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farmbot-arduino-firmware
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farmbot-arduino-firmware/src/ParameterList.cpp

508 lines
12 KiB
C++
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#include "ParameterList.h"
#include <EEPROM.h>
static ParameterList *instanceParam;
int paramValues[PARAM_NR_OF_PARAMS];
ParameterList *ParameterList::getInstance()
{
if (!instanceParam)
{
instanceParam = new ParameterList();
};
return instanceParam;
}
ParameterList::ParameterList()
{
// at the first boot, load default parameters and set the parameter version
// so during subsequent boots the values are just loaded from eeprom
// unless the eeprom is disabled with a parameter
int paramChangeNr = 0;
int paramVersion = readValueEeprom(0);
if (paramVersion <= 0)
{
setAllValuesToDefault();
writeAllValuesToEeprom();
}
else
{
//if (readValueEeprom(PARAM_USE_EEPROM) == 1) {
readAllValuesFromEeprom();
//} else {
// setAllValuesToDefault();
//}
}
}
// ===== Interface functions for the raspberry pi =====
int ParameterList::readValue(int id)
{
// Check if the value is an existing parameter
if (validParam(id))
{
// Retrieve the value from memory
int value = paramValues[id];
// Send to the raspberrt pi
Serial.print("R21");
Serial.print(" ");
Serial.print("P");
Serial.print(id);
Serial.print(" ");
Serial.print("V");
Serial.print(value);
//Serial.print("\r\n");
CurrentState::getInstance()->printQAndNewLine();
}
else
{
Serial.print("R99 Error: invalid parameter id\r\n");
}
return 0;
}
int ParameterList::writeValue(int id, int value)
{
if (paramChangeNr < 9999)
{
paramChangeNr++;
}
else
{
paramChangeNr = 0;
}
// Check if the value is a valid parameter
if (validParam(id))
{
// Store the value in memory
paramValues[id] = value;
writeValueEeprom(id, value);
}
else
{
Serial.print("R99 Error: invalid parameter id\r\n");
}
/*
// Debugging output
Serial.print("R99");
Serial.print(" ");
Serial.print("writeValue");
Serial.print(" ");
Serial.print("P");
Serial.print(" ");
Serial.print(id);
Serial.print(" ");
Serial.print("V");
Serial.print(" ");
Serial.print(value);
//Serial.print("\r\n");
CurrentState::getInstance()->printQAndNewLine();
*/
// If any value is written,
// trigger the loading of the new configuration in all other modules
sendConfigToModules();
return 0;
}
void ParameterList::sendConfigToModules()
{
// Trigger other modules to load the new values
PinGuard::getInstance()->loadConfig();
}
int ParameterList::readAllValues()
{
// Make a dump of all values
// Check if it's a valid value to keep the junk out of the list
for (int i = 0; i < PARAM_NR_OF_PARAMS; i++)
{
if (validParam(i))
{
readValue(i);
}
}
}
int ParameterList::getValue(int id)
{
return paramValues[id];
}
int ParameterList::paramChangeNumber()
{
return paramChangeNr;
}
// ===== eeprom handling ====
int 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);
//Return the recomposed long by using bitshift.
return ((two << 0) & 0xFF) + ((one << 8) & 0xFFFF);
}
int ParameterList::writeValueEeprom(int id, int 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);
//Write the 4 bytes into the eeprom memory.
EEPROM.write(address, two);
EEPROM.write(address + 1, one);
return 0;
}
int ParameterList::readAllValuesFromEeprom()
{
// Write all existing values to eeprom
for (int i = 0; i < PARAM_NR_OF_PARAMS; i++)
{
if (validParam(i))
{
paramValues[i] = readValueEeprom(i);
if (paramValues[i] == -1)
{
// When parameters are still on default,
// load a good value and save it
loadDefaultValue(i);
writeValueEeprom(i, paramValues[i]);
}
}
}
}
int ParameterList::writeAllValuesToEeprom()
{
// Write all existing values to eeprom
for (int i = 0; i < 150; i++)
{
if (validParam(i))
{
writeValueEeprom(i, paramValues[i]);
}
}
}
// ==== parameter valdation and defaults
int ParameterList::setAllValuesToDefault()
{
// Copy default values to the memory values
for (int i = 0; i < PARAM_NR_OF_PARAMS; i++)
{
if (validParam(i))
{
loadDefaultValue(i);
}
}
}
void ParameterList::loadDefaultValue(int id)
{
switch (id)
{
case PARAM_VERSION:
paramValues[id] = PARAM_VERSION_DEFAULT;
break;
case PARAM_TEST:
paramValues[id] = PARAM_TEST_DEFAULT;
break;
case PARAM_CONFIG_OK:
paramValues[id] = PARAM_CONFIG_OK_DEFAULT;
break;
case PARAM_USE_EEPROM:
paramValues[id] = PARAM_USE_EEPROM;
break;
case MOVEMENT_TIMEOUT_X:
paramValues[id] = MOVEMENT_TIMEOUT_X_DEFAULT;
break;
case MOVEMENT_TIMEOUT_Y:
paramValues[id] = MOVEMENT_TIMEOUT_Y_DEFAULT;
break;
case MOVEMENT_TIMEOUT_Z:
paramValues[id] = MOVEMENT_TIMEOUT_Z_DEFAULT;
break;
case MOVEMENT_INVERT_ENDPOINTS_X:
paramValues[id] = MOVEMENT_INVERT_ENDPOINTS_X_DEFAULT;
break;
case MOVEMENT_INVERT_ENDPOINTS_Y:
paramValues[id] = MOVEMENT_INVERT_ENDPOINTS_Y_DEFAULT;
break;
case MOVEMENT_INVERT_ENDPOINTS_Z:
paramValues[id] = MOVEMENT_INVERT_ENDPOINTS_Z_DEFAULT;
break;
case MOVEMENT_ENABLE_ENDPOINTS_X:
paramValues[id] = MOVEMENT_ENABLE_ENDPOINTS_X_DEFAULT;
break;
case MOVEMENT_ENABLE_ENDPOINTS_Y:
paramValues[id] = MOVEMENT_ENABLE_ENDPOINTS_Y_DEFAULT;
break;
case MOVEMENT_ENABLE_ENDPOINTS_Z:
paramValues[id] = MOVEMENT_ENABLE_ENDPOINTS_Z_DEFAULT;
break;
case MOVEMENT_INVERT_MOTOR_X:
paramValues[id] = MOVEMENT_INVERT_MOTOR_X_DEFAULT;
break;
case MOVEMENT_INVERT_MOTOR_Y:
paramValues[id] = MOVEMENT_INVERT_MOTOR_Y_DEFAULT;
break;
case MOVEMENT_INVERT_MOTOR_Z:
paramValues[id] = MOVEMENT_INVERT_MOTOR_Z_DEFAULT;
break;
case MOVEMENT_SECONDARY_MOTOR_X:
paramValues[id] = MOVEMENT_SECONDARY_MOTOR_X_DEFAULT;
break;
case MOVEMENT_SECONDARY_MOTOR_INVERT_X:
paramValues[id] = MOVEMENT_SECONDARY_MOTOR_INVERT_X_DEFAULT;
break;
case MOVEMENT_STEPS_ACC_DEC_X:
paramValues[id] = MOVEMENT_STEPS_ACC_DEC_X_DEFAULT;
break;
case MOVEMENT_STEPS_ACC_DEC_Y:
paramValues[id] = MOVEMENT_STEPS_ACC_DEC_Y_DEFAULT;
break;
case MOVEMENT_STEPS_ACC_DEC_Z:
paramValues[id] = MOVEMENT_STEPS_ACC_DEC_Z_DEFAULT;
break;
case MOVEMENT_HOME_UP_X:
paramValues[id] = MOVEMENT_HOME_UP_X_DEFAULT;
break;
case MOVEMENT_HOME_UP_Y:
paramValues[id] = MOVEMENT_HOME_UP_Y_DEFAULT;
break;
case MOVEMENT_HOME_UP_Z:
paramValues[id] = MOVEMENT_HOME_UP_Z_DEFAULT;
break;
case MOVEMENT_MIN_SPD_X:
paramValues[id] = MOVEMENT_MIN_SPD_X_DEFAULT;
break;
case MOVEMENT_MIN_SPD_Y:
paramValues[id] = MOVEMENT_MIN_SPD_Y_DEFAULT;
break;
case MOVEMENT_MIN_SPD_Z:
paramValues[id] = MOVEMENT_MIN_SPD_Z_DEFAULT;
break;
case MOVEMENT_MAX_SPD_X:
paramValues[id] = MOVEMENT_MAX_SPD_X_DEFAULT;
break;
case MOVEMENT_MAX_SPD_Y:
paramValues[id] = MOVEMENT_MAX_SPD_Y_DEFAULT;
break;
case MOVEMENT_MAX_SPD_Z:
paramValues[id] = MOVEMENT_MAX_SPD_Z_DEFAULT;
break;
case ENCODER_ENABLED_X:
paramValues[id] = ENCODER_ENABLED_X_DEFAULT;
break;
case ENCODER_ENABLED_Y:
paramValues[id] = ENCODER_ENABLED_Y_DEFAULT;
break;
case ENCODER_ENABLED_Z:
paramValues[id] = ENCODER_ENABLED_Z_DEFAULT;
break;
case ENCODER_TYPE_X:
paramValues[id] = ENCODER_TYPE_X_DEFAULT;
break;
case ENCODER_TYPE_Y:
paramValues[id] = ENCODER_TYPE_Y_DEFAULT;
break;
case ENCODER_TYPE_Z:
paramValues[id] = ENCODER_TYPE_Z_DEFAULT;
break;
case ENCODER_MISSED_STEPS_MAX_X:
paramValues[id] = ENCODER_MISSED_STEPS_MAX_X_DEFAULT;
break;
case ENCODER_MISSED_STEPS_MAX_Y:
paramValues[id] = ENCODER_MISSED_STEPS_MAX_Y_DEFAULT;
break;
case ENCODER_MISSED_STEPS_MAX_Z:
paramValues[id] = ENCODER_MISSED_STEPS_MAX_Z_DEFAULT;
break;
case ENCODER_SCALING_X:
paramValues[id] = ENCODER_SCALING_X_DEFAULT;
break;
case ENCODER_SCALING_Y:
paramValues[id] = ENCODER_SCALING_Y_DEFAULT;
break;
case ENCODER_SCALING_Z:
paramValues[id] = ENCODER_SCALING_Z_DEFAULT;
break;
case ENCODER_MISSED_STEPS_DECAY_X:
paramValues[id] = ENCODER_MISSED_STEPS_DECAY_X_DEFAULT;
break;
case ENCODER_MISSED_STEPS_DECAY_Y:
paramValues[id] = ENCODER_MISSED_STEPS_DECAY_Y_DEFAULT;
break;
case ENCODER_MISSED_STEPS_DECAY_Z:
paramValues[id] = ENCODER_MISSED_STEPS_DECAY_Z_DEFAULT;
break;
case PIN_GUARD_1_PIN_NR:
paramValues[id] = PIN_GUARD_1_PIN_NR_DEFAULT;
break;
case PIN_GUARD_1_TIME_OUT:
paramValues[id] = PIN_GUARD_1_TIME_OUT_DEFAULT;
break;
case PIN_GUARD_1_ACTIVE_STATE:
paramValues[id] = PIN_GUARD_1_ACTIVE_STATE_DEFAULT;
break;
case PIN_GUARD_2_PIN_NR:
paramValues[id] = PIN_GUARD_2_PIN_NR_DEFAULT;
break;
case PIN_GUARD_2_TIME_OUT:
paramValues[id] = PIN_GUARD_2_TIME_OUT_DEFAULT;
break;
case PIN_GUARD_2_ACTIVE_STATE:
paramValues[id] = PIN_GUARD_2_ACTIVE_STATE_DEFAULT;
break;
case PIN_GUARD_3_PIN_NR:
paramValues[id] = PIN_GUARD_3_PIN_NR_DEFAULT;
break;
case PIN_GUARD_3_TIME_OUT:
paramValues[id] = PIN_GUARD_3_TIME_OUT_DEFAULT;
break;
case PIN_GUARD_3_ACTIVE_STATE:
paramValues[id] = PIN_GUARD_3_ACTIVE_STATE_DEFAULT;
break;
case PIN_GUARD_4_PIN_NR:
paramValues[id] = PIN_GUARD_4_PIN_NR_DEFAULT;
break;
case PIN_GUARD_4_TIME_OUT:
paramValues[id] = PIN_GUARD_4_TIME_OUT_DEFAULT;
break;
case PIN_GUARD_4_ACTIVE_STATE:
paramValues[id] = PIN_GUARD_4_ACTIVE_STATE_DEFAULT;
break;
case PIN_GUARD_5_PIN_NR:
paramValues[id] = PIN_GUARD_5_PIN_NR_DEFAULT;
break;
case PIN_GUARD_5_TIME_OUT:
paramValues[id] = PIN_GUARD_5_TIME_OUT_DEFAULT;
break;
case PIN_GUARD_5_ACTIVE_STATE:
paramValues[id] = PIN_GUARD_5_ACTIVE_STATE_DEFAULT;
break;
default:
paramValues[id] = 0;
break;
}
}
bool ParameterList::validParam(int id)
{
// Check if the id is a valid one
switch (id)
{
case PARAM_VERSION:
case PARAM_CONFIG_OK:
case PARAM_USE_EEPROM:
case MOVEMENT_TIMEOUT_X:
case MOVEMENT_TIMEOUT_Y:
case MOVEMENT_TIMEOUT_Z:
case MOVEMENT_ENABLE_ENDPOINTS_X:
case MOVEMENT_ENABLE_ENDPOINTS_Y:
case MOVEMENT_ENABLE_ENDPOINTS_Z:
case MOVEMENT_INVERT_ENDPOINTS_X:
case MOVEMENT_INVERT_ENDPOINTS_Y:
case MOVEMENT_INVERT_ENDPOINTS_Z:
case MOVEMENT_INVERT_MOTOR_X:
case MOVEMENT_INVERT_MOTOR_Y:
case MOVEMENT_INVERT_MOTOR_Z:
case MOVEMENT_SECONDARY_MOTOR_X:
case MOVEMENT_SECONDARY_MOTOR_INVERT_X:
case MOVEMENT_STEPS_ACC_DEC_X:
case MOVEMENT_STEPS_ACC_DEC_Y:
case MOVEMENT_STEPS_ACC_DEC_Z:
case MOVEMENT_HOME_UP_X:
case MOVEMENT_HOME_UP_Y:
case MOVEMENT_HOME_UP_Z:
case MOVEMENT_MIN_SPD_X:
case MOVEMENT_MIN_SPD_Y:
case MOVEMENT_MIN_SPD_Z:
case MOVEMENT_MAX_SPD_X:
case MOVEMENT_MAX_SPD_Y:
case MOVEMENT_MAX_SPD_Z:
case ENCODER_ENABLED_X:
case ENCODER_ENABLED_Y:
case ENCODER_ENABLED_Z:
case ENCODER_TYPE_X:
case ENCODER_TYPE_Y:
case ENCODER_TYPE_Z:
case ENCODER_MISSED_STEPS_MAX_X:
case ENCODER_MISSED_STEPS_MAX_Y:
case ENCODER_MISSED_STEPS_MAX_Z:
case ENCODER_SCALING_X:
case ENCODER_SCALING_Y:
case ENCODER_SCALING_Z:
case ENCODER_MISSED_STEPS_DECAY_X:
case ENCODER_MISSED_STEPS_DECAY_Y:
case ENCODER_MISSED_STEPS_DECAY_Z:
case PIN_GUARD_1_PIN_NR:
case PIN_GUARD_1_TIME_OUT:
case PIN_GUARD_1_ACTIVE_STATE:
case PIN_GUARD_2_PIN_NR:
case PIN_GUARD_2_TIME_OUT:
case PIN_GUARD_2_ACTIVE_STATE:
case PIN_GUARD_3_PIN_NR:
case PIN_GUARD_3_TIME_OUT:
case PIN_GUARD_3_ACTIVE_STATE:
case PIN_GUARD_4_PIN_NR:
case PIN_GUARD_4_TIME_OUT:
case PIN_GUARD_4_ACTIVE_STATE:
case PIN_GUARD_5_PIN_NR:
case PIN_GUARD_5_TIME_OUT:
case PIN_GUARD_5_ACTIVE_STATE:
return true;
default:
return false;
}
}
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