);
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pinMode(Z_MIN_PIN, INPUT_PULLUP);
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pinMode(Z_MAX_PIN, INPUT_PULLUP);
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pinMode(Z_ENCDR_A, INPUT_PULLUP);
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pinMode(Z_ENCDR_B, INPUT_PULLUP);
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pinMode(Z_ENCDR_A_Q, INPUT_PULLUP);
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pinMode(Z_ENCDR_B_Q, INPUT_PULLUP);
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pinMode(HEATER_0_PIN, OUTPUT);
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pinMode(HEATER_1_PIN, OUTPUT);
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pinMode(FAN_PIN, OUTPUT);
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pinMode(LED_PIN, OUTPUT);
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digitalWrite(HEATER_0_PIN, LOW);
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digitalWrite(HEATER_1_PIN, LOW);
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digitalWrite(FAN_PIN, LOW);
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digitalWrite(LED_PIN, LOW);
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pinMode(UTM_C, INPUT_PULLUP);
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pinMode(UTM_D, INPUT_PULLUP);
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pinMode(UTM_E, INPUT_PULLUP);
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pinMode(UTM_F, INPUT_PULLUP);
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pinMode(UTM_G, INPUT_PULLUP);
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pinMode(UTM_H, INPUT_PULLUP);
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pinMode(UTM_I, INPUT_PULLUP);
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pinMode(UTM_J, INPUT_PULLUP);
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pinMode(UTM_K, INPUT_PULLUP);
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pinMode(UTM_L, INPUT_PULLUP);
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// Aux 1 pins to safer state
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pinMode(AUX1_00, INPUT_PULLUP);
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pinMode(AUX1_01, INPUT_PULLUP);
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pinMode(AUX1_57, INPUT_PULLUP);
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pinMode(AUX1_58, INPUT_PULLUP);
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// Aux 3 pins to safer state
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pinMode(AUX3_49, INPUT_PULLUP);
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pinMode(AUX3_50, INPUT_PULLUP);
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pinMode(AUX3_51, INPUT_PULLUP);
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// Aux 4 pins to safer state
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pinMode(AUX4_43, INPUT_PULLUP);
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pinMode(AUX4_45, INPUT_PULLUP);
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pinMode(AUX4_47, INPUT_PULLUP);
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pinMode(AUX4_32, INPUT_PULLUP);
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pinMode(SERVO_0_PIN, OUTPUT);
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pinMode(SERVO_1_PIN, OUTPUT);
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pinMode(SERVO_2_PIN, OUTPUT);
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pinMode(SERVO_3_PIN, OUTPUT);
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digitalWrite(SERVO_0_PIN, LOW);
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digitalWrite(SERVO_1_PIN, LOW);
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digitalWrite(SERVO_2_PIN, LOW);
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digitalWrite(SERVO_3_PIN, LOW);
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Serial.print(COMM_REPORT_COMMENT);
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Serial.print(SPACE);
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Serial.print("Set input/output");
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Serial.print(CRLF);
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}
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#endif
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#if defined(FARMDUINO_V10) || defined(FARMDUINO_V14)
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void setPinInputOutput()
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{
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// pin input/output settings
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pinMode(X_STEP_PIN, OUTPUT);
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pinMode(X_DIR_PIN, OUTPUT);
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pinMode(X_ENABLE_PIN, OUTPUT);
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pinMode(E_STEP_PIN, OUTPUT);
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pinMode(E_DIR_PIN, OUTPUT);
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pinMode(E_ENABLE_PIN, OUTPUT);
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pinMode(X_MIN_PIN, INPUT_PULLUP);
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pinMode(X_MAX_PIN, INPUT_PULLUP);
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pinMode(X_ENCDR_A, INPUT_PULLUP);
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pinMode(X_ENCDR_B, INPUT_PULLUP);
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//pinMode(X_ENCDR_A_Q, INPUT_PULLUP);
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//pinMode(X_ENCDR_B_Q, INPUT_PULLUP);
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pinMode(Y_STEP_PIN, OUTPUT);
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pinMode(Y_DIR_PIN, OUTPUT);
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pinMode(Y_ENABLE_PIN, OUTPUT);
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pinMode(Y_MIN_PIN, INPUT_PULLUP);
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pinMode(Y_MAX_PIN, INPUT_PULLUP);
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pinMode(Y_ENCDR_A, INPUT_PULLUP);
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pinMode(Y_ENCDR_B, INPUT_PULLUP);
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//pinMode(Y_ENCDR_A_Q, INPUT_PULLUP);
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//pinMode(Y_ENCDR_B_Q, INPUT_PULLUP);
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pinMode(Z_STEP_PIN, OUTPUT);
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pinMode(Z_DIR_PIN, OUTPUT);
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pinMode(Z_ENABLE_PIN, OUTPUT);
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pinMode(Z_MIN_PIN, INPUT_PULLUP);
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pinMode(Z_MAX_PIN, INPUT_PULLUP);
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pinMode(Z_ENCDR_A, INPUT_PULLUP);
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pinMode(Z_ENCDR_B, INPUT_PULLUP);
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//pinMode(Z_ENCDR_A_Q, INPUT_PULLUP);
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//pinMode(Z_ENCDR_B_Q, INPUT_PULLUP);
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pinMode(AUX_STEP_PIN, OUTPUT);
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pinMode(AUX_DIR_PIN, OUTPUT);
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pinMode(AUX_ENABLE_PIN, OUTPUT);
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digitalWrite(AUX_ENABLE_PIN, HIGH);
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pinMode(LED_PIN, OUTPUT);
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pinMode(VACUUM_PIN, OUTPUT);
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pinMode(WATER_PIN, OUTPUT);
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pinMode(LIGHTING_PIN, OUTPUT);
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pinMode(PERIPHERAL_4_PIN, OUTPUT);
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pinMode(PERIPHERAL_5_PIN, OUTPUT);
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digitalWrite(LED_PIN, LOW);
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digitalWrite(VACUUM_PIN, LOW);
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digitalWrite(WATER_PIN, LOW);
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digitalWrite(LIGHTING_PIN, LOW);
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digitalWrite(PERIPHERAL_4_PIN, LOW);
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digitalWrite(PERIPHERAL_5_PIN, LOW);
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pinMode(UTM_C, INPUT_PULLUP);
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pinMode(UTM_D, INPUT_PULLUP);
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if (UTM_E > 0) { pinMode(UTM_E, INPUT_PULLUP); };
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if (UTM_F > 0) { pinMode(UTM_F, INPUT_PULLUP); };
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if (UTM_G > 0) { pinMode(UTM_G, INPUT_PULLUP); };
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if (UTM_H > 0) { pinMode(UTM_H, INPUT_PULLUP); };
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if (UTM_I > 0) { pinMode(UTM_I, INPUT_PULLUP); };
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if (UTM_J > 0) { pinMode(UTM_J, INPUT_PULLUP); };
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if (UTM_K > 0) { pinMode(UTM_K, INPUT_PULLUP); };
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if (UTM_L > 0) { pinMode(UTM_L, INPUT_PULLUP); };
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pinMode(SERVO_0_PIN, OUTPUT);
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pinMode(SERVO_1_PIN, OUTPUT);
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pinMode(SERVO_2_PIN, OUTPUT);
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pinMode(SERVO_3_PIN, OUTPUT);
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digitalWrite(SERVO_0_PIN, LOW);
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digitalWrite(SERVO_1_PIN, LOW);
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digitalWrite(SERVO_2_PIN, LOW);
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digitalWrite(SERVO_3_PIN, LOW);
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Serial.print(COMM_REPORT_COMMENT);
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Serial.print(SPACE);
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Serial.print("Set input/output");
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Serial.print(CRLF);
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#if defined(FARMDUINO_V14)
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reportingPeriod = 500;
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pinMode(READ_ENA_PIN, INPUT_PULLUP);
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pinMode(NSS_PIN, OUTPUT);
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digitalWrite(NSS_PIN, HIGH);
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SPI.setBitOrder(MSBFIRST);
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SPI.setDataMode(SPI_MODE0);
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SPI.setClockDivider(SPI_CLOCK_DIV4);
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SPI.begin();
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#endif
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}
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#endif
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#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
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void setPinInputOutput()
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{
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Serial.print(COMM_REPORT_COMMENT);
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Serial.print(SPACE);
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Serial.print("Set input/output farmbot express");
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Serial.print(CRLF);
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// Motor step, direction and pin is set up using the control chip library
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// This board also does not use encoders
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pinMode(X_ENABLE_PIN, OUTPUT);
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pinMode(X_DIR_PIN, OUTPUT);
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pinMode(X_STEP_PIN, OUTPUT);
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pinMode(X_MIN_PIN, INPUT_PULLUP);
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pinMode(X_MAX_PIN, INPUT_PULLUP);
|
|
|
|
digitalWrite(X_ENABLE_PIN, HIGH);
|
|
digitalWrite(X_DIR_PIN, LOW);
|
|
digitalWrite(X_STEP_PIN, LOW);
|
|
|
|
pinMode(Y_ENABLE_PIN, OUTPUT);
|
|
pinMode(Y_DIR_PIN, OUTPUT);
|
|
pinMode(Y_STEP_PIN, OUTPUT);
|
|
pinMode(Y_MIN_PIN, INPUT_PULLUP);
|
|
pinMode(Y_MAX_PIN, INPUT_PULLUP);
|
|
|
|
digitalWrite(Y_ENABLE_PIN, HIGH);
|
|
digitalWrite(Y_DIR_PIN, LOW);
|
|
digitalWrite(Y_STEP_PIN, LOW);
|
|
|
|
pinMode(Z_ENABLE_PIN, OUTPUT);
|
|
pinMode(Z_DIR_PIN, OUTPUT);
|
|
pinMode(Z_STEP_PIN, OUTPUT);
|
|
pinMode(Z_MIN_PIN, INPUT_PULLUP);
|
|
pinMode(Z_MAX_PIN, INPUT_PULLUP);
|
|
|
|
digitalWrite(Z_ENABLE_PIN, HIGH);
|
|
digitalWrite(Z_DIR_PIN, LOW);
|
|
digitalWrite(Z_STEP_PIN, LOW);
|
|
|
|
pinMode(E_ENABLE_PIN, OUTPUT);
|
|
pinMode(E_DIR_PIN, OUTPUT);
|
|
pinMode(E_STEP_PIN, OUTPUT);
|
|
|
|
digitalWrite(E_ENABLE_PIN, HIGH);
|
|
digitalWrite(E_DIR_PIN, LOW);
|
|
digitalWrite(E_STEP_PIN, LOW);
|
|
|
|
pinMode(AUX_STEP_PIN, OUTPUT);
|
|
pinMode(AUX_DIR_PIN, OUTPUT);
|
|
pinMode(AUX_ENABLE_PIN, OUTPUT);
|
|
|
|
digitalWrite(AUX_STEP_PIN, LOW);
|
|
digitalWrite(AUX_DIR_PIN, LOW);
|
|
digitalWrite(AUX_ENABLE_PIN, LOW);
|
|
|
|
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);
|
|
|
|
digitalWrite(LED_PIN, LOW);
|
|
digitalWrite(VACUUM_PIN, LOW);
|
|
digitalWrite(WATER_PIN, LOW);
|
|
digitalWrite(LIGHTING_PIN, LOW);
|
|
digitalWrite(PERIPHERAL_4_PIN, LOW);
|
|
digitalWrite(PERIPHERAL_5_PIN, LOW);
|
|
|
|
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);
|
|
|
|
digitalWrite(SERVO_0_PIN, LOW);
|
|
digitalWrite(SERVO_1_PIN, LOW);
|
|
digitalWrite(SERVO_2_PIN, LOW);
|
|
digitalWrite(SERVO_3_PIN, LOW);
|
|
|
|
#if defined(FARMDUINO_V30)
|
|
|
|
reportingPeriod = 500;
|
|
|
|
pinMode(READ_ENA_PIN, INPUT_PULLUP);
|
|
pinMode(NSS_PIN, OUTPUT);
|
|
digitalWrite(NSS_PIN, HIGH);
|
|
|
|
SPI.setBitOrder(MSBFIRST);
|
|
SPI.setDataMode(SPI_MODE0);
|
|
SPI.setClockDivider(SPI_CLOCK_DIV4);
|
|
SPI.begin();
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
// other initialisation functions
|
|
void startSerial()
|
|
{
|
|
Serial.begin(115200);
|
|
delay(100);
|
|
while (!Serial);
|
|
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Serial connection started");
|
|
Serial.print(CRLF);
|
|
}
|
|
|
|
void startInterrupt()
|
|
{
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Start interrupt");
|
|
Serial.print(CRLF);
|
|
|
|
// Start the interrupt used for moving
|
|
// Interrupt management code library written by Paul Stoffregen
|
|
// The default time 100 micro seconds
|
|
|
|
Timer1.attachInterrupt(interrupt);
|
|
Timer1.initialize(MOVEMENT_INTERRUPT_SPEED);
|
|
Timer1.start();
|
|
}
|
|
|
|
void homeOnBoot()
|
|
{
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Check homing on boot");
|
|
Serial.print(CRLF);
|
|
|
|
if
|
|
(
|
|
(ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) == 1) &&
|
|
(ParameterList::getInstance()->getValue(MOVEMENT_HOME_AT_BOOT_Z) == 1)
|
|
)
|
|
{
|
|
Serial.print("R99 HOME Z ON STARTUP\r\n");
|
|
Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, false, true);
|
|
}
|
|
|
|
if
|
|
(
|
|
(ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) == 1) &&
|
|
(ParameterList::getInstance()->getValue(MOVEMENT_HOME_AT_BOOT_Y) == 1)
|
|
)
|
|
{
|
|
Serial.print("R99 HOME Y ON STARTUP\r\n");
|
|
Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, true, false);
|
|
}
|
|
|
|
if
|
|
(
|
|
(ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) == 1) &&
|
|
(ParameterList::getInstance()->getValue(MOVEMENT_HOME_AT_BOOT_X) == 1)
|
|
)
|
|
{
|
|
Serial.print("R99 HOME X ON STARTUP\r\n");
|
|
Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, true, false, false);
|
|
}
|
|
}
|
|
|
|
void startMotor()
|
|
{
|
|
// Start the motor handling
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Set motor enables off");
|
|
Serial.print(CRLF);
|
|
|
|
digitalWrite(X_ENABLE_PIN, HIGH);
|
|
digitalWrite(E_ENABLE_PIN, HIGH);
|
|
digitalWrite(Y_ENABLE_PIN, HIGH);
|
|
digitalWrite(Z_ENABLE_PIN, HIGH);
|
|
}
|
|
|
|
void loadMovementSetting()
|
|
{
|
|
|
|
// Load motor settings
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Load movement settings");
|
|
Serial.print(CRLF);
|
|
|
|
Movement::getInstance()->loadSettings();
|
|
}
|
|
|
|
void readParameters()
|
|
{
|
|
// Dump all values to the serial interface
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Read parameters");
|
|
Serial.print(CRLF);
|
|
|
|
ParameterList::getInstance()->readAllValues();
|
|
}
|
|
|
|
void startPinGuard()
|
|
{
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Start pin guard");
|
|
Serial.print(CRLF);
|
|
|
|
// Get the settings for the pin guard
|
|
PinGuard::getInstance()->loadConfig();
|
|
|
|
pinGuardCurrentTime = millis();
|
|
pinGuardLastCheck = millis();
|
|
}
|
|
|
|
void startServo()
|
|
{
|
|
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Start servo");
|
|
Serial.print(CRLF);
|
|
|
|
ServoControl::getInstance()->attach();
|
|
}
|
|
|
|
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
|
|
|
|
void loadTMC2130drivers()
|
|
{
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Load TMC drivers");
|
|
Serial.print(CRLF);
|
|
}
|
|
|
|
void loadTMC2130parameters()
|
|
{
|
|
// Initialize the drivers
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Load TMC2130 parameters");
|
|
Serial.print(CRLF);
|
|
|
|
Movement::getInstance()->loadSettingsTMC2130();
|
|
}
|
|
|
|
void startupTmc()
|
|
{
|
|
|
|
// Initialize the drivers
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Init TMC2130 drivers");
|
|
Serial.print(CRLF);
|
|
|
|
Movement::getInstance()->initTMC2130();
|
|
|
|
//loadTMC2130parameters();
|
|
|
|
//TMC2130X.init();
|
|
//TMC2130Y.init();
|
|
//TMC2130Z.init();
|
|
//TMC2130E.init();
|
|
|
|
//Movement::getInstance()->initTMC2130();
|
|
}
|
|
#endif
|
|
|
|
void initLastAction()
|
|
{
|
|
// Initialize the inactivity check
|
|
lastAction = millis();
|
|
}
|
|
|
|
void setupTestForDebug()
|
|
{
|
|
|
|
Serial.print(COMM_REPORT_COMMENT);
|
|
Serial.print(SPACE);
|
|
Serial.print("Setup Debug");
|
|
Serial.print(CRLF);
|
|
|
|
digitalWrite(X_ENABLE_PIN, LOW);
|
|
digitalWrite(Y_ENABLE_PIN, LOW);
|
|
digitalWrite(Z_ENABLE_PIN, LOW);
|
|
digitalWrite(E_ENABLE_PIN, LOW);
|
|
|
|
//digitalWrite(X_STEP_PIN, false);
|
|
//digitalWrite(Y_STEP_PIN, false);
|
|
//digitalWrite(Z_STEP_PIN, false);
|
|
//digitalWrite(E_STEP_PIN, false);
|
|
|
|
//digitalWrite(X_DIR_PIN, false);
|
|
//digitalWrite(Y_DIR_PIN, false);
|
|
//digitalWrite(Z_DIR_PIN, false);
|
|
//digitalWrite(E_DIR_PIN, false);
|
|
|
|
//digitalWrite(X_ENABLE_PIN, true);
|
|
//digitalWrite(Y_ENABLE_PIN, true);
|
|
//digitalWrite(Z_ENABLE_PIN, true);
|
|
//digitalWrite(E_ENABLE_PIN, true);
|
|
|
|
//loadTMC2130ParametersMotor(&controllerTMC2130_X, 8, 500, 0); delay(100);
|
|
//loadTMC2130ParametersMotor(&controllerTMC2130_Y, 8, 500, 0); delay(100);
|
|
//loadTMC2130ParametersMotor(&controllerTMC2130_Z, 8, 500, 0); delay(100);
|
|
//loadTMC2130ParametersMotor(&controllerTMC2130_E, 8, 500, 0); delay(100);
|
|
|
|
/*
|
|
Serial.println("Init");
|
|
|
|
loadTMC2130ParametersMotor(&TMC2130X, 8, 200, 0);
|
|
loadTMC2130ParametersMotor(&TMC2130Y, 8, 200, 0);
|
|
loadTMC2130ParametersMotor(&TMC2130Z, 8, 200, 0);
|
|
loadTMC2130ParametersMotor(&TMC2130E, 8, 200, 0);
|
|
*/
|
|
|
|
}
|
|
|
|
|
|
bool left = false;
|
|
int missedX = 0;
|
|
int missedY = 0;
|
|
int missedZ = 0;
|
|
int missedE = 0;
|
|
|
|
void runTestForDebug()
|
|
{
|
|
|
|
/*
|
|
currentTime = millis();
|
|
if (currentTime < lastAction)
|
|
{
|
|
|
|
// If the device timer overruns, reset the idle counter
|
|
lastAction = millis();
|
|
}
|
|
else
|
|
{
|
|
|
|
if ((currentTime - lastAction) > reportingPeriod)
|
|
{
|
|
blinkLed();
|
|
//Serial.print(".");
|
|
lastAction = currentTime;
|
|
|
|
Serial.print(">");
|
|
Serial.print(" X = ");
|
|
Serial.print(missedX);
|
|
Serial.print(" Y = ");
|
|
Serial.print(missedY);
|
|
Serial.print(" Z = ");
|
|
Serial.print(missedZ);
|
|
Serial.print(" E = ");
|
|
Serial.print(missedE);
|
|
Serial.print(CRLF);
|
|
|
|
if (left) {
|
|
left = false;
|
|
//digitalWrite(X_DIR_PIN, LOW);
|
|
//digitalWrite(Y_DIR_PIN, LOW);
|
|
//digitalWrite(Z_DIR_PIN, LOW);
|
|
//digitalWrite(E_DIR_PIN, LOW);
|
|
}
|
|
else {
|
|
left = true;
|
|
//digitalWrite(X_DIR_PIN, HIGH);
|
|
//digitalWrite(Y_DIR_PIN, HIGH);
|
|
//digitalWrite(Z_DIR_PIN, HIGH);
|
|
//digitalWrite(E_DIR_PIN, HIGH);
|
|
}
|
|
|
|
}
|
|
}
|
|
*/
|
|
|
|
/*
|
|
// make a step
|
|
digitalWrite(X_STEP_PIN, HIGH);
|
|
digitalWrite(Y_STEP_PIN, HIGH);
|
|
digitalWrite(Z_STEP_PIN, HIGH);
|
|
digitalWrite(E_STEP_PIN, HIGH);
|
|
delayMicroseconds(100);
|
|
|
|
digitalWrite(X_STEP_PIN, LOW);
|
|
digitalWrite(Y_STEP_PIN, LOW);
|
|
digitalWrite(Z_STEP_PIN, LOW);
|
|
digitalWrite(E_STEP_PIN, LOW);
|
|
delayMicroseconds(100);
|
|
|
|
bool stallGuard = false;
|
|
bool standStill = false;
|
|
uint8_t status = 0;
|
|
*/
|
|
|
|
Movement::getInstance()->test();
|
|
|
|
/*
|
|
TMC2130X.read_STAT();
|
|
TMC2130Y.read_STAT();
|
|
TMC2130Z.read_STAT();
|
|
TMC2130E.read_STAT();
|
|
|
|
status = TMC2130X.getStatus();
|
|
stallGuard = status & FB_TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
|
|
standStill = status & FB_TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
|
|
if (stallGuard || standStill) { missedX++;}
|
|
|
|
status = TMC2130Y.getStatus();
|
|
stallGuard = status & FB_TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
|
|
standStill = status & FB_TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
|
|
if (stallGuard || standStill) { missedY++; }
|
|
|
|
status = TMC2130Z.getStatus();
|
|
stallGuard = status & FB_TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
|
|
standStill = status & FB_TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
|
|
if (stallGuard || standStill) { missedZ++; }
|
|
|
|
status = TMC2130E.getStatus();
|
|
stallGuard = status & FB_TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
|
|
standStill = status & FB_TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
|
|
if (stallGuard || standStill) { missedE++; }
|
|
*/
|
|
|
|
//if (TMC2130X.isStandstill() || TMC2130X.isStallguard()) {missedX++;}
|
|
//if (TMC2130Y.isStandstill() || TMC2130Y.isStallguard()) {missedY++;}
|
|
//if (TMC2130Z.isStandstill() || TMC2130Z.isStallguard()) {missedZ++;}
|
|
//if (TMC2130E.isStandstill() || TMC2130E.isStallguard()) {missedE++;}
|
|
|
|
//Movement::getInstance()->test();
|
|
//delayMicroseconds(100);
|
|
|
|
//if (debugInterrupt)
|
|
//{
|
|
// Movement::getInstance()->handleMovementInterrupt();
|
|
//}
|
|
}
|