913 lines
23 KiB
C++
913 lines
23 KiB
C++
// Do not remove the include below
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#include "farmbot_arduino_controller.h"
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#if !defined(FARMDUINO_EXP_V20)
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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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|
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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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// 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)
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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_V20)
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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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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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/*
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#if defined(FARMDUINO_EXP_V20)
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loadTMC2130paraeters();
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#endif
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*/
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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)
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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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void runTestForDebug()
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{
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//Serial.print("* ");
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//Serial.print(intrCounter / 1000);
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//Serial.print("\r\n");
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//delay(500);
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//Serial.print("z");
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//blinkLed();
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//delay(500);
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//Serial.print(millis());
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//Serial.print("X");
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//Serial.print("\r\n");
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//delay(1000);
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//blinkLed();
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//Movement::getInstance()->test();
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//delayMicroseconds(100);
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//digitalWrite(LED_PIN, true);
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//delay(250);
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//digitalWrite(LED_PIN, false);
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//delay(250);
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//if (debugInterrupt)
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//{
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// Movement::getInstance()->handleMovementInterrupt();
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//}
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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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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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|
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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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|
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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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|
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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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Serial.print(COMM_REPORT_COMMENT);
|
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Serial.print(SPACE);
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Serial.print("Set input/output");
|
||
Serial.print(CRLF);
|
||
}
|
||
#endif
|
||
|
||
#if defined(FARMDUINO_V10) || defined(FARMDUINO_V14)
|
||
void setPinInputOutput()
|
||
{
|
||
|
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// pin input/output settings
|
||
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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||
|
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pinMode(Y_STEP_PIN, OUTPUT);
|
||
pinMode(Y_DIR_PIN, OUTPUT);
|
||
pinMode(Y_ENABLE_PIN, OUTPUT);
|
||
pinMode(Y_MIN_PIN, INPUT_PULLUP);
|
||
pinMode(Y_MAX_PIN, INPUT_PULLUP);
|
||
|
||
pinMode(Y_ENCDR_A, INPUT_PULLUP);
|
||
pinMode(Y_ENCDR_B, INPUT_PULLUP);
|
||
//pinMode(Y_ENCDR_A_Q, INPUT_PULLUP);
|
||
//pinMode(Y_ENCDR_B_Q, INPUT_PULLUP);
|
||
|
||
pinMode(Z_STEP_PIN, OUTPUT);
|
||
pinMode(Z_DIR_PIN, OUTPUT);
|
||
pinMode(Z_ENABLE_PIN, OUTPUT);
|
||
pinMode(Z_MIN_PIN, INPUT_PULLUP);
|
||
pinMode(Z_MAX_PIN, INPUT_PULLUP);
|
||
|
||
pinMode(Z_ENCDR_A, INPUT_PULLUP);
|
||
pinMode(Z_ENCDR_B, INPUT_PULLUP);
|
||
//pinMode(Z_ENCDR_A_Q, INPUT_PULLUP);
|
||
//pinMode(Z_ENCDR_B_Q, INPUT_PULLUP);
|
||
|
||
pinMode(AUX_STEP_PIN, OUTPUT);
|
||
pinMode(AUX_DIR_PIN, OUTPUT);
|
||
pinMode(AUX_ENABLE_PIN, OUTPUT);
|
||
digitalWrite(AUX_ENABLE_PIN, HIGH);
|
||
|
||
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);
|
||
|
||
Serial.print(COMM_REPORT_COMMENT);
|
||
Serial.print(SPACE);
|
||
Serial.print("Set input/output");
|
||
Serial.print(CRLF);
|
||
}
|
||
#endif
|
||
|
||
#if defined(FARMDUINO_V14)
|
||
void setPinInputOutput()
|
||
{
|
||
|
||
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
|
||
|
||
#if defined(FARMDUINO_EXP_V20)
|
||
void setPinInputOutput()
|
||
{
|
||
|
||
// Motor step, direction and pin is set up 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);
|
||
|
||
Serial.print(COMM_REPORT_COMMENT);
|
||
Serial.print(SPACE);
|
||
Serial.print("Set input/output");
|
||
Serial.print(CRLF);
|
||
}
|
||
#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);
|
||
}
|
||
|
||
|
||
#if defined(FARMDUINO_EXP_V20)
|
||
void startupTmc()
|
||
{
|
||
|
||
// Initialize the drivers
|
||
Serial.print(COMM_REPORT_COMMENT);
|
||
Serial.print(SPACE);
|
||
Serial.print("Init TMC2130 drivers");
|
||
Serial.print(CRLF);
|
||
|
||
TMC2130X->begin();
|
||
TMC2130Y->begin();
|
||
TMC2130Z->begin();
|
||
TMC2130E->begin();
|
||
|
||
// Load the motor parameters
|
||
Serial.print(COMM_REPORT_COMMENT);
|
||
Serial.print(SPACE);
|
||
Serial.print("Load TMC2130 parameters");
|
||
Serial.print(CRLF);
|
||
|
||
Movement::getInstance()->initTMC2130();
|
||
Movement::getInstance()->loadSettingsTMC2130();
|
||
|
||
|
||
/*
|
||
Serial.print(COMM_REPORT_COMMENT);
|
||
Serial.print(SPACE);
|
||
Serial.print("Set shaft dir");
|
||
Serial.print(CRLF);
|
||
|
||
TMC2130X->shaft_dir(0);
|
||
TMC2130Y->shaft_dir(0);
|
||
TMC2130Z->shaft_dir(0);
|
||
TMC2130E->shaft_dir(0);
|
||
*/
|
||
}
|
||
#endif
|
||
|
||
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
|
||
|
||
#if !defined(FARMDUINO_EXP_V20)
|
||
Timer1.attachInterrupt(interrupt);
|
||
Timer1.initialize(MOVEMENT_INTERRUPT_SPEED);
|
||
Timer1.start();
|
||
#endif
|
||
|
||
#if defined(FARMDUINO_EXP_V20)
|
||
Serial.println("set timer");
|
||
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 <20>s
|
||
#endif
|
||
}
|
||
|
||
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)
|
||
void loadTMC2130drivers()
|
||
{
|
||
Serial.print(COMM_REPORT_COMMENT);
|
||
Serial.print(SPACE);
|
||
Serial.print("Load TMC drivers");
|
||
Serial.print(CRLF);
|
||
|
||
TMC2130Stepper controllerTMC2130_X = TMC2130Stepper(X_CHIP_SELECT);
|
||
TMC2130Stepper controllerTMC2130_Y = TMC2130Stepper(Y_CHIP_SELECT);
|
||
TMC2130Stepper controllerTMC2130_Z = TMC2130Stepper(Z_CHIP_SELECT);
|
||
TMC2130Stepper controllerTMC2130_E = TMC2130Stepper(E_CHIP_SELECT);
|
||
|
||
TMC2130X = &controllerTMC2130_X;
|
||
TMC2130Y = &controllerTMC2130_Y;
|
||
TMC2130Z = &controllerTMC2130_Z;
|
||
TMC2130E = &controllerTMC2130_E;
|
||
|
||
int motorCurrentX;
|
||
int stallSensitivityX;
|
||
int microStepsX;
|
||
|
||
int motorCurrentY;
|
||
int stallSensitivityY;
|
||
int microStepsY;
|
||
|
||
int motorCurrentZ;
|
||
int stallSensitivityZ;
|
||
int microStepsZ;
|
||
|
||
motorCurrentX = 600;
|
||
stallSensitivityX = 0;
|
||
microStepsX = 0;
|
||
|
||
motorCurrentY = 600;
|
||
stallSensitivityY = 0;
|
||
microStepsY = 0;
|
||
|
||
motorCurrentZ = 600;
|
||
stallSensitivityZ = 0;
|
||
microStepsZ = 0;
|
||
|
||
motorCurrentX = ParameterList::getInstance()->getValue(MOVEMENT_MOTOR_CURRENT_X);
|
||
stallSensitivityX = ParameterList::getInstance()->getValue(MOVEMENT_STALL_SENSITIVITY_X);
|
||
microStepsX = ParameterList::getInstance()->getValue(MOVEMENT_MICROSTEPS_X);
|
||
|
||
motorCurrentY = ParameterList::getInstance()->getValue(MOVEMENT_MOTOR_CURRENT_Y);
|
||
stallSensitivityY = ParameterList::getInstance()->getValue(MOVEMENT_STALL_SENSITIVITY_Y);
|
||
microStepsY = ParameterList::getInstance()->getValue(MOVEMENT_MICROSTEPS_Y);
|
||
|
||
motorCurrentZ = ParameterList::getInstance()->getValue(MOVEMENT_MOTOR_CURRENT_Z);
|
||
stallSensitivityZ = ParameterList::getInstance()->getValue(MOVEMENT_STALL_SENSITIVITY_Z);
|
||
microStepsX = ParameterList::getInstance()->getValue(MOVEMENT_MICROSTEPS_Z);
|
||
|
||
/*
|
||
TMC2130X->push();
|
||
TMC2130X->toff(3);
|
||
TMC2130X->tbl(1);
|
||
TMC2130X->hysteresis_start(4);
|
||
TMC2130X->hysteresis_end(-2);
|
||
TMC2130X->rms_current(motorCurrentX); // mA
|
||
TMC2130X->microsteps(microStepsX);
|
||
TMC2130X->diag1_stall(1);
|
||
TMC2130X->diag1_active_high(1);
|
||
TMC2130X->coolstep_min_speed(0xFFFFF); // 20bit max
|
||
TMC2130X->THIGH(0);
|
||
TMC2130X->semin(5);
|
||
TMC2130X->semax(2);
|
||
TMC2130X->sedn(0b01);
|
||
TMC2130X->sg_stall_value(stallSensitivityX);
|
||
|
||
TMC2130Y->push();
|
||
TMC2130Y->toff(3);
|
||
TMC2130Y->tbl(1);
|
||
TMC2130Y->hysteresis_start(4);
|
||
TMC2130Y->hysteresis_end(-2);
|
||
TMC2130Y->rms_current(motorCurrentY); // mA
|
||
TMC2130Y->microsteps(microStepsY);
|
||
TMC2130Y->diag1_stall(1);
|
||
TMC2130Y->diag1_active_high(1);
|
||
TMC2130Y->coolstep_min_speed(0xFFFFF); // 20bit max
|
||
TMC2130Y->THIGH(0);
|
||
TMC2130Y->semin(5);
|
||
TMC2130Y->semax(2);
|
||
TMC2130Y->sedn(0b01);
|
||
TMC2130Y->sg_stall_value(stallSensitivityY);
|
||
|
||
TMC2130Z->push();
|
||
TMC2130Z->toff(3);
|
||
TMC2130Z->tbl(1);
|
||
TMC2130Z->hysteresis_start(4);
|
||
TMC2130Z->hysteresis_end(-2);
|
||
TMC2130Z->rms_current(motorCurrentZ); // mA
|
||
TMC2130Z->microsteps(microStepsZ);
|
||
TMC2130Z->diag1_stall(1);
|
||
TMC2130Z->diag1_active_high(1);
|
||
TMC2130Z->coolstep_min_speed(0xFFFFF); // 20bit max
|
||
TMC2130Z->THIGH(0);
|
||
TMC2130Z->semin(5);
|
||
TMC2130Z->semax(2);
|
||
TMC2130Z->sedn(0b01);
|
||
TMC2130Z->sg_stall_value(stallSensitivityZ);
|
||
|
||
TMC2130E->push();
|
||
TMC2130E->toff(3);
|
||
TMC2130E->tbl(1);
|
||
TMC2130E->hysteresis_start(4);
|
||
TMC2130E->hysteresis_end(-2);
|
||
TMC2130E->rms_current(motorCurrentX); // mA
|
||
TMC2130E->microsteps(microStepsX);
|
||
TMC2130E->diag1_stall(1);
|
||
TMC2130E->diag1_active_high(1);
|
||
TMC2130E->coolstep_min_speed(0xFFFFF); // 20bit max
|
||
TMC2130E->THIGH(0);
|
||
TMC2130E->semin(5);
|
||
TMC2130E->semax(2);
|
||
TMC2130E->sedn(0b01);
|
||
TMC2130E->sg_stall_value(stallSensitivityX);
|
||
*/
|
||
|
||
|
||
TMC2130X->rms_current(motorCurrentX); // Set the required current in mA
|
||
TMC2130X->microsteps(microStepsX); // Minimum of micro steps needed
|
||
TMC2130X->chm(true); // Set the chopper mode to classic const. off time
|
||
TMC2130X->diag1_stall(1); // Activate stall diagnostics
|
||
TMC2130X->sgt(stallSensitivityX); // Set stall detection sensitivity. most -64 to +64 least
|
||
TMC2130X->shaft_dir(0); // Set direction
|
||
|
||
TMC2130Y->rms_current(motorCurrentX); // Set the required current in mA
|
||
TMC2130Y->microsteps(microStepsX); // Minimum of micro steps needed
|
||
TMC2130Y->chm(true); // Set the chopper mode to classic const. off time
|
||
TMC2130Y->diag1_stall(1); // Activate stall diagnostics
|
||
TMC2130Y->sgt(stallSensitivityX); // Set stall detection sensitivity. most -64 to +64 least
|
||
TMC2130Y->shaft_dir(0); // Set direction
|
||
|
||
TMC2130Z->rms_current(motorCurrentX); // Set the required current in mA
|
||
TMC2130Z->microsteps(microStepsX); // Minimum of micro steps needed
|
||
TMC2130Z->chm(true); // Set the chopper mode to classic const. off time
|
||
TMC2130Z->diag1_stall(1); // Activate stall diagnostics
|
||
TMC2130Z->sgt(stallSensitivityX); // Set stall detection sensitivity. most -64 to +64 least
|
||
TMC2130Z->shaft_dir(0); // Set direction
|
||
|
||
TMC2130E->rms_current(motorCurrentX); // Set the required current in mA
|
||
TMC2130E->microsteps(microStepsX); // Minimum of micro steps needed
|
||
TMC2130E->chm(true); // Set the chopper mode to classic const. off time
|
||
TMC2130E->diag1_stall(1); // Activate stall diagnostics
|
||
TMC2130E->sgt(stallSensitivityX); // Set stall detection sensitivity. most -64 to +64 least
|
||
TMC2130E->shaft_dir(0); // Set direction
|
||
}
|
||
|
||
void loadTMC2130parameters()
|
||
{
|
||
}
|
||
#endif
|
||
|
||
void initLastAction()
|
||
{
|
||
// Initialize the inactivity check
|
||
lastAction = millis();
|
||
} |