From 8c9b2fe12843d9916405da804e0d17a1bd60423e Mon Sep 17 00:00:00 2001 From: madgrizzle Date: Tue, 20 Aug 2019 10:48:58 -0400 Subject: [PATCH 01/21] Add Missing Kinematics.Init() Any changes to values that are used during the kinematics::forward calculations should call kinematics.init() so sled position can be recalculated. If its not, this can cause a "sled not keeping up" error, particularly after calibration. If the sled is at an unadjusted position and a move is made, the move will be made with the adjusted parameters and that can exceed the positionErrorLimit. --- cnc_ctrl_v1/Settings.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/cnc_ctrl_v1/Settings.cpp b/cnc_ctrl_v1/Settings.cpp index b86af643..065a016a 100644 --- a/cnc_ctrl_v1/Settings.cpp +++ b/cnc_ctrl_v1/Settings.cpp @@ -382,6 +382,7 @@ byte settingsStoreGlobalSetting(const byte& parameter,const float& value){ break; case 37: sysSettings.chainSagCorrection = value; + kinematics.init(); break; case 38: settingsSaveStepstoEEprom(); @@ -400,9 +401,11 @@ byte settingsStoreGlobalSetting(const byte& parameter,const float& value){ break; case 40: sysSettings.leftChainTolerance = value; + kinematics.init(); break; case 41: sysSettings.rightChainTolerance = value; + kinematics.init(); break; case 42: sysSettings.positionErrorLimit = value; From 7748db8e3de18e3a3a0daaf4cbbe9226703aeae9 Mon Sep 17 00:00:00 2001 From: Scott Smith Date: Wed, 21 Aug 2019 19:05:01 -0700 Subject: [PATCH 02/21] add B99 command to control FAKE_SERVO mode cnc_ctrl_v1.ino: - add global flag to signal Axis::computePID() and Motor::write() - check for saved state at startup and report it Gcode.cpp: - add 'B99 ' command - - if the line contains 'ON' set FAKE_SERVO_STATE otherwise clear it - - report the state - - save the value of FAKE_SERVO_STATE in the high byte of EEPROM to persiste over restarts - - note that Setings::settingsWipe(SETTINGS_RESTORE_ALL) writes '0' to that location, which turns FAKE_SERVO off Axis.cpp: - at start of Axis::computePID(), check 'if (FAKE_SERVO_STATE != 0)' to determine whether to fake the encoder change. The check adds very few microseconds to this importrant function. Motor.cpp: - at the start of Motor::write() add a check for (FAKE_SERVO_STATE == 0) to determine whether to set the speed of the motor. This check adds only a few microseconds. Adding this check keeps the motors inoperative dureing FAKE_SERVO mode. --- cnc_ctrl_v1/Axis.cpp | 15 ++++++++------- cnc_ctrl_v1/Config.h | 9 ++++++--- cnc_ctrl_v1/GCode.cpp | 31 ++++++++++++++++++++++++++++++- cnc_ctrl_v1/GCode.h | 1 + cnc_ctrl_v1/Motor.cpp | 2 +- cnc_ctrl_v1/cnc_ctrl_v1.ino | 10 ++++++++++ 6 files changed, 56 insertions(+), 12 deletions(-) diff --git a/cnc_ctrl_v1/Axis.cpp b/cnc_ctrl_v1/Axis.cpp index 5bbe8063..dac438df 100644 --- a/cnc_ctrl_v1/Axis.cpp +++ b/cnc_ctrl_v1/Axis.cpp @@ -17,6 +17,7 @@ #include "Maslow.h" +// #include void Axis::setup(const int& pwmPin, const int& directionPin1, const int& directionPin2, const int& encoderPin1, const int& encoderPin2, const char& axisName, const unsigned long& loopInterval) { @@ -84,14 +85,14 @@ void Axis::setSteps(const long& steps){ void Axis::computePID(){ - #ifdef FAKE_SERVO - if (motorGearboxEncoder.motor.attached()){ - // Adds up to 10% error just to simulate servo noise - double rpm = (-1 * _pidOutput) * random(90, 110) / 100; - unsigned long steps = motorGearboxEncoder.encoder.read() + round( rpm * *_encoderSteps * LOOPINTERVAL)/(60 * 1000000); - motorGearboxEncoder.encoder.write(steps); + if (FAKE_SERVO_STATE != 0) { + if (motorGearboxEncoder.motor.attached()){ + // Adds up to 10% error just to simulate servo noise + double rpm = (-1 * _pidOutput) * random(90, 110) / 100; + unsigned long steps = motorGearboxEncoder.encoder.read() + round( rpm * *_encoderSteps * LOOPINTERVAL)/(60 * 1000000); + motorGearboxEncoder.encoder.write(steps); + } } - #endif if (_disableAxisForTesting || !motorGearboxEncoder.motor.attached()){ return; diff --git a/cnc_ctrl_v1/Config.h b/cnc_ctrl_v1/Config.h index 64f4fe10..b7084d91 100644 --- a/cnc_ctrl_v1/Config.h +++ b/cnc_ctrl_v1/Config.h @@ -25,9 +25,12 @@ // LOOPINTERVAL tuning #define KINEMATICSDBG 0 // set to 1 for additional kinematics debug messaging -// #define FAKE_SERVO // Uncomment this line to cause the Firmware to mimic - // a servo updating the encoder steps even if no servo - // is connected. Useful for testing on an arduino only +#define FAKE_SERVO 4095 // store the state of FAKE_SERVO in EEPROM[ 4095 ] to preserve + // the state of FAKE_SERVO mode over resets. + // Use 'B99 ON' to turn FAKE_SERVO mode on and set EEPROM[ 4095 ] to '1', + // 'B99' with no parameter, or any parameter other than 'ON' + // puts a '0' in that location and turns FAKE_SERVO mode off. + // Useful for testing on an arduino only (e.g. without motors). // #define SIMAVR // Uncomment this if you plan to run the Firmware in the simavr // simulator. Normally, you would not define this directly, but diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp index fb1d908b..7a5b50cf 100644 --- a/cnc_ctrl_v1/GCode.cpp +++ b/cnc_ctrl_v1/GCode.cpp @@ -19,6 +19,7 @@ Copyright 2014-2017 Bar Smith*/ // commands #include "Maslow.h" +#include maslowRingBuffer incSerialBuffer; String readyCommandString = ""; //KRK why is this a global? @@ -367,7 +368,35 @@ byte executeBcodeLine(const String& gcodeLine){ return STATUS_OK; } - return STATUS_INVALID_STATEMENT; + + // Use 'B99 ON' to set FAKE_SERVO mode on, + // 'B99' with no parameter, or any parameter other than 'ON' + // turns FAKE_SERVO mode off. + // FAKE_SERVO mode causes the Firmware to mimic a servo, + // updating the encoder steps even if no servo is connected. + // Useful for testing on an arduino only (e.g. without motors). + // The status of FAKE_SERVO mode is stored in EEPROM[ 4095 ] + // to persist between resets. Tthat byte is set to '1' when FAKE_SERVO + // is on, '0' when off. settingsWipe(SETTINGS_RESTORE_ALL) clears the + // EEPROM to '0', sothat stores '0' at EEPROM[ 4095 ] as well. + if(gcodeLine.substring(0, 3) == "B99") { + int letterO = gcodeLine.indexOf('O'); + int letterN = gcodeLine.indexOf('N'); + if ((letterO != -1) && (letterN != -1)) { + EEPROM[ FAKE_SERVO ] = 1; + FAKE_SERVO_STATE = 1; + } else { + EEPROM[ FAKE_SERVO ] = 0; + FAKE_SERVO_STATE = 0; + } + if (FAKE_SERVO_STATE == 0) { + Serial.println(F("FAKE_SERVO off")); + } else { + Serial.println(F("FAKE_SERVO on")); + } + return(STATUS_OK); + } + return STATUS_INVALID_STATEMENT; } void executeGcodeLine(const String& gcodeLine){ diff --git a/cnc_ctrl_v1/GCode.h b/cnc_ctrl_v1/GCode.h index d2cf12f4..880a601d 100644 --- a/cnc_ctrl_v1/GCode.h +++ b/cnc_ctrl_v1/GCode.h @@ -46,5 +46,6 @@ void G38(const String&); void setInchesToMillimetersConversion(float); extern int SpindlePowerControlPin; extern int ProbePin; +extern int FAKE_SERVO_STATE; #endif diff --git a/cnc_ctrl_v1/Motor.cpp b/cnc_ctrl_v1/Motor.cpp index b2e40d34..a06b322a 100644 --- a/cnc_ctrl_v1/Motor.cpp +++ b/cnc_ctrl_v1/Motor.cpp @@ -113,7 +113,7 @@ void Motor::write(int speed, bool force){ /* Sets motor speed from input. Speed = 0 is stopped, -255 is full reverse, 255 is full ahead. If force is true the motor attached state will be ignored */ - if (_attachedState == 1 or force){ + if ((_attachedState == 1 or force) and (FAKE_SERVO_STATE == 0)){ speed = constrain(speed, -255, 255); _lastSpeed = speed; //saves speed for use in additive write bool forward = (speed > 0); diff --git a/cnc_ctrl_v1/cnc_ctrl_v1.ino b/cnc_ctrl_v1/cnc_ctrl_v1.ino index e844c51c..b4a1f1b2 100644 --- a/cnc_ctrl_v1/cnc_ctrl_v1.ino +++ b/cnc_ctrl_v1/cnc_ctrl_v1.ino @@ -35,6 +35,7 @@ // TLE5206 version #include "Maslow.h" +#include // Define system global state structure system_t sys; @@ -45,6 +46,9 @@ settings_t sysSettings; // Global realtime executor bitflag variable for setting various alarms. byte systemRtExecAlarm; +// Define global flag for FAKE_SERVO state +int FAKE_SERVO_STATE = 0; + // Define axes, it might be tighter to define these within the sys struct Axis leftAxis; Axis rightAxis; @@ -63,6 +67,12 @@ void setup(){ Serial.println(F(" Detected")); sys.inchesToMMConversion = 1; sys.writeStepsToEEPROM = false; + FAKE_SERVO_STATE = EEPROM[ FAKE_SERVO ] & B00000001; + if (FAKE_SERVO_STATE == 0) { + Serial.println(F("FAKE_SERVO off")); + } else { + Serial.println(F("FAKE_SERVO on")); + } settingsLoadFromEEprom(); sys.feedrate = sysSettings.maxFeed / 2.0; setupAxes(); From 5d351a32a277d6991b65dad804b12c6d71367eda Mon Sep 17 00:00:00 2001 From: Scott Smith Date: Thu, 29 Aug 2019 22:50:30 -0700 Subject: [PATCH 03/21] tighten up FAKE_SERVO access - define a specific number value to indicate FAKE_SERVO as active in Config.h - in cnc_ctrl_v1 on startup, check the contents of EEPROM[ 4095 ] for that special value, if found enter FAKE_SERVO but if any othe value is found store a '0' there and indicate that FAKE_SERVO is 'off' - change the logic in Axis::computePID() and Motor::write() to check for the specific value ranther than non-zero. --- cnc_ctrl_v1/Axis.cpp | 2 +- cnc_ctrl_v1/Config.h | 3 ++- cnc_ctrl_v1/GCode.cpp | 12 ++++++------ cnc_ctrl_v1/Motor.cpp | 2 +- cnc_ctrl_v1/cnc_ctrl_v1.ino | 13 +++++++------ 5 files changed, 17 insertions(+), 15 deletions(-) diff --git a/cnc_ctrl_v1/Axis.cpp b/cnc_ctrl_v1/Axis.cpp index dac438df..c03f9fda 100644 --- a/cnc_ctrl_v1/Axis.cpp +++ b/cnc_ctrl_v1/Axis.cpp @@ -85,7 +85,7 @@ void Axis::setSteps(const long& steps){ void Axis::computePID(){ - if (FAKE_SERVO_STATE != 0) { + if (FAKE_SERVO_STATE == FAKE_SERVO_PERMITTED) { if (motorGearboxEncoder.motor.attached()){ // Adds up to 10% error just to simulate servo noise double rpm = (-1 * _pidOutput) * random(90, 110) / 100; diff --git a/cnc_ctrl_v1/Config.h b/cnc_ctrl_v1/Config.h index b7084d91..89966499 100644 --- a/cnc_ctrl_v1/Config.h +++ b/cnc_ctrl_v1/Config.h @@ -25,7 +25,8 @@ // LOOPINTERVAL tuning #define KINEMATICSDBG 0 // set to 1 for additional kinematics debug messaging -#define FAKE_SERVO 4095 // store the state of FAKE_SERVO in EEPROM[ 4095 ] to preserve +#define FAKE_SERVO_PERMITTED 42 // store this value +#define FAKE_SERVO 4095 // in EEPROM[ 4095 ] to preserve // the state of FAKE_SERVO mode over resets. // Use 'B99 ON' to turn FAKE_SERVO mode on and set EEPROM[ 4095 ] to '1', // 'B99' with no parameter, or any parameter other than 'ON' diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp index 7a5b50cf..826f7228 100644 --- a/cnc_ctrl_v1/GCode.cpp +++ b/cnc_ctrl_v1/GCode.cpp @@ -376,23 +376,23 @@ byte executeBcodeLine(const String& gcodeLine){ // updating the encoder steps even if no servo is connected. // Useful for testing on an arduino only (e.g. without motors). // The status of FAKE_SERVO mode is stored in EEPROM[ 4095 ] - // to persist between resets. Tthat byte is set to '1' when FAKE_SERVO + // to persist between resets. That byte is set to 'FAKE_SERVO_PERMITTED' when FAKE_SERVO // is on, '0' when off. settingsWipe(SETTINGS_RESTORE_ALL) clears the // EEPROM to '0', sothat stores '0' at EEPROM[ 4095 ] as well. if(gcodeLine.substring(0, 3) == "B99") { int letterO = gcodeLine.indexOf('O'); int letterN = gcodeLine.indexOf('N'); if ((letterO != -1) && (letterN != -1)) { - EEPROM[ FAKE_SERVO ] = 1; - FAKE_SERVO_STATE = 1; + EEPROM[ FAKE_SERVO ] = FAKE_SERVO_PERMITTED; + FAKE_SERVO_STATE = FAKE_SERVO_PERMITTED; } else { EEPROM[ FAKE_SERVO ] = 0; FAKE_SERVO_STATE = 0; } - if (FAKE_SERVO_STATE == 0) { - Serial.println(F("FAKE_SERVO off")); - } else { + if (FAKE_SERVO_STATE == FAKE_SERVO_PERMITTED) { Serial.println(F("FAKE_SERVO on")); + } else { + Serial.println(F("FAKE_SERVO off")); } return(STATUS_OK); } diff --git a/cnc_ctrl_v1/Motor.cpp b/cnc_ctrl_v1/Motor.cpp index a06b322a..a4e53a86 100644 --- a/cnc_ctrl_v1/Motor.cpp +++ b/cnc_ctrl_v1/Motor.cpp @@ -113,7 +113,7 @@ void Motor::write(int speed, bool force){ /* Sets motor speed from input. Speed = 0 is stopped, -255 is full reverse, 255 is full ahead. If force is true the motor attached state will be ignored */ - if ((_attachedState == 1 or force) and (FAKE_SERVO_STATE == 0)){ + if ((_attachedState == 1 or force) and (FAKE_SERVO_STATE != FAKE_SERVO_PERMITTED)){ speed = constrain(speed, -255, 255); _lastSpeed = speed; //saves speed for use in additive write bool forward = (speed > 0); diff --git a/cnc_ctrl_v1/cnc_ctrl_v1.ino b/cnc_ctrl_v1/cnc_ctrl_v1.ino index b4a1f1b2..4ba52ad3 100644 --- a/cnc_ctrl_v1/cnc_ctrl_v1.ino +++ b/cnc_ctrl_v1/cnc_ctrl_v1.ino @@ -67,12 +67,13 @@ void setup(){ Serial.println(F(" Detected")); sys.inchesToMMConversion = 1; sys.writeStepsToEEPROM = false; - FAKE_SERVO_STATE = EEPROM[ FAKE_SERVO ] & B00000001; - if (FAKE_SERVO_STATE == 0) { - Serial.println(F("FAKE_SERVO off")); - } else { - Serial.println(F("FAKE_SERVO on")); - } + FAKE_SERVO_STATE = EEPROM[ FAKE_SERVO ]; + if (FAKE_SERVO_STATE == FAKE_SERVO_PERMITTED) { // only this value is accepted + Serial.println(F("FAKE_SERVO on")); // to turn this on + } else { + Serial.println(F("FAKE_SERVO off")); // otherwise + EEPROM[ FAKE_SERVO ] = 0; // force it to the 'off' value + } settingsLoadFromEEprom(); sys.feedrate = sysSettings.maxFeed / 2.0; setupAxes(); From dc6c23f88b6735b9ce342b8c0d9bd10e2b82b1a9 Mon Sep 17 00:00:00 2001 From: Scott Smith Date: Sat, 5 Oct 2019 23:08:45 -0700 Subject: [PATCH 04/21] remove characters within a comment Remove comment characters between parentheses. --- cnc_ctrl_v1/GCode.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp index 826f7228..dc8b86df 100644 --- a/cnc_ctrl_v1/GCode.cpp +++ b/cnc_ctrl_v1/GCode.cpp @@ -566,6 +566,9 @@ void sanitizeCommandString(String& cmdString){ cmdString.remove(pos, 1); if (line_flags & LINE_FLAG_COMMENT_PARENTHESES) { line_flags &= ~(LINE_FLAG_COMMENT_PARENTHESES); } } + else { + cmdString.remove(pos, 1); + } } else { if (cmdString[pos] < ' ') { From 2ed6fff3012341365a2f0cca4d3ac704d94e3eec Mon Sep 17 00:00:00 2001 From: tinker Date: Tue, 25 Feb 2020 10:29:43 -0800 Subject: [PATCH 05/21] gb0101010101-g2-arc-z-optional: Do not perform Z axis movement on G2 if Z is not specified in gcode line. Set Z1 and Z2 to NAN if not provided. Update arc() to deal with NAN Z. Make Z calculations happen the same way as X&Y before movementUpdate(). Add Z end move same as X & Y. --- cnc_ctrl_v1/GCode.cpp | 8 +++++- cnc_ctrl_v1/Motion.cpp | 62 ++++++++++++++++++++++++++---------------- 2 files changed, 46 insertions(+), 24 deletions(-) diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp index dc8b86df..3e47c9d5 100644 --- a/cnc_ctrl_v1/GCode.cpp +++ b/cnc_ctrl_v1/GCode.cpp @@ -20,6 +20,7 @@ Copyright 2014-2017 Bar Smith*/ #include "Maslow.h" #include +#include "math.h" maslowRingBuffer incSerialBuffer; String readyCommandString = ""; //KRK why is this a global? @@ -779,7 +780,8 @@ void G2(const String& readString, int G2orG3){ float X2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'X', X1/sys.inchesToMMConversion); float Y2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Y', Y1/sys.inchesToMMConversion); - float Z2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', Z1/sys.inchesToMMConversion); + // Read target Z position from gcode. If it is not specified then set it to NAN so it will not be used. + float Z2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', NAN); float I = sys.inchesToMMConversion*extractGcodeValue(readString, 'I', 0.0); float J = sys.inchesToMMConversion*extractGcodeValue(readString, 'J', 0.0); sys.feedrate = sys.inchesToMMConversion*extractGcodeValue(readString, 'F', sys.feedrate/sys.inchesToMMConversion); @@ -789,6 +791,10 @@ void G2(const String& readString, int G2orG3){ sys.feedrate = constrain(sys.feedrate, 1, sysSettings.maxFeed); //constrain the maximum feedrate, 35ipm = 900 mmpm + // If there is no target Z (Z2) then set Z1 to be NAN so it is not used. + if (isnan(Z2)) { + Z1 = Z2; + } if (G2orG3 == 2){ arc(X1, Y1, Z1, X2, Y2, Z2, centerX, centerY, sys.feedrate, CLOCKWISE); } diff --git a/cnc_ctrl_v1/Motion.cpp b/cnc_ctrl_v1/Motion.cpp index 358dc222..a0b80e7b 100644 --- a/cnc_ctrl_v1/Motion.cpp +++ b/cnc_ctrl_v1/Motion.cpp @@ -237,7 +237,7 @@ int arc(const float& X1, const float& Y1, const float& Z1, const float& X2, co */ - //compute geometry + // Compute geometry. float pi = 3.1415; float radius = sqrt( sq(centerX - X1) + sq(centerY - Y1) ); float circumference = 2.0*pi*radius; @@ -245,12 +245,18 @@ int arc(const float& X1, const float& Y1, const float& Z1, const float& X2, co float startingAngle = atan2(Y1 - centerY, X1 - centerX); float endingAngle = atan2(Y2 - centerY, X2 - centerX); - // compute chord height of arc + // Compute chord height of arc. float chordSquared = sqrt(sq(X2 - X1) + sq(Y2 - Y1)); float tau = sqrt( sq(radius) - (chordSquared/4.0)); float chordHeight = radius - tau; - //compute angle between lines + // Determine if Z axis will be used. + bool useZ = true; + if (isnan(Z1) || isnan(Z2) || !sysSettings.zAxisAttached) { + useZ = false; + } + + // Compute angle between lines. float theta = endingAngle - startingAngle; if (direction == COUNTERCLOCKWISE){ if (theta <= 0){ @@ -269,7 +275,10 @@ int arc(const float& X1, const float& Y1, const float& Z1, const float& X2, co // In either case, the gcode cut was essentially a straight line, so // Replace it with a G1 cut to the endpoint String gcodeSubstitution = "G1 X"; - gcodeSubstitution = gcodeSubstitution + String(X2 / sys.inchesToMMConversion, 3) + " Y" + String(Y2 / sys.inchesToMMConversion, 3) + " Z" + String(Z2 / sys.inchesToMMConversion, 3) + " "; + gcodeSubstitution += String(X2 / sys.inchesToMMConversion, 3) + " Y" + String(Y2 / sys.inchesToMMConversion, 3); + if (useZ) { + gcodeSubstitution += " Z" + String(Z2 / sys.inchesToMMConversion, 3) + " "; + } Serial.println("Large-radius arc replaced by straight line to improve accuracy: " + gcodeSubstitution); G1(gcodeSubstitution, 1); return 1; @@ -287,32 +296,37 @@ int arc(const float& X1, const float& Y1, const float& Z1, const float& X2, co long finalNumberOfSteps = arcLengthMM/stepSizeMM; float delayTime = LOOPINTERVAL; - float zFeedRate = calculateFeedrate(fabs(zDistanceToMoveInMM/finalNumberOfSteps), delayTime); - float zMaxFeed = sysSettings.maxZRPM * abs(zAxis.getPitch()); - // float zStepSizeMM = computeStepSize(zMaxFeed); - float zStepSizeMM = zDistanceToMoveInMM/finalNumberOfSteps; + float zFeedRate, zMaxFeed, zStepSizeMM; + + if (useZ) { + zFeedRate = calculateFeedrate(fabs(zDistanceToMoveInMM/finalNumberOfSteps), delayTime); + zMaxFeed = sysSettings.maxZRPM * abs(zAxis.getPitch()); + // zStepSizeMM = computeStepSize(zMaxFeed); + zStepSizeMM = zDistanceToMoveInMM/finalNumberOfSteps; - if (zFeedRate > zMaxFeed){ - zStepSizeMM = computeStepSize(zMaxFeed); - finalNumberOfSteps = fabs(zDistanceToMoveInMM/zStepSizeMM); - stepSizeMM = arcLengthMM/finalNumberOfSteps; - feedMMPerMin = calculateFeedrate(stepSizeMM, delayTime); + if (zFeedRate > zMaxFeed){ + // Recalculate all movement to fit within zMaxFeed parameter. + zStepSizeMM = computeStepSize(zMaxFeed); + finalNumberOfSteps = fabs(zDistanceToMoveInMM/zStepSizeMM); + stepSizeMM = arcLengthMM/finalNumberOfSteps; + feedMMPerMin = calculateFeedrate(stepSizeMM, delayTime); + } + + zStepSizeMM = zDistanceToMoveInMM/finalNumberOfSteps; } - - zStepSizeMM = zDistanceToMoveInMM/finalNumberOfSteps; - //Compute the starting position + // Compute the starting position. float angleNow = startingAngle; float degreeComplete = 0.0; float aChainLength; float bChainLength; - float zPosition = Z1 + zStepSizeMM; + float zPosition = Z1; - //attach the axes + // Attach the axes. leftAxis.attach(); rightAxis.attach(); - if (sysSettings.zAxisAttached) { + if (useZ) { zAxis.attach(); } @@ -335,17 +349,16 @@ int arc(const float& X1, const float& Y1, const float& Z1, const float& X2, co leftAxis.write(aChainLength); rightAxis.write(bChainLength); - if(sysSettings.zAxisAttached){ + if(useZ){ + zPosition += zStepSizeMM; zAxis.write(zPosition); } movementUpdate(); - // Run realtime commands + // Run real-time commands. execSystemRealtime(); if (sys.stop){return 1;} - numberOfStepsTaken++; - zPosition += zStepSizeMM; } } #if misloopDebug > 0 @@ -355,6 +368,9 @@ int arc(const float& X1, const float& Y1, const float& Z1, const float& X2, co kinematics.inverse(X2,Y2,&aChainLength,&bChainLength); leftAxis.endMove(aChainLength); rightAxis.endMove(bChainLength); + if (useZ) { + zAxis.endMove(Z2); + } sys.xPosition = X2; sys.yPosition = Y2; From 12af38cc34250622299e116b77ce2b6d8cda2df5 Mon Sep 17 00:00:00 2001 From: tinker Date: Fri, 15 May 2020 11:56:27 -0700 Subject: [PATCH 06/21] Add support for G2 & G3 commands that use radius R instead of I & J. --- cnc_ctrl_v1/GCode.cpp | 31 +++++++++++++++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp index 3e47c9d5..a1de371b 100644 --- a/cnc_ctrl_v1/GCode.cpp +++ b/cnc_ctrl_v1/GCode.cpp @@ -782,6 +782,7 @@ void G2(const String& readString, int G2orG3){ float Y2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Y', Y1/sys.inchesToMMConversion); // Read target Z position from gcode. If it is not specified then set it to NAN so it will not be used. float Z2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', NAN); + float R = sys.inchesToMMConversion*extractGcodeValue(readString, 'R', NAN); float I = sys.inchesToMMConversion*extractGcodeValue(readString, 'I', 0.0); float J = sys.inchesToMMConversion*extractGcodeValue(readString, 'J', 0.0); sys.feedrate = sys.inchesToMMConversion*extractGcodeValue(readString, 'F', sys.feedrate/sys.inchesToMMConversion); @@ -789,6 +790,36 @@ void G2(const String& readString, int G2orG3){ float centerX = X1 + I; float centerY = Y1 + J; + // Calculate center point using radius R if it is provided. + if (!isnan(R) && R && (X2 != X1 || Y2 != Y1)) { + // e: clockwise -1, counterclockwise 1 + const float e = (G2orG3 == 2) ? -1 : 1, + // X and Y differences + dx = X2 - X1, + dy = Y2 - Y1, + // Linear distance between the points. + d = hypot(dx, dy), + // Distance to the arc pivot-point. + h = sqrt(sq(R) - sq(d * 0.5)), + // Point between the two points. + mx = (X1 + X2) * 0.5, + my = (Y1 + Y2) * 0.5, + // Slope of the perpendicular bisector. + sx = -dy / d, + sy = dx / d; + // Pivot-point of the arc. + centerX = mx + e * h * sx; + centerY = my + e * h * sy; + #if defined (verboseDebug) && verboseDebug > 0 + Serial.print(F("G0")); + Serial.print(G2orG3); + Serial.print(F(" Radius center: ")); + Serial.print(centerX); + Serial.print(F(",")); + Serial.println(centerY); + #endif + } + sys.feedrate = constrain(sys.feedrate, 1, sysSettings.maxFeed); //constrain the maximum feedrate, 35ipm = 900 mmpm // If there is no target Z (Z2) then set Z1 to be NAN so it is not used. From 408b4d93d5bfded7d5b2ed6d7ad567179c23d3c4 Mon Sep 17 00:00:00 2001 From: Ramon Arias Date: Mon, 18 May 2020 08:55:13 -0500 Subject: [PATCH 07/21] Z Axis limits I have made some small tweaks to the code to be able to set upper and lower limits for the z axis in order to prevent motors from forcing the Z Axis beyond its limits. --- cnc_ctrl_v1/Axis.cpp | 56 +++++++++++++++++++++++++++++++++++++--- cnc_ctrl_v1/GCode.cpp | 52 ++++++++++++++++++++++++++++++++++++- cnc_ctrl_v1/Settings.cpp | 2 ++ cnc_ctrl_v1/Settings.h | 2 ++ pull_request_template.md | 43 ++++++++++++++++++++++++++++++ 5 files changed, 151 insertions(+), 4 deletions(-) diff --git a/cnc_ctrl_v1/Axis.cpp b/cnc_ctrl_v1/Axis.cpp index c03f9fda..514712a4 100644 --- a/cnc_ctrl_v1/Axis.cpp +++ b/cnc_ctrl_v1/Axis.cpp @@ -44,9 +44,25 @@ void Axis::initializePID(const unsigned long& loopInterval){ } void Axis::write(const float& targetPosition){ - _timeLastMoved = millis(); - _pidSetpoint = targetPosition/ *_mmPerRotation; - return; + + // Check that the Z axis position is withing limits stecified in Settings + + if(_axisName == 'Z'){ + if(!isnan(sysSettings.zAxisUpperLimit) && targetPosition > sysSettings.zAxisUpperLimit){ + _pidSetpoint = sysSettings.zAxisUpperLimit/ *_mmPerRotation; + return; + } + + if(!isnan(sysSettings.zAxisLowerLimit) && targetPosition < sysSettings.zAxisLowerLimit){ + _pidSetpoint = sysSettings.zAxisLowerLimit/ *_mmPerRotation; + return; + } + } + + // update target position + _timeLastMoved = millis(); + _pidSetpoint = targetPosition/ *_mmPerRotation; + return; } float Axis::read(){ @@ -62,9 +78,27 @@ float Axis::setpoint(){ void Axis::set(const float& newAxisPosition){ + // update the zAxis upper and lower limits relative to the new axis position + + if(_axisName == 'Z'){ + if(!isnan(sysSettings.zAxisUpperLimit)){ + sysSettings.zAxisUpperLimit += newAxisPosition - read(); + } + + if(!isnan(sysSettings.zAxisLowerLimit)){ + sysSettings.zAxisLowerLimit += newAxisPosition - read(); + } + + if(!isnan(sysSettings.zAxisUpperLimit) || !isnan(sysSettings.zAxisLowerLimit)){ + settingsSaveToEEprom(); + } + } + //reset everything to the new value _pidSetpoint = newAxisPosition/ *_mmPerRotation; motorGearboxEncoder.encoder.write((newAxisPosition * *_encoderSteps)/ *_mmPerRotation); + + } @@ -225,11 +259,27 @@ void Axis::detachIfIdle(){ void Axis::endMove(const float& finalTarget){ + + // Check that the Z axis position is withing limits stecified in Settings + + if(_axisName == 'Z'){ + if(!isnan(sysSettings.zAxisUpperLimit) && finalTarget > sysSettings.zAxisUpperLimit){ + _pidSetpoint = sysSettings.zAxisUpperLimit/ *_mmPerRotation; + return; + } + + if(!isnan(sysSettings.zAxisLowerLimit) && finalTarget < sysSettings.zAxisLowerLimit){ + _pidSetpoint = sysSettings.zAxisLowerLimit/ *_mmPerRotation; + return; + } + } + _timeLastMoved = millis(); _pidSetpoint = finalTarget/ *_mmPerRotation; } + void Axis::stop(){ /* diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp index 3e47c9d5..f1198efc 100644 --- a/cnc_ctrl_v1/GCode.cpp +++ b/cnc_ctrl_v1/GCode.cpp @@ -370,6 +370,56 @@ byte executeBcodeLine(const String& gcodeLine){ return STATUS_OK; } + if(gcodeLine.substring(0, 3) == "B17"){ + //The B17 sets the current Z position as Upper Limit for zAxis + + sysSettings.zAxisUpperLimit = zAxis.read(); + settingsSaveToEEprom(); + + Serial.print("Upper limit set to: "); + Serial.print(isnan(sysSettings.zAxisUpperLimit) ? " ": String(sysSettings.zAxisUpperLimit / sys.inchesToMMConversion)); + Serial.println(" "); + + + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B18"){ + //The B18 sets the current Z position as Lower Limit for zAxis + + sysSettings.zAxisLowerLimit = zAxis.read(); + settingsSaveToEEprom(); + + Serial.print("Lower limit set to: "); + Serial.print(isnan(sysSettings.zAxisLowerLimit) ? " ": String(sysSettings.zAxisLowerLimit / sys.inchesToMMConversion)); + Serial.println(" "); + + return STATUS_OK; + } + if(gcodeLine.substring(0, 3) == "B19"){ + //The B19 clears limits for zAxis + + sysSettings.zAxisUpperLimit = NAN; + sysSettings.zAxisLowerLimit = NAN; + settingsSaveToEEprom(); + + Serial.println(F("Z Axis Limits Cleared")); + + + return STATUS_OK; + } + if(gcodeLine.substring(0, 3) == "B20"){ + //The B19 echoes limits for zAxis + + Serial.print(F("Z Axis Upper Limit: ")); + Serial.print(isnan(sysSettings.zAxisUpperLimit) ? String(" ") : String(sysSettings.zAxisUpperLimit / sys.inchesToMMConversion)); + Serial.print(F(" Lower Limit: ")); + Serial.print(isnan(sysSettings.zAxisLowerLimit) ? String(" "): String(sysSettings.zAxisLowerLimit / sys.inchesToMMConversion)); + Serial.println(" "); + + return STATUS_OK; + } + // Use 'B99 ON' to set FAKE_SERVO mode on, // 'B99' with no parameter, or any parameter other than 'ON' // turns FAKE_SERVO mode off. @@ -839,7 +889,7 @@ void G10(const String& readString){ zAxis.set(zgoto); zAxis.endMove(zgoto); - zAxis.attach(); + zAxis.attach(); } void G38(const String& readString) { diff --git a/cnc_ctrl_v1/Settings.cpp b/cnc_ctrl_v1/Settings.cpp index 065a016a..53dcce66 100644 --- a/cnc_ctrl_v1/Settings.cpp +++ b/cnc_ctrl_v1/Settings.cpp @@ -105,6 +105,8 @@ void settingsReset() { sysSettings.leftChainTolerance = 0.0; // float leftChainTolerance; sysSettings.rightChainTolerance = 0.0; // float rightChainTolerance; sysSettings.positionErrorLimit = 2.0; // float positionErrorLimit; + sysSettings.zAxisUpperLimit = NAN; // float zAxisUpperLimit + sysSettings.zAxisLowerLimit = NAN; // float zAxisLowerLimit sysSettings.eepromValidData = EEPROMVALIDDATA; // byte eepromValidData; } diff --git a/cnc_ctrl_v1/Settings.h b/cnc_ctrl_v1/Settings.h index cd18150b..9077eea9 100644 --- a/cnc_ctrl_v1/Settings.h +++ b/cnc_ctrl_v1/Settings.h @@ -81,6 +81,8 @@ typedef struct { // I think this is about ~128 bytes in size if I counted corre float leftChainTolerance; float rightChainTolerance; float positionErrorLimit; + float zAxisUpperLimit; // a safety feature to prevent motors from atempting to move the z axis beyong a user specified constraint. + float zAxisLowerLimit; byte eepromValidData; // This should always be last, that way if an error // happens in writing, it will not be written and we } settings_t; // will know to reset the settings diff --git a/pull_request_template.md b/pull_request_template.md index f3ccccb1..d55bd7de 100644 --- a/pull_request_template.md +++ b/pull_request_template.md @@ -5,13 +5,56 @@ Please let the community know some basic information about this pull request. ## What does this pull request do? Does it add a new feature or fix a bug? +This is a new feature. I have made some small tweaks to the code to be able to set upper and lower limits for the z axis in order to prevent motors from forcing the Z Axis beyond its limits. + +I have added two variables to settings +float zAxisUpperLimit +float zAxisLowerLimit + +I have created 4 "B" commands +B17 Sets the z axis upper limit to the current z axis position +B18 Sets the z axis lower limit to the current z axis position +B19 Clears z axis limits +B20 Echoes back z axis limits + ## Does this firmware change affect kinematics or any part of the calibration process? + +It does not affect Kinematics. And I have kept it apart from calibration as some users might want to adjust this on the fly as part of the regular use. + ### a) If so, does this change require recalibration? + +It does not require recalibration. However if the user wishes to establish some limits, he/she must set the limits using gcode commands B17 (Upper) and B18 (Lower) + ### b) If so, is there an option for user to opt-out of the change until ready for recalibration? If not, explain why this is not possible. + +By default this limits are set to NAN and will be ignored until specified. + ### c) Has the calibration model in gc/hc/wc been updated to agree with firmware change? + +No recalibration needed. I intend to update webcontrol to be able to set the limits within the user interface. Meanwhile to make use of it you can send gcode directly. + ### d) Has this PR been tested on actual machine and/or in fake servo mode (indicate which or both)? +It has been tested on an actual machine only + ## How can this pull request be tested? Please provide detailed steps about how to test this pull request. +1 - Move the Z axis to the highest point you with to set as a limit. +2 - Send a B17 gcode command. +3 - Move the Z axis to the lowest point you with to set as a limit. +4 - Send a B18 gcode command. +5 - Now attempt to move the Z axis beyond those limits. It should prevent you from exceeding the limits. +6 - Send the B20 gcode command and observe the limits echoed back +7 - Now attempt to reset the 0 location for the z axis +8 - Send the B20 gcode command and observe the limits echoed back, they should have been updated to account for the new 0 location +9 - Send the B19 gcode command to erase the limits +10 - Send the B20 gcode command and observe the limits echoes back, the should have been cleared. +11 - Now attempt to move the Z axis beyond the limits set in steps 1 and 2. It should allow you to move freely. (Careful not to exceed the physical limits of your machine) + Thanks for contributing! + + + + + From 71d5cc914166ace67c305a95d938db5f57d17dca Mon Sep 17 00:00:00 2001 From: Ramon Arias Date: Tue, 19 May 2020 17:33:54 -0500 Subject: [PATCH 08/21] Changes requested Made changes per requests during review --- cnc_ctrl_v1/Axis.cpp | 26 +- cnc_ctrl_v1/GCode.cpp | 80 ++-- cnc_ctrl_v1/Settings.cpp | 6 + cnc_ctrl_v1/Settings.h | 2 +- pull_request_template.md | 997 +++++++++++++++++++++++++++++++++++++-- 5 files changed, 1025 insertions(+), 86 deletions(-) diff --git a/cnc_ctrl_v1/Axis.cpp b/cnc_ctrl_v1/Axis.cpp index 514712a4..4e1127ca 100644 --- a/cnc_ctrl_v1/Axis.cpp +++ b/cnc_ctrl_v1/Axis.cpp @@ -45,14 +45,16 @@ void Axis::initializePID(const unsigned long& loopInterval){ void Axis::write(const float& targetPosition){ - // Check that the Z axis position is withing limits stecified in Settings + _timeLastMoved = millis(); + // Check that the Z axis position is within limits specified in Settings + if(_axisName == 'Z'){ if(!isnan(sysSettings.zAxisUpperLimit) && targetPosition > sysSettings.zAxisUpperLimit){ _pidSetpoint = sysSettings.zAxisUpperLimit/ *_mmPerRotation; return; } - + if(!isnan(sysSettings.zAxisLowerLimit) && targetPosition < sysSettings.zAxisLowerLimit){ _pidSetpoint = sysSettings.zAxisLowerLimit/ *_mmPerRotation; return; @@ -60,7 +62,6 @@ void Axis::write(const float& targetPosition){ } // update target position - _timeLastMoved = millis(); _pidSetpoint = targetPosition/ *_mmPerRotation; return; } @@ -79,7 +80,7 @@ float Axis::setpoint(){ void Axis::set(const float& newAxisPosition){ // update the zAxis upper and lower limits relative to the new axis position - + if(_axisName == 'Z'){ if(!isnan(sysSettings.zAxisUpperLimit)){ sysSettings.zAxisUpperLimit += newAxisPosition - read(); @@ -88,18 +89,15 @@ void Axis::set(const float& newAxisPosition){ if(!isnan(sysSettings.zAxisLowerLimit)){ sysSettings.zAxisLowerLimit += newAxisPosition - read(); } - + if(!isnan(sysSettings.zAxisUpperLimit) || !isnan(sysSettings.zAxisLowerLimit)){ settingsSaveToEEprom(); } } - + //reset everything to the new value _pidSetpoint = newAxisPosition/ *_mmPerRotation; - motorGearboxEncoder.encoder.write((newAxisPosition * *_encoderSteps)/ *_mmPerRotation); - - - + motorGearboxEncoder.encoder.write((newAxisPosition * *_encoderSteps)/ *_mmPerRotation); } long Axis::steps(){ @@ -259,8 +257,9 @@ void Axis::detachIfIdle(){ void Axis::endMove(const float& finalTarget){ - - // Check that the Z axis position is withing limits stecified in Settings + _timeLastMoved = millis(); + + // Check that the Z axis position is within limits specified in Settings if(_axisName == 'Z'){ if(!isnan(sysSettings.zAxisUpperLimit) && finalTarget > sysSettings.zAxisUpperLimit){ @@ -274,8 +273,7 @@ void Axis::endMove(const float& finalTarget){ } } - _timeLastMoved = millis(); - _pidSetpoint = finalTarget/ *_mmPerRotation; + _pidSetpoint = finalTarget/ *_mmPerRotation; } diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp index f1198efc..4d5e072d 100644 --- a/cnc_ctrl_v1/GCode.cpp +++ b/cnc_ctrl_v1/GCode.cpp @@ -373,51 +373,63 @@ byte executeBcodeLine(const String& gcodeLine){ if(gcodeLine.substring(0, 3) == "B17"){ //The B17 sets the current Z position as Upper Limit for zAxis - sysSettings.zAxisUpperLimit = zAxis.read(); - settingsSaveToEEprom(); + if(!isnan(zAxis.read())){ - Serial.print("Upper limit set to: "); - Serial.print(isnan(sysSettings.zAxisUpperLimit) ? " ": String(sysSettings.zAxisUpperLimit / sys.inchesToMMConversion)); - Serial.println(" "); - + settingsStoreGlobalSetting(byte(43), zAxis.read()); + + Serial.print(F("Upper limit set to: ")); + Serial.println(isnan(sysSettings.zAxisUpperLimit) ? F(" "): String(sysSettings.zAxisUpperLimit / sys.inchesToMMConversion)); - return STATUS_OK; + return STATUS_OK; + + } else { + + Serial.println(F("Error setting limit")); + + return STATUS_GCODE_INVALID_TARGET; + + } } - if(gcodeLine.substring(0, 3) == "B18"){ - //The B18 sets the current Z position as Lower Limit for zAxis + if(gcodeLine.substring(0, 3) == "B18"){ + //The B18 sets the current Z position as Lower Limit for zAxis - sysSettings.zAxisLowerLimit = zAxis.read(); - settingsSaveToEEprom(); + if(!isnan(zAxis.read())){ + settingsStoreGlobalSetting(byte(44), zAxis.read()); - Serial.print("Lower limit set to: "); - Serial.print(isnan(sysSettings.zAxisLowerLimit) ? " ": String(sysSettings.zAxisLowerLimit / sys.inchesToMMConversion)); - Serial.println(" "); + Serial.print(F("Lower limit set to: ")); + Serial.println(isnan(sysSettings.zAxisLowerLimit) ? F(" "): String(sysSettings.zAxisLowerLimit / sys.inchesToMMConversion)); - return STATUS_OK; - } - if(gcodeLine.substring(0, 3) == "B19"){ - //The B19 clears limits for zAxis + return STATUS_OK; - sysSettings.zAxisUpperLimit = NAN; - sysSettings.zAxisLowerLimit = NAN; - settingsSaveToEEprom(); + } else { - Serial.println(F("Z Axis Limits Cleared")); - - - return STATUS_OK; + Serial.println(F("Error setting limit")); + + return STATUS_GCODE_INVALID_TARGET; + + } } - if(gcodeLine.substring(0, 3) == "B20"){ - //The B19 echoes limits for zAxis + if(gcodeLine.substring(0, 3) == "B19"){ + //The B19 clears limits for zAxis - Serial.print(F("Z Axis Upper Limit: ")); - Serial.print(isnan(sysSettings.zAxisUpperLimit) ? String(" ") : String(sysSettings.zAxisUpperLimit / sys.inchesToMMConversion)); - Serial.print(F(" Lower Limit: ")); - Serial.print(isnan(sysSettings.zAxisLowerLimit) ? String(" "): String(sysSettings.zAxisLowerLimit / sys.inchesToMMConversion)); - Serial.println(" "); + settingsStoreGlobalSetting(byte(43), NAN); + settingsStoreGlobalSetting(byte(44), NAN); + + + Serial.println(F("Z Axis Limits Cleared")); + + return STATUS_OK; + } + if(gcodeLine.substring(0, 3) == "B20"){ + //The B20 echoes limits for zAxis + + Serial.print(F("Z Axis Upper Limit: ")); + Serial.print(isnan(sysSettings.zAxisUpperLimit) ? F("NAN") : String(sysSettings.zAxisUpperLimit / sys.inchesToMMConversion)); + Serial.print(F(" Lower Limit: ")); + Serial.println(isnan(sysSettings.zAxisLowerLimit) ? F("NAN"): String(sysSettings.zAxisLowerLimit / sys.inchesToMMConversion)); - return STATUS_OK; + return STATUS_OK; } // Use 'B99 ON' to set FAKE_SERVO mode on, @@ -889,7 +901,7 @@ void G10(const String& readString){ zAxis.set(zgoto); zAxis.endMove(zgoto); - zAxis.attach(); + zAxis.attach(); } void G38(const String& readString) { diff --git a/cnc_ctrl_v1/Settings.cpp b/cnc_ctrl_v1/Settings.cpp index 53dcce66..b695fb61 100644 --- a/cnc_ctrl_v1/Settings.cpp +++ b/cnc_ctrl_v1/Settings.cpp @@ -412,6 +412,12 @@ byte settingsStoreGlobalSetting(const byte& parameter,const float& value){ case 42: sysSettings.positionErrorLimit = value; break; + case 43: + sysSettings.zAxisUpperLimit = value; + break; + case 44: + sysSettings.zAxisLowerLimit = value; + break; default: return(STATUS_INVALID_STATEMENT); } diff --git a/cnc_ctrl_v1/Settings.h b/cnc_ctrl_v1/Settings.h index 9077eea9..503e4961 100644 --- a/cnc_ctrl_v1/Settings.h +++ b/cnc_ctrl_v1/Settings.h @@ -81,7 +81,7 @@ typedef struct { // I think this is about ~128 bytes in size if I counted corre float leftChainTolerance; float rightChainTolerance; float positionErrorLimit; - float zAxisUpperLimit; // a safety feature to prevent motors from atempting to move the z axis beyong a user specified constraint. + float zAxisUpperLimit; // A safety feature to prevent motors from attempting to move the z axis beyong a user specified constraint. float zAxisLowerLimit; byte eepromValidData; // This should always be last, that way if an error // happens in writing, it will not be written and we diff --git a/pull_request_template.md b/pull_request_template.md index d55bd7de..61bd2952 100644 --- a/pull_request_template.md +++ b/pull_request_template.md @@ -1,60 +1,983 @@ -Thanks for contributing to The Maslow Firmware! You rock. -Please let the community know some basic information about this pull request. -## What does this pull request do? -Does it add a new feature or fix a bug? -This is a new feature. I have made some small tweaks to the code to be able to set upper and lower limits for the z axis in order to prevent motors from forcing the Z Axis beyond its limits. -I have added two variables to settings -float zAxisUpperLimit -float zAxisLowerLimit -I have created 4 "B" commands -B17 Sets the z axis upper limit to the current z axis position -B18 Sets the z axis lower limit to the current z axis position -B19 Clears z axis limits -B20 Echoes back z axis limits + + + + + + + + + + + -## Does this firmware change affect kinematics or any part of the calibration process? -It does not affect Kinematics. And I have kept it apart from calibration as some users might want to adjust this on the fly as part of the regular use. -### a) If so, does this change require recalibration? + + + + + + + -It does not require recalibration. However if the user wishes to establish some limits, he/she must set the limits using gcode commands B17 (Upper) and B18 (Lower) -### b) If so, is there an option for user to opt-out of the change until ready for recalibration? If not, explain why this is not possible. + + + Firmware/pull_request_template.md at master · MaslowCNC/Firmware · GitHub + + + + -By default this limits are set to NAN and will be ignored until specified. + + -### c) Has the calibration model in gc/hc/wc been updated to agree with firmware change? + + -No recalibration needed. I intend to update webcontrol to be able to set the limits within the user interface. Meanwhile to make use of it you can send gcode directly. + -### d) Has this PR been tested on actual machine and/or in fake servo mode (indicate which or both)? -It has been tested on an actual machine only -## How can this pull request be tested? -Please provide detailed steps about how to test this pull request. + -1 - Move the Z axis to the highest point you with to set as a limit. -2 - Send a B17 gcode command. -3 - Move the Z axis to the lowest point you with to set as a limit. -4 - Send a B18 gcode command. -5 - Now attempt to move the Z axis beyond those limits. It should prevent you from exceeding the limits. -6 - Send the B20 gcode command and observe the limits echoed back -7 - Now attempt to reset the 0 location for the z axis -8 - Send the B20 gcode command and observe the limits echoed back, they should have been updated to account for the new 0 location -9 - Send the B19 gcode command to erase the limits -10 - Send the B20 gcode command and observe the limits echoes back, the should have been cleared. -11 - Now attempt to move the Z axis beyond the limits set in steps 1 and 2. It should allow you to move freely. (Careful not to exceed the physical limits of your machine) + -Thanks for contributing! + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Thanks for contributing to The Maslow Firmware! You rock.

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Please let the community know some basic information about this pull request.

+

What does this pull request do?

+

Does it add a new feature or fix a bug?

+

Does this firmware change affect kinematics or any part of the calibration process?

+

a) If so, does this change require recalibration?

+

b) If so, is there an option for user to opt-out of the change until ready for recalibration? If not, explain why this is not possible.

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c) Has the calibration model in gc/hc/wc been updated to agree with firmware change?

+

d) Has this PR been tested on actual machine and/or in fake servo mode (indicate which or both)?

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How can this pull request be tested?

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Please provide detailed steps about how to test this pull request.

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Thanks for contributing!

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+ + + + + + + + + + + + + + + + + + + + + From 91eefe007ab81a01812d69b288bf5422ea0b6e2f Mon Sep 17 00:00:00 2001 From: BarbourSmith Date: Wed, 20 May 2020 16:28:55 -0700 Subject: [PATCH 09/21] Revert pull pull request template to original version --- pull_request_template.md | 990 +-------------------------------------- 1 file changed, 12 insertions(+), 978 deletions(-) diff --git a/pull_request_template.md b/pull_request_template.md index 61bd2952..f3ccccb1 100644 --- a/pull_request_template.md +++ b/pull_request_template.md @@ -1,983 +1,17 @@ +Thanks for contributing to The Maslow Firmware! You rock. +Please let the community know some basic information about this pull request. +## What does this pull request do? +Does it add a new feature or fix a bug? +## Does this firmware change affect kinematics or any part of the calibration process? +### a) If so, does this change require recalibration? +### b) If so, is there an option for user to opt-out of the change until ready for recalibration? If not, explain why this is not possible. +### c) Has the calibration model in gc/hc/wc been updated to agree with firmware change? +### d) Has this PR been tested on actual machine and/or in fake servo mode (indicate which or both)? +## How can this pull request be tested? +Please provide detailed steps about how to test this pull request. - - - - - - - - - - - - - - - - - - - - - - - - - - Firmware/pull_request_template.md at master · MaslowCNC/Firmware · GitHub - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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Thanks for contributing to The Maslow Firmware! You rock.

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What does this pull request do?

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Does it add a new feature or fix a bug?

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Does this firmware change affect kinematics or any part of the calibration process?

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a) If so, does this change require recalibration?

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b) If so, is there an option for user to opt-out of the change until ready for recalibration? If not, explain why this is not possible.

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c) Has the calibration model in gc/hc/wc been updated to agree with firmware change?

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From 35cce7d99c75517e2593cd383824480a468851a2 Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Wed, 9 Sep 2020 13:18:24 -0500 Subject: [PATCH 10/21] Spindle pwm pin 45 added Added $60 min speed and $61 spindle max speed for pwm output Added S functionality to set spindle speed. pwm setting is scaled from 0 to max with min being set as the start speed. --- cnc_ctrl_v1/Config.h | 9 +++++++ cnc_ctrl_v1/GCode.cpp | 17 ++++++++++++ cnc_ctrl_v1/GCode.h | 1 + cnc_ctrl_v1/Settings.cpp | 6 +++++ cnc_ctrl_v1/Settings.h | 6 ++++- cnc_ctrl_v1/Spindle.cpp | 58 +++++++++++++++++++++++++++++++++++++++- cnc_ctrl_v1/Spindle.h | 11 ++++++++ cnc_ctrl_v1/System.cpp | 7 +++++ cnc_ctrl_v1/System.h | 1 + 9 files changed, 114 insertions(+), 2 deletions(-) diff --git a/cnc_ctrl_v1/Config.h b/cnc_ctrl_v1/Config.h index 668d76f9..ce14e8b3 100644 --- a/cnc_ctrl_v1/Config.h +++ b/cnc_ctrl_v1/Config.h @@ -20,12 +20,17 @@ // Debugging Options #define verboseDebug 0 // set to 0 for no debug messages, 1 for single-line messages, 2 to also output ring buffer contents + #define misloopDebug 0 // set to 1 for a warning every time the movement loop fails // to complete before being interrupted, helpful for loop // LOOPINTERVAL tuning + #define KINEMATICSDBG 0 // set to 1 for additional kinematics debug messaging +#define SPINDLE_SPEED 1 // set to 1 for pwm spindle speed control + #define FAKE_SERVO_PERMITTED 42 // store this value + #define FAKE_SERVO 4095 // store the state of FAKE_SERVO in EEPROM[ 4095 ] to preserve // the state of FAKE_SERVO mode over resets. // Use 'B99 ON' to turn FAKE_SERVO mode on and set EEPROM[ 4095 ] to '1', @@ -55,12 +60,15 @@ // Serial variables #define INCBUFFERLENGTH 128 // The number of bytes(characters) allocated to the // incoming buffer. + #define EXPGCODELINE 60 // Maximum expected Gcode line length in characters // including line ending character(s). Assumes // client will not send more than this. Ground // Control is currently set to 60. NIST spec allows // 256. This value must be <= INCBUFFERLENGTH + #define MAXBUFFERLINES 4 // The maximum number of lines allowed in the buffer + #define POSITIONTIMEOUT 200 // The minimum number of milliseconds between // position reports sent to Ground Control. This // cannot be larger than the connection timout in @@ -72,6 +80,7 @@ #define CMD_RESET 0x18 // ctrl-x., if received the program should do a soft reset // if received the program should do a soft reset + #define CMD_RESET2 '`' // alternate char because GC won't use control characters in a macro #endif diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp index 19017669..338d4344 100644 --- a/cnc_ctrl_v1/GCode.cpp +++ b/cnc_ctrl_v1/GCode.cpp @@ -398,7 +398,17 @@ byte executeBcodeLine(const String& gcodeLine){ } return STATUS_INVALID_STATEMENT; } +void executeScodeLine(const String& gcodeLine){ + /* executes a single line of gcode beginning with the character 'S' for spindle speed */ + int sNumber = extractGcodeValue(gcodeLine,'S',-1); + if (sNumber == -1){ + sNumber = sys.SpindleSpeed; + } + if (setSpindleSpeed(sNumber)){ + sys.SpindleSpeed = sNumber; + } +} void executeGcodeLine(const String& gcodeLine){ /* @@ -660,6 +670,13 @@ byte interpretCommandString(String& cmdString){ Serial.println(gcodeLine); executeMcodeLine(gcodeLine); } + else if(gcodeLine[0] == 'S'){ + #if defined (verboseDebug) && verboseDebug > 0 + Serial.print(F("iCS executing S code: ")); + #endif + Serial.println(gcodeLine); + executeScodeLine(gcodeLine); + } else { #if defined (verboseDebug) && verboseDebug > 0 Serial.print(F("iCS executing G code: ")); diff --git a/cnc_ctrl_v1/GCode.h b/cnc_ctrl_v1/GCode.h index 880a601d..08c037c4 100644 --- a/cnc_ctrl_v1/GCode.h +++ b/cnc_ctrl_v1/GCode.h @@ -34,6 +34,7 @@ float extractGcodeValue(const String&, char, const float&); byte executeBcodeLine(const String&); void executeGcodeLine(const String&); void executeMcodeLine(const String&); +void executeScodeLine(const String&); void executeOtherCodeLine(const String&); int findNextGM(const String&, const int&); void sanitizeCommandString(String&); diff --git a/cnc_ctrl_v1/Settings.cpp b/cnc_ctrl_v1/Settings.cpp index c92fd9b3..5b60c0b4 100644 --- a/cnc_ctrl_v1/Settings.cpp +++ b/cnc_ctrl_v1/Settings.cpp @@ -109,6 +109,8 @@ void settingsReset() { sysSettings.reserved2 = 0.0; sysSettings.chainElongationFactor = 8.1E-6; // m/m/N sysSettings.sledWeight = 11.6*9.8; // Newtons. For a sled with one ring kit, one Rigid 2200 router and two 2.35kg bricks on a 5/8" thick mdf 18" diameter base. + sysSettings.spindleMin = 4000; + sysSettings.spindleMax = 24000; sysSettings.eepromValidData = EEPROMVALIDDATA; // byte eepromValidData; } @@ -429,6 +431,10 @@ byte settingsStoreGlobalSetting(const byte& parameter,const float& value){ sysSettings.sledWeight = value; kinematics.init();; break; + case 60: + sysSettings.spindleMin = value; + case 61: + sysSettings.spindleMax = value; default: return(STATUS_INVALID_STATEMENT); } diff --git a/cnc_ctrl_v1/Settings.h b/cnc_ctrl_v1/Settings.h index 29fb3944..be792b35 100644 --- a/cnc_ctrl_v1/Settings.h +++ b/cnc_ctrl_v1/Settings.h @@ -36,7 +36,9 @@ enum SpindleAutomationType { NONE, SERVO, RELAY_ACTIVE_HIGH, - RELAY_ACTIVE_LOW }; + RELAY_ACTIVE_LOW, + SPEED_CONTROL_RELAY_ACTIVE_HIGH, + SPEED_CONTROL_RELAY_ACTIVE_LOW}; typedef struct { // I think this is about ~128 bytes in size if I counted correctly float machineWidth; @@ -85,6 +87,8 @@ typedef struct { // I think this is about ~128 bytes in size if I counted corre float reserved2; float chainElongationFactor; // m/m/N. This is the ratio of chain length increase due to chain tension. typically 8x10E-6; // m/m/N float sledWeight; // Newtons. simply multiply kg by 9.8 or pounds by 2.2*9.8 + int spindleMin; //added for pwm spindle control + int spindleMax; //added for pwm spindle control byte eepromValidData; // This should always be last, that way if an error // happens in writing, it will not be written and we } settings_t; // will know to reset the settings diff --git a/cnc_ctrl_v1/Spindle.cpp b/cnc_ctrl_v1/Spindle.cpp index 853a1d64..c7b2c0f0 100644 --- a/cnc_ctrl_v1/Spindle.cpp +++ b/cnc_ctrl_v1/Spindle.cpp @@ -20,7 +20,9 @@ // the variables SpindlePowerControlPin and LaserPowerPin are assigned in setupAxes() in System.cpp // Globals for Spindle control, both poorly named +#ifndef SPINDLE_SPEED Servo myservo; // create servo object to control a servo +#endif void setSpindlePower(bool powerState) { /* @@ -41,6 +43,7 @@ void setSpindlePower(bool powerState) { Serial.print(F("Spindle automation type ")); Serial.print(spindleAutomateType); #endif + #ifndef SPINDLE_SPEED if (spindleAutomateType == SERVO) { // use a servo to control a standard wall switch #if defined (verboseDebug) && verboseDebug > 1 Serial.print(F(" with servo (idle=")); @@ -70,7 +73,42 @@ void setSpindlePower(bool powerState) { if(sys.stop){return;} myservo.detach(); // stop servo control } - else if (spindleAutomateType == RELAY_ACTIVE_HIGH) { + #endif + if (spindleAutomateType == SPEED_CONTROL_RELAY_ACTIVE_HIGH){ + #if defined (verboseDebug) && verboseDebug > 1 + Serial.print(F(" as digital power and pwm speed control, active high")); + #endif + pinMode(SpindlePowerControlPin, OUTPUT); + if (powerState) { // turn on spindle + Serial.println(F("Turning Spindle On")); + digitalWrite(SpindlePowerControlPin, HIGH); + Serial.println(F("Adjusting Spindle Speed to Minimum")); + setSpindleSpeed(sysSettings.spindleMin); + } + else { // turn off spindle + Serial.println(F("Turning Spindle Off")); + digitalWrite(SpindlePowerControlPin, LOW); + digitalWrite(SpindleSpeedControlPin, LOW); + } + } + if (spindleAutomateType == SPEED_CONTROL_RELAY_ACTIVE_LOW){ + #if defined (verboseDebug) && verboseDebug > 1 + Serial.print(F(" as digital power and pwm speed control, active low")); + #endif + pinMode(SpindlePowerControlPin, OUTPUT); + if (powerState) { // turn on spindle + Serial.println(F("Turning Spindle On")); + digitalWrite(SpindlePowerControlPin, LOW); + Serial.println(F("Adjusting Spindle Speed to Minimum")); + setSpindleSpeed(sysSettings.spindleMin); + } + else { // turn off spindle + Serial.println(F("Turning Spindle Off")); + digitalWrite(SpindlePowerControlPin, HIGH); + digitalWrite(SpindleSpeedControlPin, LOW); + } + } + if (spindleAutomateType == RELAY_ACTIVE_HIGH) { #if defined (verboseDebug) && verboseDebug > 1 Serial.print(F(" as digital output, active high")); #endif @@ -103,6 +141,24 @@ void setSpindlePower(bool powerState) { } } +int setSpindleSpeed(int spindleSpeed){ + // map 0-255 min spindle speed to max spindle speed + // output 0-255 + if (spindleSpeed < sysSettings.spindleMin){ + spindleSpeed = sysSettings.spindleMin; + } + if (spindleSpeed > sysSettings.spindleMax){ + spindleSpeed = sysSettings.spindleMax; + } + long spd = map (spindleSpeed, 0, sysSettings.spindleMax, 0, 255); + analogWrite(SpindleSpeedControlPin,spd); + return(1); + //for (i=0;i 0) pinMode(aux3,INPUT); if (aux5 > 0) pinMode(aux5,INPUT); if (aux6 > 0) pinMode(aux6,INPUT); + #ifndef SPINDLE_SPEED if (aux7 > 0) pinMode(aux7,INPUT); + #endif if (aux8 > 0) pinMode(aux8,INPUT); if (aux9 > 0) pinMode(aux9,INPUT); } diff --git a/cnc_ctrl_v1/System.h b/cnc_ctrl_v1/System.h index 25bea189..3f0d88b7 100644 --- a/cnc_ctrl_v1/System.h +++ b/cnc_ctrl_v1/System.h @@ -60,6 +60,7 @@ typedef struct { bool useRelativeUnits; // unsigned long lastSerialRcvd; // The millis of the last rcvd serial command, used by watchdo int lastGCommand; //Stores the value of the last command run eg: G01 -> 1 + int SpindleSpeed; // store the current spindle speed -> 4000 int lastTool; //Stores the value of the last tool number eg: T4 -> 4 int nextTool; //Stores the value of the next tool number eg: T4 -> 4 float inchesToMMConversion; //Used to track whether to convert from inches, can probably be done in a way that doesn't require RAM From 1811d70eb6b7d8b8ee083f89881dc7e5f0fee162 Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Sat, 12 Sep 2020 21:55:12 -0500 Subject: [PATCH 11/21] Update Settings.cpp default is for pwm pin to be active and for relay to be active high --- cnc_ctrl_v1/Settings.cpp | 15 ++------------- 1 file changed, 2 insertions(+), 13 deletions(-) diff --git a/cnc_ctrl_v1/Settings.cpp b/cnc_ctrl_v1/Settings.cpp index fd66cf22..c5dada18 100644 --- a/cnc_ctrl_v1/Settings.cpp +++ b/cnc_ctrl_v1/Settings.cpp @@ -79,7 +79,7 @@ void settingsReset() { sysSettings.distPerRot = 63.5; // float distPerRot; sysSettings.maxFeed = 700; // int maxFeed; sysSettings.zAxisAttached = true; // zAxisAttached; - sysSettings.spindleAutomateType = NONE; // bool spindleAutomate; + sysSettings.spindleAutomateType = SPEED_CONTROL_RELAY_ACTIVE_HIGH; // bool spindleAutomate; sysSettings.maxZRPM = 12.60; // float maxZRPM; sysSettings.zDistPerRot = 3.17; // float zDistPerRot; sysSettings.zEncoderSteps = 7560.0; // float zEncoderSteps; @@ -111,8 +111,6 @@ void settingsReset() { sysSettings.sledWeight = 11.6*9.8; // Newtons. For a sled with one ring kit, one Rigid 2200 router and two 2.35kg bricks on a 5/8" thick mdf 18" diameter base. sysSettings.spindleMin = 4000; sysSettings.spindleMax = 24000; - sysSettings.zAxisUpperLimit = NAN; // float zAxisUpperLimit - sysSettings.zAxisLowerLimit = NAN; // float zAxisLowerLimit sysSettings.eepromValidData = EEPROMVALIDDATA; // byte eepromValidData; } @@ -390,7 +388,6 @@ byte settingsStoreGlobalSetting(const byte& parameter,const float& value){ break; case 37: sysSettings.chainSagCorrection = value; - kinematics.init(); break; case 38: settingsSaveStepstoEEprom(); @@ -434,18 +431,10 @@ byte settingsStoreGlobalSetting(const byte& parameter,const float& value){ sysSettings.sledWeight = value; kinematics.init();; break; - case 47: - sysSettings.zAxisUpperLimit = value; - break; - case 48: - sysSettings.zAxisLowerLimit = value; - break; case 60: sysSettings.spindleMin = value; - break; case 61: - sysSettings.spindleMax = value; - break; + sysSettings.spindleMax = value; default: return(STATUS_INVALID_STATEMENT); } From aae7240335eccf5a906c6b9b7cd530694b2db21e Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Sun, 13 Sep 2020 17:59:50 -0500 Subject: [PATCH 12/21] Chain length error fix added original chain length to extend chain routing and removed axis detach --- cnc_ctrl_v1/System.cpp | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/cnc_ctrl_v1/System.cpp b/cnc_ctrl_v1/System.cpp index b088cf60..a260a059 100644 --- a/cnc_ctrl_v1/System.cpp +++ b/cnc_ctrl_v1/System.cpp @@ -47,20 +47,16 @@ void calibrateChainLengths(String gcodeLine){ Serial.println(F("Measuring out left chain")); singleAxisMove(&leftAxis, sysSettings.originalChainLength, (sysSettings.maxFeed * .9)); - Serial.print(leftAxis.read()); + Serial.print(sysSettings.originalChainLength); Serial.println(F("mm")); - - leftAxis.detach(); } else if(extractGcodeValue(gcodeLine, 'R', 0)){ //measure out the right chain Serial.println(F("Measuring out right chain")); singleAxisMove(&rightAxis, sysSettings.originalChainLength, (sysSettings.maxFeed * .9)); - Serial.print(rightAxis.read()); + Serial.print(sysSettings.originalChainLength); Serial.println(F("mm")); - - rightAxis.detach(); } } @@ -376,6 +372,7 @@ void setupAxes(){ if (aux6 > 0) pinMode(aux6,INPUT); #ifndef SPINDLE_SPEED if (aux7 > 0) pinMode(aux7,INPUT); + if (aux7 > 0) pinMode(aux7,INPUT); #endif if (aux8 > 0) pinMode(aux8,INPUT); if (aux9 > 0) pinMode(aux9,INPUT); From c073f522bd243ee08181804e0f71df0cdddb7dc6 Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Sun, 13 Sep 2020 18:01:37 -0500 Subject: [PATCH 13/21] Update System.cpp --- cnc_ctrl_v1/System.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cnc_ctrl_v1/System.cpp b/cnc_ctrl_v1/System.cpp index b088cf60..3612c352 100644 --- a/cnc_ctrl_v1/System.cpp +++ b/cnc_ctrl_v1/System.cpp @@ -375,7 +375,7 @@ void setupAxes(){ if (aux5 > 0) pinMode(aux5,INPUT); if (aux6 > 0) pinMode(aux6,INPUT); #ifndef SPINDLE_SPEED - if (aux7 > 0) pinMode(aux7,INPUT); + if (aux7 > 0) pinMode(aux7,INPUT); #endif if (aux8 > 0) pinMode(aux8,INPUT); if (aux9 > 0) pinMode(aux9,INPUT); From d408d1357400fc7be4a07f87489fc5759bfa1089 Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Tue, 15 Sep 2020 12:31:49 -0500 Subject: [PATCH 14/21] Update cnc_ctrl_v1.ino --- cnc_ctrl_v1/cnc_ctrl_v1.ino | 3 --- 1 file changed, 3 deletions(-) diff --git a/cnc_ctrl_v1/cnc_ctrl_v1.ino b/cnc_ctrl_v1/cnc_ctrl_v1.ino index a4a5d269..2528f2d5 100644 --- a/cnc_ctrl_v1/cnc_ctrl_v1.ino +++ b/cnc_ctrl_v1/cnc_ctrl_v1.ino @@ -49,9 +49,6 @@ byte systemRtExecAlarm; // Define global flag for FAKE_SERVO state int FAKE_SERVO_STATE = 0; -// Define global flag for FAKE_SERVO state -int FAKE_SERVO_STATE = 0; - // Define axes, it might be tighter to define these within the sys struct Axis leftAxis; Axis rightAxis; From d6eb50c1b7986a45c17d58bb56df4f1f8c2edfe5 Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Wed, 16 Sep 2020 06:47:04 -0500 Subject: [PATCH 15/21] Spindle pwm pin only works when m3/m4 spindle is ON added sys.SpindleSpeed and sys.SpindlePower that are set in spindle.cpp when the relay is toggled and then checked when an S command is received. Verbose dtails are given when an S command or $60, $61 command are given to change the spindle max, min, or speed setting --- cnc_ctrl_v1/GCode.cpp | 8 ++- cnc_ctrl_v1/GCode.h | 4 +- cnc_ctrl_v1/Settings.cpp | 108 +++++++++++++++++++----------------- cnc_ctrl_v1/Spindle.cpp | 72 ++++++++++++++++++------ cnc_ctrl_v1/Spindle.h | 7 ++- cnc_ctrl_v1/System.cpp | 12 ++-- cnc_ctrl_v1/System.h | 4 +- cnc_ctrl_v1/cnc_ctrl_v1.ino | 2 +- 8 files changed, 135 insertions(+), 82 deletions(-) diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp index c97ca459..497d2da1 100644 --- a/cnc_ctrl_v1/GCode.cpp +++ b/cnc_ctrl_v1/GCode.cpp @@ -470,8 +470,12 @@ void executeScodeLine(const String& gcodeLine){ if (sNumber == -1){ sNumber = sys.SpindleSpeed; } - if (setSpindleSpeed(sNumber)){ - sys.SpindleSpeed = sNumber; + if (sys.SpindlePower){ + if (setSpindleSpeed(sNumber)){ + sys.SpindleSpeed = sNumber; + } + }else{ + Serial.println("spindle speed not set when spindle is off"); } } void executeGcodeLine(const String& gcodeLine){ diff --git a/cnc_ctrl_v1/GCode.h b/cnc_ctrl_v1/GCode.h index 08c037c4..e504d76a 100644 --- a/cnc_ctrl_v1/GCode.h +++ b/cnc_ctrl_v1/GCode.h @@ -25,6 +25,8 @@ Copyright 2014-2017 Bar Smith*/ extern String readyCommandString; //next command queued up and ready to send extern String gcodeLine; //The next individual line of gcode (for example G91 G01 X19 would be run as two lines) +extern int SpindlePowerControlPin; + void initGCode(); void gcodeExecuteLoop(); void readSerialCommands(); @@ -45,7 +47,7 @@ void G4(const String&); void G10(const String&); void G38(const String&); void setInchesToMillimetersConversion(float); -extern int SpindlePowerControlPin; + extern int ProbePin; extern int FAKE_SERVO_STATE; diff --git a/cnc_ctrl_v1/Settings.cpp b/cnc_ctrl_v1/Settings.cpp index c5dada18..f3ae079d 100644 --- a/cnc_ctrl_v1/Settings.cpp +++ b/cnc_ctrl_v1/Settings.cpp @@ -63,56 +63,56 @@ void settingsReset() { so that if a value is not changed by a user or is not used, it doesn't need to be updated here. */ - sysSettings.machineWidth = 2438.4; // float machineWidth; - sysSettings.machineHeight = 1219.2; // float machineHeight; - sysSettings.distBetweenMotors = 2978.4; // float distBetweenMotors; - sysSettings.motorOffsetY = 463.0; // float motorOffsetY; - sysSettings.sledWidth = 310.0; // float sledWidth; - sysSettings.sledHeight = 139.0; // float sledHeight; - sysSettings.sledCG = 79.0; // float sledCG; - sysSettings.kinematicsType = 1; // byte kinematicsType; - sysSettings.rotationDiskRadius = 250.0; // float rotationDiskRadius; - sysSettings.axisDetachTime = 2000; // int axisDetachTime; - sysSettings.chainLength = 3360; // int maximum length of chain; - sysSettings.originalChainLength = 1651; // int originalChainLength; - sysSettings.encoderSteps = 8113.73; // float encoderSteps; - sysSettings.distPerRot = 63.5; // float distPerRot; - sysSettings.maxFeed = 700; // int maxFeed; - sysSettings.zAxisAttached = true; // zAxisAttached; - sysSettings.spindleAutomateType = SPEED_CONTROL_RELAY_ACTIVE_HIGH; // bool spindleAutomate; - sysSettings.maxZRPM = 12.60; // float maxZRPM; - sysSettings.zDistPerRot = 3.17; // float zDistPerRot; - sysSettings.zEncoderSteps = 7560.0; // float zEncoderSteps; - sysSettings.KpPos = 1300.0; // float KpPos; - sysSettings.KiPos = 0.0; // float KiPos; - sysSettings.KdPos = 34.0; // float KdPos; - sysSettings.propWeightPos = 1.0; // float propWeightPos; - sysSettings.KpV = 5.0; // float KpV; - sysSettings.KiV = 0.0; // float KiV; - sysSettings.KdV = 0.28; // float KdV; - sysSettings.propWeightV = 1.0; // float propWeightV; - sysSettings.zKdPos = 1300.0; // float zKpPos; - sysSettings.zKiPos = 0.0; // float zKiPos; - sysSettings.zKdPos = 34.0; // float zKdPos; - sysSettings.zPropWeightPos = 1.0; // float zPropWeightPos; - sysSettings.zKpV = 5.0; // float zKpV; - sysSettings.zKiV = 0.0; // float zKiV; - sysSettings.zKdV = 0.28; // float zKdV; - sysSettings.zPropWeightV = 1.0; // float zPropWeightV; - sysSettings.chainSagCorrection = 0.0; // float chainSagCorrection; - sysSettings.chainOverSprocket = 1; // byte chainOverSprocket; - sysSettings.fPWM = 3; // byte fPWM; - sysSettings.leftChainTolerance = 0.0; // float leftChainTolerance; - sysSettings.rightChainTolerance = 0.0; // float rightChainTolerance; - sysSettings.positionErrorLimit = 2.0; // float positionErrorLimit; - sysSettings.reserved1 = 0.0; - sysSettings.reserved2 = 0.0; - sysSettings.chainElongationFactor = 8.1E-6; // m/m/N - sysSettings.sledWeight = 11.6*9.8; // Newtons. For a sled with one ring kit, one Rigid 2200 router and two 2.35kg bricks on a 5/8" thick mdf 18" diameter base. - sysSettings.spindleMin = 4000; - sysSettings.spindleMax = 24000; - sysSettings.eepromValidData = EEPROMVALIDDATA; // byte eepromValidData; -} + sysSettings.machineWidth = 2438.4; // float machineWidth; 4 + sysSettings.machineHeight = 1219.2; // float machineHeight; 4 + sysSettings.distBetweenMotors = 2978.4; // float distBetweenMotors; 4 + sysSettings.motorOffsetY = 463.0; // float motorOffsetY; 4 + sysSettings.sledWidth = 310.0; // float sledWidth; 4 + sysSettings.sledHeight = 139.0; // float sledHeight; 4 + sysSettings.sledCG = 79.0; // float sledCG; 4 - + sysSettings.kinematicsType = 1; // byte kinematicsType; 1 + sysSettings.rotationDiskRadius = 250.0; // float rotationDiskRadius; 1 + sysSettings.axisDetachTime = 2000; // int axisDetachTime; 2 + sysSettings.chainLength = 3360; // int maximum length of chain; 2 + sysSettings.originalChainLength = 1651; // int originalChainLength; 2 + sysSettings.encoderSteps = 8113.73; // float encoderSteps; 4 + sysSettings.distPerRot = 63.5; // float distPerRot; 4 + sysSettings.maxFeed = 700; // int maxFeed; 2 + sysSettings.zAxisAttached = true; // zAxisAttached; 1 + sysSettings.spindleAutomateType = SPEED_CONTROL_RELAY_ACTIVE_HIGH; // 1 bool spindleAutomate; + sysSettings.maxZRPM = 12.60; // float maxZRPM; 4 + sysSettings.zDistPerRot = 3.17; // float zDistPerRot; 4 + sysSettings.zEncoderSteps = 7560.0; // float zEncoderSteps; 4 + sysSettings.KpPos = 1300.0; // float KpPos; 4 - + sysSettings.KiPos = 0.0; // float KiPos; 4 + sysSettings.KdPos = 34.0; // float KdPos; 4 + sysSettings.propWeightPos = 1.0; // float propWeightPos; 4 + sysSettings.KpV = 5.0; // float KpV; 4 + sysSettings.KiV = 0.0; // float KiV; 4 + sysSettings.KdV = 0.28; // float KdV; 4 - + sysSettings.propWeightV = 1.0; // float propWeightV; 4 + sysSettings.zKdPos = 1300.0; // float zKpPos; 4 + sysSettings.zKiPos = 0.0; // float zKiPos; 4 + sysSettings.zKdPos = 34.0; // float zKdPos; 4 + sysSettings.zPropWeightPos = 1.0; // float zPropWeightPos; 4 + sysSettings.zKpV = 5.0; // float zKpV; 4 - + sysSettings.zKiV = 0.0; // float zKiV; 4 + sysSettings.zKdV = 0.28; // float zKdV; 4 + sysSettings.zPropWeightV = 1.0; // float zPropWeightV; 4 + sysSettings.chainSagCorrection = 0.0; // float chainSagCorrection; 4 + sysSettings.chainOverSprocket = 1; // byte chainOverSprocket; 1 + sysSettings.fPWM = 3; // byte fPWM; 1 + sysSettings.leftChainTolerance = 0.0; // float leftChainTolerance; 4 + sysSettings.rightChainTolerance = 0.0; // float rightChainTolerance;4 - + sysSettings.positionErrorLimit = 2.0; // float positionErrorLimit; 4 + sysSettings.zAxisUpperLimit = NAN; // float zAxisUpperLimit 4 + sysSettings.zAxisLowerLimit = NAN; // float zAxisLowerLimit 4 + sysSettings.chainElongationFactor = 8.1E-6; // m/m/N 4 + sysSettings.sledWeight = 11.6*9.8; // Newtons. For a sled with one ring4 kit, one Rigid 2200 router and two 2.35kg bricks on a 5/8" thick mdf 18" diameter base. + sysSettings.spindleMin = 4000; // 2 + sysSettings.spindleMax = 24000; // 2 + sysSettings.eepromValidData = EEPROMVALIDDATA; // byte eepromValidData;1 +} // 36 * 4 bytes, 6* 2 bytes, 7* 1 byte = 144+12+7= 163 bytes void settingsWipe(byte resetType){ /* @@ -432,9 +432,13 @@ byte settingsStoreGlobalSetting(const byte& parameter,const float& value){ kinematics.init();; break; case 60: - sysSettings.spindleMin = value; + sysSettings.spindleMin = (int)value; + Serial.print(F("\r\nnew spindle min="));Serial.print(sysSettings.spindleMin); + break; case 61: - sysSettings.spindleMax = value; + sysSettings.spindleMax = (int)value; + Serial.print(F("\r\nnew spindle max="));Serial.print(sysSettings.spindleMax); + break; default: return(STATUS_INVALID_STATEMENT); } diff --git a/cnc_ctrl_v1/Spindle.cpp b/cnc_ctrl_v1/Spindle.cpp index c7b2c0f0..c8a198b2 100644 --- a/cnc_ctrl_v1/Spindle.cpp +++ b/cnc_ctrl_v1/Spindle.cpp @@ -31,19 +31,21 @@ void setSpindlePower(bool powerState) { SpindleAutomationType spindleAutomateType = sysSettings.spindleAutomateType; int delayAfterChange = 1000; // milliseconds - int servoIdle = 90; // degrees - int servoOn = 180; // degrees - int servoOff = 0; // degrees - int servoDelay = 2000; // milliseconds - + // Now for the main code #if defined (verboseDebug) && verboseDebug > 1 Serial.print(F("Spindle control uses pin ")); - Serial.print(SpindlePowerControlPin); + Serial.println(SpindlePowerControlPin); Serial.print(F("Spindle automation type ")); - Serial.print(spindleAutomateType); + Serial.println(spindleAutomateType); #endif #ifndef SPINDLE_SPEED + + int servoIdle = 90; // degrees + int servoOn = 180; // degrees + int servoOff = 0; // degrees + int servoDelay = 2000; // milliseconds + if (spindleAutomateType == SERVO) { // use a servo to control a standard wall switch #if defined (verboseDebug) && verboseDebug > 1 Serial.print(F(" with servo (idle=")); @@ -57,6 +59,8 @@ void setSpindlePower(bool powerState) { myservo.attach(SpindlePowerControlPin); // start servo control myservo.write(servoIdle); // move servo to idle position maslowDelay(servoDelay); // wait for move to complete + sys.SpindlePower = 0; + sys.SpindleSPeed = 0; if(sys.stop){return;} if (powerState) { // turn on spindle Serial.println(F("Turning Spindle On")); @@ -70,6 +74,8 @@ void setSpindlePower(bool powerState) { if(sys.stop){return;} myservo.write(servoIdle); // return servo to idle position maslowDelay(servoDelay); // wait for move to complete + sys.SpindlePower = 1; + sys.SpindleSPeed = 0; if(sys.stop){return;} myservo.detach(); // stop servo control } @@ -84,11 +90,14 @@ void setSpindlePower(bool powerState) { digitalWrite(SpindlePowerControlPin, HIGH); Serial.println(F("Adjusting Spindle Speed to Minimum")); setSpindleSpeed(sysSettings.spindleMin); + sys.SpindlePower = 1; } else { // turn off spindle Serial.println(F("Turning Spindle Off")); digitalWrite(SpindlePowerControlPin, LOW); - digitalWrite(SpindleSpeedControlPin, LOW); + digitalWrite(SpindleSpeedPin, LOW); + sys.SpindlePower = 0; + sys.SpindleSpeed = 0; } } if (spindleAutomateType == SPEED_CONTROL_RELAY_ACTIVE_LOW){ @@ -101,11 +110,14 @@ void setSpindlePower(bool powerState) { digitalWrite(SpindlePowerControlPin, LOW); Serial.println(F("Adjusting Spindle Speed to Minimum")); setSpindleSpeed(sysSettings.spindleMin); + sys.SpindlePower = 1; } else { // turn off spindle Serial.println(F("Turning Spindle Off")); digitalWrite(SpindlePowerControlPin, HIGH); - digitalWrite(SpindleSpeedControlPin, LOW); + digitalWrite(SpindleSpeedPin, LOW); + sys.SpindlePower = 0; + sys.SpindleSpeed = 0; } } if (spindleAutomateType == RELAY_ACTIVE_HIGH) { @@ -116,10 +128,14 @@ void setSpindlePower(bool powerState) { if (powerState) { // turn on spindle Serial.println(F("Turning Spindle On")); digitalWrite(SpindlePowerControlPin, HIGH); + sys.SpindlePower = 1; + sys.SpindleSpeed = 0; } else { // turn off spindle Serial.println(F("Turning Spindle Off")); digitalWrite(SpindlePowerControlPin, LOW); + sys.SpindlePower = 0; + sys.SpindleSpeed = 0; } } else if (spindleAutomateType == RELAY_ACTIVE_LOW) { // use a digital I/O pin to control a relay @@ -130,10 +146,14 @@ void setSpindlePower(bool powerState) { if (powerState) { // turn on spindle Serial.println(F("Turning Spindle On")); digitalWrite(SpindlePowerControlPin, LOW); + sys.SpindlePower = 0; + sys.SpindleSpeed = 0; } else { // turn off spindle Serial.println(F("Turning Spindle Off")); digitalWrite(SpindlePowerControlPin, HIGH); + sys.SpindlePower = 0; + sys.SpindleSpeed = 0; } } if (spindleAutomateType != NONE) { @@ -141,20 +161,36 @@ void setSpindlePower(bool powerState) { } } -int setSpindleSpeed(int spindleSpeed){ +int setSpindleSpeed(int spindleSpd){ // map 0-255 min spindle speed to max spindle speed // output 0-255 - if (spindleSpeed < sysSettings.spindleMin){ - spindleSpeed = sysSettings.spindleMin; + if (spindleSpd == 0){ + digitalWrite(SpindleSpeedPin,LOW); + sys.SpindleSpeed = 0; } - if (spindleSpeed > sysSettings.spindleMax){ - spindleSpeed = sysSettings.spindleMax; + else{ + if(spindleSpd < sysSettings.spindleMin){ + spindleSpd = sysSettings.spindleMin; + } + if (spindleSpd > sysSettings.spindleMax){ + spindleSpd = sysSettings.spindleMax; + } + sys.SpindleSpeed = spindleSpd; + Serial.print(F("spindle max = "));Serial.println(sysSettings.spindleMax); + Serial.print(F("spindle min = "));Serial.println(sysSettings.spindleMin); + Serial.print(F("new spindle speed = "));Serial.println(spindleSpd); + int spd = constrain(map (spindleSpd, 0, sysSettings.spindleMax, 0, 255),0,255); + Serial.print(F("new pwm output = "));Serial.println(spd); + if (sys.SpindlePower == 1){ + analogWrite(SpindleSpeedPin,spd); + return(1); + }else{ + digitalWrite(SpindleSpeedPin,LOW); + return(0); + } } - long spd = map (spindleSpeed, 0, sysSettings.spindleMax, 0, 255); - analogWrite(SpindleSpeedControlPin,spd); - return(1); //for (i=0;i 255)) { return(STATUS_INVALID_STATEMENT); } return(settingsStoreGlobalSetting((byte)parameter, value)); // } diff --git a/cnc_ctrl_v1/System.h b/cnc_ctrl_v1/System.h index 3f0d88b7..dd0eaec7 100644 --- a/cnc_ctrl_v1/System.h +++ b/cnc_ctrl_v1/System.h @@ -60,6 +60,7 @@ typedef struct { bool useRelativeUnits; // unsigned long lastSerialRcvd; // The millis of the last rcvd serial command, used by watchdo int lastGCommand; //Stores the value of the last command run eg: G01 -> 1 + bool SpindlePower; // store the spindle power state int SpindleSpeed; // store the current spindle speed -> 4000 int lastTool; //Stores the value of the last tool number eg: T4 -> 4 int nextTool; //Stores the value of the next tool number eg: T4 -> 4 @@ -77,7 +78,8 @@ extern Axis zAxis; extern maslowRingBuffer incSerialBuffer; extern Kinematics kinematics; extern byte systemRtExecAlarm; -extern int SpindlePowerControlPin; +extern int SpindlePowerControlPin; // relay for spindle power +extern int SpindleSpeedPin; // pwm output for spindle control extern int LaserPowerPin; extern int ProbePin; extern int SO1; diff --git a/cnc_ctrl_v1/cnc_ctrl_v1.ino b/cnc_ctrl_v1/cnc_ctrl_v1.ino index 2528f2d5..69cb0541 100644 --- a/cnc_ctrl_v1/cnc_ctrl_v1.ino +++ b/cnc_ctrl_v1/cnc_ctrl_v1.ino @@ -59,7 +59,7 @@ Axis zAxis; Kinematics kinematics; void setup(){ - Serial.begin(57600); + Serial.begin(115200); Serial.print(F("PCB v1.")); Serial.print(getPCBVersion()); if (TLE5206 == true) { Serial.print(F(" TLE5206 ")); } From 10b1fa100e073021f87a3c216d8fef259b648c54 Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Mon, 23 Nov 2020 21:15:51 -0600 Subject: [PATCH 16/21] 51.29 added v1.5 shield 51.29: added board v 1.5 TB6643 chip and associated procedures for communicating with that chip and the different pinouts. incremented settingversion to 7 --- Firmware_1.26b/.gitignore | 17 + Firmware_1.26b/.travis.yml | 35 + Firmware_1.26b/CODE_OF_CONDUCT.md | 46 + .../Documentation/Download Firmware.jpg | Bin 0 -> 87994 bytes Firmware_1.26b/Documentation/Download IDE.jpg | Bin 0 -> 102625 bytes .../How To Contribute Pictures/Clone.png | Bin 0 -> 37021 bytes .../How To Contribute Pictures/Clone2.png | Bin 0 -> 34398 bytes .../How To Contribute Pictures/Clone3.png | Bin 0 -> 14502 bytes .../How To Contribute Pictures/Commit.png | Bin 0 -> 44800 bytes .../EditingFile.png | Bin 0 -> 55394 bytes .../How To Contribute Pictures/Fork.jpg | Bin 0 -> 58378 bytes .../How To Contribute Pictures/GithubHome.jpg | Bin 0 -> 76690 bytes .../GithubWelcome.jpg | Bin 0 -> 30594 bytes .../How To Contribute Pictures/PR0.png | Bin 0 -> 46931 bytes .../How To Contribute Pictures/PR1.png | Bin 0 -> 69205 bytes .../How To Contribute Pictures/PR2.png | Bin 0 -> 64618 bytes .../How To Contribute Pictures/PR3.png | Bin 0 -> 73289 bytes .../Push Origin.png | Bin 0 -> 43035 bytes .../Documentation/Open Firmware.jpg | Bin 0 -> 91291 bytes Firmware_1.26b/Documentation/Select Board.jpg | Bin 0 -> 90579 bytes .../Documentation/Select COM Port.jpg | Bin 0 -> 77634 bytes Firmware_1.26b/Documentation/Upload.jpg | Bin 0 -> 64058 bytes .../Documentation/posErrorAlarm/alarm.PNG | Bin 0 -> 10698 bytes .../posErrorAlarm/alarmSetting.PNG | Bin 0 -> 70324 bytes Firmware_1.26b/INSTRUCTIONS.md | 41 + Firmware_1.26b/LICENSE | 189 ++++ Firmware_1.26b/README.md | 77 ++ Firmware_1.26b/cnc_ctrl_v1/Axis.cpp | 301 ++++++ Firmware_1.26b/cnc_ctrl_v1/Axis.h | 70 ++ Firmware_1.26b/cnc_ctrl_v1/Config.h | 64 ++ Firmware_1.26b/cnc_ctrl_v1/Encoder.cpp | 10 + Firmware_1.26b/cnc_ctrl_v1/Encoder.h | 976 ++++++++++++++++++ Firmware_1.26b/cnc_ctrl_v1/GCode.cpp | 889 ++++++++++++++++ Firmware_1.26b/cnc_ctrl_v1/GCode.h | 50 + Firmware_1.26b/cnc_ctrl_v1/Kinematics.cpp | 425 ++++++++ Firmware_1.26b/cnc_ctrl_v1/Kinematics.h | 99 ++ Firmware_1.26b/cnc_ctrl_v1/Maslow.h | 52 + Firmware_1.26b/cnc_ctrl_v1/Motion.cpp | 376 +++++++ Firmware_1.26b/cnc_ctrl_v1/Motion.h | 36 + Firmware_1.26b/cnc_ctrl_v1/Motor.cpp | 227 ++++ Firmware_1.26b/cnc_ctrl_v1/Motor.h | 54 + .../cnc_ctrl_v1/MotorGearboxEncoder.cpp | 205 ++++ .../cnc_ctrl_v1/MotorGearboxEncoder.h | 56 + Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.cpp | 67 ++ Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.h | 31 + Firmware_1.26b/cnc_ctrl_v1/PID_v1.cpp | 236 +++++ Firmware_1.26b/cnc_ctrl_v1/PID_v1.h | 98 ++ Firmware_1.26b/cnc_ctrl_v1/Probe.cpp | 33 + Firmware_1.26b/cnc_ctrl_v1/Probe.h | 25 + Firmware_1.26b/cnc_ctrl_v1/Report.cpp | 316 ++++++ Firmware_1.26b/cnc_ctrl_v1/Report.h | 85 ++ Firmware_1.26b/cnc_ctrl_v1/RingBuffer.cpp | 208 ++++ Firmware_1.26b/cnc_ctrl_v1/RingBuffer.h | 42 + Firmware_1.26b/cnc_ctrl_v1/Settings.cpp | 414 ++++++++ Firmware_1.26b/cnc_ctrl_v1/Settings.h | 109 ++ Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.cpp | 27 + Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.h | 32 + Firmware_1.26b/cnc_ctrl_v1/Spindle.cpp | 117 +++ Firmware_1.26b/cnc_ctrl_v1/Spindle.h | 24 + Firmware_1.26b/cnc_ctrl_v1/System.cpp | 658 ++++++++++++ Firmware_1.26b/cnc_ctrl_v1/System.h | 94 ++ Firmware_1.26b/cnc_ctrl_v1/Testing.cpp | 181 ++++ Firmware_1.26b/cnc_ctrl_v1/Testing.h | 25 + Firmware_1.26b/cnc_ctrl_v1/TimerOne.cpp | 209 ++++ Firmware_1.26b/cnc_ctrl_v1/TimerOne.h | 67 ++ Firmware_1.26b/cnc_ctrl_v1/cnc_ctrl_v1.ino | 120 +++ .../cnc_ctrl_v1/utility/direct_pin_read.h | 27 + .../cnc_ctrl_v1/utility/interrupt_config.h | 87 ++ .../cnc_ctrl_v1/utility/interrupt_pins.h | 156 +++ Firmware_1.26b/platformio.ini | 38 + Firmware_1.26b/platformio/simavr_env.py | 21 + Firmware_1.26b/platformio/teensy_env.py | 12 + cnc_ctrl_v1/Kinematics.cpp | 2 + cnc_ctrl_v1/Kinematics.h | 3 +- cnc_ctrl_v1/Maslow.h | 2 +- cnc_ctrl_v1/Motor.cpp | 30 +- cnc_ctrl_v1/Motor.h | 1 + cnc_ctrl_v1/Settings.cpp | 2 +- cnc_ctrl_v1/Settings.h | 2 +- cnc_ctrl_v1/System.cpp | 78 +- cnc_ctrl_v1/System.h | 2 + cnc_ctrl_v1/cnc_ctrl_v1.ino | 11 +- 82 files changed, 7961 insertions(+), 26 deletions(-) create mode 100644 Firmware_1.26b/.gitignore create mode 100644 Firmware_1.26b/.travis.yml create mode 100644 Firmware_1.26b/CODE_OF_CONDUCT.md create mode 100644 Firmware_1.26b/Documentation/Download Firmware.jpg create mode 100644 Firmware_1.26b/Documentation/Download IDE.jpg create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/Clone.png create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/Clone2.png create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/Clone3.png create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/Commit.png create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/EditingFile.png create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/Fork.jpg create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/GithubHome.jpg create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/GithubWelcome.jpg create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/PR0.png create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/PR1.png create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/PR2.png create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/PR3.png create mode 100644 Firmware_1.26b/Documentation/How To Contribute Pictures/Push Origin.png create mode 100644 Firmware_1.26b/Documentation/Open Firmware.jpg create mode 100644 Firmware_1.26b/Documentation/Select Board.jpg create mode 100644 Firmware_1.26b/Documentation/Select COM Port.jpg create mode 100644 Firmware_1.26b/Documentation/Upload.jpg create mode 100644 Firmware_1.26b/Documentation/posErrorAlarm/alarm.PNG create mode 100644 Firmware_1.26b/Documentation/posErrorAlarm/alarmSetting.PNG create mode 100644 Firmware_1.26b/INSTRUCTIONS.md create mode 100644 Firmware_1.26b/LICENSE create mode 100644 Firmware_1.26b/README.md create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Axis.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Axis.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Config.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Encoder.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Encoder.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/GCode.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/GCode.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Kinematics.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Kinematics.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Maslow.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Motion.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Motion.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Motor.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Motor.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/PID_v1.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/PID_v1.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Probe.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Probe.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Report.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Report.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/RingBuffer.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/RingBuffer.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Settings.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Settings.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Spindle.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Spindle.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/System.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/System.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Testing.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/Testing.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/TimerOne.cpp create mode 100644 Firmware_1.26b/cnc_ctrl_v1/TimerOne.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/cnc_ctrl_v1.ino create mode 100644 Firmware_1.26b/cnc_ctrl_v1/utility/direct_pin_read.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_config.h create mode 100644 Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_pins.h create mode 100644 Firmware_1.26b/platformio.ini create mode 100644 Firmware_1.26b/platformio/simavr_env.py create mode 100644 Firmware_1.26b/platformio/teensy_env.py diff --git a/Firmware_1.26b/.gitignore b/Firmware_1.26b/.gitignore new file mode 100644 index 00000000..138190fd --- /dev/null +++ b/Firmware_1.26b/.gitignore @@ -0,0 +1,17 @@ +.pioenvs +.piolibdeps +.clang_complete +.gcc-flags.json +lib/readme.txt +cnc_ctrl_v1/.DS_Store +cnc_ctrl_v1/.DS_Store +cnc_ctrl_v1/.DS_Store +.DS_Store +**/.DS_Store +.vscode/ +.vscode/c_cpp_properties.json +.vscode/launch.json +simduino_atmega2560_flash.bin +simduino +.vscode/*.db +obj-x86_64-apple-darwin17.4.0 diff --git a/Firmware_1.26b/.travis.yml b/Firmware_1.26b/.travis.yml new file mode 100644 index 00000000..7805f835 --- /dev/null +++ b/Firmware_1.26b/.travis.yml @@ -0,0 +1,35 @@ +# Continuous Integration (CI) is the practice, in software +# engineering, of merging all developer working copies with a shared mainline +# several times a day < http://docs.platformio.org/page/ci/index.html > +# +# Documentation: +# +# * Travis CI Embedded Builds with PlatformIO +# < https://docs.travis-ci.com/user/integration/platformio/ > +# +# * PlatformIO integration with Travis CI +# < http://docs.platformio.org/page/ci/travis.html > +# +# * User Guide for `platformio ci` command +# < http://docs.platformio.org/page/userguide/cmd_ci.html > +# +# +# Please choice one of the following templates (proposed below) and uncomment +# it (remove "# " before each line) or use own configuration according to the +# Travis CI documentation (see above). +# + + +# +# Template #1: General project. Test it using existing `platformio.ini`. +# + +language: python +python: + - "2.7" + +install: + - pip install -U platformio + +script: + - platformio run diff --git a/Firmware_1.26b/CODE_OF_CONDUCT.md b/Firmware_1.26b/CODE_OF_CONDUCT.md new file mode 100644 index 00000000..f214249a --- /dev/null +++ b/Firmware_1.26b/CODE_OF_CONDUCT.md @@ -0,0 +1,46 @@ +# Contributor Covenant Code of Conduct + +## Our Pledge + +In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation. + +## Our Standards + +Examples of behavior that contributes to creating a positive environment include: + +* Using welcoming and inclusive language +* Being respectful of differing viewpoints and experiences +* Gracefully accepting constructive criticism +* Focusing on what is best for the community +* Showing empathy towards other community members + +Examples of unacceptable behavior by participants include: + +* The use of sexualized language or imagery and unwelcome sexual attention or advances +* Trolling, insulting/derogatory comments, and personal or political attacks +* Public or private harassment +* Publishing others' private information, such as a physical or electronic address, without explicit permission +* Other conduct which could reasonably be considered inappropriate in a professional setting + +## Our Responsibilities + +Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior. + +Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful. + +## Scope + +This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at info@maslowcnc.com. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately. + +Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version] + +[homepage]: http://contributor-covenant.org +[version]: http://contributor-covenant.org/version/1/4/ diff --git a/Firmware_1.26b/Documentation/Download Firmware.jpg b/Firmware_1.26b/Documentation/Download Firmware.jpg new file mode 100644 index 0000000000000000000000000000000000000000..88e8e33178fe5e0d62a57df70b9ecb32359c98e6 GIT binary patch literal 87994 zcmeFZ1zeR~w=eq84T5w_2$Is>(%s!H0@BR_R8SI@bax{u-7N0%4fWfv z@80L#=R4=#bC1j4^JDrvGsgIjF~=OU#?8dd0&q)CN>&Phfq?-`p#OlI#aly?p0-v1 zpr{Bi004jtz{3atu+S8|xT!M`Vhg}S(=gBvatVoF|3Y&Bw^}wy0VHS=9r}M^=mU^$ 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zakyO=CXlpf5g4e2V-7q??OWNoY70CX-{2R*OeOR4<}>!1o%CLuMb#r~>_6^8)sBOn zm^9p3xzwqvJaou3e>}F6y>t__1>qt1n0i6g`rx`g)yRk-%sxrQVy3yWLkWxPh0s5&bIlw7Wt^>e-C~eD1?yX(C@xDjJaMx`yqSUp-4ID`2QZ)EG6?Uka(j>F z3^uMS^sF@3KLP?7gko2P%$pAx@Rz$oL*%e`XA$0QBlP?o%k_k1sV{@5X<2|^uzZ!BLHWNo(IKMV<^c%qq|34{#|QDO52Ae Xic=g;>uN&jLbVn}j1AZ9-dFGsTUfs{ literal 0 HcmV?d00001 diff --git a/Firmware_1.26b/INSTRUCTIONS.md b/Firmware_1.26b/INSTRUCTIONS.md new file mode 100644 index 00000000..9921ba72 --- /dev/null +++ b/Firmware_1.26b/INSTRUCTIONS.md @@ -0,0 +1,41 @@ + + +# Maslow Firmware Setup + +Installing new firmware on your machine is important. We come out with a new firmware version every other week so be prepared to do this regularly. This process will also install the proper drivers to connect to your Arduino on some older computers so if you have trouble connecting it can be helpful to do this process on the same computer you will control the machine with. + +### Step 1: Connect Your Arduino +Connect your Arduino to your computer using the provided USB cable. + +### Step 2: Download The Arduino IDE +Download and install the last Arduino IDE from [https://www.arduino.cc/en/Main/Software](https://www.arduino.cc/en/Main/Software). Older versions of Arduino IDE have problems with libraries when compiling the firmware, so make sure you have the latest version. + +Note - For Windows there are three options: "Windows Installer", "Windows Zip", and "Windows App". + Some users have reported problems with the "Windows App" version. +![Download IDE](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Download%20IDE.jpg) + +### Step 3: Download The Latest Maslow Firmware +You can do this at http://github.com/MaslowCNC/Firmware/releases/ Click the zip file for the most recent release to download it. Extract the files from the zip folder. +![Download Firmware](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Download%20Firmware.jpg) + +### Step 4: Open Firmware +Click **File -> Open** and then open the firmware by selecting cnc_ctrl_v1.ino +![Open Firmware](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Open%20Firmware.jpg) + +### Step 5: Select The Board Type +Select the board type by clicking **Tools -> Board -> Arduino/Genuino Mega or Mega 2560** +![Select Board Type](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Select%20Board.jpg) + +### Step 6: Select The Serial Port +Select the correct port to connect to by clicking **Tools -> Port -> Your Port**. On Windows this will be something like COM3, on Mac and Linux computers it will be something like dev/tty/. You can find the right one by plugging and unplugging your Arduino compatible board and checking which option disappears. +![Select Serial Port](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Select%20COM%20Port.jpg) + +### Step 7: Upload The Firmware +Upload the newest firmware to your machine by clicking the upload button in the top left corner. The arrow looks disabled until you hover over it! _Linux users_: if you are getting timeout or permissions errors, you may need to add your username to the `dialout` group and then logout and back in. [Instructions here.](https://askubuntu.com/questions/112568/how-do-i-allow-a-non-default-user-to-use-serial-device-ttyusb0) +![Upload Firmware](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Upload.jpg) + +### Step 8: Finish +You are now running the latest firmware. *Great Job!* Make sure you close the Arduino IDE before proceeding. + +### Step 9: Proceed +You have finished setting up the Maslow firmware. Proceed to the [next step](http://maslowcommunitygarden.org/GroundControl.html?instructions=true) to install Ground Control on your OS. diff --git a/Firmware_1.26b/LICENSE b/Firmware_1.26b/LICENSE new file mode 100644 index 00000000..2f4b8c0b --- /dev/null +++ b/Firmware_1.26b/LICENSE @@ -0,0 +1,189 @@ +GNU GENERAL PUBLIC LICENSE + +Version 3, 29 June 2007 + +Copyright © 2007 Free Software Foundation, Inc. + +Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. +Preamble + +The GNU General Public License is a free, copyleft license for software and other kinds of works. + +The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. 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Interpretation of Sections 15 and 16. + +If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee. + +END OF TERMS AND CONDITIONS \ No newline at end of file diff --git a/Firmware_1.26b/README.md b/Firmware_1.26b/README.md new file mode 100644 index 00000000..56b5ec48 --- /dev/null +++ b/Firmware_1.26b/README.md @@ -0,0 +1,77 @@ +# Maslow Firmware + +This is the firmware which controls the Maslow CNC machine + +[![Build Status](https://travis-ci.org/MaslowCNC/Firmware.svg?branch=master)](https://travis-ci.org/MaslowCNC/Firmware) + +This is the firmware for the Maslow CNC Router + + +## Steps to setup the Firmware development environment + +First clone the Firmware repository, then install and setup the IDE of your choice. + +### Using Arduino IDE +1. Download [Arduino IDE](https://www.arduino.cc/en/main/software) 1.8.1 or higher +2. Install Arduino IDE and run Arduino IDE +3. Navigate menus: File, Open +4. In the file chooser navigate to the cloned repository and choose the "cnc_ctrl_v1.ino" file to open +5. Navigate menu: Tools, Board, change to "Arduino/Genuino Mega or Mega 2560" +6. Navigate menu: Sketch -> Upload + +This should compile the project without errors, and possibly some warnings. + +### Using PlatformIO +1. Download package for [Atom](https://atom.io/) +2. Follow directions for [installing PlatformIO within Atom](http://docs.platformio.org/en/latest/ide/atom.html#ide-installation) +3. Within Atom navigate menus: PlatformIO, Open Project +4. Select "Firmware" directory +5. Click "Open Firmware" + +### Using Eclipse Neon C/C++ with Sloeber plugin + +1. Download [Eclipse C/C++](https://eclipse.org/downloads/) Neon or higher +2. Install Eclipse C/C++ and run Eclipse +3. Install Sloeber Arduino plugin + * Navigate menus: Help, Install New Software... + * Copy this URL in the "Work With" field: http://eclipse.baeyens.it/update/V4/stable + * Select "Add" button + * Select "Sloeber Arduino IDE" check box + * Select "Finish" button + * Accept defaults and accept licenses, the plugin will restart Eclipse, and configure the plugin +4. Change to Arduino perspective, navigate menus: Window, Perspective, Open Perspective, Other... + * Choose the "Arduino" perspective and select "Ok" button +5. Create an Arduino project + * Navigate menus: File, New, New Arduino Sketch + * Project Name: cnc_ctrl_v1 + * Select "Next" button + * Select appropriate item from "Platform folder" drop down listing + * Select Board: Arduino/Genuino Mega or Mega 2560 + * Select Upload Protocol: Default + * Select Processor: ATmega2560 (Mega 2560) + * Select "Finish" button +6. Import project source code + * Select project folder, navigate menus: File, Import... + * Expand "General" and select "File system" + * Select "Next" button + * Select the "Browse" button to select the source location (location of the cloned repository cnc_ctrl_v1 directory) + * Select whole source directory in the left pane + * Open Advanced Settings by klicking on "Advanced>>" button + * Select 'Create Links in Workspace' and 'Create virtual folders' leave other settings untouched + * Select 'Finish' button + * Eclipse asks if overwriting the original cnc_ctrl_v1.ino file is ok. Confirm with 'yes'. +7. Update eclipse project include paths + * Select the project folder in the project explorer and click Project->Properties in the menu. + * In the Project properties left Pane select C/C++ Build->Settings + * In the right Pane select the 'Tool Settings' Tab and add the path to the source location to the include paths of all compilers/linkers of the toolchain. + * The last two steps may differ between toolchains. + + +### Using NotePad++ in Conjunction with the Arduino IDE +1. Download NotePad++ (Windows only) [link](https://notepad-plus-plus.org/) +2. Download the Arduino IDE [link](https://www.arduino.cc/en/main/software) +3. Set that you would like use an external editor from within the Arduino IDE by clicking File -> Preferences -> Use External Editor + *The Arduino editor will no longer allow you to edit the files, but instead will only work to compile and upload your code. + *The code can be edited from within NotePad++ + *This method can be used on other platforms with editing programs other than NP++ + diff --git a/Firmware_1.26b/cnc_ctrl_v1/Axis.cpp b/Firmware_1.26b/cnc_ctrl_v1/Axis.cpp new file mode 100644 index 00000000..c6ce84b9 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Axis.cpp @@ -0,0 +1,301 @@ +/*This file is part of the Maslow Control Software. + + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + + +#include "Maslow.h" + +void Axis::setup(const int& pwmPin, const int& directionPin1, const int& directionPin2, const int& encoderPin1, const int& encoderPin2, const char& axisName, const unsigned long& loopInterval) +{ + // I don't really like this, but I don't know how else to initialize a pointer to a value + float zero = 0.0; + float one = 1.0; + _Kp = _Ki = _Kd = &zero; + + motorGearboxEncoder.setup(pwmPin, directionPin1, directionPin2, encoderPin1, encoderPin2, loopInterval); + _pidController.setup(&_pidInput, &_pidOutput, &_pidSetpoint, _Kp, _Ki, _Kd, &one, REVERSE); + + //initialize variables + _axisName = axisName; + + initializePID(loopInterval); + + motorGearboxEncoder.setName(&_axisName); +} + +void Axis::initializePID(const unsigned long& loopInterval){ + _pidController.SetMode(AUTOMATIC); + _pidController.SetOutputLimits(-20, 20); + _pidController.SetSampleTime( loopInterval / 1000); +} + +void Axis::write(const float& targetPosition){ + _timeLastMoved = millis(); + _pidSetpoint = targetPosition/ *_mmPerRotation; + return; +} + +float Axis::read(){ + //returns the true axis position + + return (motorGearboxEncoder.encoder.read()/ *_encoderSteps) * *_mmPerRotation; + +} + +float Axis::setpoint(){ + return _pidSetpoint * *_mmPerRotation; +} + +void Axis::set(const float& newAxisPosition){ + + //reset everything to the new value + _pidSetpoint = newAxisPosition/ *_mmPerRotation; + motorGearboxEncoder.encoder.write((newAxisPosition * *_encoderSteps)/ *_mmPerRotation); + +} + +long Axis::steps(){ + /* + Returns the number of steps reported by the encoder + */ + return motorGearboxEncoder.encoder.read(); +} + +void Axis::setSteps(const long& steps){ + + //reset everything to the new value + _pidSetpoint = steps/ *_encoderSteps; + motorGearboxEncoder.encoder.write(steps); + +} + +void Axis::computePID(){ + + #ifdef FAKE_SERVO + if (motorGearboxEncoder.motor.attached()){ + // Adds up to 10% error just to simulate servo noise + double rpm = (-1 * _pidOutput) * random(90, 110) / 100; + unsigned long steps = motorGearboxEncoder.encoder.read() + round( rpm * *_encoderSteps * LOOPINTERVAL)/(60 * 1000000); + motorGearboxEncoder.encoder.write(steps); + } + #endif + + if (_disableAxisForTesting || !motorGearboxEncoder.motor.attached()){ + return; + } + + _pidInput = motorGearboxEncoder.encoder.read()/ *_encoderSteps; + + if (_pidController.Compute()){ + // Only write output if the PID calculation was performed + motorGearboxEncoder.write(_pidOutput); + } + + motorGearboxEncoder.computePID(); + +} + +void Axis::disablePositionPID(){ + + _pidController.SetMode(MANUAL); + +} + +void Axis::enablePositionPID(){ + + _pidController.SetMode(AUTOMATIC); + +} + +void Axis::setPIDValues(float* KpPos, float* KiPos, float* KdPos, float* propWeight, float* KpV, float* KiV, float* KdV, float* propWeightV){ + /* + + Sets the positional PID values for the axis + + */ + _Kp = KpPos; + _Ki = KiPos; + _Kd = KdPos; + + _pidController.SetTunings(_Kp, _Ki, _Kd, propWeight); + + motorGearboxEncoder.setPIDValues(KpV, KiV, KdV, propWeightV); +} + +String Axis::getPIDString(){ + /* + + Get PID tuning values + + */ + String PIDString = "Kp="; + return PIDString + *_Kp + ",Ki=" + *_Ki + ",Kd=" + *_Kd; +} + +void Axis::setPIDAggressiveness(float aggressiveness){ + /* + + The setPIDAggressiveness() function sets the aggressiveness of the PID controller to + compensate for a change in the load on the motor. + + */ + + motorGearboxEncoder.setPIDAggressiveness(aggressiveness); +} + +float Axis::error(){ + + float encoderErr = (motorGearboxEncoder.encoder.read()/ *_encoderSteps) - _pidSetpoint; + + return encoderErr * *_mmPerRotation; +} + +void Axis::changePitch(float *newPitch){ + /* + Reassign the distance moved per-rotation for the axis. + */ + _mmPerRotation = newPitch; +} + +float Axis::getPitch(){ + /* + Returns the distance moved per-rotation for the axis. + */ + return *_mmPerRotation; +} + +void Axis::changeEncoderResolution(float *newResolution){ + /* + Reassign the encoder resolution for the axis. + */ + _encoderSteps = newResolution; + + //push to the gearbox for calculating RPM + motorGearboxEncoder.setEncoderResolution(*newResolution); + +} + +int Axis::detach(){ + + motorGearboxEncoder.motor.detach(); + + return 1; +} + +int Axis::attach(){ + motorGearboxEncoder.motor.attach(); + return 1; +} + +bool Axis::attached(){ + /* + + Returns true if the axis is attached, false if it is not. + + */ + + return motorGearboxEncoder.motor.attached(); +} + +void Axis::detachIfIdle(){ + /* + Detaches the axis, turning off the motor and PID control, if it has been + stationary for more than axisDetachTime + */ + if (millis() - _timeLastMoved > sysSettings.axisDetachTime){ + detach(); + } + +} + +void Axis::endMove(const float& finalTarget){ + + _timeLastMoved = millis(); + _pidSetpoint = finalTarget/ *_mmPerRotation; + +} + +void Axis::stop(){ + /* + + Immediately stop the axis where it is, not where it should be + + */ + + _timeLastMoved = millis(); + _pidSetpoint = read()/ *_mmPerRotation; + +} + +void Axis::test(){ + /* + Test the axis by directly commanding the motor and observing if the encoder moves + */ + + Serial.print(F("Testing ")); + Serial.print(_axisName); + Serial.println(F(" motor:")); + + //print something to prevent the connection from timing out + Serial.print(F("")); + + int i = 0; + double encoderPos = motorGearboxEncoder.encoder.read(); //record the position now + + //move the motor + while (i < 1000){ + motorGearboxEncoder.motor.directWrite(255); + i++; + maslowDelay(1); + if (sys.stop){return;} + } + + //check to see if it moved + if(encoderPos - motorGearboxEncoder.encoder.read() > 500){ + Serial.println(F("Direction 1 - Pass")); + } + else{ + Serial.println(F("Direction 1 - Fail")); + } + + //record the position again + encoderPos = motorGearboxEncoder.encoder.read(); + Serial.print(F("")); + + //move the motor in the other direction + i = 0; + while (i < 1000){ + motorGearboxEncoder.motor.directWrite(-255); + i++; + maslowDelay(1); + if (sys.stop){return;} + } + + //check to see if it moved + if(encoderPos - motorGearboxEncoder.encoder.read() < -500){ + Serial.println(F("Direction 2 - Pass")); + } + else{ + Serial.println(F("Direction 2 - Fail")); + } + + //stop the motor + motorGearboxEncoder.motor.directWrite(0); + Serial.print(F("")); +} + +double Axis::pidInput(){ return _pidInput * *_mmPerRotation;} +double Axis::pidOutput(){ return _pidOutput;} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Axis.h b/Firmware_1.26b/cnc_ctrl_v1/Axis.h new file mode 100644 index 00000000..2f193dbc --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Axis.h @@ -0,0 +1,70 @@ + /*This file is part of the Maslow Control Software. + + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + + #ifndef Axis_h + #define Axis_h + + class Axis{ + public: + void setup(const int& pwmPin, const int& directionPin1, const int& directionPin2, const int& encoderPin1, const int& encoderPin2, const char& axisName, const unsigned long& loopInterval); + void write(const float& targetPosition); + float read(); + void set(const float& newAxisPosition); + void setSteps(const long& steps); + int updatePositionFromEncoder(); + void initializePID(const unsigned long& loopInterval); + int detach(); + int attach(); + void detachIfIdle(); + void endMove(const float& finalTarget); + void stop(); + float target(); + float error(); + float setpoint(); + void computePID(); + void disablePositionPID(); + void enablePositionPID(); + void setPIDAggressiveness(float aggressiveness); + void test(); + void changePitch(float* newPitch); + float getPitch(); + void changeEncoderResolution(float* newResolution); + bool attached(); + MotorGearboxEncoder motorGearboxEncoder; + void setPIDValues(float* Kp, float* Ki, float* Kd, float* propWeight, float* KpV, float* KiV, float* KdV, float* propWeightV); + String getPIDString(); + double pidInput(); + double pidOutput(); + long steps(); + + private: + int _PWMread(int pin); + void _writeFloat(const unsigned int& addr, const float& x); + float _readFloat(const unsigned int& addr); + unsigned long _timeLastMoved; + volatile double _pidSetpoint; + volatile double _pidInput; + volatile double _pidOutput; + float *_Kp, *_Ki, *_Kd; + PID _pidController; + float *_mmPerRotation; + float *_encoderSteps; + bool _disableAxisForTesting = false; + char _axisName; + }; + + #endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Config.h b/Firmware_1.26b/cnc_ctrl_v1/Config.h new file mode 100644 index 00000000..b31d2dac --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Config.h @@ -0,0 +1,64 @@ +/*This file is part of the Maslow Control Software. + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +// This file contains precompile configuration settings that apply to the +// whole system + +#ifndef config_h +#define config_h + +// Debugging Options +#define verboseDebug 0 // set to 0 for no debug messages, 1 for single-line messages, 2 to also output ring buffer contents +#define misloopDebug 0 // set to 1 for a warning every time the movement loop fails + // to complete before being interrupted, helpful for loop + // LOOPINTERVAL tuning +#define KINEMATICSDBG 0 // set to 1 for additional kinematics debug messaging + +// #define FAKE_SERVO // Uncomment this line to cause the Firmware to mimic + // a servo updating the encoder steps even if no servo + // is connected. Useful for testing on an arduino only + +// #define SIMAVR // Uncomment this if you plan to run the Firmware in the simavr + // simulator. Normally, you would not define this directly, but + // use PlatformIO to build the simavr environment. + +#define LOOPINTERVAL 10000 // What is the frequency of the PID loop in microseconds + +// Define version detect pins +#define VERS1 22 +#define VERS2 23 +#define VERS3 24 +#define VERS4 25 +#define VERS5 26 +#define VERS6 27 + +// Serial variables +#define INCBUFFERLENGTH 128 // The number of bytes(characters) allocated to the + // incoming buffer. +#define EXPGCODELINE 60 // Maximum expected Gcode line length in characters + // including line ending character(s). Assumes + // client will not send more than this. Ground + // Control is currently set to 60. NIST spec allows + // 256. This value must be <= INCBUFFERLENGTH +#define MAXBUFFERLINES 4 // The maximum number of lines allowed in the buffer +#define POSITIONTIMEOUT 200 // The minimum number of milliseconds between + // position reports sent to Ground Control. This + // cannot be larger than the connection timout in + // Ground Control which is 2000, a smaller number + // takes more processing time for sending data + // a larger number make position updates in GC less + // smooth. This is only a minimum, and the actual + // timeout could be significantly larger. + +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Encoder.cpp b/Firmware_1.26b/cnc_ctrl_v1/Encoder.cpp new file mode 100644 index 00000000..b4492dfe --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Encoder.cpp @@ -0,0 +1,10 @@ + +#include "Maslow.h" + +// Yes, all the code is in the header file, to provide the user +// configure options with #define (before they include it), and +// to facilitate some crafty optimizations! + +Encoder_internal_state_t * Encoder::interruptArgs[]; + + diff --git a/Firmware_1.26b/cnc_ctrl_v1/Encoder.h b/Firmware_1.26b/cnc_ctrl_v1/Encoder.h new file mode 100644 index 00000000..4b428997 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Encoder.h @@ -0,0 +1,976 @@ +/* Encoder Library, for measuring quadrature encoded signals + * http://www.pjrc.com/teensy/td_libs_Encoder.html + * Copyright (c) 2011,2013 PJRC.COM, LLC - Paul Stoffregen + * + * Version 1.2 - fix -2 bug in C-only code + * Version 1.1 - expand to support boards with up to 60 interrupts + * Version 1.0 - initial release + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + + +#ifndef Encoder_h_ +#define Encoder_h_ + +#if defined(ARDUINO) && ARDUINO >= 100 +#include "Arduino.h" +#elif defined(WIRING) +#include "Wiring.h" +#else +#include "WProgram.h" +#include "pins_arduino.h" +#endif + +#if defined(ENCODER_USE_INTERRUPTS) || !defined(ENCODER_DO_NOT_USE_INTERRUPTS) +#define ENCODER_USE_INTERRUPTS +#define ENCODER_ARGLIST_SIZE CORE_NUM_INTERRUPT +#include "utility/interrupt_pins.h" +#ifdef ENCODER_OPTIMIZE_INTERRUPTS +#include "utility/interrupt_config.h" +#endif +#else +#define ENCODER_ARGLIST_SIZE 0 +#endif + + + +// All the data needed by interrupts is consolidated into this ugly struct +// to facilitate assembly language optimizing of the speed critical update. +// The assembly code uses auto-incrementing addressing modes, so the struct +// must remain in exactly this order. +typedef struct { + volatile IO_REG_TYPE * pin1_register; + volatile IO_REG_TYPE * pin2_register; + IO_REG_TYPE pin1_bitmask; + IO_REG_TYPE pin2_bitmask; + uint8_t state; + int32_t position; + int32_t elapsedTime; + int32_t lastTime; +} Encoder_internal_state_t; + +class Encoder +{ +public: + void setup(uint8_t pin1, uint8_t pin2) { + #ifdef INPUT_PULLUP + pinMode(pin1, INPUT_PULLUP); + pinMode(pin2, INPUT_PULLUP); + #else + pinMode(pin1, INPUT); + digitalWrite(pin1, HIGH); + pinMode(pin2, INPUT); + digitalWrite(pin2, HIGH); + #endif + encoder.pin1_register = PIN_TO_BASEREG(pin1); + encoder.pin1_bitmask = PIN_TO_BITMASK(pin1); + encoder.pin2_register = PIN_TO_BASEREG(pin2); + encoder.pin2_bitmask = PIN_TO_BITMASK(pin2); + encoder.position = 0; + // allow time for a passive R-C filter to charge + // through the pullup resistors, before reading + // the initial state + delayMicroseconds(2000); + uint8_t s = 0; + if (DIRECT_PIN_READ(encoder.pin1_register, encoder.pin1_bitmask)) s |= 1; + if (DIRECT_PIN_READ(encoder.pin2_register, encoder.pin2_bitmask)) s |= 2; + encoder.state = s; +#ifdef ENCODER_USE_INTERRUPTS + interrupts_in_use = attach_interrupt(pin1, &encoder); + interrupts_in_use += attach_interrupt(pin2, &encoder); +#endif + //update_finishup(); // to force linker to include the code (does not work) + } + + +#ifdef ENCODER_USE_INTERRUPTS + inline int32_t read() { + if (interrupts_in_use < 2) { + noInterrupts(); + update(&encoder); + } else { + noInterrupts(); + } + int32_t ret = encoder.position; + interrupts(); + return ret; + } + inline int32_t elapsedTime() { + if (interrupts_in_use < 2) { + noInterrupts(); + update(&encoder); + } else { + noInterrupts(); + } + int32_t ret = encoder.elapsedTime; + interrupts(); + return ret; + } + inline int32_t lastStepTime() { + if (interrupts_in_use < 2) { + noInterrupts(); + update(&encoder); + } else { + noInterrupts(); + } + int32_t ret = encoder.lastTime; + interrupts(); + return ret; + } + inline void write(int32_t p) { + noInterrupts(); + encoder.position = p; + interrupts(); + } +#else + inline int32_t read() { + update(&encoder); + return encoder.position; + } + inline void write(int32_t p) { + encoder.position = p; + } +#endif +private: + Encoder_internal_state_t encoder; +#ifdef ENCODER_USE_INTERRUPTS + uint8_t interrupts_in_use; +#endif +public: + static Encoder_internal_state_t * interruptArgs[ENCODER_ARGLIST_SIZE]; + +// _______ _______ +// Pin1 ______| |_______| |______ Pin1 +// negative <--- _______ _______ __ --> positive +// Pin2 __| |_______| |_______| Pin2 + + // new new old old + // pin2 pin1 pin2 pin1 Result + // ---- ---- ---- ---- ------ + // 0 0 0 0 no movement + // 0 0 0 1 +1 + // 0 0 1 0 -1 + // 0 0 1 1 +2 (assume pin1 edges only) + // 0 1 0 0 -1 + // 0 1 0 1 no movement + // 0 1 1 0 -2 (assume pin1 edges only) + // 0 1 1 1 +1 + // 1 0 0 0 +1 + // 1 0 0 1 -2 (assume pin1 edges only) + // 1 0 1 0 no movement + // 1 0 1 1 -1 + // 1 1 0 0 +2 (assume pin1 edges only) + // 1 1 0 1 -1 + // 1 1 1 0 +1 + // 1 1 1 1 no movement +/* + // Simple, easy-to-read "documentation" version :-) + // + void update(void) { + uint8_t s = state & 3; + if (digitalRead(pin1)) s |= 4; + if (digitalRead(pin2)) s |= 8; + switch (s) { + case 0: case 5: case 10: case 15: + break; + case 1: case 7: case 8: case 14: + position++; break; + case 2: case 4: case 11: case 13: + position--; break; + case 3: case 12: + position += 2; break; + default: + position -= 2; break; + } + state = (s >> 2); + } +*/ + +private: + static void update(Encoder_internal_state_t *arg) { +#if defined(__AVR_DISABLED__) + // Changed from __AVR__ to force C code below, until someone has + // the chance to write the elapsedTime feature into assembly + // code. The time difference between the two options is + // minimal at best. + // The compiler believes this is just 1 line of code, so + // it will inline this function into each interrupt + // handler. That's a tiny bit faster, but grows the code. + // Especially when used with ENCODER_OPTIMIZE_INTERRUPTS, + // the inline nature allows the ISR prologue and epilogue + // to only save/restore necessary registers, for very nice + // speed increase. + asm volatile ( + "ld r30, X+" "\n\t" + "ld r31, X+" "\n\t" + "ld r24, Z" "\n\t" // r24 = pin1 input + "ld r30, X+" "\n\t" + "ld r31, X+" "\n\t" + "ld r25, Z" "\n\t" // r25 = pin2 input + "ld r30, X+" "\n\t" // r30 = pin1 mask + "ld r31, X+" "\n\t" // r31 = pin2 mask + "ld r22, X" "\n\t" // r22 = state + "andi r22, 3" "\n\t" + "and r24, r30" "\n\t" + "breq L%=1" "\n\t" // if (pin1) + "ori r22, 4" "\n\t" // state |= 4 + "L%=1:" "and r25, r31" "\n\t" + "breq L%=2" "\n\t" // if (pin2) + "ori r22, 8" "\n\t" // state |= 8 + "L%=2:" "ldi r30, lo8(pm(L%=table))" "\n\t" + "ldi r31, hi8(pm(L%=table))" "\n\t" + "add r30, r22" "\n\t" + "adc r31, __zero_reg__" "\n\t" + "asr r22" "\n\t" + "asr r22" "\n\t" + "st X+, r22" "\n\t" // store new state + "ld r22, X+" "\n\t" + "ld r23, X+" "\n\t" + "ld r24, X+" "\n\t" + "ld r25, X+" "\n\t" + "ijmp" "\n\t" // jumps to update_finishup() + // TODO move this table to another static function, + // so it doesn't get needlessly duplicated. Easier + // said than done, due to linker issues and inlining + "L%=table:" "\n\t" + "rjmp L%=end" "\n\t" // 0 + "rjmp L%=plus1" "\n\t" // 1 + "rjmp L%=minus1" "\n\t" // 2 + "rjmp L%=plus2" "\n\t" // 3 + "rjmp L%=minus1" "\n\t" // 4 + "rjmp L%=end" "\n\t" // 5 + "rjmp L%=minus2" "\n\t" // 6 + "rjmp L%=plus1" "\n\t" // 7 + "rjmp L%=plus1" "\n\t" // 8 + "rjmp L%=minus2" "\n\t" // 9 + "rjmp L%=end" "\n\t" // 10 + "rjmp L%=minus1" "\n\t" // 11 + "rjmp L%=plus2" "\n\t" // 12 + "rjmp L%=minus1" "\n\t" // 13 + "rjmp L%=plus1" "\n\t" // 14 + "rjmp L%=end" "\n\t" // 15 + "L%=minus2:" "\n\t" + "subi r22, 2" "\n\t" + "sbci r23, 0" "\n\t" + "sbci r24, 0" "\n\t" + "sbci r25, 0" "\n\t" + "rjmp L%=store" "\n\t" + "L%=minus1:" "\n\t" + "subi r22, 1" "\n\t" + "sbci r23, 0" "\n\t" + "sbci r24, 0" "\n\t" + "sbci r25, 0" "\n\t" + "rjmp L%=store" "\n\t" + "L%=plus2:" "\n\t" + "subi r22, 254" "\n\t" + "rjmp L%=z" "\n\t" + "L%=plus1:" "\n\t" + "subi r22, 255" "\n\t" + "L%=z:" "sbci r23, 255" "\n\t" + "sbci r24, 255" "\n\t" + "sbci r25, 255" "\n\t" + "L%=store:" "\n\t" + "st -X, r25" "\n\t" + "st -X, r24" "\n\t" + "st -X, r23" "\n\t" + "st -X, r22" "\n\t" + "L%=end:" "\n" + : : "x" (arg) : "r22", "r23", "r24", "r25", "r30", "r31"); +#else + uint8_t p1val = DIRECT_PIN_READ(arg->pin1_register, arg->pin1_bitmask); + uint8_t p2val = DIRECT_PIN_READ(arg->pin2_register, arg->pin2_bitmask); + uint8_t state = arg->state & 3; + if (p1val) state |= 4; + if (p2val) state |= 8; + arg->state = (state >> 2); + switch (state) { + case 1: case 7: case 8: case 14: + arg->position++; + arg->elapsedTime = (micros() - arg->lastTime); + arg->lastTime = micros(); + return; + case 2: case 4: case 11: case 13: + arg->position--; + arg->elapsedTime = (arg->lastTime - micros()); + arg->lastTime = micros(); + return; + case 3: case 12: + arg->position += 2; + arg->elapsedTime = (micros() - arg->lastTime) >> 1; + arg->lastTime = micros(); + return; + case 6: case 9: + arg->position -= 2; + arg->elapsedTime = (arg->lastTime - micros()) >> 1; + arg->lastTime = micros(); + return; + } +#endif + } +/* +#if defined(__AVR__) + // TODO: this must be a no inline function + // even noinline does not seem to solve difficult + // problems with this. Oh well, it was only meant + // to shrink code size - there's no performance + // improvement in this, only code size reduction. + __attribute__((noinline)) void update_finishup(void) { + asm volatile ( + "ldi r30, lo8(pm(Ltable))" "\n\t" + "ldi r31, hi8(pm(Ltable))" "\n\t" + "Ltable:" "\n\t" + "rjmp L%=end" "\n\t" // 0 + "rjmp L%=plus1" "\n\t" // 1 + "rjmp L%=minus1" "\n\t" // 2 + "rjmp L%=plus2" "\n\t" // 3 + "rjmp L%=minus1" "\n\t" // 4 + "rjmp L%=end" "\n\t" // 5 + "rjmp L%=minus2" "\n\t" // 6 + "rjmp L%=plus1" "\n\t" // 7 + "rjmp L%=plus1" "\n\t" // 8 + "rjmp L%=minus2" "\n\t" // 9 + "rjmp L%=end" "\n\t" // 10 + "rjmp L%=minus1" "\n\t" // 11 + "rjmp L%=plus2" "\n\t" // 12 + "rjmp L%=minus1" "\n\t" // 13 + "rjmp L%=plus1" "\n\t" // 14 + "rjmp L%=end" "\n\t" // 15 + "L%=minus2:" "\n\t" + "subi r22, 2" "\n\t" + "sbci r23, 0" "\n\t" + "sbci r24, 0" "\n\t" + "sbci r25, 0" "\n\t" + "rjmp L%=store" "\n\t" + "L%=minus1:" "\n\t" + "subi r22, 1" "\n\t" + "sbci r23, 0" "\n\t" + "sbci r24, 0" "\n\t" + "sbci r25, 0" "\n\t" + "rjmp L%=store" "\n\t" + "L%=plus2:" "\n\t" + "subi r22, 254" "\n\t" + "rjmp L%=z" "\n\t" + "L%=plus1:" "\n\t" + "subi r22, 255" "\n\t" + "L%=z:" "sbci r23, 255" "\n\t" + "sbci r24, 255" "\n\t" + "sbci r25, 255" "\n\t" + "L%=store:" "\n\t" + "st -X, r25" "\n\t" + "st -X, r24" "\n\t" + "st -X, r23" "\n\t" + "st -X, r22" "\n\t" + "L%=end:" "\n" + : : : "r22", "r23", "r24", "r25", "r30", "r31"); + } +#endif +*/ + + +#ifdef ENCODER_USE_INTERRUPTS + // this giant function is an unfortunate consequence of Arduino's + // attachInterrupt function not supporting any way to pass a pointer + // or other context to the attached function. + static uint8_t attach_interrupt(uint8_t pin, Encoder_internal_state_t *state) { + switch (pin) { + #ifdef CORE_INT0_PIN + case CORE_INT0_PIN: + interruptArgs[0] = state; + attachInterrupt(0, isr0, CHANGE); + break; + #endif + #ifdef CORE_INT1_PIN + case CORE_INT1_PIN: + interruptArgs[1] = state; + attachInterrupt(1, isr1, CHANGE); + break; + #endif + #ifdef CORE_INT2_PIN + case CORE_INT2_PIN: + interruptArgs[2] = state; + attachInterrupt(2, isr2, CHANGE); + break; + #endif + #ifdef CORE_INT3_PIN + case CORE_INT3_PIN: + interruptArgs[3] = state; + attachInterrupt(3, isr3, CHANGE); + break; + #endif + #ifdef CORE_INT4_PIN + case CORE_INT4_PIN: + interruptArgs[4] = state; + attachInterrupt(4, isr4, CHANGE); + break; + #endif + #ifdef CORE_INT5_PIN + case CORE_INT5_PIN: + interruptArgs[5] = state; + attachInterrupt(5, isr5, CHANGE); + break; + #endif + #ifdef CORE_INT6_PIN + case CORE_INT6_PIN: + interruptArgs[6] = state; + attachInterrupt(6, isr6, CHANGE); + break; + #endif + #ifdef CORE_INT7_PIN + case CORE_INT7_PIN: + interruptArgs[7] = state; + attachInterrupt(7, isr7, CHANGE); + break; + #endif + #ifdef CORE_INT8_PIN + case CORE_INT8_PIN: + interruptArgs[8] = state; + attachInterrupt(8, isr8, CHANGE); + break; + #endif + #ifdef CORE_INT9_PIN + case CORE_INT9_PIN: + interruptArgs[9] = state; + attachInterrupt(9, isr9, CHANGE); + break; + #endif + #ifdef CORE_INT10_PIN + case CORE_INT10_PIN: + interruptArgs[10] = state; + attachInterrupt(10, isr10, CHANGE); + break; + #endif + #ifdef CORE_INT11_PIN + case CORE_INT11_PIN: + interruptArgs[11] = state; + attachInterrupt(11, isr11, CHANGE); + break; + #endif + #ifdef CORE_INT12_PIN + case CORE_INT12_PIN: + interruptArgs[12] = state; + attachInterrupt(12, isr12, CHANGE); + break; + #endif + #ifdef CORE_INT13_PIN + case CORE_INT13_PIN: + interruptArgs[13] = state; + attachInterrupt(13, isr13, CHANGE); + break; + #endif + #ifdef CORE_INT14_PIN + case CORE_INT14_PIN: + interruptArgs[14] = state; + attachInterrupt(14, isr14, CHANGE); + break; + #endif + #ifdef CORE_INT15_PIN + case CORE_INT15_PIN: + interruptArgs[15] = state; + attachInterrupt(15, isr15, CHANGE); + break; + #endif + #ifdef CORE_INT16_PIN + case CORE_INT16_PIN: + interruptArgs[16] = state; + attachInterrupt(16, isr16, CHANGE); + break; + #endif + #ifdef CORE_INT17_PIN + case CORE_INT17_PIN: + interruptArgs[17] = state; + attachInterrupt(17, isr17, CHANGE); + break; + #endif + #ifdef CORE_INT18_PIN + case CORE_INT18_PIN: + interruptArgs[18] = state; + attachInterrupt(18, isr18, CHANGE); + break; + #endif + #ifdef CORE_INT19_PIN + case CORE_INT19_PIN: + interruptArgs[19] = state; + attachInterrupt(19, isr19, CHANGE); + break; + #endif + #ifdef CORE_INT20_PIN + case CORE_INT20_PIN: + interruptArgs[20] = state; + attachInterrupt(20, isr20, CHANGE); + break; + #endif + #ifdef CORE_INT21_PIN + case CORE_INT21_PIN: + interruptArgs[21] = state; + attachInterrupt(21, isr21, CHANGE); + break; + #endif + #ifdef CORE_INT22_PIN + case CORE_INT22_PIN: + interruptArgs[22] = state; + attachInterrupt(22, isr22, CHANGE); + break; + #endif + #ifdef CORE_INT23_PIN + case CORE_INT23_PIN: + interruptArgs[23] = state; + attachInterrupt(23, isr23, CHANGE); + break; + #endif + #ifdef CORE_INT24_PIN + case CORE_INT24_PIN: + interruptArgs[24] = state; + attachInterrupt(24, isr24, CHANGE); + break; + #endif + #ifdef CORE_INT25_PIN + case CORE_INT25_PIN: + interruptArgs[25] = state; + attachInterrupt(25, isr25, CHANGE); + break; + #endif + #ifdef CORE_INT26_PIN + case CORE_INT26_PIN: + interruptArgs[26] = state; + attachInterrupt(26, isr26, CHANGE); + break; + #endif + #ifdef CORE_INT27_PIN + case CORE_INT27_PIN: + interruptArgs[27] = state; + attachInterrupt(27, isr27, CHANGE); + break; + #endif + #ifdef CORE_INT28_PIN + case CORE_INT28_PIN: + interruptArgs[28] = state; + attachInterrupt(28, isr28, CHANGE); + break; + #endif + #ifdef CORE_INT29_PIN + case CORE_INT29_PIN: + interruptArgs[29] = state; + attachInterrupt(29, isr29, CHANGE); + break; + #endif + + #ifdef CORE_INT30_PIN + case CORE_INT30_PIN: + interruptArgs[30] = state; + attachInterrupt(30, isr30, CHANGE); + break; + #endif + #ifdef CORE_INT31_PIN + case CORE_INT31_PIN: + interruptArgs[31] = state; + attachInterrupt(31, isr31, CHANGE); + break; + #endif + #ifdef CORE_INT32_PIN + case CORE_INT32_PIN: + interruptArgs[32] = state; + attachInterrupt(32, isr32, CHANGE); + break; + #endif + #ifdef CORE_INT33_PIN + case CORE_INT33_PIN: + interruptArgs[33] = state; + attachInterrupt(33, isr33, CHANGE); + break; + #endif + #ifdef CORE_INT34_PIN + case CORE_INT34_PIN: + interruptArgs[34] = state; + attachInterrupt(34, isr34, CHANGE); + break; + #endif + #ifdef CORE_INT35_PIN + case CORE_INT35_PIN: + interruptArgs[35] = state; + attachInterrupt(35, isr35, CHANGE); + break; + #endif + #ifdef CORE_INT36_PIN + case CORE_INT36_PIN: + interruptArgs[36] = state; + attachInterrupt(36, isr36, CHANGE); + break; + #endif + #ifdef CORE_INT37_PIN + case CORE_INT37_PIN: + interruptArgs[37] = state; + attachInterrupt(37, isr37, CHANGE); + break; + #endif + #ifdef CORE_INT38_PIN + case CORE_INT38_PIN: + interruptArgs[38] = state; + attachInterrupt(38, isr38, CHANGE); + break; + #endif + #ifdef CORE_INT39_PIN + case CORE_INT39_PIN: + interruptArgs[39] = state; + attachInterrupt(39, isr39, CHANGE); + break; + #endif + #ifdef CORE_INT40_PIN + case CORE_INT40_PIN: + interruptArgs[40] = state; + attachInterrupt(40, isr40, CHANGE); + break; + #endif + #ifdef CORE_INT41_PIN + case CORE_INT41_PIN: + interruptArgs[41] = state; + attachInterrupt(41, isr41, CHANGE); + break; + #endif + #ifdef CORE_INT42_PIN + case CORE_INT42_PIN: + interruptArgs[42] = state; + attachInterrupt(42, isr42, CHANGE); + break; + #endif + #ifdef CORE_INT43_PIN + case CORE_INT43_PIN: + interruptArgs[43] = state; + attachInterrupt(43, isr43, CHANGE); + break; + #endif + #ifdef CORE_INT44_PIN + case CORE_INT44_PIN: + interruptArgs[44] = state; + attachInterrupt(44, isr44, CHANGE); + break; + #endif + #ifdef CORE_INT45_PIN + case CORE_INT45_PIN: + interruptArgs[45] = state; + attachInterrupt(45, isr45, CHANGE); + break; + #endif + #ifdef CORE_INT46_PIN + case CORE_INT46_PIN: + interruptArgs[46] = state; + attachInterrupt(46, isr46, CHANGE); + break; + #endif + #ifdef CORE_INT47_PIN + case CORE_INT47_PIN: + interruptArgs[47] = state; + attachInterrupt(47, isr47, CHANGE); + break; + #endif + #ifdef CORE_INT48_PIN + case CORE_INT48_PIN: + interruptArgs[48] = state; + attachInterrupt(48, isr48, CHANGE); + break; + #endif + #ifdef CORE_INT49_PIN + case CORE_INT49_PIN: + interruptArgs[49] = state; + attachInterrupt(49, isr49, CHANGE); + break; + #endif + #ifdef CORE_INT50_PIN + case CORE_INT50_PIN: + interruptArgs[50] = state; + attachInterrupt(50, isr50, CHANGE); + break; + #endif + #ifdef CORE_INT51_PIN + case CORE_INT51_PIN: + interruptArgs[51] = state; + attachInterrupt(51, isr51, CHANGE); + break; + #endif + #ifdef CORE_INT52_PIN + case CORE_INT52_PIN: + interruptArgs[52] = state; + attachInterrupt(52, isr52, CHANGE); + break; + #endif + #ifdef CORE_INT53_PIN + case CORE_INT53_PIN: + interruptArgs[53] = state; + attachInterrupt(53, isr53, CHANGE); + break; + #endif + #ifdef CORE_INT54_PIN + case CORE_INT54_PIN: + interruptArgs[54] = state; + attachInterrupt(54, isr54, CHANGE); + break; + #endif + #ifdef CORE_INT55_PIN + case CORE_INT55_PIN: + interruptArgs[55] = state; + attachInterrupt(55, isr55, CHANGE); + break; + #endif + #ifdef CORE_INT56_PIN + case CORE_INT56_PIN: + interruptArgs[56] = state; + attachInterrupt(56, isr56, CHANGE); + break; + #endif + #ifdef CORE_INT57_PIN + case CORE_INT57_PIN: + interruptArgs[57] = state; + attachInterrupt(57, isr57, CHANGE); + break; + #endif + #ifdef CORE_INT58_PIN + case CORE_INT58_PIN: + interruptArgs[58] = state; + attachInterrupt(58, isr58, CHANGE); + break; + #endif + #ifdef CORE_INT59_PIN + case CORE_INT59_PIN: + interruptArgs[59] = state; + attachInterrupt(59, isr59, CHANGE); + break; + #endif + default: + return 0; + } + return 1; + } +#endif // ENCODER_USE_INTERRUPTS + + +#if defined(ENCODER_USE_INTERRUPTS) && !defined(ENCODER_OPTIMIZE_INTERRUPTS) + #ifdef CORE_INT0_PIN + static void isr0(void) { update(interruptArgs[0]); } + #endif + #ifdef CORE_INT1_PIN + static void isr1(void) { update(interruptArgs[1]); } + #endif + #ifdef CORE_INT2_PIN + static void isr2(void) { update(interruptArgs[2]); } + #endif + #ifdef CORE_INT3_PIN + static void isr3(void) { update(interruptArgs[3]); } + #endif + #ifdef CORE_INT4_PIN + static void isr4(void) { update(interruptArgs[4]); } + #endif + #ifdef CORE_INT5_PIN + static void isr5(void) { update(interruptArgs[5]); } + #endif + #ifdef CORE_INT6_PIN + static void isr6(void) { update(interruptArgs[6]); } + #endif + #ifdef CORE_INT7_PIN + static void isr7(void) { update(interruptArgs[7]); } + #endif + #ifdef CORE_INT8_PIN + static void isr8(void) { update(interruptArgs[8]); } + #endif + #ifdef CORE_INT9_PIN + static void isr9(void) { update(interruptArgs[9]); } + #endif + #ifdef CORE_INT10_PIN + static void isr10(void) { update(interruptArgs[10]); } + #endif + #ifdef CORE_INT11_PIN + static void isr11(void) { update(interruptArgs[11]); } + #endif + #ifdef CORE_INT12_PIN + static void isr12(void) { update(interruptArgs[12]); } + #endif + #ifdef CORE_INT13_PIN + static void isr13(void) { update(interruptArgs[13]); } + #endif + #ifdef CORE_INT14_PIN + static void isr14(void) { update(interruptArgs[14]); } + #endif + #ifdef CORE_INT15_PIN + static void isr15(void) { update(interruptArgs[15]); } + #endif + #ifdef CORE_INT16_PIN + static void isr16(void) { update(interruptArgs[16]); } + #endif + #ifdef CORE_INT17_PIN + static void isr17(void) { update(interruptArgs[17]); } + #endif + #ifdef CORE_INT18_PIN + static void isr18(void) { update(interruptArgs[18]); } + #endif + #ifdef CORE_INT19_PIN + static void isr19(void) { update(interruptArgs[19]); } + #endif + #ifdef CORE_INT20_PIN + static void isr20(void) { update(interruptArgs[20]); } + #endif + #ifdef CORE_INT21_PIN + static void isr21(void) { update(interruptArgs[21]); } + #endif + #ifdef CORE_INT22_PIN + static void isr22(void) { update(interruptArgs[22]); } + #endif + #ifdef CORE_INT23_PIN + static void isr23(void) { update(interruptArgs[23]); } + #endif + #ifdef CORE_INT24_PIN + static void isr24(void) { update(interruptArgs[24]); } + #endif + #ifdef CORE_INT25_PIN + static void isr25(void) { update(interruptArgs[25]); } + #endif + #ifdef CORE_INT26_PIN + static void isr26(void) { update(interruptArgs[26]); } + #endif + #ifdef CORE_INT27_PIN + static void isr27(void) { update(interruptArgs[27]); } + #endif + #ifdef CORE_INT28_PIN + static void isr28(void) { update(interruptArgs[28]); } + #endif + #ifdef CORE_INT29_PIN + static void isr29(void) { update(interruptArgs[29]); } + #endif + #ifdef CORE_INT30_PIN + static void isr30(void) { update(interruptArgs[30]); } + #endif + #ifdef CORE_INT31_PIN + static void isr31(void) { update(interruptArgs[31]); } + #endif + #ifdef CORE_INT32_PIN + static void isr32(void) { update(interruptArgs[32]); } + #endif + #ifdef CORE_INT33_PIN + static void isr33(void) { update(interruptArgs[33]); } + #endif + #ifdef CORE_INT34_PIN + static void isr34(void) { update(interruptArgs[34]); } + #endif + #ifdef CORE_INT35_PIN + static void isr35(void) { update(interruptArgs[35]); } + #endif + #ifdef CORE_INT36_PIN + static void isr36(void) { update(interruptArgs[36]); } + #endif + #ifdef CORE_INT37_PIN + static void isr37(void) { update(interruptArgs[37]); } + #endif + #ifdef CORE_INT38_PIN + static void isr38(void) { update(interruptArgs[38]); } + #endif + #ifdef CORE_INT39_PIN + static void isr39(void) { update(interruptArgs[39]); } + #endif + #ifdef CORE_INT40_PIN + static void isr40(void) { update(interruptArgs[40]); } + #endif + #ifdef CORE_INT41_PIN + static void isr41(void) { update(interruptArgs[41]); } + #endif + #ifdef CORE_INT42_PIN + static void isr42(void) { update(interruptArgs[42]); } + #endif + #ifdef CORE_INT43_PIN + static void isr43(void) { update(interruptArgs[43]); } + #endif + #ifdef CORE_INT44_PIN + static void isr44(void) { update(interruptArgs[44]); } + #endif + #ifdef CORE_INT45_PIN + static void isr45(void) { update(interruptArgs[45]); } + #endif + #ifdef CORE_INT46_PIN + static void isr46(void) { update(interruptArgs[46]); } + #endif + #ifdef CORE_INT47_PIN + static void isr47(void) { update(interruptArgs[47]); } + #endif + #ifdef CORE_INT48_PIN + static void isr48(void) { update(interruptArgs[48]); } + #endif + #ifdef CORE_INT49_PIN + static void isr49(void) { update(interruptArgs[49]); } + #endif + #ifdef CORE_INT50_PIN + static void isr50(void) { update(interruptArgs[50]); } + #endif + #ifdef CORE_INT51_PIN + static void isr51(void) { update(interruptArgs[51]); } + #endif + #ifdef CORE_INT52_PIN + static void isr52(void) { update(interruptArgs[52]); } + #endif + #ifdef CORE_INT53_PIN + static void isr53(void) { update(interruptArgs[53]); } + #endif + #ifdef CORE_INT54_PIN + static void isr54(void) { update(interruptArgs[54]); } + #endif + #ifdef CORE_INT55_PIN + static void isr55(void) { update(interruptArgs[55]); } + #endif + #ifdef CORE_INT56_PIN + static void isr56(void) { update(interruptArgs[56]); } + #endif + #ifdef CORE_INT57_PIN + static void isr57(void) { update(interruptArgs[57]); } + #endif + #ifdef CORE_INT58_PIN + static void isr58(void) { update(interruptArgs[58]); } + #endif + #ifdef CORE_INT59_PIN + static void isr59(void) { update(interruptArgs[59]); } + #endif +#endif +}; + +#if defined(ENCODER_USE_INTERRUPTS) && defined(ENCODER_OPTIMIZE_INTERRUPTS) +#if defined(__AVR__) +#if defined(INT0_vect) && CORE_NUM_INTERRUPT > 0 +ISR(INT0_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(0)]); } +#endif +#if defined(INT1_vect) && CORE_NUM_INTERRUPT > 1 +ISR(INT1_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(1)]); } +#endif +#if defined(INT2_vect) && CORE_NUM_INTERRUPT > 2 +ISR(INT2_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(2)]); } +#endif +#if defined(INT3_vect) && CORE_NUM_INTERRUPT > 3 +ISR(INT3_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(3)]); } +#endif +#if defined(INT4_vect) && CORE_NUM_INTERRUPT > 4 +ISR(INT4_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(4)]); } +#endif +#if defined(INT5_vect) && CORE_NUM_INTERRUPT > 5 +ISR(INT5_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(5)]); } +#endif +#if defined(INT6_vect) && CORE_NUM_INTERRUPT > 6 +ISR(INT6_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(6)]); } +#endif +#if defined(INT7_vect) && CORE_NUM_INTERRUPT > 7 +ISR(INT7_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(7)]); } +#endif +#endif // AVR +#endif // ENCODER_OPTIMIZE_INTERRUPTS + + +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/GCode.cpp b/Firmware_1.26b/cnc_ctrl_v1/GCode.cpp new file mode 100644 index 00000000..8a0cc684 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/GCode.cpp @@ -0,0 +1,889 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains all the functions used to receive and parse the gcode +// commands + +#include "Maslow.h" + +RingBuffer incSerialBuffer; +String readyCommandString = ""; //KRK why is this a global? +String gcodeLine = ""; //Our use of this is a bit sloppy, at times, + //we pass references to this global and then + //name them the same thing. + +void initGCode(){ + // Called on startup or after a stop command + readyCommandString = ""; + incSerialBuffer.empty(); +} + +void readSerialCommands(){ + /* + Check to see if a new character is available from the serial connection, + if this is a necessary character write to the incSerialBuffer otherwise discard + it. + */ + + static bool quickCommandFlag = false; + + if (Serial.available() > 0) { + while (Serial.available() > 0) { + char c = Serial.read(); + if (c == '!'){ + sys.stop = true; + quickCommandFlag = true; + bit_false(sys.pause, PAUSE_FLAG_USER_PAUSE); + reportStatusMessage(STATUS_OK); + } + else if (c == '~'){ + quickCommandFlag = true; + bit_false(sys.pause, PAUSE_FLAG_USER_PAUSE); + reportStatusMessage(STATUS_OK); + } + else if (quickCommandFlag and c == '\n'){ + // Catch line ending and ignore after quick commands + quickCommandFlag = false; + } + else{ + quickCommandFlag = false; + int bufferOverflow = incSerialBuffer.write(c); //gets one byte from serial buffer, writes it to the internal ring buffer + if (bufferOverflow != 0) { + sys.stop = true; + } + } + if (sys.stop){return;} + } + #if defined (verboseDebug) && verboseDebug > 1 + // print ring buffer contents + Serial.println(F("rSC added to ring buffer")); + incSerialBuffer.print(); + #endif + } +} + +int findEndOfNumber(const String& textString, const int& index){ + //Return the index of the last digit of the number beginning at the index passed in + unsigned int i = index; + + while (i < textString.length()){ + + if(isDigit(textString[i]) or isPunct(textString[i])){ //If we're still looking at a number, keep goin + i++; + } + else{ + return i; //If we've reached the end of the number, return the last index + } + } + return i; //If we've reached the end of the string, return the last number +} + +float extractGcodeValue(const String& readString, char target, const float& defaultReturn){ + + /*Reads a string and returns the value of number following the target character. + If no number is found, defaultReturn is returned*/ + + int begin; + int end; + String numberAsString; + float numberAsFloat; + + begin = readString.indexOf(target); + end = findEndOfNumber(readString,begin+1); + numberAsString = readString.substring(begin+1,end); + + numberAsFloat = numberAsString.toFloat(); + + if (begin == -1){ //if the character was not found, return error + return defaultReturn; + } + + return numberAsFloat; +} + +byte executeBcodeLine(const String& gcodeLine){ + /* + + Executes a single line of gcode beginning with the character 'B'. + + */ + + //Handle B-codes + + if(gcodeLine.substring(0, 3) == "B05"){ + Serial.print(F("Firmware Version ")); + Serial.println(VERSIONNUMBER); + return STATUS_OK; + } + + if(sys.state == STATE_OLD_SETTINGS){ + return STATUS_OLD_SETTINGS; + } + + if(gcodeLine.substring(0, 3) == "B01"){ + + Serial.println(F("Motor Calibration Not Needed")); + + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B02"){ + calibrateChainLengths(gcodeLine); + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B04"){ + //set flag to ignore position error limit during the tests + sys.state = (sys.state | STATE_POS_ERR_IGNORE); + //Test each of the axis + maslowDelay(500); + if(sys.stop){return STATUS_OK;} + leftAxis.test(); + maslowDelay(500); + if(sys.stop){return STATUS_OK;} + rightAxis.test(); + maslowDelay(500); + if(sys.stop){return STATUS_OK;} + zAxis.test(); + Serial.println(F("Tests complete.")); + + // update our position + leftAxis.set(leftAxis.read()); + rightAxis.set(rightAxis.read()); + + //clear the flag, re-enable position error limit + sys.state = (sys.state & (!STATE_POS_ERR_IGNORE)); + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B06"){ + Serial.println(F("Setting Chain Lengths To: ")); + float newL = extractGcodeValue(gcodeLine, 'L', 0); + float newR = extractGcodeValue(gcodeLine, 'R', 0); + + leftAxis.set(newL); + rightAxis.set(newR); + + Serial.print(F("Left: ")); + Serial.print(leftAxis.read()); + Serial.println(F("mm")); + Serial.print(F("Right: ")); + Serial.print(rightAxis.read()); + Serial.println(F("mm")); + + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B08"){ + //Manually recalibrate chain lengths + leftAxis.set(sysSettings.originalChainLength); + rightAxis.set(sysSettings.originalChainLength); + + Serial.print(F("Left: ")); + Serial.print(leftAxis.read()); + Serial.println(F("mm")); + Serial.print(F("Right: ")); + Serial.print(rightAxis.read()); + Serial.println(F("mm")); + + kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0, 0); + + Serial.println(F("Message: The machine chains have been manually re-calibrated.")); + + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B09"){ + //Directly command each axis to move to a given distance + float lDist = extractGcodeValue(gcodeLine, 'L', 0); + float rDist = extractGcodeValue(gcodeLine, 'R', 0); + float speed = extractGcodeValue(gcodeLine, 'F', 800); + + if(sys.useRelativeUnits){ + if(abs(lDist) > 0){ + singleAxisMove(&leftAxis, leftAxis.read() + lDist, speed); + } + if(abs(rDist) > 0){ + singleAxisMove(&rightAxis, rightAxis.read() + rDist, speed); + } + } + else{ + singleAxisMove(&leftAxis, lDist, speed); + singleAxisMove(&rightAxis, rDist, speed); + } + + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B10"){ + //measure the left axis chain length + Serial.print(F("[Measure: ")); + if (gcodeLine.indexOf('L') != -1){ + Serial.print(leftAxis.read()); + } + else{ + Serial.print(rightAxis.read()); + } + Serial.println(F("]")); + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B11"){ + //run right motor in the given direction at the given speed for the given time + float speed = extractGcodeValue(gcodeLine, 'S', 100); + float time = extractGcodeValue(gcodeLine, 'T', 1); + + double ms = 1000*time; + double begin = millis(); + + int i = 0; + sys.state = (sys.state | STATE_POS_ERR_IGNORE); + while (millis() - begin < ms){ + if (gcodeLine.indexOf('L') != -1){ + leftAxis.motorGearboxEncoder.motor.directWrite(speed); + } + else{ + rightAxis.motorGearboxEncoder.motor.directWrite(speed); + } + + i++; + execSystemRealtime(); + if (sys.stop){return STATUS_OK;} + } + sys.state = (sys.state | (!STATE_POS_ERR_IGNORE)); + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B13"){ + //PID Testing of Velocity + float left = extractGcodeValue(gcodeLine, 'L', 0); + float useZ = extractGcodeValue(gcodeLine, 'Z', 0); + float start = extractGcodeValue(gcodeLine, 'S', 1); + float stop = extractGcodeValue(gcodeLine, 'F', 1); + float steps = extractGcodeValue(gcodeLine, 'I', 1); + float version = extractGcodeValue(gcodeLine, 'V', 1); + + Axis* axis = &rightAxis; + if (left > 0) axis = &leftAxis; + if (useZ > 0) axis = &zAxis; + PIDTestVelocity(axis, start, stop, steps, version); + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B14"){ + //PID Testing of Position + float left = extractGcodeValue(gcodeLine, 'L', 0); + float useZ = extractGcodeValue(gcodeLine, 'Z', 0); + float start = extractGcodeValue(gcodeLine, 'S', 1); + float stop = extractGcodeValue(gcodeLine, 'F', 1); + float steps = extractGcodeValue(gcodeLine, 'I', 1); + float stepTime = extractGcodeValue(gcodeLine, 'T', 2000); + float version = extractGcodeValue(gcodeLine, 'V', 1); + + Axis* axis = &rightAxis; + if (left > 0) axis = &leftAxis; + if (useZ > 0) axis = &zAxis; + PIDTestPosition(axis, start, stop, steps, stepTime, version); + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B16"){ + //Incrementally tests voltages to see what RPMs they produce + float left = extractGcodeValue(gcodeLine, 'L', 0); + float useZ = extractGcodeValue(gcodeLine, 'Z', 0); + float start = extractGcodeValue(gcodeLine, 'S', 1); + float stop = extractGcodeValue(gcodeLine, 'F', 1); + + Axis* axis = &rightAxis; + if (left > 0) axis = &leftAxis; + if (useZ > 0) axis = &zAxis; + voltageTest(axis, start, stop); + return STATUS_OK; + } + + if(gcodeLine.substring(0, 3) == "B15"){ + //The B15 command moves the chains to the length which will put the sled in the center of the sheet + + //Compute chain length for position 0,0 + float chainLengthAtMiddle; + kinematics.inverse(0,0,&chainLengthAtMiddle,&chainLengthAtMiddle); + + //Adjust left chain length + singleAxisMove(&leftAxis, chainLengthAtMiddle, 800); + + //Adjust right chain length + singleAxisMove(&rightAxis, chainLengthAtMiddle, 800); + + //Reload the position + kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0, 0); + + return STATUS_OK; + } + return STATUS_INVALID_STATEMENT; +} + +void executeGcodeLine(const String& gcodeLine){ + /* + + Executes a single line of gcode beginning with the character 'G'. If the G code is + not included on the front of the line, the code from the previous line will be added. + + */ + + //Handle G-Codes + + int gNumber = extractGcodeValue(gcodeLine,'G', -1); + + if (gNumber == -1){ // If the line does not have a G command + gNumber = sys.lastGCommand; // apply the last one + } + + switch(gNumber){ + case 0: // Rapid positioning + case 1: // Linear interpolation + G1(gcodeLine, gNumber); + sys.lastGCommand = gNumber; // remember G number for next time + break; + case 2: // Circular interpolation, clockwise + case 3: // Circular interpolation, counterclockwise + G2(gcodeLine, gNumber); + sys.lastGCommand = gNumber; // remember G number for next time + break; + case 4: + G4(gcodeLine); + break; + case 10: + G10(gcodeLine); + break; + case 20: + setInchesToMillimetersConversion(INCHES); + break; + case 21: + setInchesToMillimetersConversion(MILLIMETERS); + break; + case 40: + break; //the G40 command turns off cutter compensation which is already off so it is safe to ignore + case 38: + G38(gcodeLine); + break; + case 90: + sys.useRelativeUnits = false; + break; + case 91: + sys.useRelativeUnits = true; + break; + default: + Serial.print(F("Command G")); + Serial.print(gNumber); + Serial.println(F(" unsupported and ignored.")); + } + +} + +void executeMcodeLine(const String& gcodeLine){ + /* + + Executes a single line of gcode beginning with the character 'M'. + + */ + + //Handle M-Codes + + int mNumber = extractGcodeValue(gcodeLine,'M', -1); + + switch(mNumber){ + case 0: // Program Pause / Unconditional Halt / Stop + case 1: // Optional Pause / Halt / Sleep + pause(); + break; + case 2: // Program End + case 30: // Program End with return to program top + case 5: // Spindle Off + setSpindlePower(false); // turn off spindle + break; + case 3: // Spindle On - clockwise + case 4: // Spindle On - counterclockwise + // Maslow spindle runs only one direction, but turn spindle on for either code + setSpindlePower(true); // turn on spindle + break; + case 6: // Tool Change + if (sys.nextTool != sys.lastTool) { + setSpindlePower(false); // first, turn off spindle + Serial.print(F("Tool Change: Please insert tool ")); // prompt user to change tool + Serial.println(sys.nextTool); + sys.lastTool = sys.nextTool; + pause(); + } + break; + case 106: + //Turn laser on + laserOn(true); // EBS + break; + case 107: + //Turn laser off + laserOn(false); + break; + default: + Serial.print(F("Command M")); + Serial.print(mNumber); + Serial.println(F(" unsupported and ignored.")); + } + +} + +void executeOtherCodeLine(const String& gcodeLine){ + /* + + Executes a single line of gcode beginning with a character other than 'G', 'B', or 'M'. + + */ + + if (gcodeLine.length() > 1) { + if (gcodeLine[0] == 'T') { + int tNumber = extractGcodeValue(gcodeLine,'T', 0); // get tool number + Serial.print(F("Tool change to tool ")); + Serial.println(tNumber); + sys.nextTool = tNumber; // remember tool number to prompt user when G06 is received + } + else { // try it as a 'G' command without the leading 'G' code + executeGcodeLine(gcodeLine); + } + } + else { + Serial.print(F("Command ")); + Serial.print(gcodeLine); + Serial.println(F(" too short - ignored.")); + } + +} + +int findNextGM(const String& readString, const int& startingPoint){ + int nextGIndex = readString.indexOf('G', startingPoint); + int nextMIndex = readString.indexOf('M', startingPoint); + if (nextMIndex != -1) { // if 'M' was found + if ((nextGIndex == -1) || (nextMIndex < nextGIndex)) { // and 'G' was not found, or if 'M' is before 'G' + nextGIndex = nextMIndex; // then use 'M' + } + } + if (nextGIndex == -1) { // if 'G' was not found (and therefore 'M' was not found) + nextGIndex = readString.length(); // then use the whole string + } + + return nextGIndex; +} + +void sanitizeCommandString(String& cmdString){ + /* + Primarily removes comments and some other non supported characters or functions. + This is taken heavily from the GRBL project at https://github.com/gnea/grbl + */ + + byte line_flags = 0; + size_t pos = 0; + + while (cmdString.length() > pos){ + if (line_flags) { + // Throw away all (except EOL) comment characters and overflow characters. + if (cmdString[pos] == ')') { + // End of '()' comment. Resume line allowed. + cmdString.remove(pos, 1); + if (line_flags & LINE_FLAG_COMMENT_PARENTHESES) { line_flags &= ~(LINE_FLAG_COMMENT_PARENTHESES); } + } + } + else { + if (cmdString[pos] < ' ') { + // Throw away control characters + cmdString.remove(pos, 1); + } + else if (cmdString[pos] == '/') { + // Block delete NOT SUPPORTED. Ignore character. + // NOTE: If supported, would simply need to check the system if block delete is enabled. + cmdString.remove(pos, 1); + } else if (cmdString[pos] == '(') { + // Enable comments flag and ignore all characters until ')' or EOL. + // NOTE: This doesn't follow the NIST definition exactly, but is good enough for now. + // In the future, we could simply remove the items within the comments, but retain the + // comment control characters, so that the g-code parser can error-check it. + cmdString.remove(pos, 1); + line_flags |= LINE_FLAG_COMMENT_PARENTHESES; + } else if (cmdString[pos] == ';') { + // NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST. + cmdString.remove(pos, 1); + line_flags |= LINE_FLAG_COMMENT_SEMICOLON; + } else if (cmdString[pos] == '%') { + // Program start-end percent sign NOT SUPPORTED. + cmdString.remove(pos, 1); + } else { + pos++; + } + } + } + #if defined (verboseDebug) && verboseDebug > 1 + // print results + Serial.println(F("sCS execution complete")); + Serial.println(cmdString); + #endif +} + +byte interpretCommandString(String& cmdString){ + /* + + Splits a string into lines of gcode which begin with 'G' or 'M', executing each in order + Also executes full lines for 'B' codes, and handles 'T' at beginning of line + + Assumptions: + Leading and trailing white space has already been removed from cmdString + cmdString has been converted to upper case + + */ + + size_t firstG; + size_t secondG; + + if (cmdString.length() > 0) { + if (cmdString[0] == '$') { + // Maslow '$' system command + return(systemExecuteCmdstring(cmdString)); + } + else if (cmdString[0] == 'B'){ //If the command is a B command + #if defined (verboseDebug) && verboseDebug > 0 + Serial.print(F("iCS executing B code line: ")); + #endif + Serial.println(cmdString); + return executeBcodeLine(cmdString); + } + else if (sys.state == STATE_OLD_SETTINGS){ + return STATUS_OLD_SETTINGS; + } + else { + while(cmdString.length() > 0){ //Extract each line of gcode from the string + firstG = findNextGM(cmdString, 0); + secondG = findNextGM(cmdString, firstG + 1); + + if(firstG == cmdString.length()){ //If the line contains no G or M letters + firstG = 0; //send the whole line + } + + if (firstG > 0) { //If there is something before the first 'G' or 'M' + gcodeLine = cmdString.substring(0, firstG); + #if defined (verboseDebug) && verboseDebug > 0 + Serial.print(F("iCS executing other code: ")); + #endif + Serial.println(gcodeLine); + executeOtherCodeLine(gcodeLine); // execute it first + } + + gcodeLine = cmdString.substring(firstG, secondG); + + if (gcodeLine.length() > 0){ + if (gcodeLine[0] == 'M') { + #if defined (verboseDebug) && verboseDebug > 0 + Serial.print(F("iCS executing M code: ")); + #endif + Serial.println(gcodeLine); + executeMcodeLine(gcodeLine); + } + else { + #if defined (verboseDebug) && verboseDebug > 0 + Serial.print(F("iCS executing G code: ")); + #endif + Serial.println(gcodeLine); + executeGcodeLine(gcodeLine); + } + } + + cmdString = cmdString.substring(secondG, cmdString.length()); + + } + return STATUS_OK; + } + return STATUS_INVALID_STATEMENT; + } + return STATUS_OK; +} + +void gcodeExecuteLoop(){ + byte status; + if (incSerialBuffer.numberOfLines() > 0){ + incSerialBuffer.prettyReadLine(readyCommandString); + sanitizeCommandString(readyCommandString); + status = interpretCommandString(readyCommandString); + readyCommandString = ""; + + // Get next line of GCode + if (!sys.stop){reportStatusMessage(status);} + } +} + +void G1(const String& readString, int G0orG1){ + + /*G1() is the function which is called to process the string if it begins with + 'G01' or 'G00'*/ + + float xgoto; + float ygoto; + float zgoto; + + float currentXPos = sys.xPosition; + float currentYPos = sys.yPosition; + + float currentZPos = zAxis.read(); + + xgoto = sys.inchesToMMConversion*extractGcodeValue(readString, 'X', currentXPos/sys.inchesToMMConversion); + ygoto = sys.inchesToMMConversion*extractGcodeValue(readString, 'Y', currentYPos/sys.inchesToMMConversion); + zgoto = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', currentZPos/sys.inchesToMMConversion); + sys.feedrate = sys.inchesToMMConversion*extractGcodeValue(readString, 'F', sys.feedrate/sys.inchesToMMConversion); + + if (sys.useRelativeUnits){ //if we are using a relative coordinate system + + if(readString.indexOf('X') >= 0){ //if there is an X command + xgoto = currentXPos + xgoto; + } + if(readString.indexOf('Y') >= 0){ //if y has moved + ygoto = currentYPos + ygoto; + } + if(readString.indexOf('Z') >= 0){ //if y has moved + zgoto = currentZPos + zgoto; + } + } + + sys.feedrate = constrain(sys.feedrate, 1, sysSettings.maxFeed); //constrain the maximum feedrate, 35ipm = 900 mmpm + + //if the zaxis is attached + if(!sysSettings.zAxisAttached){ + float threshold = .1; //units of mm + if (abs(currentZPos - zgoto) > threshold){ + Serial.print(F("Message: Please adjust Z-Axis to a depth of ")); + if (zgoto > 0){ + Serial.print(F("+")); + } + Serial.print(zgoto/sys.inchesToMMConversion); + if (sys.inchesToMMConversion == INCHES){ + Serial.println(F(" in")); + } + else{ + Serial.println(F(" mm")); + } + + pause(); //Wait until the z-axis is adjusted + + zAxis.set(zgoto); + + maslowDelay(1000); + } + } + + + if (G0orG1 == 1){ + //if this is a regular move + coordinatedMove(xgoto, ygoto, zgoto, sys.feedrate); //The XY move is performed + } + else{ + //if this is a rapid move + coordinatedMove(xgoto, ygoto, zgoto, sysSettings.maxFeed); //move the same as a regular move, but go fast + } +} + +void G2(const String& readString, int G2orG3){ + /* + + The G2 function handles the processing of the gcode line for both the command G2 and the + command G3 which cut arcs. + + */ + + + float X1 = sys.xPosition; //does this work if units are inches? (It seems to) + float Y1 = sys.yPosition; + float Z1 = zAxis.read(); // I don't know why we treat the zaxis differently + + float X2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'X', X1/sys.inchesToMMConversion); + float Y2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Y', Y1/sys.inchesToMMConversion); + float Z2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', Z1/sys.inchesToMMConversion); + float I = sys.inchesToMMConversion*extractGcodeValue(readString, 'I', 0.0); + float J = sys.inchesToMMConversion*extractGcodeValue(readString, 'J', 0.0); + sys.feedrate = sys.inchesToMMConversion*extractGcodeValue(readString, 'F', sys.feedrate/sys.inchesToMMConversion); + + float centerX = X1 + I; + float centerY = Y1 + J; + + sys.feedrate = constrain(sys.feedrate, 1, sysSettings.maxFeed); //constrain the maximum feedrate, 35ipm = 900 mmpm + + if (G2orG3 == 2){ + arc(X1, Y1, Z1, X2, Y2, Z2, centerX, centerY, sys.feedrate, CLOCKWISE); + } + else { + arc(X1, Y1, Z1, X2, Y2, Z2, centerX, centerY, sys.feedrate, COUNTERCLOCKWISE); + } +} + +void G4(const String& readString){ + /* + The G4() dwell function handles the G4 gcode which pauses for P milliseconds or S seconds. + Only one of the two is accepted, the other ignored. + Use maslowDelay() to remain responsive to GC during the dwell time. + Because maslowDelay() operates in milliseconds, round to the nearest millisecond. + Negative values are treated as positive (not a time machine). + */ + float dwellMS = abs(extractGcodeValue(readString, 'P', 0)); + float dwellS = abs(extractGcodeValue(readString, 'S', 0)); + + if (dwellMS == 0) { + /* + ignore S parameter unless P is zero + */ + dwellMS = dwellS * 1000; + } + dwellMS = long(dwellMS + .5); + Serial.print(F("dwell time ")); + if (dwellS > 0) { + Serial.print(dwellS); + Serial.println(F(" seconds")); + } else { + Serial.print(dwellMS, 0); + Serial.println(F(" ms.")); + } + maslowDelay(dwellMS); +} + +void G10(const String& readString){ + /*The G10() function handles the G10 gcode which re-zeros one or all of the machine's axes.*/ + float currentZPos = zAxis.read(); + float zgoto = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', currentZPos/sys.inchesToMMConversion); + + zAxis.set(zgoto); + zAxis.endMove(zgoto); + zAxis.attach(); +} + +void G38(const String& readString) { + //if the zaxis is attached + if (sysSettings.zAxisAttached) { + /* + The G38() function handles the G38 gcode which zeros the machine's z axis. + Currently ignores X and Y options + */ + if (readString.substring(3, 5) == ".2") { + Serial.println(F("probing for z axis zero")); + float zgoto; + + + float currentZPos = zAxis.read(); + int zDirection = sysSettings.zEncoderSteps<0 ? -1 : 1; + + zgoto = zDirection * sys.inchesToMMConversion * extractGcodeValue(readString, 'Z', currentZPos / sys.inchesToMMConversion); + sys.feedrate = sys.inchesToMMConversion * extractGcodeValue(readString, 'F', sys.feedrate / sys.inchesToMMConversion); + sys.feedrate = constrain(sys.feedrate, 1, sysSettings.maxZRPM * abs(zAxis.getPitch())); + + if (sys.useRelativeUnits) { //if we are using a relative coordinate system + if (readString.indexOf('Z') >= 0) { //if z has moved + zgoto = currentZPos + zgoto; + } + } + + Serial.print(F("max depth ")); + Serial.print(zgoto); + Serial.println(F(" mm.")); + Serial.print(F("feedrate ")); + Serial.print(sys.feedrate); + Serial.println(F(" mm per min.")); + + + //set Probe to input with pullup + pinMode(ProbePin, INPUT_PULLUP); + digitalWrite(ProbePin, HIGH); + + if (zgoto != currentZPos / sys.inchesToMMConversion) { + // now move z to the Z destination; + // Currently ignores X and Y options + // we need a version of singleAxisMove that quits if the AUXn input changes (goes LOW) + // which will act the same as the stop found in singleAxisMove (need both?) + // singleAxisMove(&zAxis, zgoto, feedrate); + + /* + Takes a pointer to an axis object and mo ves that axis to endPos at speed MMPerMin + */ + + Axis* axis = &zAxis; + float startingPos = axis->read(); + float endPos = zgoto; + float moveDist = endPos - currentZPos; //total distance to move + + float direction = moveDist / abs(moveDist); //determine the direction of the move + + float stepSizeMM = 0.01; //step size in mm + + //the argument to abs should only be a variable -- splitting calc into 2 lines + long finalNumberOfSteps = moveDist / stepSizeMM; //number of steps taken in move + finalNumberOfSteps = abs(finalNumberOfSteps); + + long numberOfStepsTaken = 0; + float whereAxisShouldBeAtThisStep = startingPos; + + axis->attach(); + // zAxis->attach(); + + while (numberOfStepsTaken < finalNumberOfSteps) { + if (!movementUpdated){ + //find the target point for this step + whereAxisShouldBeAtThisStep += stepSizeMM * direction; + + //write to each axis + axis->write(whereAxisShouldBeAtThisStep); + movementUpdate(); + + // Run realtime commands + execSystemRealtime(); + if (sys.stop){return;} + + //increment the number of steps taken + numberOfStepsTaken++; + } + + //check for Probe touchdown + if (checkForProbeTouch(ProbePin)) { + zAxis.set(0); + zAxis.endMove(0); + zAxis.attach(); + Serial.println(F("z axis zeroed")); + return; + } + } + + /* + If we get here, the probe failed to touch down + - print error + - STOP execution + */ + axis->endMove(endPos); + Serial.println(F("error: probe did not connect\nprogram stopped\nz axis not set\n")); + sys.stop = true; + } // end if zgoto != currentZPos / sys.inchesToMMConversion + + } else { + Serial.print(F("G38")); + Serial.print(readString.substring(3, 5)); + Serial.println(F(" is invalid. Only G38.2 recognized.")); + } + } else { + Serial.println(F("G38.2 gcode only valid with z-axis attached")); + } +} + +void setInchesToMillimetersConversion(float newConversionFactor){ + sys.inchesToMMConversion = newConversionFactor; +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/GCode.h b/Firmware_1.26b/cnc_ctrl_v1/GCode.h new file mode 100644 index 00000000..d2cf12f4 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/GCode.h @@ -0,0 +1,50 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +#ifndef gcode_h +#define gcode_h + +// Define line flags. Includes comment type tracking and line overflow detection. +#define LINE_FLAG_COMMENT_PARENTHESES bit(0) +#define LINE_FLAG_COMMENT_SEMICOLON bit(1) + +extern String readyCommandString; //next command queued up and ready to send +extern String gcodeLine; //The next individual line of gcode (for example G91 G01 X19 would be run as two lines) + +void initGCode(); +void gcodeExecuteLoop(); +void readSerialCommands(); +String gcodeBufferReadline(); +int findEndOfNumber(const String&, const int&); +float extractGcodeValue(const String&, char, const float&); +byte executeBcodeLine(const String&); +void executeGcodeLine(const String&); +void executeMcodeLine(const String&); +void executeOtherCodeLine(const String&); +int findNextGM(const String&, const int&); +void sanitizeCommandString(String&); +byte interpretCommandString(String&); +void G1(const String&, int); +void G2(const String&, int); +void G4(const String&); +void G10(const String&); +void G38(const String&); +void setInchesToMillimetersConversion(float); +extern int SpindlePowerControlPin; +extern int ProbePin; + +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Kinematics.cpp b/Firmware_1.26b/cnc_ctrl_v1/Kinematics.cpp new file mode 100644 index 00000000..f5415ea3 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Kinematics.cpp @@ -0,0 +1,425 @@ +/*This file is part of the Maslow Control Software. + + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +/* +The Kinematics module relates the lengths of the chains to the position of the cutting head +in X-Y space. +*/ + +#include "Maslow.h" + + +Kinematics::Kinematics(){ + recomputeGeometry(); +} + +void Kinematics::init(){ + recomputeGeometry(); + if (sys.state != STATE_OLD_SETTINGS){ + forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, sys.xPosition, sys.yPosition); + } +} + +void Kinematics::_verifyValidTarget(float* xTarget,float* yTarget){ + //If the target point is beyond one of the edges of the board, the machine stops at the edge + + *xTarget = (*xTarget < -halfWidth) ? -halfWidth : (*xTarget > halfWidth) ? halfWidth : *xTarget; + *yTarget = (*yTarget < -halfHeight) ? -halfHeight : (*yTarget > halfHeight) ? halfHeight : *yTarget; + +} + +void Kinematics::recomputeGeometry(){ + /* + Some variables are computed on class creation for the geometry of the machine to reduce overhead, + calling this function regenerates those values. These are all floats so they take up + ~32bytes of RAM to keep them in memory. + */ + Phi = -0.2; + h = sqrt((sysSettings.sledWidth/2)*(sysSettings.sledWidth/2) + sysSettings.sledHeight * sysSettings.sledHeight); + Theta = atan(2*sysSettings.sledHeight/sysSettings.sledWidth); + Psi1 = Theta - Phi; + Psi2 = Theta + Phi; + + halfWidth = sysSettings.machineWidth / 2.0; + halfHeight = sysSettings.machineHeight / 2.0; + _xCordOfMotor = sysSettings.distBetweenMotors/2; + _yCordOfMotor = halfHeight + sysSettings.motorOffsetY; + +} + +void Kinematics::inverse(float xTarget,float yTarget, float* aChainLength, float* bChainLength){ + /* + + This function works as a switch to call either the quadrilateralInverse kinematic function + or the triangularInverse kinematic function + + */ + + if(sysSettings.kinematicsType == 1){ + quadrilateralInverse(xTarget, yTarget, aChainLength, bChainLength); + } + else{ + triangularInverse(xTarget, yTarget, aChainLength, bChainLength); + } + +} + +void Kinematics::quadrilateralInverse(float xTarget,float yTarget, float* aChainLength, float* bChainLength){ + + //Confirm that the coordinates are on the wood + _verifyValidTarget(&xTarget, &yTarget); + + //coordinate shift to put (0,0) in the center of the plywood from the left sprocket + y = (halfHeight) + sysSettings.motorOffsetY - yTarget; + x = (sysSettings.distBetweenMotors/2.0) + xTarget; + + //Coordinates definition: + // x -->, y | + // v + // (0,0) at center of left sprocket + // upper left corner of plywood (270, 270) + + byte Tries = 0; //initialize + if(x > sysSettings.distBetweenMotors/2.0){ //the right half of the board mirrors the left half so all computations are done using left half coordinates. + x = sysSettings.distBetweenMotors-x; //Chain lengths are swapped at exit if the x,y is on the right half + Mirror = true; + } + else{ + Mirror = false; + } + + TanGamma = y/x; + TanLambda = y/(sysSettings.distBetweenMotors-x); + Y1Plus = R * sqrt(1 + TanGamma * TanGamma); + Y2Plus = R * sqrt(1 + TanLambda * TanLambda); + + + while (Tries <= KINEMATICSMAXINVERSE) { + + _MyTrig(); + //These criteria will be zero when the correct values are reached + //They are negated here as a numerical efficiency expedient + + Crit[0]= - _moment(Y1Plus, Y2Plus, MySinPhi, SinPsi1, CosPsi1, SinPsi2, CosPsi2); + Crit[1] = - _YOffsetEqn(Y1Plus, x - h * CosPsi1, SinPsi1); + Crit[2] = - _YOffsetEqn(Y2Plus, sysSettings.distBetweenMotors - (x + h * CosPsi2), SinPsi2); + + if (abs(Crit[0]) < KINEMATICSMAXERROR) { + if (abs(Crit[1]) < KINEMATICSMAXERROR) { + if (abs(Crit[2]) < KINEMATICSMAXERROR){ + break; + } + } + } + + //estimate the tilt angle that results in zero net _moment about the pen + //and refine the estimate until the error is acceptable or time runs out + + //Estimate the Jacobian components + + Jac[0] = (_moment( Y1Plus, Y2Plus, MySinPhiDelta, SinPsi1D, CosPsi1D, SinPsi2D, CosPsi2D) + Crit[0])/DELTAPHI; + Jac[1] = (_moment( Y1Plus + DELTAY, Y2Plus, MySinPhi, SinPsi1, CosPsi1, SinPsi2, CosPsi2) + Crit[0])/DELTAY; + Jac[2] = (_moment(Y1Plus, Y2Plus + DELTAY, MySinPhi, SinPsi1, CosPsi1, SinPsi2, CosPsi2) + Crit[0])/DELTAY; + Jac[3] = (_YOffsetEqn(Y1Plus, x - h * CosPsi1D, SinPsi1D) + Crit[1])/DELTAPHI; + Jac[4] = (_YOffsetEqn(Y1Plus + DELTAY, x - h * CosPsi1,SinPsi1) + Crit[1])/DELTAY; + Jac[5] = 0.0; + Jac[6] = (_YOffsetEqn(Y2Plus, sysSettings.distBetweenMotors - (x + h * CosPsi2D), SinPsi2D) + Crit[2])/DELTAPHI; + Jac[7] = 0.0; + Jac[8] = (_YOffsetEqn(Y2Plus + DELTAY, sysSettings.distBetweenMotors - (x + h * CosPsi2D), SinPsi2) + Crit[2])/DELTAY; + + + //solve for the next guess + _MatSolv(); // solves the matrix equation Jx=-Criterion + + // update the variables with the new estimate + + Phi = Phi + Solution[0]; + Y1Plus = Y1Plus + Solution[1]; //don't allow the anchor points to be inside a sprocket + Y1Plus = (Y1Plus < R) ? R : Y1Plus; + + Y2Plus = Y2Plus + Solution[2]; //don't allow the anchor points to be inside a sprocke + Y2Plus = (Y2Plus < R) ? R : Y2Plus; + + Psi1 = Theta - Phi; + Psi2 = Theta + Phi; + + Tries++; // increment itteration count + + } + + //Variables are within accuracy limits + // perform output computation + + Offsetx1 = h * CosPsi1; + Offsetx2 = h * CosPsi2; + Offsety1 = h * SinPsi1; + Offsety2 = h * SinPsi2; + TanGamma = (y - Offsety1 + Y1Plus)/(x - Offsetx1); + TanLambda = (y - Offsety2 + Y2Plus)/(sysSettings.distBetweenMotors -(x + Offsetx2)); + Gamma = atan(TanGamma); + Lambda =atan(TanLambda); + + //compute the chain lengths + + if(Mirror){ + Chain2 = sqrt((x - Offsetx1)*(x - Offsetx1) + (y + Y1Plus - Offsety1)*(y + Y1Plus - Offsety1)) - R * TanGamma + R * Gamma; //right chain length + Chain1 = sqrt((sysSettings.distBetweenMotors - (x + Offsetx2))*(sysSettings.distBetweenMotors - (x + Offsetx2))+(y + Y2Plus - Offsety2)*(y + Y2Plus - Offsety2)) - R * TanLambda + R * Lambda; //left chain length + } + else{ + Chain1 = sqrt((x - Offsetx1)*(x - Offsetx1) + (y + Y1Plus - Offsety1)*(y + Y1Plus - Offsety1)) - R * TanGamma + R * Gamma; //left chain length + Chain2 = sqrt((sysSettings.distBetweenMotors - (x + Offsetx2))*(sysSettings.distBetweenMotors - (x + Offsetx2))+(y + Y2Plus - Offsety2)*(y + Y2Plus - Offsety2)) - R * TanLambda + R * Lambda; //right chain length + } + + *aChainLength = Chain1; + *bChainLength = Chain2; + +} + +void Kinematics::triangularInverse(float xTarget,float yTarget, float* aChainLength, float* bChainLength){ + /* + + The inverse kinematics (relating an xy coordinate pair to the required chain lengths to hit that point) + function for a triangular set up where the chains meet at a point, or are arranged so that they simulate + meeting at a point. + + */ + + //Confirm that the coordinates are on the wood + _verifyValidTarget(&xTarget, &yTarget); + + //Set up variables + float Chain1Angle = 0; + float Chain2Angle = 0; + float Chain1AroundSprocket = 0; + float Chain2AroundSprocket = 0; + + //Calculate motor axes length to the bit + float Motor1Distance = sqrt(pow((-1*_xCordOfMotor - xTarget),2)+pow((_yCordOfMotor - yTarget),2)); + float Motor2Distance = sqrt(pow((_xCordOfMotor - xTarget),2)+pow((_yCordOfMotor - yTarget),2)); + + //Calculate the chain angles from horizontal, based on if the chain connects to the sled from the top or bottom of the sprocket + if(sysSettings.chainOverSprocket == 1){ + Chain1Angle = asin((_yCordOfMotor - yTarget)/Motor1Distance) + asin(R/Motor1Distance); + Chain2Angle = asin((_yCordOfMotor - yTarget)/Motor2Distance) + asin(R/Motor2Distance); + + Chain1AroundSprocket = R * Chain1Angle; + Chain2AroundSprocket = R * Chain2Angle; + } + else{ + Chain1Angle = asin((_yCordOfMotor - yTarget)/Motor1Distance) - asin(R/Motor1Distance); + Chain2Angle = asin((_yCordOfMotor - yTarget)/Motor2Distance) - asin(R/Motor2Distance); + + Chain1AroundSprocket = R * (3.14159 - Chain1Angle); + Chain2AroundSprocket = R * (3.14159 - Chain2Angle); + } + + //Calculate the straight chain length from the sprocket to the bit + float Chain1Straight = sqrt(pow(Motor1Distance,2)-pow(R,2)); + float Chain2Straight = sqrt(pow(Motor2Distance,2)-pow(R,2)); + + //Correct the straight chain lengths to account for chain sag + Chain1Straight *= (1 + ((sysSettings.chainSagCorrection / 1000000000000) * pow(cos(Chain1Angle),2) * pow(Chain1Straight,2) * pow((tan(Chain2Angle) * cos(Chain1Angle)) + sin(Chain1Angle),2))); + Chain2Straight *= (1 + ((sysSettings.chainSagCorrection / 1000000000000) * pow(cos(Chain2Angle),2) * pow(Chain2Straight,2) * pow((tan(Chain1Angle) * cos(Chain2Angle)) + sin(Chain2Angle),2))); + + //Calculate total chain lengths accounting for sprocket geometry and chain sag + float Chain1 = Chain1AroundSprocket + Chain1Straight / (1.0f + sysSettings.leftChainTolerance / 100.0f); + float Chain2 = Chain2AroundSprocket + Chain2Straight / (1.0f + sysSettings.rightChainTolerance / 100.0f); + + //Subtract of the virtual length which is added to the chain by the rotation mechanism + Chain1 = Chain1 - sysSettings.rotationDiskRadius; + Chain2 = Chain2 - sysSettings.rotationDiskRadius; + + *aChainLength = Chain1; + *bChainLength = Chain2; +} + +void Kinematics::forward(const float& chainALength, const float& chainBLength, float* xPos, float* yPos, float xGuess, float yGuess){ + + Serial.println(F("[Forward Calculating Position]")); + + + float guessLengthA; + float guessLengthB; + + int guessCount = 0; + + while(1){ + + + //check our guess + inverse(xGuess, yGuess, &guessLengthA, &guessLengthB); + + float aChainError = chainALength - guessLengthA; + float bChainError = chainBLength - guessLengthB; + + + //adjust the guess based on the result + xGuess = xGuess + .1*aChainError - .1*bChainError; + yGuess = yGuess - .1*aChainError - .1*bChainError; + + guessCount++; + + #if defined (KINEMATICSDBG) && KINEMATICSDBG > 0 + Serial.print(F("[PEk:")); + Serial.print(aChainError); + Serial.print(','); + Serial.print(bChainError); + Serial.print(','); + Serial.print('0'); + Serial.println(F("]")); + #endif + + execSystemRealtime(); + // No need for sys.stop check here + + //if we've converged on the point...or it's time to give up, exit the loop + if((abs(aChainError) < .1 && abs(bChainError) < .1) or guessCount > KINEMATICSMAXGUESS or guessLengthA > sysSettings.chainLength or guessLengthB > sysSettings.chainLength){ + if((guessCount > KINEMATICSMAXGUESS) or guessLengthA > sysSettings.chainLength or guessLengthB > sysSettings.chainLength){ + Serial.print(F("Message: Unable to find valid machine position for chain lengths ")); + Serial.print(chainALength); + Serial.print(", "); + Serial.print(chainBLength); + Serial.println(F(" . Please set the chains to a known length (Actions -> Set Chain Lengths)")); + *xPos = 0; + *yPos = 0; + } + else{ + Serial.println("position loaded at:"); + Serial.println(xGuess); + Serial.println(yGuess); + *xPos = xGuess; + *yPos = yGuess; + } + break; + } + } +} + +void Kinematics::_MatSolv(){ + float Sum; + int NN; + int i; + int ii; + int J; + int JJ; + int K; + int KK; + int L; + int M; + int N; + + float fact; + + // gaus elimination, no pivot + + N = 3; + NN = N-1; + for (i=1;i<=NN;i++){ + J = (N+1-i); + JJ = (J-1) * N-1; + L = J-1; + KK = -1; + for (K=0;K. + + Copyright 2014-2017 Bar Smith*/ + + #ifndef Kinematics_h + #define Kinematics_h + + + //Calculation tolerances + #define DELTAPHI 0.001 + #define DELTAY 0.01 + #define KINEMATICSMAXERROR 0.001 + #define KINEMATICSMAXINVERSE 10 + #define KINEMATICSMAXGUESS 200 + + class Kinematics{ + public: + Kinematics(); + void init (); + void inverse (float xTarget,float yTarget, float* aChainLength, float* bChainLength); + void quadrilateralInverse (float xTarget,float yTarget, float* aChainLength, float* bChainLength); + void triangularInverse (float xTarget,float yTarget, float* aChainLength, float* bChainLength); + void recomputeGeometry(); + void forward(const float& chainALength, const float& chainBLength, float* xPos, float* yPos, float xGuess, float yGuess); + //geometry + float h; //distance between sled attach point and bit + float R = 10.1; //sprocket radius + + float halfWidth; //Half the machine width + float halfHeight; //Half the machine height + private: + float _moment(const float& Y1Plus, const float& Y2Plus, const float& MSinPhi, const float& MSinPsi1, const float& MCosPsi1, const float& MSinPsi2, const float& MCosPsi2); + float _YOffsetEqn(const float& YPlus, const float& Denominator, const float& Psi); + void _MatSolv(); + void _MyTrig(); + void _verifyValidTarget(float* xTarget,float* yTarget); + //target router bit coordinates. + float x = 0; + float y = 0; + float _xCordOfMotor; + float _yCordOfMotor; + + //utility variables + boolean Mirror; + + //Criterion Computation Variables + float Phi = -0.2; + float TanGamma; + float TanLambda; + float Y1Plus ; + float Y2Plus; + float Theta; + float Psi1 = Theta - Phi; + float Psi2 = Theta + Phi; + float Jac[9]; + float Solution[3]; + float Crit[3]; + float Offsetx1; + float Offsetx2; + float Offsety1; + float Offsety2; + float SinPsi1; + float CosPsi1; + float SinPsi2; + float CosPsi2; + float SinPsi1D; + float CosPsi1D; + float SinPsi2D; + float CosPsi2D; + float MySinPhi; + float MySinPhiDelta; + + //intermediate output + float Lambda; + float Gamma; + + // Motor axes length to the bit for triangular kinematics + float Motor1Distance; //left motor axis distance to sled + float Motor2Distance; //right motor axis distance to sled + + // output = chain lengths measured from 12 o'clock + float Chain1; //left chain length + float Chain2; //right chain length + }; + + #endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Maslow.h b/Firmware_1.26b/cnc_ctrl_v1/Maslow.h new file mode 100644 index 00000000..8380a13e --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Maslow.h @@ -0,0 +1,52 @@ +/*This file is part of the Maslow Control Software. + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +// This is the main maslow include file + +#ifndef maslow_h +#define maslow_h + +// Maslow Firmware Version tracking +#define VERSIONNUMBER 1.26 + +// Define standard libraries used by maslow. +#include +#include +#include +#include + +// Define the maslow system include files. This ensures that dependencies are +// loaded in the proper order. Be careful moving these around. +#include "Config.h" +#include "TimerOne.h" +#include "Motor.h" +#include "PID_v1.h" +#include "utility/direct_pin_read.h" +#include "Encoder.h" +#include "MotorGearboxEncoder.h" +#include "Axis.h" +#include "Kinematics.h" +#include "RingBuffer.h" +#include "GCode.h" +#include "Testing.h" +#include "Motion.h" +#include "Report.h" +#include "Spindle.h" +#include "Probe.h" +#include "Settings.h" +#include "NutsAndBolts.h" +#include "System.h" +#include "SimavrSerial.h" + +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Motion.cpp b/Firmware_1.26b/cnc_ctrl_v1/Motion.cpp new file mode 100644 index 00000000..358dc222 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Motion.cpp @@ -0,0 +1,376 @@ +/*This file is part of the Maslow Control Software. + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +// This contains all of the Motion commands + +#include "Maslow.h" + +// Flag for when to send movement commands +volatile bool movementUpdated = false; +// Global variables for misloop tracking +#if misloopDebug > 0 + volatile bool inMovementLoop = false; + volatile bool movementFail = false; +#endif + +void initMotion(){ + // Called on startup or after a stop command + leftAxis.stop(); + rightAxis.stop(); + if(sysSettings.zAxisAttached){ + zAxis.stop(); + } +} + + +float calculateFeedrate(const float& stepSizeMM, const float& usPerStep){ + /* + Calculate the time delay between each step for a given feedrate + */ + + #define MINUTEINUS 60000000.0 + + // derivation: ms / step = 1 min in ms / dist in one min + + float tempFeedrate = (stepSizeMM*MINUTEINUS)/usPerStep; + + return tempFeedrate; +} + +float computeStepSize(const float& MMPerMin){ + /* + + Determines the minimum step size which can be taken for the given feed-rate + based on the loop interval frequency. Converts to MM per microsecond first, + then mutiplies by the number of microseconds in each loop interval + + */ + return LOOPINTERVAL*(MMPerMin/(60 * 1000000)); +} + +void movementUpdate(){ + #if misloopDebug > 0 + if (movementFail){ + Serial.println("Movement loop failed to complete before interrupt."); + movementFail = false; + } + #endif + movementUpdated = true; +} + + +// why does this return anything +int coordinatedMove(const float& xEnd, const float& yEnd, const float& zEnd, float MMPerMin){ + + /*The move() function moves the tool in a straight line to the position (xEnd, yEnd) at + the speed moveSpeed. Movements are correlated so that regardless of the distances moved in each + direction, the tool moves to the target in a straight line. This function is used by the G00 + and G01 commands. The units at this point should all be in mm or mm per minute*/ + + float xStartingLocation = sys.xPosition; + float yStartingLocation = sys.yPosition; + float zStartingLocation = zAxis.read(); // I don't know why we treat the zaxis differently + float zMaxFeed = sysSettings.maxZRPM * abs(zAxis.getPitch()); + + //find the total distances to move + float distanceToMoveInMM = sqrt( sq(xEnd - xStartingLocation) + sq(yEnd - yStartingLocation) + sq(zEnd - zStartingLocation)); + float xDistanceToMoveInMM = xEnd - xStartingLocation; + float yDistanceToMoveInMM = yEnd - yStartingLocation; + float zDistanceToMoveInMM = zEnd - zStartingLocation; + + //compute feed details + MMPerMin = constrain(MMPerMin, 1, sysSettings.maxFeed); //constrain the maximum feedrate, 35ipm = 900 mmpm + float stepSizeMM = computeStepSize(MMPerMin); + float finalNumberOfSteps = abs(distanceToMoveInMM/stepSizeMM); + float delayTime = LOOPINTERVAL; + float zFeedrate = calculateFeedrate(fabs(zDistanceToMoveInMM/finalNumberOfSteps), delayTime); + + //throttle back federate if it exceeds zaxis max + if (zFeedrate > zMaxFeed){ + float zStepSizeMM = computeStepSize(zMaxFeed); + finalNumberOfSteps = abs(zDistanceToMoveInMM/zStepSizeMM); + stepSizeMM = (distanceToMoveInMM/finalNumberOfSteps); + MMPerMin = calculateFeedrate(stepSizeMM, delayTime); + } + + // (fraction of distance in x direction)* size of step toward target + float xStepSize = (xDistanceToMoveInMM/finalNumberOfSteps); + float yStepSize = (yDistanceToMoveInMM/finalNumberOfSteps); + float zStepSize = (zDistanceToMoveInMM/finalNumberOfSteps); + + //attach the axes + leftAxis.attach(); + rightAxis.attach(); + if(sysSettings.zAxisAttached){ + zAxis.attach(); + } + + float aChainLength; + float bChainLength; + float zPosition = zStartingLocation; + long numberOfStepsTaken = 0; + + while(numberOfStepsTaken < finalNumberOfSteps){ + + #if misloopDebug > 0 + inMovementLoop = true; + #endif + //if last movment was performed start the next + if (!movementUpdated) { + //find the target point for this step + // This section ~20us + sys.xPosition += xStepSize; + sys.yPosition += yStepSize; + zPosition += zStepSize; + + //find the chain lengths for this step + // This section ~180us + kinematics.inverse(sys.xPosition,sys.yPosition,&aChainLength,&bChainLength); + + //write to each axis + // This section ~180us + leftAxis.write(aChainLength); + rightAxis.write(bChainLength); + if(sysSettings.zAxisAttached){ + zAxis.write(zPosition); + } + + movementUpdate(); + + //increment the number of steps taken + numberOfStepsTaken++; + + // Run realtime commands + execSystemRealtime(); + if (sys.stop){return 1;} + } + } + #if misloopDebug > 0 + inMovementLoop = false; + #endif + + kinematics.inverse(xEnd,yEnd,&aChainLength,&bChainLength); + leftAxis.endMove(aChainLength); + rightAxis.endMove(bChainLength); + if(sysSettings.zAxisAttached){ + zAxis.endMove(zPosition); + } + + sys.xPosition = xEnd; + sys.yPosition = yEnd; + + return 1; + +} + +void singleAxisMove(Axis* axis, const float& endPos, const float& MMPerMin){ + /* + Takes a pointer to an axis object and moves that axis to endPos at speed MMPerMin + */ + + float startingPos = axis->read(); + float moveDist = endPos - startingPos; //total distance to move + + float direction = moveDist/abs(moveDist); //determine the direction of the move + + float stepSizeMM = computeStepSize(MMPerMin); //step size in mm + + //the argument to abs should only be a variable -- splitting calc into 2 lines + long finalNumberOfSteps = abs(moveDist/stepSizeMM); //number of steps taken in move + finalNumberOfSteps = abs(finalNumberOfSteps); + stepSizeMM = stepSizeMM*direction; + + long numberOfStepsTaken = 0; + + //attach the axis we want to move + axis->attach(); + + float whereAxisShouldBeAtThisStep = startingPos; + #if misloopDebug > 0 + inMovementLoop = true; + #endif + while(numberOfStepsTaken < finalNumberOfSteps){ + if (!movementUpdated) { + //find the target point for this step + whereAxisShouldBeAtThisStep += stepSizeMM; + + //write to axis + axis->write(whereAxisShouldBeAtThisStep); + movementUpdate(); + + // Run realtime commands + execSystemRealtime(); + if (sys.stop){return;} + + //increment the number of steps taken + numberOfStepsTaken++; + } + } + #if misloopDebug > 0 + inMovementLoop = false; + #endif + + axis->endMove(endPos); + +} + +// return the sign of the parameter +int sign(double x) { return x<0 ? -1 : 1; } + +// why does this return anything +int arc(const float& X1, const float& Y1, const float& Z1, const float& X2, const float& Y2, const float& Z2, const float& centerX, const float& centerY, const float& MMPerMin, const float& direction){ + /* + + Move the machine through an arc from point (X1, Y1) to point (X2, Y2) along the + arc defined by center (centerX, centerY) at speed MMPerMin + + */ + + //compute geometry + float pi = 3.1415; + float radius = sqrt( sq(centerX - X1) + sq(centerY - Y1) ); + float circumference = 2.0*pi*radius; + + float startingAngle = atan2(Y1 - centerY, X1 - centerX); + float endingAngle = atan2(Y2 - centerY, X2 - centerX); + + // compute chord height of arc + float chordSquared = sqrt(sq(X2 - X1) + sq(Y2 - Y1)); + float tau = sqrt( sq(radius) - (chordSquared/4.0)); + float chordHeight = radius - tau; + + //compute angle between lines + float theta = endingAngle - startingAngle; + if (direction == COUNTERCLOCKWISE){ + if (theta <= 0){ + theta += 2*pi; + } + } + else { + //CLOCKWISE + if (theta >= 0){ + theta -= 2*pi; + } + } + if ((sign(theta) != sign(direction)) || ((abs(chordHeight) < .01) && (abs(theta) < 0.5)) || (radius > 25400)) { + // There is a parameter error in this line of gcode, either in the size of the angle calculated + // or the chord height of the arc between the starting and ending points + // In either case, the gcode cut was essentially a straight line, so + // Replace it with a G1 cut to the endpoint + String gcodeSubstitution = "G1 X"; + gcodeSubstitution = gcodeSubstitution + String(X2 / sys.inchesToMMConversion, 3) + " Y" + String(Y2 / sys.inchesToMMConversion, 3) + " Z" + String(Z2 / sys.inchesToMMConversion, 3) + " "; + Serial.println("Large-radius arc replaced by straight line to improve accuracy: " + gcodeSubstitution); + G1(gcodeSubstitution, 1); + return 1; + } + + float arcLengthMM = fabs(circumference * (theta / (2*pi) )); + float zDistanceToMoveInMM = Z2 - Z1; + + //set up variables for movement + long numberOfStepsTaken = 0; + + float feedMMPerMin = constrain(MMPerMin, 1, sysSettings.maxFeed); + float stepSizeMM = computeStepSize(feedMMPerMin); + + long finalNumberOfSteps = arcLengthMM/stepSizeMM; + float delayTime = LOOPINTERVAL; + + float zFeedRate = calculateFeedrate(fabs(zDistanceToMoveInMM/finalNumberOfSteps), delayTime); + float zMaxFeed = sysSettings.maxZRPM * abs(zAxis.getPitch()); + // float zStepSizeMM = computeStepSize(zMaxFeed); + float zStepSizeMM = zDistanceToMoveInMM/finalNumberOfSteps; + + if (zFeedRate > zMaxFeed){ + zStepSizeMM = computeStepSize(zMaxFeed); + finalNumberOfSteps = fabs(zDistanceToMoveInMM/zStepSizeMM); + stepSizeMM = arcLengthMM/finalNumberOfSteps; + feedMMPerMin = calculateFeedrate(stepSizeMM, delayTime); + } + + zStepSizeMM = zDistanceToMoveInMM/finalNumberOfSteps; + + //Compute the starting position + float angleNow = startingAngle; + float degreeComplete = 0.0; + + float aChainLength; + float bChainLength; + float zPosition = Z1 + zStepSizeMM; + + //attach the axes + leftAxis.attach(); + rightAxis.attach(); + if (sysSettings.zAxisAttached) { + zAxis.attach(); + } + + while(numberOfStepsTaken < abs(finalNumberOfSteps)){ + #if misloopDebug > 0 + inMovementLoop = true; + #endif + + //if last movement was performed start the next one + if (!movementUpdated){ + + degreeComplete = float(numberOfStepsTaken)/float(finalNumberOfSteps); + + angleNow = startingAngle + theta*degreeComplete; + + sys.xPosition = radius * cos(angleNow) + centerX; + sys.yPosition = radius * sin(angleNow) + centerY; + + kinematics.inverse(sys.xPosition,sys.yPosition,&aChainLength,&bChainLength); + + leftAxis.write(aChainLength); + rightAxis.write(bChainLength); + if(sysSettings.zAxisAttached){ + zAxis.write(zPosition); + } + movementUpdate(); + + // Run realtime commands + execSystemRealtime(); + if (sys.stop){return 1;} + + numberOfStepsTaken++; + zPosition += zStepSizeMM; + } + } + #if misloopDebug > 0 + inMovementLoop = false; + #endif + + kinematics.inverse(X2,Y2,&aChainLength,&bChainLength); + leftAxis.endMove(aChainLength); + rightAxis.endMove(bChainLength); + + sys.xPosition = X2; + sys.yPosition = Y2; + + return 1; +} + +void motionDetachIfIdle(){ + /* + + This function is called every time the main loop runs. When the machine is executing a move it is not called, but when the machine is + not executing a line it is called regularly and causes the motors to hold their positions. + + */ + + leftAxis.detachIfIdle(); + rightAxis.detachIfIdle(); + zAxis.detachIfIdle(); +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Motion.h b/Firmware_1.26b/cnc_ctrl_v1/Motion.h new file mode 100644 index 00000000..b2aa62a1 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Motion.h @@ -0,0 +1,36 @@ +/*This file is part of the Maslow Control Software. + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +// This contains all of the Motion commands + +#ifndef motion_h +#define motion_h + +// These are used for movement tracking and need to be available to the ISR +extern volatile bool movementUpdated; +#if misloopDebug > 0 + extern volatile bool inMovementLoop; + extern volatile bool movementFail; +#endif + +void initMotion(); +int coordinatedMove(const float&, const float&, const float&, float); +void singleAxisMove(Axis*, const float&, const float&); +int arc(const float&, const float&, const float&, const float&, const float&, const float&, const float&, const float&, const float&, const float&); +float calculateFeedrate(const float&, const float&); +float computeStepSize(const float&); +void movementUpdate(); +void motionDetachIfIdle(); + +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Motor.cpp b/Firmware_1.26b/cnc_ctrl_v1/Motor.cpp new file mode 100644 index 00000000..0833a66f --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Motor.cpp @@ -0,0 +1,227 @@ +/*This file is part of the Maslow Control Software. + + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +/* +The Motor module imitates the behavior of the Arduino servo module. It allows a gear motor (or any electric motor) +to be a drop in replacement for a continuous rotation servo. + +*/ + +#include "Maslow.h" + +Motor::Motor(){ + + _attachedState = 0; + + +} + +int Motor::setupMotor(const int& pwmPin, const int& pin1, const int& pin2){ + + //store pin numbers as private variables + _pwmPin = pwmPin; + _pin1 = pin1; + _pin2 = pin2; + _attachedState = 0; + + if (TLE5206 == true ) { + // EBS v1.4 + pinMode(_pwmPin, INPUT); + pinMode(_pin1, OUTPUT); + pinMode(_pin2, OUTPUT); + + //stop the motor + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, LOW) ; + } + else if (TB6643 == true ) { + // EBS V1.5 + pinMode(_pwmPin, INPUT); + pinMode(_pin1, OUTPUT); + pinMode(_pin2, OUTPUT); + + //stop the motor + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, LOW); + } + else { + // V1.2 + //set pinmodes + pinMode(_pwmPin, OUTPUT); + pinMode(_pin1, OUTPUT); + pinMode(_pin2, OUTPUT); + + //stop the motor + digitalWrite(_pin1, HIGH); + digitalWrite(_pin2, LOW) ; + digitalWrite(_pwmPin, LOW); + } + return 1; +} + +void Motor::attach(){ + _attachedState = 1; +} + +void Motor::detach(){ + _attachedState = 0; + + if (TLE5206 == true) { + //stop the motor + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, LOW) ; + } + else if (TB6643 == true){ + //stop the motor + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, LOW) ; + } + else { + //stop the motor + digitalWrite(_pin1, HIGH); + digitalWrite(_pin2, LOW) ; + digitalWrite(_pwmPin, LOW); + } +} + + +int Motor::lastSpeed(){ + /* + Returns the last speed(voltage) value sent to the pwm + */ + return _lastSpeed; +} + +void Motor::additiveWrite(int speed){ + /* + Increases/decreases the motor speed by the passed speed amount + */ + write(_lastSpeed + speed); +} + +void Motor::write(int speed, bool force){ + /* + Sets motor speed from input. Speed = 0 is stopped, -255 is full reverse, 255 is full ahead. If force is true the motor attached state will be ignored + */ + if (_attachedState == 1 or force){ + speed = constrain(speed, -255, 255); + _lastSpeed = speed; //saves speed for use in additive write + bool forward = (speed > 0); + speed = abs(speed); //remove sign from input because direction is set by control pins on H-bridge + + bool usePin1 = ((_pin1 != 4) && (_pin1 != 13) && (_pin1 != 11) && (_pin1 != 12)); // avoid PWM using timer0 or timer1 + bool usePin2 = ((_pin2 != 4) && (_pin2 != 13) && (_pin2 != 11) && (_pin2 != 12)); // avoid PWM using timer0 or timer1 + bool usepwmPin = ((TLE5206 == false) && (_pwmPin != 4) && (_pwmPin != 13) && (_pwmPin != 11) && (_pwmPin != 12)); // avoid PWM using timer0 or timer1 + if (TLE5206) { + if (forward) { + if (speed > 0) { + if (usePin2) { + digitalWrite(_pin1 , HIGH ); + analogWrite(_pin2 , 255 - speed); // invert drive signals - don't alter speed + } + else { + analogWrite(_pin1 , speed); + digitalWrite(_pin2 , LOW ); + } + } + else { // speed = 0 so put on the brakes + digitalWrite(_pin1 , HIGH ); + digitalWrite(_pin2 , HIGH ); + } + } + else { // reverse + if (usePin1) { + analogWrite(_pin1 , 255 - speed); // invert drive signals - don't alter speed + digitalWrite(_pin2 , HIGH ); + } else { + analogWrite(_pin2 , speed); + digitalWrite(_pin1 , LOW ); + } + } + } + else if (TB6643) { //EBS 1.5 + if (forward) { + if (speed > 0) { + analogWrite(_pin1 , speed); + digitalWrite(_pin2 , LOW); + } else { // speed = 0 so put on the brakes + digitalWrite(_pin1 , HIGH); + digitalWrite(_pin2 , HIGH); + } + } else { // reverse + digitalWrite(_pin1 , LOW); + analogWrite(_pin2 , speed); + } + } + else { // V1.2 + if (forward){ + if (usepwmPin){ + digitalWrite(_pin1 , HIGH ); + digitalWrite(_pin2 , LOW ); + analogWrite(_pwmPin, speed); + } + else if (usePin2) { + digitalWrite(_pin1 , HIGH ); + analogWrite(_pin2 , 255 - speed); // invert drive signals - don't alter speed + digitalWrite(_pwmPin, HIGH); + } + else{ + analogWrite(_pin1 , speed); + digitalWrite(_pin2 , LOW ); + digitalWrite(_pwmPin, HIGH); + } + } + else { // reverse or zero speed + if (usepwmPin){ + digitalWrite(_pin2 , HIGH); + digitalWrite(_pin1 , LOW ); + analogWrite(_pwmPin, speed); + } + else if (usePin1) { + analogWrite(_pin1 , 255 - speed); // invert drive signals - don't alter speed + digitalWrite(_pin2 , HIGH ); + digitalWrite(_pwmPin, HIGH); + } + else { + analogWrite(_pin2 , speed); + digitalWrite(_pin1 , LOW ); + digitalWrite(_pwmPin, HIGH); + } + } + } + + } +} + + + + + + + + +void Motor::directWrite(int voltage){ + /* + Write directly to the motor, ignoring if the axis is attached or any applied calibration. + */ + write(voltage, true); +} + +int Motor::attached(){ + + return _attachedState; +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Motor.h b/Firmware_1.26b/cnc_ctrl_v1/Motor.h new file mode 100644 index 00000000..c393ec89 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Motor.h @@ -0,0 +1,54 @@ + /*This file is part of the Makesmith Control Software. + + The Makesmith Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Makesmith Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with the Makesmith Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + + #ifndef Motor_h + #define Motor_h + + struct LinSegment{ + float slope = 1; + float intercept = 0; + //The bounds are strict, so if the bounds are 0,1 .9 would work + //but 1 and 0 will not + int positiveBound = 0; + int negativeBound = 0; + }; + + + + class Motor{ + public: + Motor(); + void attach(); + int setupMotor(const int& pwmPin, const int& pin1, const int& pin2); + void detach(); + void write(int speed, bool force = false); + int lastSpeed(); + void additiveWrite(int speed); + int attached(); + void directWrite(int voltage); + private: + int _pwmPin; + int _pin1; + int _pin2; + bool _attachedState = false; + LinSegment _linSegments[4]; + int _lastSpeed = 0; + + }; + extern bool TLE5206; + extern bool TB6643; + #endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.cpp b/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.cpp new file mode 100644 index 00000000..d5befc9d --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.cpp @@ -0,0 +1,205 @@ +/*This file is part of the Maslow Control Software. + + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +/* +The Motor module imitates the behavior of the Arduino servo module. It allows a gear motor (or any electric motor) +to be a drop in replacement for a continuous rotation servo. + +*/ + +#include "Maslow.h" + +void MotorGearboxEncoder::setup(const int& pwmPin, const int& directionPin1, const int& directionPin2, const int& encoderPin1, const int& encoderPin2, const unsigned long& loopInterval) +{ + //initialize encoder + encoder.setup(encoderPin1,encoderPin2); + // I don't like this, but I don't know how else to initialize a pointer to a value + float zero = 0.0; + float one = 1.0; + _Kp = _Ki = _Kd = &zero; + + //initialize motor + motor.setupMotor(pwmPin, directionPin1, directionPin2); + motor.write(0); + + //initialize the PID + _PIDController.setup(&_currentSpeed, &_pidOutput, &_targetSpeed, _Kp, _Ki, _Kd, &one, DIRECT); + initializePID(loopInterval); + + +} + +void MotorGearboxEncoder::write(const float& speed){ + /* + Command the motor to turn at the given speed. Should be RPM is PWM right now. + */ + + _targetSpeed = speed; + +} + +void MotorGearboxEncoder::initializePID(const unsigned long& loopInterval){ + //setup positive PID controller + _PIDController.SetMode(AUTOMATIC); + _PIDController.SetOutputLimits(-255, 255); + _PIDController.SetSampleTime(loopInterval / 1000); +} + +void MotorGearboxEncoder::computePID(){ + /* + Recompute the speed control PID loop and command the motor to move. + */ + _currentSpeed = computeSpeed(); + + _PIDController.Compute(); + + motor.additiveWrite(_pidOutput); +} + +void MotorGearboxEncoder::setPIDValues(float* KpV, float* KiV, float* KdV, float* propWeightV){ + /* + + Set PID tuning values + + */ + + _Kp = KpV; + _Ki = KiV; + _Kd = KdV; + + _PIDController.SetTunings(_Kp, _Ki, _Kd, propWeightV); +} + +String MotorGearboxEncoder::getPIDString(){ + /* + + Get PID tuning values + + */ + String PIDString = "Kp="; + return PIDString + *_Kp + ",Ki=" + *_Ki + ",Kd=" + *_Kd; +} + +String MotorGearboxEncoder::pidState(){ + /* + + Get current value of PID variables, setpoint, input, output + + */ + return _PIDController.pidState(); +} + +void MotorGearboxEncoder::setPIDAggressiveness(float aggressiveness){ + /* + + The setPIDAggressiveness() function sets the aggressiveness of the PID controller to + compensate for a change in the load on the motor. + + */ + + float adjustedKp = aggressiveness * *_Kp; + float one = 1.0; + + _PIDController.SetTunings(&adjustedKp, _Ki, _Kd, &one); + +} + +void MotorGearboxEncoder::setEncoderResolution(float resolution){ + /* + + Change the encoder resolution + + */ + + _encoderStepsToRPMScaleFactor = 60000000.0/resolution; //6*10^7 us per minute divided by 8113.73 steps per revolution + +} + +float MotorGearboxEncoder::computeSpeed(){ + /* + + Returns the motors speed in RPM since the last time this function was called + should only be called by the PID process otherwise we are calculating the + distance moved over a varying amount of time. + + */ + + float currentPosition = encoder.read(); + float currentMicros = micros(); + + float distMoved = currentPosition - _lastPosition; + if (distMoved > 3 || distMoved < -3){ + + // This dampens some of the effects of quantization without having + // a big effect on other changes + float saveDistMoved = distMoved; + if (distMoved - _lastDistMoved <= -1){ distMoved += .5;} + else if (distMoved - _lastDistMoved >= 1){distMoved -= .5;} + _lastDistMoved = saveDistMoved; + + unsigned long timeElapsed = currentMicros - _lastTimeStamp; + //Compute the speed in RPM + _RPM = (_encoderStepsToRPMScaleFactor*distMoved)/float(timeElapsed); + + } + else { + float elapsedTime = encoder.elapsedTime(); + float lastTime = micros() - encoder.lastStepTime(); // no direction associated with this + if (lastTime > abs(elapsedTime)) { + // This allows the RPM to approach 0 + if (elapsedTime < 0){ + elapsedTime = -lastTime; + } + else { + elapsedTime = lastTime; + } + }; + + _RPM = 0 ; + if (elapsedTime != 0){ + _RPM = _encoderStepsToRPMScaleFactor / elapsedTime; + } + } + _RPM = _RPM * -1.0; + + //Store values for next time + _lastTimeStamp = currentMicros; + _lastPosition = currentPosition; + + return _RPM; +} + +float MotorGearboxEncoder::cachedSpeed(){ + /* + Returns the last result of computeSpeed + */ + return _RPM; +} + +void MotorGearboxEncoder::setName(char *newName){ + /* + Set the name for the object + */ + _motorName = newName; +} + +char MotorGearboxEncoder::name(){ + /* + Get the name for the object + */ + return *_motorName; +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.h b/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.h new file mode 100644 index 00000000..6a680351 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.h @@ -0,0 +1,56 @@ + /*This file is part of the Makesmith Control Software. + + The Makesmith Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Makesmith Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with the Makesmith Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + + #ifndef MotorGearboxEncoder_h + #define MotorGearboxEncoder_h + + class MotorGearboxEncoder{ + public: + void setup(const int& pwmPin, const int& directionPin1, const int& directionPin2, const int& encoderPin1, const int& encoderPin2, const unsigned long& loopInterval); + Encoder encoder; + Motor motor; + float cachedSpeed(); + void write(const float& speed); + void computePID(); + void setName(char *newName); + char name(); + void initializePID(const unsigned long& loopInterval); + void setPIDAggressiveness(float aggressiveness); + void setPIDValues(float* KpV, float* KiV, float* KdV, float* propWeight); + void setEncoderResolution(float resolution); + float computeSpeed(); + String getPIDString(); + String pidState(); + private: + double _targetSpeed; + double _currentSpeed; + volatile double _lastPosition; + volatile double _lastTimeStamp; + float _lastDistMoved; + float _RPM; + char *_motorName; + double _pidOutput; + PID _PIDController; + float *_Kp, *_Ki, *_Kd; + // This could be converted to a pointer to save 4 bytes, but the + // calculation would have to be done at a much higher level and + // passed through each axis for it to have a single pointer to + // both main motors + float _encoderStepsToRPMScaleFactor = 7394.87; //6*10^7 us per minute divided by 8113.73 steps per revolution + }; + + #endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.cpp b/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.cpp new file mode 100644 index 00000000..f3711689 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.cpp @@ -0,0 +1,67 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains helper functions that are used throughout + +#include "Maslow.h" + +float readFloat(const String& str, byte& index, float& retVal){ + /* + Takes a string and a starting character index and returns a float if it can + be parsed from the string, it will skip leading spaces. Does not support + scientific notation as this is officially not supported by GCode. + Code was adopted from arduino Stream::parseFloat and some from Grbl's + read_float. It is a custom function because all arduino and c++ functions + appear to handle scientific notation or hexadecimal notation, or some other + type of numerical representation that we don't want supported. + */ + bool isNegative = false; + bool isFraction = false; + long value = 0; + float fraction = 1.0; + byte ndigit = 0; + while (str[index] == ' ' && index < str.length()){ + index++; + } + do{ + if (index < str.length()){ + if(str[index] == '-') + isNegative = true; + else if (str[index] == '.') + isFraction = true; + else if(str[index] >= '0' && str[index] <= '9') {// is a digit? + ndigit++; + value = value * 10 + str[index] - '0'; + if(isFraction) + fraction *= 0.1; + } + index++; + } + } + while(((str[index] >= '0' && str[index] <= '9') || (str[index] == '.' && !isFraction)) && index < str.length()); + + if (!ndigit) { return false; }; + + if(isNegative) + value = -value; + if(isFraction) + retVal = value * fraction; + else + retVal = value; + + return true; +} \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.h b/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.h new file mode 100644 index 00000000..4f1936f6 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.h @@ -0,0 +1,31 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains helper functions that are used throughout + +#ifndef nutsandbolts_h +#define nutsandbolts_h + +// These are nifty functions from Grbl +#define bit_true(x,mask) (x) |= (mask) +#define bit_false(x,mask) (x) &= ~(mask) +#define bit_istrue(x,mask) ((x & mask) != 0) +#define bit_isfalse(x,mask) ((x & mask) == 0) + +float readFloat(const String&, byte&, float&); + +#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/PID_v1.cpp b/Firmware_1.26b/cnc_ctrl_v1/PID_v1.cpp new file mode 100644 index 00000000..8401109c --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/PID_v1.cpp @@ -0,0 +1,236 @@ +/********************************************************************************************** + * Arduino PID Library - Version 1.2.1 + * by Brett Beauregard brettbeauregard.com + * + * This Library is licensed under the MIT License + **********************************************************************************************/ + +#if ARDUINO >= 100 + #include "Arduino.h" +#else + #include "WProgram.h" +#endif + +#include "Maslow.h" + +/*Constructor (...)********************************************************* + * The parameters specified here are those for for which we can't set up + * reliable defaults, so we need to have the user set them. + ***************************************************************************/ +PID::PID() +{ + inAuto = false; +} + +void PID::setup(volatile double* Input, volatile double* Output, volatile double* Setpoint, + float* Kp, float* Ki, float* Kd, float* POn, const int& ControllerDirection) +{ + + myOutput = Output; + myInput = Input; + mySetpoint = Setpoint; + inAuto = false; + + PID::SetOutputLimits(0, 255); //default output limit corresponds to + //the arduino pwm limits + + SampleTime = 100; //default Controller Sample Time is 0.1 seconds + + PID::SetControllerDirection(ControllerDirection); + PID::SetTunings(Kp, Ki, Kd, POn); + + lastTime = millis()-SampleTime; +} + +/* Compute() ********************************************************************** + * This, as they say, is where the magic happens. this function should be called + * every time "void loop()" executes. the function will decide for itself whether a new + * pid Output needs to be computed. returns true when the output is computed, + * false when nothing has been done. + **********************************************************************************/ +bool PID::Compute() +{ + if(!inAuto) return false; + //unsigned long now = millis(); + //unsigned long timeChange = (now - lastTime); + //if(timeChange>=SampleTime) + //{ <--- This if statement has been removed to reduce timing jitter on the interrupt. + //because we are calling the function from within an interrupt timer it will be called + //with a consistent sample period + + /*Compute all the working error variables*/ + double input = *myInput; + double error = *mySetpoint - input; + double dInput = (input - lastInput); + outputSum+= (ki * error); + + /*Add Proportional on Measurement, if P_ON_M is specified*/ + if(pOnM) outputSum-= pOnMKp * dInput; + + if(outputSum > outMax) outputSum= outMax; + else if(outputSum < outMin) outputSum= outMin; + + /*Add Proportional on Error, if P_ON_E is specified*/ + double output; + if(pOnE) output = pOnEKp * error; + else output = 0; + + /*Compute Rest of PID Output*/ + output += outputSum - kd * dInput; + + if(output > outMax) output = outMax; + else if(output < outMin) output = outMin; + *myOutput = output; + + /*Remember some variables for next time*/ + lastInput = input; + //lastTime = now; + return true; + //} + //else return false; +} + + +/* SetTunings(...)************************************************************* + * This function allows the controller's dynamic performance to be adjusted. + * it's called automatically from the constructor, but tunings can also + * be adjusted on the fly during normal operation + ******************************************************************************/ +void PID::SetTunings(float* Kp, float* Ki, float* Kd, float* pOn) +{ + if (*Kp<0 || *Ki<0 || *Kd<0 || *pOn<0 || *pOn>1) return; + + pOnE = *pOn>0; //some p on error is desired; + pOnM = *pOn<1; //some p on measurement is desired; + + dispKp = Kp; dispKi = Ki; dispKd = Kd; + + double SampleTimeInSec = ((double)SampleTime)/1000; + kp = *Kp; + ki = *Ki * SampleTimeInSec; + kd = *Kd / SampleTimeInSec; + + if(controllerDirection ==REVERSE) + { + kp = (0 - kp); + ki = (0 - ki); + kd = (0 - kd); + } + pOnEKp = *pOn * kp; + pOnMKp = (1 - *pOn) * kp; +} + +/* SetSampleTime(...) ********************************************************* + * sets the period, in Milliseconds, at which the calculation is performed + ******************************************************************************/ +void PID::SetSampleTime(const int& NewSampleTime) +{ + if (NewSampleTime > 0) + { + double ratio = (double)NewSampleTime + / (double)SampleTime; + ki *= ratio; + kd /= ratio; + SampleTime = (unsigned long)NewSampleTime; + } +} + +/* SetOutputLimits(...)**************************************************** + * This function will be used far more often than SetInputLimits. while + * the input to the controller will generally be in the 0-1023 range (which is + * the default already,) the output will be a little different. maybe they'll + * be doing a time window and will need 0-8000 or something. or maybe they'll + * want to clamp it from 0-125. who knows. at any rate, that can all be done + * here. + **************************************************************************/ +void PID::SetOutputLimits(const double& Min, const double& Max) +{ + if(Min >= Max) return; + outMin = Min; + outMax = Max; + + if(inAuto) + { + + //clamp myOutput and ITerm + *myOutput = + (*myOutput > outMax) ? outMax : (*myOutput < outMin) ? outMin : *myOutput; + + if(outputSum > outMax) outputSum= outMax; + else if(outputSum < outMin) outputSum= outMin; + + } +} + +/* SetMode(...)**************************************************************** + * Allows the controller Mode to be set to manual (0) or Automatic (non-zero) + * when the transition from manual to auto occurs, the controller is + * automatically initialized + ******************************************************************************/ +void PID::SetMode(const int& Mode) +{ + bool newAuto = (Mode == AUTOMATIC); + if(newAuto && !inAuto) + { /*we just went from manual to auto*/ + PID::Initialize(); + } + inAuto = newAuto; +} + +/* Initialize()**************************************************************** + * does all the things that need to happen to ensure a bumpless transfer + * from manual to automatic mode. + ******************************************************************************/ +void PID::Initialize() +{ + outputSum = *myOutput; + lastInput = *myInput; + if(outputSum > outMax) outputSum = outMax; + else if(outputSum < outMin) outputSum = outMin; +} + +/* SetControllerDirection(...)************************************************* + * The PID will either be connected to a DIRECT acting process (+Output leads + * to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to + * know which one, because otherwise we may increase the output when we should + * be decreasing. This is called from the constructor. + ******************************************************************************/ +void PID::SetControllerDirection(const int& Direction) +{ + if(inAuto && Direction !=controllerDirection) + { + kp = (0 - kp); + ki = (0 - ki); + kd = (0 - kd); + } + controllerDirection = Direction; +} + +/* Status Funcions************************************************************* + * Just because you set the Kp=-1 doesn't mean it actually happened. these + * functions query the internal state of the PID. they're here for display + * purposes. this are the functions the PID Front-end uses for example + ******************************************************************************/ +double PID::GetKp(){ return *dispKp;} +double PID::GetKi(){ return *dispKi;} +double PID::GetKd(){ return *dispKd;} +int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;} +int PID::GetDirection(){ return controllerDirection;} +double PID::GetIterm(){ return outputSum; } +String PID::pidState() { + /* + Returns a comma seperated string of the PID setpoint, input, & output + useful for debugging + */ + double input = *myInput; + double setpoint = *mySetpoint; + double output = *myOutput; + String ret = ""; + ret.concat((double)setpoint); + ret.concat(","); + ret.concat((double)input); + ret.concat(","); + ret.concat((double)output); + return ret; +} + diff --git a/Firmware_1.26b/cnc_ctrl_v1/PID_v1.h b/Firmware_1.26b/cnc_ctrl_v1/PID_v1.h new file mode 100644 index 00000000..803076db --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/PID_v1.h @@ -0,0 +1,98 @@ +#ifndef PID_v1_h +#define PID_v1_h +#define LIBRARY_VERSION 1.2.1 + +class PID +{ + + + public: + + //Constants used in some of the functions below + #define AUTOMATIC 1 + #define MANUAL 0 + #define DIRECT 0 + #define REVERSE 1 + #define P_ON_M 0.0 + #define P_ON_E 1.0 + bool pOnE = true, pOnM = false; + double pOnEKp, pOnMKp; + + //commonly used functions ************************************************************************** + + PID(); + + void setup(volatile double*, volatile double*, volatile double*, // * constructor. links the PID to the Input, Output, and + float*, float*, float*, float*, const int&);// Setpoint. Initial tuning parameters are also set here. + // (overload for specifying proportional mode) + + PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and + double, double, double, int); // Setpoint. Initial tuning parameters are also set here + + void SetMode(const int& Mode); // * sets PID to either Manual (0) or Auto (non-0) + + bool Compute(); // * performs the PID calculation. it should be + // called every time loop() cycles. ON/OFF and + // calculation frequency can be set using SetMode + // SetSampleTime respectively + + void SetOutputLimits(const double&, const double&); //clamps the output to a specific range. 0-255 by default, but + //it's likely the user will want to change this depending on + //the application + + + + //available but not commonly used functions ******************************************************** + void SetTunings(float*, float*, // * While most users will set the tunings once in the + float*); // constructor, this function gives the user the option + // of changing tunings during runtime for Adaptive control + void SetTunings(float*, float*, // * overload for specifying proportional mode + float*, float*); + + void SetControllerDirection(const int&); // * Sets the Direction, or "Action" of the controller. DIRECT + // means the output will increase when error is positive. REVERSE + // means the opposite. it's very unlikely that this will be needed + // once it is set in the constructor. + void SetSampleTime(const int&); // * sets the frequency, in Milliseconds, with which + // the PID calculation is performed. default is 100 + + + //Display functions **************************************************************** + double GetKp(); // These functions query the pid for interal values. + double GetKi(); // they were created mainly for the pid front-end, + double GetKd(); // where it's important to know what is actually + int GetMode(); // inside the PID. + int GetDirection(); // + double GetIterm(); + String pidState(); + + private: + void Initialize(); + + float *dispKp; // * we'll hold on to the tuning parameters in user-entered + float *dispKi; // format for display purposes + float *dispKd; // + +// While shared by both main motors, these are not pointers because they are +// calculated using sample time in this file. + double kp; // * (P)roportional Tuning Parameter + double ki; // * (I)ntegral Tuning Parameter + double kd; // * (D)erivative Tuning Parameter + + int controllerDirection; + int pOn; + + volatile double *myInput; // * Pointers to the Input, Output, and Setpoint variables + volatile double *myOutput; // This creates a hard link between the variables and the + volatile double *mySetpoint; // PID, freeing the user from having to constantly tell us + // what these values are. with pointers we'll just know. + + unsigned long lastTime; + double outputSum, lastInput; + + unsigned long SampleTime; + double outMin, outMax; + bool inAuto; +}; +#endif + diff --git a/Firmware_1.26b/cnc_ctrl_v1/Probe.cpp b/Firmware_1.26b/cnc_ctrl_v1/Probe.cpp new file mode 100644 index 00000000..619fc09a --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Probe.cpp @@ -0,0 +1,33 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains functions related to the probe + +#include "Maslow.h" + +// the variable probePin is assigned in configAuxLow() in System.cpp + +bool checkForProbeTouch(const int& probePin) { + /* + Check to see if ProbePin has gone LOW + */ + if (digitalRead(probePin) == LOW) { + readyCommandString = ""; + return 1; + } + return 0; +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Probe.h b/Firmware_1.26b/cnc_ctrl_v1/Probe.h new file mode 100644 index 00000000..c4340366 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Probe.h @@ -0,0 +1,25 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains functions related to the probe + +#ifndef probe_h +#define probe_h + +bool checkForProbeTouch(const int&); + +#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/Report.cpp b/Firmware_1.26b/cnc_ctrl_v1/Report.cpp new file mode 100644 index 00000000..0c8b9e4f --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Report.cpp @@ -0,0 +1,316 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains the functions for outgoing Serial responses + +#include "Maslow.h" + +void reportStatusMessage(byte status_code){ + /* + + Sends confirmation protocol response for commands. For every incoming line, + this method responds with an 'ok' for a successful command or an 'error:' + to indicate some error event with the line or some critical system error during + operation. + + Taken from Grbl http://github.com/grbl/grbl + */ + if (status_code == 0) { // STATUS_OK + Serial.println(F("ok")); + } else { + Serial.print(F("error: ")); + #ifdef REPORT_GUI_MODE + Serial.println(status_code); + #else + switch(status_code) { + // case STATUS_EXPECTED_COMMAND_LETTER=")); Serial.println( // Serial.println(F("Expected command letter")); break; + case STATUS_BAD_NUMBER_FORMAT: + Serial.println(F("Bad number format")); break; + case STATUS_INVALID_STATEMENT: + Serial.println(F("Invalid statement")); break; + case STATUS_OLD_SETTINGS: + Serial.println(F("Please set $12, $13, $19, and $20 to load old position data.")); break; + // case STATUS_NEGATIVE_VALUE: + // Serial.println(F("Value < 0")); break; + // case STATUS_SETTING_DISABLED: + // Serial.println(F("Setting disabled")); break; + // case STATUS_SETTING_STEP_PULSE_MIN: + // Serial.println(F("Value < 3 usec")); break; + case STATUS_SETTING_READ_FAIL: + Serial.println(F("EEPROM read fail. Using default settings.")); break; + // case STATUS_IDLE_ERROR: + // Serial.println(F("Not idle")); break; + // case STATUS_ALARM_LOCK: + // Serial.println(F("Alarm lock")); break; + // case STATUS_SOFT_LIMIT_ERROR: + // Serial.println(F("Homing not enabled")); break; + // case STATUS_OVERFLOW: + // Serial.println(F("Line overflow")); break; + // #ifdef MAX_STEP_RATE_HZ + // case STATUS_MAX_STEP_RATE_EXCEEDED: + // Serial.println(F("Step rate > 30kHz")); break; + // #endif + // Common g-code parser errors. + // case STATUS_GCODE_MODAL_GROUP_VIOLATION: + // Serial.println(F("Modal group violation")); break; + // case STATUS_GCODE_UNSUPPORTED_COMMAND: + // Serial.println(F("Unsupported command")); break; + // case STATUS_GCODE_UNDEFINED_FEED_RATE: + // Serial.println(F("Undefined feed rate")); break; + default: + // Remaining g-code parser errors with error codes + Serial.print(F("Invalid gcode ID:")); + Serial.println(status_code); // Print error code for user reference + } + #endif + } +} + +void reportFeedbackMessage(byte message_code){ + Serial.print(F("Message: ")); + switch(message_code) { + // case MESSAGE_CRITICAL_EVENT: + // Serial.print(F("Reset to continue")); break; + // case MESSAGE_ALARM_LOCK: + // Serial.print(F("'$H'|'$X' to unlock")); break; + // case MESSAGE_ALARM_UNLOCK: + // Serial.print(F("Caution: Unlocked")); break; + // case MESSAGE_ENABLED: + // Serial.print(F("Enabled")); break; + // case MESSAGE_DISABLED: + // Serial.print(F("Disabled")); break; + // case MESSAGE_SAFETY_DOOR_AJAR: + // Serial.print(F("Check Door")); break; + // case MESSAGE_CHECK_LIMITS: + // Serial.print(F("Check Limits")); break; + // case MESSAGE_PROGRAM_END: + // Serial.print(F("Pgm End")); break; + case MESSAGE_RESTORE_DEFAULTS: + Serial.print(F("Restoring defaults")); break; + // case MESSAGE_SPINDLE_RESTORE: + // Serial.print(F("Restoring spindle")); break; + // case MESSAGE_SLEEP_MODE: + // Serial.print(F("Sleeping")); break; + } + Serial.println(F(" ")); +} + +// Prints alarm messages. +void reportAlarmMessage(byte alarm_code) { + Serial.print(F("ALARM: ")); + #ifdef REPORT_GUI_MODE + Serial.println(alarm_code); + #else + switch (alarm_code) { + case ALARM_POSITION_LOST: { + Serial.println(F("Position Lost")); break; + } + case ALARM_GCODE_PARAM_ERROR: { + Serial.println(F("There is a parameter error in this line of Gcode - make a note of the line number. Cutting will be put on hold until you choose whether to 'Resume Cut' (skipping this line) or 'Stop'. ")); + pause(); //This pause() waits for user acknowledgement of message + pause(); //Now wait for user decision about 'Stop' or 'Resume' + break; + } + case ALARM_POSITION_LIMIT_ERROR: { + Serial.println(F("The sled is not keeping up with its expected position and has halted. Click the 'Stop' button to clear the alarm. More information at: https://github.com/MaslowCNC/Firmware/wiki/Keeping-Up ")); + sys.stop = true; + break; + } + } + #endif +} + +// Maslow global settings print out. +// NOTE: The numbering scheme here must correlate to storing in settings.c +void reportMaslowSettings() { + // Print Maslow settings. + // Taken from Grbl. http://github.com/grbl/grbl + #ifdef REPORT_GUI_MODE + Serial.print(F("$0=")); Serial.println(sysSettings.machineWidth, 8); + Serial.print(F("$1=")); Serial.println(sysSettings.machineHeight, 8); + Serial.print(F("$2=")); Serial.println(sysSettings.distBetweenMotors, 8); + Serial.print(F("$3=")); Serial.println(sysSettings.motorOffsetY, 8); + Serial.print(F("$4=")); Serial.println(sysSettings.sledWidth, 8); + Serial.print(F("$5=")); Serial.println(sysSettings.sledHeight, 8); + Serial.print(F("$6=")); Serial.println(sysSettings.sledCG, 8); + Serial.print(F("$7=")); Serial.println(sysSettings.kinematicsType); + Serial.print(F("$8=")); Serial.println(sysSettings.rotationDiskRadius, 8); + Serial.print(F("$9=")); Serial.println(sysSettings.axisDetachTime); + Serial.print(F("$10=")); Serial.println(sysSettings.chainLength); + Serial.print(F("$11=")); Serial.println(sysSettings.originalChainLength); + Serial.print(F("$12=")); Serial.println(sysSettings.encoderSteps, 8); + Serial.print(F("$13=")); Serial.println(sysSettings.distPerRot, 8); + Serial.print(F("$15=")); Serial.println(sysSettings.maxFeed); + Serial.print(F("$16=")); Serial.println(sysSettings.zAxisAttached); + Serial.print(F("$17=")); Serial.println(sysSettings.spindleAutomate); + Serial.print(F("$18=")); Serial.println(sysSettings.maxZRPM, 8); + Serial.print(F("$19=")); Serial.println(sysSettings.zDistPerRot, 8); + Serial.print(F("$20=")); Serial.println(sysSettings.zEncoderSteps, 8); + Serial.print(F("$21=")); Serial.println(sysSettings.KpPos, 8); + Serial.print(F("$22=")); Serial.println(sysSettings.KiPos, 8); + Serial.print(F("$23=")); Serial.println(sysSettings.KdPos, 8); + Serial.print(F("$24=")); Serial.println(sysSettings.propWeightPos, 8); + Serial.print(F("$25=")); Serial.println(sysSettings.KpV, 8); + Serial.print(F("$26=")); Serial.println(sysSettings.KiV, 8); + Serial.print(F("$27=")); Serial.println(sysSettings.KdV, 8); + Serial.print(F("$28=")); Serial.println(sysSettings.propWeightV, 8); + Serial.print(F("$29=")); Serial.println(sysSettings.zKpPos, 8); + Serial.print(F("$30=")); Serial.println(sysSettings.zKiPos, 8); + Serial.print(F("$31=")); Serial.println(sysSettings.zKdPos, 8); + Serial.print(F("$32=")); Serial.println(sysSettings.zPropWeightPos, 8); + Serial.print(F("$33=")); Serial.println(sysSettings.zKpV, 8); + Serial.print(F("$34=")); Serial.println(sysSettings.zKiV, 8); + Serial.print(F("$35=")); Serial.println(sysSettings.zKdV, 8); + Serial.print(F("$36=")); Serial.println(sysSettings.zPropWeightV, 8); + Serial.print(F("$37=")); Serial.println(sysSettings.chainSagCorrection, 8); + Serial.print(F("$38=")); Serial.println(sysSettings.chainOverSprocket); + Serial.print(F("$39=")); Serial.println(sysSettings.fPWM); + Serial.print(F("$40=")); Serial.println(sysSettings.leftChainTolerance, 8); + Serial.print(F("$41=")); Serial.println(sysSettings.rightChainTolerance, 8); + Serial.print(F("$42=")); Serial.println(sysSettings.positionErrorLimit, 8); + + #else + Serial.print(F("$0=")); Serial.print(sysSettings.machineWidth); + Serial.print(F(" (machine width, mm)\r\n$1=")); Serial.print(sysSettings.machineHeight, 8); + Serial.print(F(" (machine height, mm)\r\n$2=")); Serial.print(sysSettings.distBetweenMotors, 8); + Serial.print(F(" (motor distance, mm)\r\n$3=")); Serial.print(sysSettings.motorOffsetY, 8); + Serial.print(F(" (motor height, mm)\r\n$4=")); Serial.print(sysSettings.sledWidth, 8); + Serial.print(F(" (sled width, mm)\r\n$5=")); Serial.print(sysSettings.sledHeight, 8); + Serial.print(F(" (sled height, mm)\r\n$6=")); Serial.print(sysSettings.sledCG, 8); + Serial.print(F(" (sled cg, mm)\r\n$7=")); Serial.print(sysSettings.kinematicsType); + Serial.print(F(" (Kinematics Type 1=Quadrilateral, 2=Triangular)\r\n$8=")); Serial.print(sysSettings.rotationDiskRadius, 8); + Serial.print(F(" (rotation radius, mm)\r\n$9=")); Serial.print(sysSettings.axisDetachTime); + Serial.print(F(" (axis idle before detach, ms)\r\n$10=")); Serial.print(sysSettings.chainLength); + Serial.print(F(" (full length of chain, mm)\r\n$11=")); Serial.print(sysSettings.originalChainLength); + Serial.print(F(" (calibration chain length, mm)\r\n$12=")); Serial.print(sysSettings.encoderSteps, 8); + Serial.print(F(" (main steps per revolution)\r\n$13=")); Serial.print(sysSettings.distPerRot, 8); + Serial.print(F(" (distance / rotation, mm)\r\n$15=")); Serial.print(sysSettings.maxFeed); + Serial.print(F(" (max feed, mm/min)\r\n$16=")); Serial.print(sysSettings.zAxisAttached); + Serial.print(F(" (Auto Z Axis, 1 = Yes)\r\n$17=")); Serial.print(sysSettings.spindleAutomateType); + Serial.print(F(" (auto spindle enable 1=servo, 2=relay_h, 3=relay_l)\r\n$18=")); Serial.print(sysSettings.maxZRPM, 8); + Serial.print(F(" (max z axis RPM)\r\n$19=")); Serial.print(sysSettings.zDistPerRot, 8); + Serial.print(F(" (z axis distance / rotation)\r\n$20=")); Serial.print(sysSettings.zEncoderSteps, 8); + Serial.print(F(" (z axis steps per revolution)\r\n$21=")); Serial.print(sysSettings.KpPos, 8); + Serial.print(F(" (main Kp Pos)\r\n$22=")); Serial.print(sysSettings.KiPos, 8); + Serial.print(F(" (main Ki Pos)\r\n$23=")); Serial.print(sysSettings.KdPos, 8); + Serial.print(F(" (main Kd Pos)\r\n$24=")); Serial.print(sysSettings.propWeightPos, 8); + Serial.print(F(" (main Pos proportional weight)\r\n$25=")); Serial.print(sysSettings.KpV, 8); + Serial.print(F(" (main Kp Velocity)\r\n$26=")); Serial.print(sysSettings.KiV, 8); + Serial.print(F(" (main Ki Velocity)\r\n$27=")); Serial.print(sysSettings.KdV, 8); + Serial.print(F(" (main Kd Velocity)\r\n$28=")); Serial.print(sysSettings.propWeightV, 8); + Serial.print(F(" (main Velocity proportional weight)\r\n$29=")); Serial.print(sysSettings.zKpPos, 8); + Serial.print(F(" (z axis Kp Pos)\r\n$30=")); Serial.print(sysSettings.zKiPos, 8); + Serial.print(F(" (z axis Ki Pos)\r\n$31=")); Serial.print(sysSettings.zKdPos, 8); + Serial.print(F(" (z axis Kd Pos)\r\n$32=")); Serial.print(sysSettings.zPropWeightPos, 8); + Serial.print(F(" (z axis Pos proportional weight)\r\n$33=")); Serial.print(sysSettings.zKpV, 8); + Serial.print(F(" (z axis Kp Velocity)\r\n$34=")); Serial.print(sysSettings.zKiV, 8); + Serial.print(F(" (z axis Ki Velocity)\r\n$35=")); Serial.print(sysSettings.zKdV, 8); + Serial.print(F(" (z axis Kd Velocity)\r\n$36=")); Serial.print(sysSettings.zPropWeightV, 8); + Serial.print(F(" (z axis Velocity proportional weight)\r\n$37=")); Serial.print(sysSettings.chainSagCorrection, 8); + Serial.print(F(" (chain sag correction value)\r\n$38=")); Serial.print(sysSettings.chainOverSprocket); + Serial.print(F(" (chain over sprocket)\r\n$39=")); Serial.print(sysSettings.fPWM); + Serial.print(F(" (PWM frequency value 1=39,000Hz, 2=4,100Hz, 3=490Hz)\r\n$40=")); Serial.print(sysSettings.leftChainTolerance, 8); + Serial.print(F(" (chain tolerance, left chain, mm)\r\n$41=")); Serial.print(sysSettings.rightChainTolerance, 8); + Serial.print(F(" (chain tolerance, right chain, mm)\r\n$42=")); Serial.print(sysSettings.positionErrorLimit, 8); + Serial.print(F(" (position error alarm limit, mm)")); + Serial.println(); + #endif +} + +void returnError(){ + /* + Prints the machine's positional error and the amount of space available in the + gcode buffer + */ + Serial.print(F("[PE:")); + Serial.print(leftAxis.error()); + Serial.print(','); + Serial.print(rightAxis.error()); + Serial.print(','); + Serial.print(incSerialBuffer.spaceAvailable()); + Serial.println(F("]")); + if (!sys.stop) { + if (!(sys.state & STATE_POS_ERR_IGNORE)) { + if ((abs(leftAxis.error()) >= sysSettings.positionErrorLimit) || (abs(rightAxis.error()) >= sysSettings.positionErrorLimit)) { + reportAlarmMessage(ALARM_POSITION_LIMIT_ERROR); + } + } + } +} + +void returnPoz(){ + /* + Causes the machine's position (x,y) to be sent over the serial connection updated on the UI + in Ground Control. Also causes the error report to be sent. Only executes + if hasn't been called in at least POSITIONTIMEOUT ms. + */ + + static unsigned long lastRan = millis(); + + if (millis() - lastRan > POSITIONTIMEOUT){ + + + Serial.print(F("<")); + if (sys.stop){ + Serial.print(F("Stop,MPos:")); + } + else if (sys.pause){ + Serial.print(F("Pause,MPos:")); + } + else{ + Serial.print(F("Idle,MPos:")); + } + Serial.print(sys.xPosition/sys.inchesToMMConversion); + Serial.print(F(",")); + Serial.print(sys.yPosition/sys.inchesToMMConversion); + Serial.print(F(",")); + Serial.print(zAxis.read()/sys.inchesToMMConversion); + Serial.println(F(",WPos:0.000,0.000,0.000>")); + + + returnError(); + + lastRan = millis(); + } + +} + +void reportMaslowHelp(){ + /* + This function outputs a brief summary of the $ system commands available. + The list is somewhat aspirational based on what Grbl offers. Maslow + does not currently support all of these features. + + This is taken heavily from grbl. https://github.com/grbl/grbl + */ + #ifndef REPORT_GUI_MODE + Serial.println(F("$$ (view Maslow settings)")); + // Serial.println(F("$# (view # parameters)")); + // Serial.println(F("$G (view parser state)")); + // Serial.println(F("$I (view build info)")); + // Serial.println(F("$N (view startup blocks)")); + Serial.println(F("$x=value (save Maslow setting)")); + // Serial.println(F("$Nx=line (save startup block)")); + // Serial.println(F("$C (check gcode mode)")); + // Serial.println(F("$X (kill alarm lock)")); + // Serial.println(F("$H (run homing cycle)")); + Serial.println(F("~ (cycle start)")); // Maslow treats this as resume or un-pause currently + Serial.println(F("! (feed hold)")); // Maslow treats this as a cycle stop. + // Serial.println(F("? (current status)")); + // Serial.println(F("ctrl-x (reset Maslow)")); + #endif +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Report.h b/Firmware_1.26b/cnc_ctrl_v1/Report.h new file mode 100644 index 00000000..d62b2289 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Report.h @@ -0,0 +1,85 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains the functions for outgoing Serial responses + +#ifndef report_h +#define report_h + +// Define Maslow status codes. +// Taken from Grbl http://github.com/grbl/grbl +#define STATUS_OK 0 +#define STATUS_EXPECTED_COMMAND_LETTER 1 +#define STATUS_BAD_NUMBER_FORMAT 2 +#define STATUS_INVALID_STATEMENT 3 +#define STATUS_NEGATIVE_VALUE 4 +#define STATUS_SETTING_DISABLED 5 +#define STATUS_SETTING_STEP_PULSE_MIN 6 +#define STATUS_SETTING_READ_FAIL 7 +#define STATUS_IDLE_ERROR 8 +#define STATUS_ALARM_LOCK 9 +#define STATUS_SOFT_LIMIT_ERROR 10 +#define STATUS_OVERFLOW 11 +#define STATUS_MAX_STEP_RATE_EXCEEDED 12 +#define STATUS_OLD_SETTINGS 13 + +#define STATUS_GCODE_UNSUPPORTED_COMMAND 20 +#define STATUS_GCODE_MODAL_GROUP_VIOLATION 21 +#define STATUS_GCODE_UNDEFINED_FEED_RATE 22 +#define STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER 23 +#define STATUS_GCODE_AXIS_COMMAND_CONFLICT 24 +#define STATUS_GCODE_WORD_REPEATED 25 +#define STATUS_GCODE_NO_AXIS_WORDS 26 +#define STATUS_GCODE_INVALID_LINE_NUMBER 27 +#define STATUS_GCODE_VALUE_WORD_MISSING 28 +#define STATUS_GCODE_UNSUPPORTED_COORD_SYS 29 +#define STATUS_GCODE_G53_INVALID_MOTION_MODE 30 +#define STATUS_GCODE_AXIS_WORDS_EXIST 31 +#define STATUS_GCODE_NO_AXIS_WORDS_IN_PLANE 32 +#define STATUS_GCODE_INVALID_TARGET 33 +#define STATUS_GCODE_ARC_RADIUS_ERROR 34 +#define STATUS_GCODE_NO_OFFSETS_IN_PLANE 35 +#define STATUS_GCODE_UNUSED_WORDS 36 +#define STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR 37 + +// Define Maslow alarm codes. +#define ALARM_POSITION_LOST bit(0) +#define ALARM_GCODE_PARAM_ERROR bit(1) +#define ALARM_POSITION_LIMIT_ERROR bit(2) + +// Define Maslow feedback message codes. Valid values (0-255). +#define MESSAGE_CRITICAL_EVENT 1 +#define MESSAGE_ALARM_LOCK 2 +#define MESSAGE_ALARM_UNLOCK 3 +#define MESSAGE_ENABLED 4 +#define MESSAGE_DISABLED 5 +#define MESSAGE_SAFETY_DOOR_AJAR 6 +#define MESSAGE_CHECK_LIMITS 7 +#define MESSAGE_PROGRAM_END 8 +#define MESSAGE_RESTORE_DEFAULTS 9 +#define MESSAGE_SPINDLE_RESTORE 10 +#define MESSAGE_SLEEP_MODE 11 + +void reportStatusMessage(byte); +void reportFeedbackMessage(byte); +void reportMaslowSettings(); +void reportAlarmMessage(byte); +void returnError(); +void returnPoz(); +void reportMaslowHelp(); + +#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.cpp b/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.cpp new file mode 100644 index 00000000..c391edc8 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.cpp @@ -0,0 +1,208 @@ +/*This file is part of the Maslow Control Software. + + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +/* +The RingBuffer module creates a circular character buffer used for storing incoming +serial data. +*/ + +#include "Maslow.h" + +RingBuffer::RingBuffer(){ + +} +int RingBuffer::write(char letter){ + /* + + Write one character into the ring buffer. + Return 0 on success + Return 1 on buffer overflow + + */ + if (letter != '?'){ //ignore question marks because grbl sends them all the time + _buffer[_endOfString] = letter; + int bufferOverflow = _incrementEnd(); + return bufferOverflow; + } + return 0; +} + +char RingBuffer::read(){ + /* + + Read one character from the ring buffer. + + */ + + char letter; + if (_beginningOfString == _endOfString){ + letter = '\0'; //if the buffer is empty return null + } + else{ + letter = _buffer[_beginningOfString]; //else return first character + _buffer[_beginningOfString] = '\0'; //set the read character to null so it cannot be read again + _incrementBeginning(); //and increment the pointer + } + + return letter; +} + +int RingBuffer::numberOfLines() { + /* + + Return the number of full lines (as determined by \n terminations) in the buffer + + */ + + int lineCount = 0; + + int i = _beginningOfString; + while (i != _endOfString) { // if we haven't gotten to the end of the buffer yet + if(_buffer[i] == '\n'){ // check to see if the buffer contains a complete line terminated with \n + lineCount++; // yes, so increment lineCount + } + _incrementVariable(&i); // go to the next character in the buffer + } + + return lineCount; +} + +void RingBuffer::readLine(String &lineToReturn){ + /* + + Return one line (terminated with \n) from the buffer + if there are no full lines in the buffer, passed string will be empty + + */ + lineToReturn = ""; // begin with an empty string + + if (numberOfLines() > 0) { // there is at least one full line in the buffer + char lastReadValue = '\0'; + while(lastReadValue != '\n'){ //read until the end of the line is found, building the string + lastReadValue = read(); + lineToReturn += lastReadValue; + } + } +} + +void RingBuffer::prettyReadLine(String &lineToReturn){ + /* + + Return one line (terminated with \n) from the buffer, but in all uppercase + with no leading or trailing whitespaces + + */ + readLine(lineToReturn); + lineToReturn.trim(); // remove leading and trailing white space + lineToReturn.toUpperCase(); +} + +void RingBuffer::print(){ + Serial.print(F("Buffer Used: ")); + Serial.println(length()); + Serial.print(F("Buffer Number of Lines: ")); + Serial.println(numberOfLines()); + Serial.print(F("Buffer Begin: ")); + Serial.println(_beginningOfString); + Serial.print(F("Buffer End: ")); + Serial.println(_endOfString); + + Serial.print(F("Buffer Contents: ")); + int i = _beginningOfString; + while(i != _endOfString){ + if (_buffer[i] == '\n') { + Serial.print(F("\\n")); + } + else if (_buffer[i] == '\r') { + Serial.print(F("\\r")); + } + else if (_buffer[i] == '\t') { + Serial.print(F("\\t")); + } + else { + Serial.print(_buffer[i]); + } + _incrementVariable(&i); + } + + Serial.println(F("(End of Buffer)")); + +} + +void RingBuffer::_incrementBeginning(){ + /* + + Increment the pointer to the beginning of the ring buffer by one. + + */ + + if (_beginningOfString == _endOfString) + return; //don't allow the beginning to pass the end + else + _beginningOfString = (_beginningOfString + 1) % INCBUFFERLENGTH; //move the beginning up one and wrap to zero based upon INCBUFFERLENGTH +} + +int RingBuffer::_incrementEnd(){ + /* + + Increment the pointer to the end of the ring buffer by one. + + */ + if ( spaceAvailable() == 0 ) { + Serial.println(F("Buffer overflow!")); + print(); // print buffer info and contents + return 1; + } + else + _endOfString = (_endOfString+1) % INCBUFFERLENGTH; + return 0; + } + +void RingBuffer::_incrementVariable(int* variable){ + /* + Increment the target variable. + */ + *variable = (*variable + 1 ) % INCBUFFERLENGTH; + } + +int RingBuffer::spaceAvailable(){ + /* + Returns the number of characters available in the buffer + */ + return INCBUFFERLENGTH - length() - 1; +} + +int RingBuffer::length(void) + /* + Returns the number of characters held in the buffer + */ +{ + if ( _endOfString >= _beginningOfString ) // Linear + return _endOfString - _beginningOfString ; + else // must have rolled + return ( INCBUFFERLENGTH - _beginningOfString + _endOfString); +} + + +void RingBuffer::empty(){ + /* + Empty the contents of the ring buffer + */ + + _beginningOfString = 0; + _endOfString = 0; +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.h b/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.h new file mode 100644 index 00000000..f6369f62 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.h @@ -0,0 +1,42 @@ + /*This file is part of the Maslow Control Software. + + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + + #ifndef RingBuffer_h + #define RingBuffer_h + + class RingBuffer{ + public: + RingBuffer(); + int write(char letter); + void print(); + char read(); + int length(); + int numberOfLines(); + int spaceAvailable(); + void empty(); + void readLine(String&); + void prettyReadLine(String&); + private: + void _incrementBeginning(); + int _incrementEnd(); + void _incrementVariable(int* variable); + int _beginningOfString = 0; //points to the first valid character which can be read + int _endOfString = 0; //points to the first open space which can be written + char _buffer[INCBUFFERLENGTH]; + }; + + #endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Settings.cpp b/Firmware_1.26b/cnc_ctrl_v1/Settings.cpp new file mode 100644 index 00000000..a622e04e --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Settings.cpp @@ -0,0 +1,414 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains the machine settings that are saved to eeprom + +// EEPROM addresses 300 and up can be used by Maslow. Under 300 was used +// previously by pre v1.00 Firmware. + +#include "Maslow.h" +#include + +void settingsLoadFromEEprom(){ + /* + Loads data from EEPROM if EEPROM data is valid, only called on startup + + Settings are stored starting at address 340 all the way up. + */ + settingsVersion_t settingsVersionStruct; + settings_t tempSettings; + + settingsReset(); // Load default values first + EEPROM.get(300, settingsVersionStruct); + EEPROM.get(340, tempSettings); + if (settingsVersionStruct.settingsVersion == SETTINGSVERSION && + settingsVersionStruct.eepromValidData == EEPROMVALIDDATA && + tempSettings.eepromValidData == EEPROMVALIDDATA){ + sysSettings = tempSettings; + } + else { + reportStatusMessage(STATUS_SETTING_READ_FAIL); + } + + // Apply settings + setPWMPrescalers(int(sysSettings.fPWM)); + kinematics.recomputeGeometry(); + leftAxis.changeEncoderResolution(&sysSettings.encoderSteps); + rightAxis.changeEncoderResolution(&sysSettings.encoderSteps); + leftAxis.changePitch(&sysSettings.distPerRot); + rightAxis.changePitch(&sysSettings.distPerRot); + zAxis.changePitch(&sysSettings.zDistPerRot); + zAxis.changeEncoderResolution(&sysSettings.zEncoderSteps); +} + +void settingsReset() { + /* + Loads default data into settings, many of these values are approximations + from the an ideal stock frame. Other values are just the recommended + value. Ideally we want these defaults to match the defaults in GroundControl + so that if a value is not changed by a user or is not used, it doesn't + need to be updated here. + */ + sysSettings.machineWidth = 2438.4; // float machineWidth; + sysSettings.machineHeight = 1219.2; // float machineHeight; + sysSettings.distBetweenMotors = 2978.4; // float distBetweenMotors; + sysSettings.motorOffsetY = 463.0; // float motorOffsetY; + sysSettings.sledWidth = 310.0; // float sledWidth; + sysSettings.sledHeight = 139.0; // float sledHeight; + sysSettings.sledCG = 79.0; // float sledCG; + sysSettings.kinematicsType = 1; // byte kinematicsType; + sysSettings.rotationDiskRadius = 250.0; // float rotationDiskRadius; + sysSettings.axisDetachTime = 2000; // int axisDetachTime; + sysSettings.chainLength = 3360; // int maximum length of chain; + sysSettings.originalChainLength = 1650; // int originalChainLength; + sysSettings.encoderSteps = 8113.73; // float encoderSteps; + sysSettings.distPerRot = 63.5; // float distPerRot; + sysSettings.maxFeed = 700; // int maxFeed; + sysSettings.zAxisAttached = true; // zAxisAttached; + sysSettings.spindleAutomateType = NONE; // bool spindleAutomate; + sysSettings.maxZRPM = 12.60; // float maxZRPM; + sysSettings.zDistPerRot = 3.17; // float zDistPerRot; + sysSettings.zEncoderSteps = 7560.0; // float zEncoderSteps; + sysSettings.KpPos = 1300.0; // float KpPos; + sysSettings.KiPos = 0.0; // float KiPos; + sysSettings.KdPos = 34.0; // float KdPos; + sysSettings.propWeightPos = 1.0; // float propWeightPos; + sysSettings.KpV = 5.0; // float KpV; + sysSettings.KiV = 0.0; // float KiV; + sysSettings.KdV = 0.28; // float KdV; + sysSettings.propWeightV = 1.0; // float propWeightV; + sysSettings.zKdPos = 1300.0; // float zKpPos; + sysSettings.zKiPos = 0.0; // float zKiPos; + sysSettings.zKdPos = 34.0; // float zKdPos; + sysSettings.zPropWeightPos = 1.0; // float zPropWeightPos; + sysSettings.zKpV = 5.0; // float zKpV; + sysSettings.zKiV = 0.0; // float zKiV; + sysSettings.zKdV = 0.28; // float zKdV; + sysSettings.zPropWeightV = 1.0; // float zPropWeightV; + sysSettings.chainSagCorrection = 0.0; // float chainSagCorrection; + sysSettings.chainOverSprocket = 1; // byte chainOverSprocket; + sysSettings.fPWM = 3; // byte fPWM; + sysSettings.leftChainTolerance = 0.0; // float leftChainTolerance; + sysSettings.rightChainTolerance = 0.0; // float rightChainTolerance; + sysSettings.positionErrorLimit = 2.0; // float positionErrorLimit; + sysSettings.eepromValidData = EEPROMVALIDDATA; // byte eepromValidData; +} + +void settingsWipe(byte resetType){ + /* + Wipes certain bytes in the EEPROM, you probably want to reset after calling + this + */ + if (bit_istrue(resetType, SETTINGS_RESTORE_SETTINGS)){ + for (size_t i = 340 ; i < sizeof(sysSettings) + 340 ; i++) { + EEPROM.write(i, 0); + } + } + else if (bit_istrue(resetType, SETTINGS_RESTORE_MASLOW)){ + for (size_t i = 300 ; i < sizeof(sysSettings) + 340; i++) { + EEPROM.write(i, 0); + } + } + else if (bit_istrue(resetType, SETTINGS_RESTORE_ALL)){ + for (size_t i = 0 ; i < EEPROM.length() ; i++) { + EEPROM.write(i, 0); + } + } +} + +void settingsSaveToEEprom(){ + /* + Saves settings to EEPROM, only called when settings change + + Settings are stored starting at address 340 all the way up. + */ + settingsVersion_t settingsVersionStruct = {SETTINGSVERSION, EEPROMVALIDDATA}; + EEPROM.put(300, settingsVersionStruct); + EEPROM.put(340, sysSettings); +} + +void settingsSaveStepstoEEprom(){ + /* + Saves position to EEPROM, is called frequently by execSystemRealtime + + Steps are saved in address 310 -> 339. Room for expansion for additional + axes in the future. + */ + // don't run if old position data has not been incorporated yet + if (!sys.oldSettingsFlag){ + settingsStepsV1_t sysSteps = { + leftAxis.steps(), + rightAxis.steps(), + zAxis.steps(), + EEPROMVALIDDATA + }; + EEPROM.put(310, sysSteps); + } +} + +void settingsLoadStepsFromEEprom(){ + /* + Loads position to EEPROM, is called on startup. + + Steps are saved in address 310 -> 339. Room for expansion for additional + axes in the future. + */ + settingsStepsV1_t tempStepsV1; + + EEPROM.get(310, tempStepsV1); + if (tempStepsV1.eepromValidData == EEPROMVALIDDATA){ + leftAxis.setSteps(tempStepsV1.lSteps); + rightAxis.setSteps(tempStepsV1.rSteps); + zAxis.setSteps(tempStepsV1.zSteps); + } + else if (EEPROM.read(5) == EEPROMVALIDDATA && + EEPROM.read(105) == EEPROMVALIDDATA && + EEPROM.read(205) == EEPROMVALIDDATA){ + bit_true(sys.oldSettingsFlag, NEED_ENCODER_STEPS); + bit_true(sys.oldSettingsFlag, NEED_DIST_PER_ROT); + bit_true(sys.oldSettingsFlag, NEED_Z_ENCODER_STEPS); + bit_true(sys.oldSettingsFlag, NEED_Z_DIST_PER_ROT); + sys.state = STATE_OLD_SETTINGS; + Serial.println(F("Old position data detected.")); + Serial.println(F("Please set $12, $13, $19, and $20 to load position.")); + } + else { + systemRtExecAlarm |= ALARM_POSITION_LOST; // if this same global is touched by ISR then need to make atomic somehow + // also need to consider if need difference between flag with bits and + // error message as a byte. + } +} + +void settingsLoadOldSteps(){ + /* + Loads the old version of step settings, only called once encoder steps + and distance per rotation have been loaded. Wipes the old data once + incorporated to prevent oddities in the future + */ + if (sys.state == STATE_OLD_SETTINGS){ + float l, r , z; + EEPROM.get(9, l); + EEPROM.get(109, r); + EEPROM.get(209, z); + leftAxis.set(l); + rightAxis.set(r); + zAxis.set(z); + for (int i = 0; i <= 200; i = i +100){ + for (int j = 5; j <= 13; j++){ + EEPROM.write(i + j, 0); + } + } + sys.state = STATE_IDLE; + } + } + +byte settingsStoreGlobalSetting(const byte& parameter,const float& value){ + /* + Alters individual settings which are then stored to EEPROM. Returns a + status message byte value + */ + + // We can add whatever sanity checks we want here and error out if we like + switch(parameter) { + case 0: case 1: case 2: case 3: case 4: case 5: case 6: case 7: case 8: + switch(parameter) { + case 0: + sysSettings.machineWidth = value; + break; + case 1: + sysSettings.machineHeight = value; + break; + case 2: + sysSettings.distBetweenMotors = value; + break; + case 3: + sysSettings.motorOffsetY = value; + break; + case 4: + sysSettings.sledWidth = value; + break; + case 5: + sysSettings.sledHeight = value; + break; + case 6: + sysSettings.sledCG = value; + break; + case 7: + sysSettings.kinematicsType = value; + break; + case 8: + sysSettings.rotationDiskRadius = value; + break; + } + kinematics.init(); + break; + case 9: + sysSettings.axisDetachTime = value; + break; + case 10: + sysSettings.chainLength = value; + break; + case 11: + sysSettings.originalChainLength = value; + break; + case 12: + sysSettings.encoderSteps = value; + leftAxis.changeEncoderResolution(&sysSettings.encoderSteps); + rightAxis.changeEncoderResolution(&sysSettings.encoderSteps); + if (sys.oldSettingsFlag){ + bit_false(sys.oldSettingsFlag, NEED_ENCODER_STEPS); + if (!sys.oldSettingsFlag){ + settingsLoadOldSteps(); + } + } + kinematics.init(); + break; + case 13: + sysSettings.distPerRot = value; + kinematics.R = (sysSettings.distPerRot)/(2.0 * 3.14159); + if (sys.oldSettingsFlag){ + bit_false(sys.oldSettingsFlag, NEED_DIST_PER_ROT); + if (!sys.oldSettingsFlag){ + settingsLoadOldSteps(); + } + } + kinematics.init(); + break; + case 15: + sysSettings.maxFeed = value; + break; + case 16: + sysSettings.zAxisAttached = value; + break; + case 17: + sysSettings.spindleAutomateType = static_cast(value); + break; + case 18: + sysSettings.maxZRPM = value; + break; + case 19: + sysSettings.zDistPerRot = value; + zAxis.changePitch(&sysSettings.zDistPerRot); + if (sys.oldSettingsFlag){ + bit_false(sys.oldSettingsFlag, NEED_Z_DIST_PER_ROT); + if (!sys.oldSettingsFlag){ + settingsLoadOldSteps(); + } + } + break; + case 20: + sysSettings.zEncoderSteps = value; + zAxis.changeEncoderResolution(&sysSettings.zEncoderSteps); + if (sys.oldSettingsFlag){ + bit_false(sys.oldSettingsFlag, NEED_Z_ENCODER_STEPS); + if (!sys.oldSettingsFlag){ + settingsLoadOldSteps(); + } + } + break; + case 21: case 22: case 23: case 24: case 25: case 26: case 27: case 28: + switch(parameter) { + case 21: + sysSettings.KpPos = value; + break; + case 22: + sysSettings.KiPos = value; + break; + case 23: + sysSettings.KdPos = value; + break; + case 24: + sysSettings.propWeightPos = value; + break; + case 25: + sysSettings.KpV = value; + break; + case 26: + sysSettings.KiV = value; + break; + case 27: + sysSettings.KdV = value; + break; + case 28: + sysSettings.propWeightV = value; + break; + } + leftAxis.setPIDValues(&sysSettings.KpPos, &sysSettings.KiPos, &sysSettings.KdPos, &sysSettings.propWeightPos, &sysSettings.KpV, &sysSettings.KiV, &sysSettings.KdV, &sysSettings.propWeightV); + rightAxis.setPIDValues(&sysSettings.KpPos, &sysSettings.KiPos, &sysSettings.KdPos, &sysSettings.propWeightPos, &sysSettings.KpV, &sysSettings.KiV, &sysSettings.KdV, &sysSettings.propWeightV); + break; + case 29: case 30: case 31: case 32: case 33: case 34: case 35: case 36: + switch(parameter) { + case 29: + sysSettings.zKpPos = value; + break; + case 30: + sysSettings.zKiPos = value; + break; + case 31: + sysSettings.zKdPos = value; + break; + case 32: + sysSettings.zPropWeightPos = value; + break; + case 33: + sysSettings.zKpV = value; + break; + case 34: + sysSettings.zKiV = value; + break; + case 35: + sysSettings.zKdV = value; + break; + case 36: + sysSettings.zPropWeightV = value; + break; + } + zAxis.setPIDValues(&sysSettings.zKpPos, &sysSettings.zKiPos, &sysSettings.zKdPos, &sysSettings.zPropWeightPos, &sysSettings.zKpV, &sysSettings.zKiV, &sysSettings.zKdV, &sysSettings.zPropWeightV); + break; + case 37: + sysSettings.chainSagCorrection = value; + break; + case 38: + settingsSaveStepstoEEprom(); + sysSettings.chainOverSprocket = value; + setupAxes(); + settingsLoadStepsFromEEprom(); + // Set initial desired position of the machine to its current position + leftAxis.write(leftAxis.read()); + rightAxis.write(rightAxis.read()); + zAxis.write(zAxis.read()); + kinematics.init(); + break; + case 39: + sysSettings.fPWM = value; + setPWMPrescalers(value); + break; + case 40: + sysSettings.leftChainTolerance = value; + break; + case 41: + sysSettings.rightChainTolerance = value; + break; + case 42: + sysSettings.positionErrorLimit = value; + break; + default: + return(STATUS_INVALID_STATEMENT); + } + settingsSaveToEEprom(); + return(STATUS_OK); +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Settings.h b/Firmware_1.26b/cnc_ctrl_v1/Settings.h new file mode 100644 index 00000000..cd18150b --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Settings.h @@ -0,0 +1,109 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains the machine settings that are saved to eeprom + +#ifndef settings_h +#define settings_h + +#define SETTINGSVERSION 5 // The current version of settings, if this doesn't + // match what is in EEPROM then settings on + // machine are reset to defaults +#define EEPROMVALIDDATA 56 // This is just a random byte value that is used + // to determine if the data in the EEPROM was + // saved by maslow, or something else. + +// Reset Types +#define SETTINGS_RESTORE_SETTINGS bit(0) +#define SETTINGS_RESTORE_MASLOW bit(1) +#define SETTINGS_RESTORE_ALL bit(2) + +enum SpindleAutomationType { + NONE, + SERVO, + RELAY_ACTIVE_HIGH, + RELAY_ACTIVE_LOW }; + +typedef struct { // I think this is about ~128 bytes in size if I counted correctly + float machineWidth; + float machineHeight; + float distBetweenMotors; + float motorOffsetY; + float sledWidth; + float sledHeight; + float sledCG; + byte kinematicsType; + float rotationDiskRadius; + unsigned int axisDetachTime; + unsigned int chainLength; + unsigned int originalChainLength; + float encoderSteps; + float distPerRot; + unsigned int maxFeed; + bool zAxisAttached; + SpindleAutomationType spindleAutomateType; + float maxZRPM; + float zDistPerRot; + float zEncoderSteps; + float KpPos; + float KiPos; + float KdPos; + float propWeightPos; + float KpV; + float KiV; + float KdV; + float propWeightV; + float zKpPos; + float zKiPos; + float zKdPos; + float zPropWeightPos; + float zKpV; + float zKiV; + float zKdV; + float zPropWeightV; + float chainSagCorrection; + byte chainOverSprocket; + byte fPWM; + float leftChainTolerance; + float rightChainTolerance; + float positionErrorLimit; + byte eepromValidData; // This should always be last, that way if an error + // happens in writing, it will not be written and we +} settings_t; // will know to reset the settings +extern settings_t sysSettings; + +typedef struct { + byte settingsVersion; + byte eepromValidData; +} settingsVersion_t; + +typedef struct { + long lSteps; + long rSteps; + long zSteps; + byte eepromValidData; +} settingsStepsV1_t; + +void settingsLoadFromEEprom(); +void settingsReset(); +void settingsWipe(byte); +void settingsSaveToEEprom(); +void settingsSaveStepstoEEprom(); +void settingsLoadStepsFromEEprom(); +byte settingsStoreGlobalSetting(const byte&,const float&); + +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.cpp b/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.cpp new file mode 100644 index 00000000..5ddebd96 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.cpp @@ -0,0 +1,27 @@ +#include "SimavrSerial.h" + +#ifdef Serial +#undef Serial +#endif + +SimavrSerial_ SimavrSerial; + +size_t SimavrSerial_::write(uint8_t c) +{ + size_t n = Serial.write(c); + Serial.flush(); + + return n; +} + +void SimavrSerial_::begin(unsigned long baud) { + Serial.begin(baud); +} + +int SimavrSerial_::available() { + return Serial.available(); +} + +int SimavrSerial_::read() { + return Serial.read(); +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.h b/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.h new file mode 100644 index 00000000..879dd362 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.h @@ -0,0 +1,32 @@ +#include "Maslow.h" + +#ifndef SimavrSerial_h_ +#define SimavrSerial_h_ + +#ifdef SIMAVR +#define Serial SimavrSerial +#endif + +// This class is a wrapper around Serial, to be used when running in the simavr simulator +// (https://github.com/buserror/simavr) +// +// Simavr's UART seems to lock up and crash when you write more than a few characters to it. +// SimavrSerial works around this issue by flushing after every single character. On a real +// controller, this might cause a performance issue, so this class is only used if SIMAVR is defined. +// If SIMAVR is defined, though, any reference to Serial is replaces to a reference to SimavrSerial. +// This means that every Serial method that is used in our code also needs a wrapper in SimavrSerial, +// of the simavr environment will not compile. +// +// Not the cleanest thing ever, but it's the best I could come up with that +// will have zero impact on the actual production code. +class SimavrSerial_ : public Print +{ + public: + virtual size_t write(uint8_t); + virtual int available(); + virtual int read(); + void begin(unsigned long baud); +}; + +extern SimavrSerial_ SimavrSerial; +#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/Spindle.cpp b/Firmware_1.26b/cnc_ctrl_v1/Spindle.cpp new file mode 100644 index 00000000..647acf9c --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Spindle.cpp @@ -0,0 +1,117 @@ +/*This file is part of the Maslow Control Software. + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +// This contains all of the Spindle commands + +#include "Maslow.h" +#include "Settings.h" + +// the variables SpindlePowerControlPin and LaserPowerPin are assigned in configAuxLow() in System.cpp + +// Globals for Spindle control, both poorly named +Servo myservo; // create servo object to control a servo + +void setSpindlePower(bool powerState) { + /* + * Turn spindle on/off depending on powerState + */ + SpindleAutomationType spindleAutomateType = sysSettings.spindleAutomateType; + + int delayAfterChange = 1000; // milliseconds + int servoIdle = 90; // degrees + int servoOn = 180; // degrees + int servoOff = 0; // degrees + int servoDelay = 2000; // milliseconds + + // Now for the main code + #if defined (verboseDebug) && verboseDebug > 1 + Serial.print(F("Spindle control uses pin ")); + Serial.print(SpindlePowerControlPin); + Serial.print(F("Spindle automation type ")); + Serial.print(spindleAutomateType); + #endif + if (spindleAutomateType == SERVO) { // use a servo to control a standard wall switch + #if defined (verboseDebug) && verboseDebug > 1 + Serial.print(F(" with servo (idle=")); + Serial.print(servoIdle); + Serial.print(F(", on=")); + Serial.print(servoOn); + Serial.print(F(", off=")); + Serial.print(servoOff); + Serial.println(F(")")); + #endif + myservo.attach(SpindlePowerControlPin); // start servo control + myservo.write(servoIdle); // move servo to idle position + maslowDelay(servoDelay); // wait for move to complete + if(sys.stop){return;} + if (powerState) { // turn on spindle + Serial.println(F("Turning Spindle On")); + myservo.write(servoOn); // move servo to turn on switch + } + else { // turn off spindle + Serial.println(F("Turning Spindle Off")); + myservo.write(servoOff); // move servo to turn off switch + } + maslowDelay(servoDelay); // wait for move to complete + if(sys.stop){return;} + myservo.write(servoIdle); // return servo to idle position + maslowDelay(servoDelay); // wait for move to complete + if(sys.stop){return;} + myservo.detach(); // stop servo control + } + else if (spindleAutomateType == RELAY_ACTIVE_HIGH) { + #if defined (verboseDebug) && verboseDebug > 1 + Serial.print(F(" as digital output, active high")); + #endif + pinMode(SpindlePowerControlPin, OUTPUT); + if (powerState) { // turn on spindle + Serial.println(F("Turning Spindle On")); + digitalWrite(SpindlePowerControlPin, HIGH); + } + else { // turn off spindle + Serial.println(F("Turning Spindle Off")); + digitalWrite(SpindlePowerControlPin, LOW); + } + } + else if (spindleAutomateType == RELAY_ACTIVE_LOW) { // use a digital I/O pin to control a relay + #if defined (verboseDebug) && verboseDebug > 1 + Serial.print(F(" as digital output, active low")); + #endif + pinMode(SpindlePowerControlPin, OUTPUT); + if (powerState) { // turn on spindle + Serial.println(F("Turning Spindle On")); + digitalWrite(SpindlePowerControlPin, LOW); + } + else { // turn off spindle + Serial.println(F("Turning Spindle Off")); + digitalWrite(SpindlePowerControlPin, HIGH); + } + } + if (spindleAutomateType != NONE) { + maslowDelay(delayAfterChange); + } +} + +void laserOn(bool OnOff) { + pinMode(LaserPowerPin, OUTPUT); + if (OnOff) { // turn on Laser - EBS BETTER go LOW on system stop + Serial.println(F("Turning Laser ON")); + digitalWrite(LaserPowerPin, HIGH); + } + else { // turn off Laser + // Serial.println(F("Turning Laser OFF")); + digitalWrite(LaserPowerPin, LOW); + } +} + diff --git a/Firmware_1.26b/cnc_ctrl_v1/Spindle.h b/Firmware_1.26b/cnc_ctrl_v1/Spindle.h new file mode 100644 index 00000000..f42fc442 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Spindle.h @@ -0,0 +1,24 @@ +/*This file is part of the Maslow Control Software. + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +// This contains all of the Spindle commands + +#ifndef spindle_h +#define spindle_h + +void setSpindlePower(bool powerState); +void laserOn(bool OnOff); + + +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/System.cpp b/Firmware_1.26b/cnc_ctrl_v1/System.cpp new file mode 100644 index 00000000..e082222d --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/System.cpp @@ -0,0 +1,658 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +// This file contains system level functions and states + +#include "Maslow.h" + +bool TLE5206; +bool TB6643; + +// extern values using AUX pins defined in configAuxLow() and configAuxHigh() +int SpindlePowerControlPin; // output for controlling spindle power +int ProbePin; // use this input for zeroing zAxis with G38.2 gcode +int LaserPowerPin; // Use this output to turn on and off a laser diode + + +void calibrateChainLengths(String gcodeLine){ + /* + The calibrateChainLengths function lets the machine know that the chains are set to a given length where each chain is ORIGINCHAINLEN + in length + */ + + if (extractGcodeValue(gcodeLine, 'L', 0)){ + //measure out the left chain + Serial.println(F("Measuring out left chain")); + singleAxisMove(&leftAxis, sysSettings.originalChainLength, (sysSettings.maxFeed * .9)); + + Serial.print(leftAxis.read()); + Serial.println(F("mm")); + + leftAxis.detach(); + } + else if(extractGcodeValue(gcodeLine, 'R', 0)){ + //measure out the right chain + Serial.println(F("Measuring out right chain")); + singleAxisMove(&rightAxis, sysSettings.originalChainLength, (sysSettings.maxFeed * .9)); + + Serial.print(rightAxis.read()); + Serial.println(F("mm")); + + rightAxis.detach(); + } + +} + +void setupAxes(){ + /* + + Detect the version of the Arduino shield connected, and use the appropriate pins + + This function runs before the serial port is open so the version is not printed here + + */ + + + int encoder1A; + int encoder1B; + int encoder2A; + int encoder2B; + int encoder3A; + int encoder3B; + + int in1; + int in2; + int in3; + int in4; + int in5; + int in6; + + int enA; + int enB; + int enC; + + int aux1; + int aux2; + int aux3; + int aux4; + int aux5; + int aux6; + int aux7; + int aux8; + int aux9; + + //read the pins which indicate the PCB version + int pcbVersion = getPCBVersion(); + + if(pcbVersion == 0){ + //Beta PCB v1.0 Detected + //MP1 - Right Motor + encoder1A = 18; // INPUT + encoder1B = 19; // INPUT + in1 = 9; // OUTPUT + in2 = 8; // OUTPUT + enA = 6; // PWM + + //MP2 - Z-axis + encoder2A = 2; // INPUT + encoder2B = 3; // INPUT + in3 = 11; // OUTPUT + in4 = 10; // OUTPUT + enB = 7; // PWM + + //MP3 - Left Motor + encoder3A = 21; // INPUT + encoder3B = 20; // INPUT + in5 = 12; // OUTPUT + in6 = 13; // OUTPUT + enC = 5; // PWM + + //AUX pins + aux1 = 17; + aux2 = 16; + aux3 = 15; + aux4 = 14; + aux5 = 0; // warning! this is the serial TX line on the Mega2560 + aux6 = 1; // warning! this is the serial RX line on the Mega2560 + } + else if(pcbVersion == 1){ + //PCB v1.1 Detected + //MP1 - Right Motor + encoder1A = 20; // INPUT + encoder1B = 21; // INPUT + in1 = 6; // OUTPUT + in2 = 4; // OUTPUT + enA = 5; // PWM + + //MP2 - Z-axis + encoder2A = 19; // INPUT + encoder2B = 18; // INPUT + in3 = 9; // OUTPUT + in4 = 7; // OUTPUT + enB = 8; // PWM + + //MP3 - Left Motor + encoder3A = 2; // INPUT + encoder3B = 3; // INPUT + in5 = 10; // OUTPUT + in6 = 11; // OUTPUT + enC = 12; // PWM + + //AUX pins + aux1 = 17; + aux2 = 16; + aux3 = 15; + aux4 = 14; + aux5 = A7; + aux6 = A6; + } + else if(pcbVersion == 2){ + //PCB v1.2 Detected + + //MP1 - Right Motor + encoder1A = 20; // INPUT + encoder1B = 21; // INPUT + in1 = 4; // OUTPUT + in2 = 6; // OUTPUT + enA = 5; // PWM + + //MP2 - Z-axis + encoder2A = 19; // INPUT + encoder2B = 18; // INPUT + in3 = 7; // OUTPUT + in4 = 9; // OUTPUT + enB = 8; // PWM + + //MP3 - Left Motor + encoder3A = 2; // INPUT + encoder3B = 3; // INPUT + in5 = 11; // OUTPUT + in6 = 12; // OUTPUT + enC = 10; // PWM + + //AUX pins + aux1 = 17; + aux2 = 16; + aux3 = 15; + aux4 = 14; + aux5 = A7; + aux6 = A6; + } + else if(pcbVersion == 4){ // TLE5206 + //TLE5206 PCB v1.4 Detected + //MP1 - Right Motor + encoder1A = 20; // INPUT + encoder1B = 21; // INPUT + in1 = 6; // OUTPUT + in2 = 4; // OUTPUT + enA = 5; // errorFlag + + //MP2 - Z-axis + encoder2A = 19; // INPUT + encoder2B = 18; // INPUT + in3 = 7; // OUTPUT + in4 = 9; // OUTPUT + enB = 8; // errorFlag + + //MP3 - Left Motor + encoder3A = 2; // INPUT + encoder3B = 3; // INPUT + in5 = 10; // OUTPUT + in6 = 11; // OUTPUT + enC = 12; // errorFlag + + //AUX pins + aux1 = 40; + aux2 = 41; + aux3 = 42; + aux4 = 43; + aux5 = 68; + aux6 = 69; + aux7 = 45; + aux8 = 46; + aux9 = 47; + } +else if(pcbVersion == 5){ // EBS PCB v1.5 Detected + + //MP1 - Right Motor + encoder1A = 2; // INPUT + encoder1B = 3; // INPUT + in1 = 9; // OUTPUT + in2 = 10; // OUTPUT + //enA = 12; // errorFlag + + //MP2 - Z-axis + encoder2A = 18; // INPUT + encoder2B = 19; // INPUT + in3 = 7; // OUTPUT + in4 = 8; // OUTPUT + //enB = 8; // errorFlag + + //MP3 - Left Motor + encoder3A = 21; // INPUT + encoder3B = 20; // INPUT + in5 = 6; // OUTPUT + in6 = 5; // OUTPUT + //enC = 5; // errorFlag + + //AUX pins + aux1 = 48; + aux2 = 49; + aux3 = 51; + aux4 = 50; + aux5 = 43; + aux6 = 44; + } + + if(sysSettings.chainOverSprocket == 1){ + leftAxis.setup (enC, in6, in5, encoder3B, encoder3A, 'L', LOOPINTERVAL); + rightAxis.setup(enA, in1, in2, encoder1A, encoder1B, 'R', LOOPINTERVAL); + } + else{ + leftAxis.setup (enC, in5, in6, encoder3A, encoder3B, 'L', LOOPINTERVAL); + rightAxis.setup(enA, in2, in1, encoder1B, encoder1A, 'R', LOOPINTERVAL); + } + + zAxis.setup (enB, in3, in4, encoder2B, encoder2A, 'Z', LOOPINTERVAL); + leftAxis.setPIDValues(&sysSettings.KpPos, &sysSettings.KiPos, &sysSettings.KdPos, &sysSettings.propWeightPos, &sysSettings.KpV, &sysSettings.KiV, &sysSettings.KdV, &sysSettings.propWeightV); + rightAxis.setPIDValues(&sysSettings.KpPos, &sysSettings.KiPos, &sysSettings.KdPos, &sysSettings.propWeightPos, &sysSettings.KpV, &sysSettings.KiV, &sysSettings.KdV, &sysSettings.propWeightV); + zAxis.setPIDValues(&sysSettings.zKpPos, &sysSettings.zKiPos, &sysSettings.zKdPos, &sysSettings.zPropWeightPos, &sysSettings.zKpV, &sysSettings.zKiV, &sysSettings.zKdV, &sysSettings.zPropWeightV); + + // implement the AUXx values that are 'used'. This accomplishes setting their values at runtime. + // Using a separate function is a compiler work-around to avoid + // "warning: variable ‘xxxxx’ set but not used [-Wunused-but-set-variable]" + // for AUX pins defined but not connected + configAuxLow(aux1, aux2, aux3, aux4, aux5, aux6); + if(pcbVersion == 4){ // TLE5206 + configAuxHigh(aux7, aux8, aux9); + } +} + +// Assign AUX pins to extern variables used by functions like Spindle and Probe +void configAuxLow(int aux1, int aux2, int aux3, int aux4, int aux5, int aux6) { + SpindlePowerControlPin = aux1; // output for controlling spindle power + LaserPowerPin = aux2; // output for controlling a laser diode + ProbePin = aux4; // use this input for zeroing zAxis with G38.2 gcode + pinMode(LaserPowerPin, OUTPUT); + digitalWrite(LaserPowerPin, LOW); +} + +void configAuxHigh(int aux7, int aux8, int aux9) { +} + +int getPCBVersion(){ + pinMode(VERS1,INPUT_PULLUP); //22 + pinMode(VERS2,INPUT_PULLUP); //23 + pinMode(VERS3,INPUT_PULLUP); //24 + pinMode(VERS4,INPUT_PULLUP); //25 + pinMode(VERS5,INPUT_PULLUP); //26 + pinMode(VERS6,INPUT_PULLUP); //27 + int pinCheck = (32*digitalRead(VERS6) + 16*digitalRead(VERS5) + 8*digitalRead(VERS4) + 4*digitalRead(VERS3) + 2*digitalRead(VERS2) + 1*digitalRead(VERS1)); + switch (pinCheck) { + // boards v1.0, v1.1, v1.2 don't strap VERS3-6 low + case B111101: case B111110: case B111111: // v 1.0, v1.1, v1.2 + pinCheck &= B000011; // strip off the unstrapped bits + TLE5206 = false; + break; + case B110100: case B000100: // some versions of board v1.3, v1.4 don't strap VERS5-6 low + pinCheck = 5; // V1.3 ~ V1.4 - SAME SHIELD + TLE5206 = true; + break; + case B000110: // new v1.5 + pinCheck &= B000110; // + TB6643 = true; + TLE5206 = false; + break; + +} + return pinCheck - 1; +} + + +// +// PWM frequency change +// presently just sets the default value +// different values seem to need specific PWM tunings... +// +void setPWMPrescalers(int prescalerChoice) { + #if defined (verboseDebug) && verboseDebug > 0 + Serial.print(F("fPWM set to ")); + switch (prescalerChoice) { + case 1: + Serial.println(F("31,000Hz")); + break; + case 2: + Serial.println(F("4,100Hz")); + break; + case 3: + Serial.println(F("490Hz")); + } + #endif + + // tailor the PWM frequency to the chip + //if (TLE5206) { + // The upper limit to PWM frequency for TLE5206 is 1,000Hz + // so only '3' is valid + // prescalerChoice = 3; + //} else if (TLE9201) { + // The upper limit to PWM frequency for TLE9201 is 20,000Hz + // prescalerChoice = 3; + // } + //} else if (TB6643) { + // The upper limit to PWM frequency for TB6643 is 100kz + // prescalerChoice = 3; + // } + + + +// first must erase the bits in each TTCRxB register that control the timers prescaler + int prescalerEraser = 7; // this is 111 in binary and is used as an eraser + TCCR2B &= ~prescalerEraser; // this operation sets the three bits in TCCR2B to 0 + TCCR3B &= ~prescalerEraser; // this operation sets the three bits in TCCR3B to 0 + TCCR4B &= ~prescalerEraser; // this operation sets the three bits in TCCR4B to 0 + // now set those same three bits + + +//----------------------------------------------- +//timer 0 ----- pin 4, 13 +//timer 1 ----- pin 11, 12 +//timer 2 ----- pin 9, 10 +//timer 3 ----- pin 2, 3, 5 +//timer 4 ----- pin 6, 7, 8 +//timer 5 ----- pin 44, 45, 46 +// ————————————————————————————– +// TIMER 2  +// Value Divisor Frequency +// 0x01 1 31.374 KHz +// 0x02 8 3.921 KHz +// 0x03 32 980.3 Hz // don;t use this... +// 0x04 64 490.1 Hz // default +// 0x05 128 245 hz +// 0x06 256 122.5 hz +// 0x07 1024 30.63 hz +// Code: TCCR2B = (TCCR2B & 0xF8) | value ; +// —————————————————————————————- +// Timers 3 & 4 +// +// Value Divisor Frequency +// 0x01 1 31.374 KHz +// 0x02 8 3.921 Khz +// 0x03 64 490.1 Hz        // default +// 0x04 256 122.5 Hz +// 0x05 1024 30.63 Hz +// Code: TCCR3B = (TCCR3B & 0xF8) | value ; +// —————————————————————————————- + // and apply it + if (prescalerChoice >= 3) { + TCCR2B |= (prescalerChoice + 1); // pins 9, 10 - change to match timers3&4 + } else { + TCCR2B |= prescalerChoice; // pins 9, 10 + } + TCCR3B |= prescalerChoice; // pins 2, 3, 5 + TCCR4B |= prescalerChoice; // pins 6, 7, 8 +} + + +// This should likely go away and be handled by setting the pause flag and then +// pausing in the execSystemRealtime function +// Need to check if all returns from this subsequently look to sys.stop +void pause(){ + /* + + The pause command pauses the machine in place without flushing the lines stored in the machine's + buffer. + + When paused the machine enters a while() loop and doesn't exit until the '~' cycle resume command + is issued from Ground Control. + + */ + + bit_true(sys.pause, PAUSE_FLAG_USER_PAUSE); + Serial.println(F("Maslow Paused")); + + while(bit_istrue(sys.pause, PAUSE_FLAG_USER_PAUSE)) { + + // Run realtime commands + execSystemRealtime(); + if (sys.stop){return;} + } +} + + +// This is an important concept. I think maybe this should be expanded and Used +// whenever we have a delay. This should be all of the 'realtime' operations +// and should probably include check for stop command. Although, the holdPosition +// would have to be moved out of here, but I think that is probably correct + +// need to check if all returns from here check for sys.stop +void maslowDelay(unsigned long waitTimeMs) { + /* + * Provides a time delay while holding the machine position, reading serial commands, + * and periodically sending the machine position to Ground Control. This prevents + * Ground Control from thinking that the connection is lost. + * + * This is similar to the pause() command above, but provides a time delay rather than + * waiting for the user (through Ground Control) to tell the machine to continue. + */ + + unsigned long startTime = millis(); + + while ((millis() - startTime) < waitTimeMs){ + execSystemRealtime(); + if (sys.stop){return;} + } +} + +// This executes all of the actions that we want to happen in 'realtime'. This +// should be called whenever there is a delay in the code or when it may have +// been a long time since this command was called. Everything that is executed +// by this command should be relatively fast. Should always check for sys.stop +// after returning from this function +void execSystemRealtime(){ + readSerialCommands(); + returnPoz(); + systemSaveAxesPosition(); + motionDetachIfIdle(); + // check systemRtExecAlarm flag and do stuff +} + +void systemSaveAxesPosition(){ + /* + Save steps of axes to EEPROM if they are all detached + */ + if (!leftAxis.attached() && !rightAxis.attached() && !zAxis.attached()){ + settingsSaveStepstoEEprom(); + } +} + +void systemReset(){ + /* + Stops everything and resets the arduino + */ + leftAxis.detach(); + rightAxis.detach(); + zAxis.detach(); + setSpindlePower(false); + laserOn(false); // EBS + // Reruns the initial setup function and calls stop to re-init state + sys.stop = true; + setup(); +} + +byte systemExecuteCmdstring(String& cmdString){ + /* + This function processes the $ system commands + + This is taken heavily from grbl. https://github.com/grbl/grbl + */ + byte char_counter = 1; +// byte helper_var = 0; // Helper variable + float parameter, value; + if (cmdString.length() == 1){ + reportMaslowHelp(); + } + else { + switch( cmdString[char_counter] ) { + case '$': // case 'G': case 'C': case 'X': + if ( cmdString.length() > 2 ) { return(STATUS_INVALID_STATEMENT); } + switch( cmdString[char_counter] ) { + case '$' : // Prints Maslow settings + // if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print. + // else { + reportMaslowSettings(); + // } + break; + // case 'G' : // Prints gcode parser state + // report_gcode_modes(); + // break; + // case 'C' : // Set check g-code mode [IDLE/CHECK] + // // Perform reset when toggling off. Check g-code mode should only work if Grbl + // // is idle and ready, regardless of alarm locks. This is mainly to keep things + // // simple and consistent. + // if ( sys.state == STATE_CHECK_MODE ) { + // mc_reset(); + // report_feedback_message(MESSAGE_DISABLED); + // } else { + // if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode. + // sys.state = STATE_CHECK_MODE; + // report_feedback_message(MESSAGE_ENABLED); + // } + // break; + // case 'X' : // Disable alarm lock [ALARM] + // if (sys.state == STATE_ALARM) { + // report_feedback_message(MESSAGE_ALARM_UNLOCK); + // sys.state = STATE_IDLE; + // // Don't run startup script. Prevents stored moves in startup from causing accidents. + // if (system_check_safety_door_ajar()) { // Check safety door switch before returning. + // bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR); + // protocol_execute_realtime(); // Enter safety door mode. + // } + // } // Otherwise, no effect. + // break; + } + break; + //case 'J' : break; // Jogging methods + // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be + // susceptible to other realtime commands except for e-stop. The jogging function is intended to + // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped + // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would + // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the + // motion by repeatedly toggling to slow the motion to the desired location. Location data would + // need to be updated real-time and supplied to the user through status queries. + // More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are + // handled by the planner. It would be possible for the jog subprogram to insert blocks into the + // block buffer without having the planner plan them. It would need to manage de/ac-celerations + // on its own carefully. This approach could be effective and possibly size/memory efficient. + // break; + // } + //break; + default : + // Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing) + // if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); } + switch( cmdString[char_counter] ) { + // case '#' : // Print Grbl NGC parameters + // if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } + // else { report_ngc_parameters(); } + // break; + // case 'H' : // Perform homing cycle [IDLE/ALARM] + // if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { + // sys.state = STATE_HOMING; // Set system state variable + // // Only perform homing if Grbl is idle or lost. + // + // // TODO: Likely not required. + // if (system_check_safety_door_ajar()) { // Check safety door switch before homing. + // bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR); + // protocol_execute_realtime(); // Enter safety door mode. + // } + // + // + // mc_homing_cycle(); + // if (!sys.abort) { // Execute startup scripts after successful homing. + // sys.state = STATE_IDLE; // Set to IDLE when complete. + // st_go_idle(); // Set steppers to the settings idle state before returning. + // system_execute_startup(line); + // } + // } else { return(STATUS_SETTING_DISABLED); } + // break; + // case 'I' : // Print or store build info. [IDLE/ALARM] + // if ( line[++char_counter] == 0 ) { + // settings_read_build_info(line); + // report_build_info(line); + // } else { // Store startup line [IDLE/ALARM] + // if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); } + // helper_var = char_counter; // Set helper variable as counter to start of user info line. + // do { + // line[char_counter-helper_var] = line[char_counter]; + // } while (line[char_counter++] != 0); + // settings_store_build_info(line); + // } + // break; + case 'R' : // Restore defaults [IDLE/ALARM] + if (cmdString[++char_counter] != 'S') { return(STATUS_INVALID_STATEMENT); } + if (cmdString[++char_counter] != 'T') { return(STATUS_INVALID_STATEMENT); } + if (cmdString[++char_counter] != '=') { return(STATUS_INVALID_STATEMENT); } + if (cmdString.length() != 6) { return(STATUS_INVALID_STATEMENT); } + switch (cmdString[++char_counter]) { + case '$': settingsWipe(SETTINGS_RESTORE_SETTINGS); break; + case '#': settingsWipe(SETTINGS_RESTORE_MASLOW); break; + case '*': settingsWipe(SETTINGS_RESTORE_ALL); break; + default: return(STATUS_INVALID_STATEMENT); + } + reportFeedbackMessage(MESSAGE_RESTORE_DEFAULTS); + systemReset(); // Force reset to ensure settings are initialized correctly. + break; + // case 'N' : // Startup lines. [IDLE/ALARM] + // if ( line[++char_counter] == 0 ) { // Print startup lines + // for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) { + // if (!(settings_read_startup_line(helper_var, line))) { + // report_status_message(STATUS_SETTING_READ_FAIL); + // } else { + // report_startup_line(helper_var,line); + // } + // } + // break; + // } else { // Store startup line [IDLE Only] Prevents motion during ALARM. + // if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle. + // helper_var = true; // Set helper_var to flag storing method. + // // No break. Continues into default: to read remaining command characters. + // } + default : // Storing setting methods [IDLE/ALARM] + if(!readFloat(cmdString, char_counter, parameter)) { return(STATUS_BAD_NUMBER_FORMAT); } + if(cmdString[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); } + // if (helper_var) { // Store startup line + // // Prepare sending gcode block to gcode parser by shifting all characters + // helper_var = char_counter; // Set helper variable as counter to start of gcode block + // do { + // line[char_counter-helper_var] = line[char_counter]; + // } while (line[char_counter++] != 0); + // // Execute gcode block to ensure block is valid. + // helper_var = gc_execute_line(line); // Set helper_var to returned status code. + // if (helper_var) { return(helper_var); } + // else { + // helper_var = trunc(parameter); // Set helper_var to int value of parameter + // settings_store_startup_line(helper_var,line); + // } + // } else { // Store global setting. + if(!readFloat(cmdString, char_counter, value)) { return(STATUS_BAD_NUMBER_FORMAT); } + if((cmdString[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); } + return(settingsStoreGlobalSetting((byte)parameter, value)); + // } + } + } + } + return(STATUS_OK); +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/System.h b/Firmware_1.26b/cnc_ctrl_v1/System.h new file mode 100644 index 00000000..9e297e47 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/System.h @@ -0,0 +1,94 @@ +/*This file is part of the Maslow Control Software. + +The Maslow Control Software is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +Maslow Control Software is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with the Maslow Control Software. If not, see . + +Copyright 2014-2017 Bar Smith*/ + +#ifndef system_h +#define system_h + +// Convenience Defines - Maybe move into a nuts and bolts file? +#define FORWARD 1 +#define BACKWARD -1 +#define CLOCKWISE -1 +#define COUNTERCLOCKWISE 1 +#define MILLIMETERS 1 +#define INCHES 25.4 + +// Define various pause bits +#define PAUSE_FLAG_USER_PAUSE bit(0) // a pause triggered within the code that must be cleared by user using the ~ command + +// Define system state bit map. The state variable primarily tracks the individual functions +// of Maslow to manage each without overlapping. It is also used as a messaging flag for +// critical events. +#define STATE_IDLE 0 // Must be zero. No flags. +#define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access. +#define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only. +#define STATE_OLD_SETTINGS bit(2) // Locks out all g-code processes, allows settings access until old settings are loaded +#define STATE_CYCLE bit(3) // Cycle is running or motions are being executed. +#define STATE_HOLD bit(4) // Active feed hold +#define STATE_SAFETY_DOOR bit(5) // Safety door is ajar. Feed holds and de-energizes system. +#define STATE_MOTION_CANCEL bit(6) // Motion cancel by feed hold and return to idle. +#define STATE_POS_ERR_IGNORE bit(7) // Motion not checked for position error + +// Define old settings flag details +#define NEED_ENCODER_STEPS bit(0) +#define NEED_DIST_PER_ROT bit(1) +#define NEED_Z_ENCODER_STEPS bit(2) +#define NEED_Z_DIST_PER_ROT bit(3) + +// Storage for global system states +// Some of this could be more appropriately moved to the gcode parser +typedef struct { + bool stop; // Stop flag. + byte state; // State tracking flag + byte pause; // Pause flag. + float xPosition; // Cartessian position of XY axes + float yPosition; // Cached because calculating position is intensive + float steps[3]; // Encoder position of axes + bool useRelativeUnits; // + unsigned long lastSerialRcvd; // The millis of the last rcvd serial command, used by watchdo + int lastGCommand; //Stores the value of the last command run eg: G01 -> 1 + int lastTool; //Stores the value of the last tool number eg: T4 -> 4 + int nextTool; //Stores the value of the next tool number eg: T4 -> 4 + float inchesToMMConversion; //Used to track whether to convert from inches, can probably be done in a way that doesn't require RAM + float feedrate; //The feedrate of the machine in mm/min + // THE FOLLOWING IS USED FOR IMPORTING SETTINGS FROM FIRMWARE v1.00 AND EARLIER + // It can be deleted at some point + byte oldSettingsFlag; +} system_t; +extern system_t sys; +extern Axis leftAxis; +extern Axis rightAxis; +extern Axis zAxis; +extern RingBuffer incSerialBuffer; +extern Kinematics kinematics; +extern byte systemRtExecAlarm; +extern int SpindlePowerControlPin; +extern int LaserPowerPin; +extern int ProbePin; + +void calibrateChainLengths(String); +void setupAxes(); +int getPCBVersion(); +void pause(); +void maslowDelay(unsigned long); +void execSystemRealtime(); +void systemSaveAxesPosition(); +void systemReset(); +byte systemExecuteCmdstring(String&); +void setPWMPrescalers(int prescalerChoice); +void configAuxLow(int A1, int A2, int A3, int A4, int A5, int A6); +void configAuxHigh(int A7, int A8, int A9); +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Testing.cpp b/Firmware_1.26b/cnc_ctrl_v1/Testing.cpp new file mode 100644 index 00000000..3f8bfa39 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Testing.cpp @@ -0,0 +1,181 @@ +/*This file is part of the Maslow Control Software. + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +// This file contains various testing provisions + +#include "Maslow.h" + +void PIDTestVelocity(Axis* axis, const float start, const float stop, const float steps, const float version){ + // Moves the defined Axis at series of speed steps for PID tuning + // Start Log + Serial.println(F("--PID Velocity Test Start--")); + Serial.println(axis->motorGearboxEncoder.getPIDString()); + if (version == 2) { + Serial.println(F("setpoint,input,output")); + } + + double startTime; + double print = micros(); + double current = micros(); + float error; + float reportedSpeed; + float span = stop - start; + float speed; + + // Start the steps + axis->disablePositionPID(); + axis->attach(); + for(int i = 0; i < steps; i++){ + // 1 step = start, 2 step = start & finish, 3 = start, start + 1/2 span... + speed = start; + if (i > 0){ + speed = start + (span * (i/(steps-1))); + } + startTime = micros(); + axis->motorGearboxEncoder.write(speed); + while (startTime + 2000000 > current){ + if (current - print > LOOPINTERVAL){ + if (version == 2) { + Serial.println(axis->motorGearboxEncoder.pidState()); + } + else { + reportedSpeed= axis->motorGearboxEncoder.cachedSpeed(); + error = reportedSpeed - speed; + print = current; + Serial.println(error); + } + } + current = micros(); + } + } + axis->motorGearboxEncoder.write(0); + + // Print end of log, and update axis for use again + Serial.println(F("--PID Velocity Test Stop--\n")); + axis->write(axis->read()); + axis->detach(); + axis->enablePositionPID(); + kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0.0, 0.0); +} + +void positionPIDOutput (Axis* axis, float setpoint, float startingPoint){ + Serial.print((setpoint - startingPoint), 4); + Serial.print(F(",")); + Serial.print((axis->pidInput() - startingPoint),4); + Serial.print(F(",")); + Serial.print(axis->pidOutput(),4); + Serial.print(F(",")); + Serial.print(axis->motorGearboxEncoder.cachedSpeed(), 4); + Serial.print(F(",")); + Serial.println(axis->motorGearboxEncoder.motor.lastSpeed()); +} + +void PIDTestPosition(Axis* axis, float start, float stop, const float steps, const float stepTime, const float version){ + // Moves the defined Axis at series of chain distance steps for PID tuning + // Start Log + Serial.println(F("--PID Position Test Start--")); + Serial.println(axis->getPIDString()); + if (version == 2) { + Serial.println(F("setpoint,input,output,rpminput,voltage")); + } + + unsigned long startTime; + unsigned long print = micros(); + unsigned long current = micros(); + float error; + float startingPoint = axis->read(); + start = startingPoint + start; + stop = startingPoint + stop; + float span = stop - start; + float location; + + // Start the steps + axis->attach(); + for(int i = 0; i < steps; i++){ + // 1 step = start, 2 step = start & finish, 3 = start, start + 1/2 span... + location = start; + if (i > 0){ + location = start + (span * (i/(steps-1))); + } + startTime = micros(); + current = micros(); + axis->write(location); + while (startTime + (stepTime * 1000) > current){ + if (current - print > LOOPINTERVAL){ + if (version == 2) { + positionPIDOutput(axis, location, startingPoint); + } + else { + error = axis->read() - location; + Serial.println(error); + } + print = current; + } + current = micros(); + } + } + startTime = micros(); + current = micros(); + //Allow 1 seccond to settle out + while (startTime + 1000000 > current){ + if (current - print > LOOPINTERVAL){ + if (version == 2) { + positionPIDOutput(axis, location, startingPoint); + } + else { + error = axis->read() - location; + Serial.println(error); + } + print = current; + } + current = micros(); + } + // Print end of log, and update axis for use again + Serial.println(F("--PID Position Test Stop--\n")); + axis->write(axis->read()); + axis->detach(); + kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0.0, 0.0); +} + +void voltageTest(Axis* axis, int start, int stop){ + // Moves the defined Axis at a series of voltages and reports the resulting + // RPM + Serial.println(F("--Voltage Test Start--")); + int direction = 1; + if (stop < start){ direction = -1;} + int steps = abs(start - stop); + unsigned long startTime = millis() + 200; + unsigned long currentTime = millis(); + unsigned long printTime = 0; + + for (int i = 0; i <= steps; i++){ + axis->motorGearboxEncoder.motor.directWrite((start + (i*direction))); + while (startTime > currentTime - (i * 200)){ + currentTime = millis(); + if ((printTime + 50) <= currentTime){ + Serial.print((start + (i*direction))); + Serial.print(F(",")); + Serial.print(axis->motorGearboxEncoder.computeSpeed(),4); + Serial.print(F("\n")); + printTime = millis(); + } + } + } + + // Print end of log, and update axis for use again + axis->motorGearboxEncoder.motor.directWrite(0); + Serial.println(F("--Voltage Test Stop--\n")); + axis->write(axis->read()); + kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0.0, 0.0); +} \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/Testing.h b/Firmware_1.26b/cnc_ctrl_v1/Testing.h new file mode 100644 index 00000000..4673b012 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/Testing.h @@ -0,0 +1,25 @@ +/*This file is part of the Maslow Control Software. + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + +// This file contains various testing provisions + +#ifndef testing_h +#define testing_h + +void PIDTestVelocity(Axis*, const float, const float, const float, const float); +void positionPIDOutput (Axis*, float, float); +void PIDTestPosition(Axis*, float, float, const float, const float, const float); +void voltageTest(Axis*, int, int); + +#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/TimerOne.cpp b/Firmware_1.26b/cnc_ctrl_v1/TimerOne.cpp new file mode 100644 index 00000000..5db3b317 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/TimerOne.cpp @@ -0,0 +1,209 @@ +/* + * Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328 + * Original code by Jesse Tane for http://labs.ideo.com August 2008 + * Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support + * Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop + * Modified June 2011 by Lex Talionis to add a function to read the timer + * Modified Oct 2011 by Andrew Richards to avoid certain problems: + * - Add (long) assignments and casts to TimerOne::read() to ensure calculations involving tmp, ICR1 and TCNT1 aren't truncated + * - Ensure 16 bit registers accesses are atomic - run with interrupts disabled when accessing + * - Remove global enable of interrupts (sei())- could be running within an interrupt routine) + * - Disable interrupts whilst TCTN1 == 0. Datasheet vague on this, but experiment shows that overflow interrupt + * flag gets set whilst TCNT1 == 0, resulting in a phantom interrupt. Could just set to 1, but gets inaccurate + * at very short durations + * - startBottom() added to start counter at 0 and handle all interrupt enabling. + * - start() amended to enable interrupts + * - restart() amended to point at startBottom() + * Modiied 7:26 PM Sunday, October 09, 2011 by Lex Talionis + * - renamed start() to resume() to reflect it's actual role + * - renamed startBottom() to start(). This breaks some old code that expects start to continue counting where it left off + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + * See Google Code project http://code.google.com/p/arduino-timerone/ for latest + */ +#ifndef TIMERONE_cpp +#define TIMERONE_cpp + +#include "Maslow.h" + +TimerOne Timer1; // preinstatiate + +ISR(TIMER1_OVF_vect) // interrupt service routine that wraps a user defined function supplied by attachInterrupt +{ + Timer1.isrCallback(); +} + + +void TimerOne::initialize(long microseconds) +{ + TCCR1A = 0; // clear control register A + TCCR1B = _BV(WGM13); // set mode 8: phase and frequency correct pwm, stop the timer + setPeriod(microseconds); +} + + +void TimerOne::setPeriod(long microseconds) // AR modified for atomic access +{ + + long cycles = (F_CPU / 2000000) * microseconds; // the counter runs backwards after TOP, interrupt is at BOTTOM so divide microseconds by 2 + if(cycles < RESOLUTION) clockSelectBits = _BV(CS10); // no prescale, full xtal + else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11); // prescale by /8 + else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11) | _BV(CS10); // prescale by /64 + else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12); // prescale by /256 + else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12) | _BV(CS10); // prescale by /1024 + else cycles = RESOLUTION - 1, clockSelectBits = _BV(CS12) | _BV(CS10); // request was out of bounds, set as maximum + + oldSREG = SREG; + cli(); // Disable interrupts for 16 bit register access + ICR1 = pwmPeriod = cycles; // ICR1 is TOP in p & f correct pwm mode + SREG = oldSREG; + + TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); + TCCR1B |= clockSelectBits; // reset clock select register, and starts the clock +} + +void TimerOne::setPwmDuty(char pin, int duty) +{ + unsigned long dutyCycle = pwmPeriod; + + dutyCycle *= duty; + dutyCycle >>= 10; + + oldSREG = SREG; + cli(); + if(pin == 1 || pin == 9) OCR1A = dutyCycle; + else if(pin == 2 || pin == 10) OCR1B = dutyCycle; + SREG = oldSREG; +} + +void TimerOne::pwm(char pin, int duty, long microseconds) // expects duty cycle to be 10 bit (1024) +{ + if(microseconds > 0) setPeriod(microseconds); + if(pin == 1 || pin == 9) { + DDRB |= _BV(PORTB1); // sets data direction register for pwm output pin + TCCR1A |= _BV(COM1A1); // activates the output pin + } + else if(pin == 2 || pin == 10) { + DDRB |= _BV(PORTB2); + TCCR1A |= _BV(COM1B1); + } + setPwmDuty(pin, duty); + resume(); // Lex - make sure the clock is running. We don't want to restart the count, in case we are starting the second WGM + // and the first one is in the middle of a cycle +} + +void TimerOne::disablePwm(char pin) +{ + if(pin == 1 || pin == 9) TCCR1A &= ~_BV(COM1A1); // clear the bit that enables pwm on PB1 + else if(pin == 2 || pin == 10) TCCR1A &= ~_BV(COM1B1); // clear the bit that enables pwm on PB2 +} + +void TimerOne::attachInterrupt(void (*isr)(), long microseconds) +{ + if(microseconds > 0) setPeriod(microseconds); + isrCallback = isr; // register the user's callback with the real ISR + TIMSK1 = _BV(TOIE1); // sets the timer overflow interrupt enable bit + // might be running with interrupts disabled (eg inside an ISR), so don't touch the global state +// sei(); + resume(); +} + +void TimerOne::detachInterrupt() +{ + TIMSK1 &= ~_BV(TOIE1); // clears the timer overflow interrupt enable bit + // timer continues to count without calling the isr +} + +void TimerOne::resume() // AR suggested +{ + TCCR1B |= clockSelectBits; +} + +void TimerOne::restart() // Depricated - Public interface to start at zero - Lex 10/9/2011 +{ + start(); +} + +void TimerOne::start() // AR addition, renamed by Lex to reflect it's actual role +{ + unsigned int tcnt1; + + TIMSK1 &= ~_BV(TOIE1); // AR added + GTCCR |= _BV(PSRSYNC); // AR added - reset prescaler (NB: shared with all 16 bit timers); + + oldSREG = SREG; // AR - save status register + cli(); // AR - Disable interrupts + TCNT1 = 0; + SREG = oldSREG; // AR - Restore status register + resume(); + do { // Nothing -- wait until timer moved on from zero - otherwise get a phantom interrupt + oldSREG = SREG; + cli(); + tcnt1 = TCNT1; + SREG = oldSREG; + } while (tcnt1==0); + +// TIFR1 = 0xff; // AR - Clear interrupt flags +// TIMSK1 = _BV(TOIE1); // sets the timer overflow interrupt enable bit +} + +void TimerOne::stop() +{ + TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); // clears all clock selects bits +} + +unsigned long TimerOne::read() //returns the value of the timer in microseconds +{ //rember! phase and freq correct mode counts up to then down again + unsigned long tmp; // AR amended to hold more than 65536 (could be nearly double this) + unsigned int tcnt1; // AR added + + oldSREG= SREG; + cli(); + tmp=TCNT1; + SREG = oldSREG; + + char scale=0; + switch (clockSelectBits) + { + case 1:// no prescalse + scale=0; + break; + case 2:// x8 prescale + scale=3; + break; + case 3:// x64 + scale=6; + break; + case 4:// x256 + scale=8; + break; + case 5:// x1024 + scale=10; + break; + } + + do { // Nothing -- max delay here is ~1023 cycles. AR modified + oldSREG = SREG; + cli(); + tcnt1 = TCNT1; + SREG = oldSREG; + } while (tcnt1==tmp); //if the timer has not ticked yet + + //if we are counting down add the top value to how far we have counted down + tmp = ( (tcnt1>tmp) ? (tmp) : (long)(ICR1-tcnt1)+(long)ICR1 ); // AR amended to add casts and reuse previous TCNT1 + return ((tmp*1000L)/(F_CPU /1000L))<. + * + * See Google Code project http://code.google.com/p/arduino-timerone/ for latest + */ +#ifndef TIMERONE_h +#define TIMERONE_h + +#define RESOLUTION 65536 // Timer1 is 16 bit + +class TimerOne +{ + public: + + // properties + unsigned int pwmPeriod; + unsigned char clockSelectBits; + char oldSREG; // To hold Status Register while ints disabled + + // methods + void initialize(long microseconds=1000000); + void start(); + void stop(); + void restart(); + void resume(); + unsigned long read(); + void pwm(char pin, int duty, long microseconds=-1); + void disablePwm(char pin); + void attachInterrupt(void (*isr)(), long microseconds=-1); + void detachInterrupt(); + void setPeriod(long microseconds); + void setPwmDuty(char pin, int duty); + void (*isrCallback)(); +}; + +extern TimerOne Timer1; +#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/cnc_ctrl_v1.ino b/Firmware_1.26b/cnc_ctrl_v1/cnc_ctrl_v1.ino new file mode 100644 index 00000000..3523f955 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/cnc_ctrl_v1.ino @@ -0,0 +1,120 @@ +/*This file is part of the Maslow Control Software. + The Maslow Control Software is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + Maslow Control Software is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with the Maslow Control Software. If not, see . + + Copyright 2014-2017 Bar Smith*/ + + +/* To the projects contributers: + * + * it is highly recommended to activate warning output of the arduino gcc compiler. + * Compiler warnings are a great help to keep the codebase clean and can give clues + * to potentally wrong code. Also, if a codebase produces too many warnings it gets + * more likely that possibly important warnings could be overlooked. + * + * Since the Arduino IDE suppresses any compiler output by default we have to activate it. + * + * Therefore Arduino IDE users need to activate compiler output in the + * preferences dialog. Additionally Arduino IDE needs to tell the compiler to generate + * warning messages. This is done in the Arduino IDE's preferences.txt file - you can + * get there via the Preferences Dialog - there is a link to the file at the bottom. + * Edit the line "compiler.warning_level=none" to "compiler.warning_level=all" + * and restart the IDE. + */ + + +// TLE5206 v1.4 +// EastBaySource TB6643 V1.5 + +#include "Maslow.h" + +// Define system global state structure +system_t sys; + +// Define the global settings storage - treat as readonly +settings_t sysSettings; + +// Global realtime executor bitflag variable for setting various alarms. +byte systemRtExecAlarm; + +// Define axes, it might be tighter to define these within the sys struct +Axis leftAxis; +Axis rightAxis; +Axis zAxis; + +// Define kinematics, is it necessary for this to be a class? Is this really +// going to be reused? +Kinematics kinematics; + +void setup(){ + Serial.begin(57600); + Serial.print(F("PCB v1.")); + Serial.print(getPCBVersion()); + if (TLE5206 == true) { Serial.print(F(" TLE5206 ")); } + Serial.println(F(" Detected")); + sys.inchesToMMConversion = 1; + settingsLoadFromEEprom(); + setupAxes(); + settingsLoadStepsFromEEprom(); + // Set initial desired position of the machine to its current position + leftAxis.write(leftAxis.read()); + rightAxis.write(rightAxis.read()); + zAxis.write(zAxis.read()); + readyCommandString.reserve(INCBUFFERLENGTH); //Allocate memory so that this string doesn't fragment the heap as it grows and shrinks + gcodeLine.reserve(INCBUFFERLENGTH); + + #ifndef SIMAVR // Using the timer will crash simavr, so we disable it. + // Instead, we'll run runsOnATimer periodically in loop(). + Timer1.initialize(LOOPINTERVAL); + Timer1.attachInterrupt(runsOnATimer); + #endif + + Serial.println(F("Grbl v1.00")); // Why GRBL? Apparently because some programs are silly and look for this as an initialization command + Serial.println(F("ready")); + reportStatusMessage(STATUS_OK); + +} + +void runsOnATimer(){ + #if misloopDebug > 0 + if (inMovementLoop && !movementUpdated){ + movementFail = true; + } + #endif + movementUpdated = false; + leftAxis.computePID(); + rightAxis.computePID(); + zAxis.computePID(); +} + +void loop(){ + // This section is called on startup and whenever a stop command is issued + initGCode(); + if (sys.stop){ // only called on sys.stop to prevent stopping + initMotion(); // on USB disconnect. Might consider removing + setSpindlePower(false); // this restriction for safety if we are + laserOn(false); // EBS added laser + } // comfortable that USB disconnects are + // not a common occurrence anymore + kinematics.init(); + + // Let's go! + sys.stop = false; // We should consider an abort option which + // is not reset automatically such as a software + // limit + while (!sys.stop){ + gcodeExecuteLoop(); + #ifdef SIMAVR // Normally, runsOnATimer() will, well, run on a timer. See also setup(). + runsOnATimer(); + #endif + execSystemRealtime(); + } +} diff --git a/Firmware_1.26b/cnc_ctrl_v1/utility/direct_pin_read.h b/Firmware_1.26b/cnc_ctrl_v1/utility/direct_pin_read.h new file mode 100644 index 00000000..97b88620 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/utility/direct_pin_read.h @@ -0,0 +1,27 @@ +#ifndef direct_pin_read_h_ +#define direct_pin_read_h_ + +#if defined(__AVR__) || defined(__MK20DX128__) || defined(__MK20DX256__) + +#define IO_REG_TYPE uint8_t +#define PIN_TO_BASEREG(pin) (portInputRegister(digitalPinToPort(pin))) +#define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin)) +#define DIRECT_PIN_READ(base, mask) (((*(base)) & (mask)) ? 1 : 0) + +#elif defined(__SAM3X8E__) + +#define IO_REG_TYPE uint32_t +#define PIN_TO_BASEREG(pin) (portInputRegister(digitalPinToPort(pin))) +#define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin)) +#define DIRECT_PIN_READ(base, mask) (((*(base)) & (mask)) ? 1 : 0) + +#elif defined(__PIC32MX__) + +#define IO_REG_TYPE uint32_t +#define PIN_TO_BASEREG(pin) (portModeRegister(digitalPinToPort(pin))) +#define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin)) +#define DIRECT_PIN_READ(base, mask) (((*(base+4)) & (mask)) ? 1 : 0) + +#endif + +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_config.h b/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_config.h new file mode 100644 index 00000000..cde6adf2 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_config.h @@ -0,0 +1,87 @@ +#if defined(__AVR__) + +#include +#include + +#define attachInterrupt(num, func, mode) enableInterrupt(num) +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +#define SCRAMBLE_INT_ORDER(num) ((num < 4) ? num + 2 : ((num < 6) ? num - 4 : num)) +#define DESCRAMBLE_INT_ORDER(num) ((num < 2) ? num + 4 : ((num < 6) ? num - 2 : num)) +#else +#define SCRAMBLE_INT_ORDER(num) (num) +#define DESCRAMBLE_INT_ORDER(num) (num) +#endif + +static void enableInterrupt(uint8_t num) +{ + switch (DESCRAMBLE_INT_ORDER(num)) { + #if defined(EICRA) && defined(EIMSK) + case 0: + EICRA = (EICRA & 0xFC) | 0x01; + EIMSK |= 0x01; + return; + case 1: + EICRA = (EICRA & 0xF3) | 0x04; + EIMSK |= 0x02; + return; + case 2: + EICRA = (EICRA & 0xCF) | 0x10; + EIMSK |= 0x04; + return; + case 3: + EICRA = (EICRA & 0x3F) | 0x40; + EIMSK |= 0x08; + return; + #elif defined(MCUCR) && defined(GICR) + case 0: + MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + GICR |= (1 << INT0); + return; + case 1: + MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + GICR |= (1 << INT1); + return; + #elif defined(MCUCR) && defined(GIMSK) + case 0: + MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + GIMSK |= (1 << INT0); + return; + case 1: + MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + GIMSK |= (1 << INT1); + return; + #endif + #if defined(EICRB) && defined(EIMSK) + case 4: + EICRB = (EICRB & 0xFC) | 0x01; + EIMSK |= 0x10; + return; + case 5: + EICRB = (EICRB & 0xF3) | 0x04; + EIMSK |= 0x20; + return; + case 6: + EICRB = (EICRB & 0xCF) | 0x10; + EIMSK |= 0x40; + return; + case 7: + EICRB = (EICRB & 0x3F) | 0x40; + EIMSK |= 0x80; + return; + #endif + } +} + +#elif defined(__PIC32MX__) + +#ifdef ENCODER_OPTIMIZE_INTERRUPTS +#undef ENCODER_OPTIMIZE_INTERRUPTS +#endif + +#else + +#ifdef ENCODER_OPTIMIZE_INTERRUPTS +#undef ENCODER_OPTIMIZE_INTERRUPTS +#endif + +#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_pins.h b/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_pins.h new file mode 100644 index 00000000..e677c4f8 --- /dev/null +++ b/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_pins.h @@ -0,0 +1,156 @@ +// interrupt pins for known boards + +// Teensy (and maybe others) define these automatically +#if !defined(CORE_NUM_INTERRUPT) + +// Wiring boards +#if defined(WIRING) + #define CORE_NUM_INTERRUPT NUM_EXTERNAL_INTERRUPTS + #if NUM_EXTERNAL_INTERRUPTS > 0 + #define CORE_INT0_PIN EI0 + #endif + #if NUM_EXTERNAL_INTERRUPTS > 1 + #define CORE_INT1_PIN EI1 + #endif + #if NUM_EXTERNAL_INTERRUPTS > 2 + #define CORE_INT2_PIN EI2 + #endif + #if NUM_EXTERNAL_INTERRUPTS > 3 + #define CORE_INT3_PIN EI3 + #endif + #if NUM_EXTERNAL_INTERRUPTS > 4 + #define CORE_INT4_PIN EI4 + #endif + #if NUM_EXTERNAL_INTERRUPTS > 5 + #define CORE_INT5_PIN EI5 + #endif + #if NUM_EXTERNAL_INTERRUPTS > 6 + #define CORE_INT6_PIN EI6 + #endif + #if NUM_EXTERNAL_INTERRUPTS > 7 + #define CORE_INT7_PIN EI7 + #endif + +// Arduino Uno, Duemilanove, Diecimila, LilyPad, Mini, Fio, etc... +#elif defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) + #define CORE_NUM_INTERRUPT 2 + #define CORE_INT0_PIN 2 + #define CORE_INT1_PIN 3 + +// Arduino Mega +#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) + #define CORE_NUM_INTERRUPT 6 + #define CORE_INT0_PIN 2 + #define CORE_INT1_PIN 3 + #define CORE_INT2_PIN 21 + #define CORE_INT3_PIN 20 + #define CORE_INT4_PIN 19 + #define CORE_INT5_PIN 18 + +// Arduino Leonardo (untested) +#elif defined(__AVR_ATmega32U4__) && !defined(CORE_TEENSY) + #define CORE_NUM_INTERRUPT 4 + #define CORE_INT0_PIN 3 + #define CORE_INT1_PIN 2 + #define CORE_INT2_PIN 0 + #define CORE_INT3_PIN 1 + +// Sanguino (untested) +#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) + #define CORE_NUM_INTERRUPT 3 + #define CORE_INT0_PIN 10 + #define CORE_INT1_PIN 11 + #define CORE_INT2_PIN 2 + +// Chipkit Uno32 - attachInterrupt may not support CHANGE option +#elif defined(__PIC32MX__) && defined(_BOARD_UNO_) + #define CORE_NUM_INTERRUPT 5 + #define CORE_INT0_PIN 38 + #define CORE_INT1_PIN 2 + #define CORE_INT2_PIN 7 + #define CORE_INT3_PIN 8 + #define CORE_INT4_PIN 35 + +// Chipkit Uno32 - attachInterrupt may not support CHANGE option +#elif defined(__PIC32MX__) && defined(_BOARD_MEGA_) + #define CORE_NUM_INTERRUPT 5 + #define CORE_INT0_PIN 3 + #define CORE_INT1_PIN 2 + #define CORE_INT2_PIN 7 + #define CORE_INT3_PIN 21 + #define CORE_INT4_PIN 20 + +// http://hlt.media.mit.edu/?p=1229 +#elif defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__) + #define CORE_NUM_INTERRUPT 1 + #define CORE_INT0_PIN 2 + +// Arduino Due (untested) +#elif defined(__SAM3X8E__) + #define CORE_NUM_INTERRUPT 54 + #define CORE_INT0_PIN 0 + #define CORE_INT1_PIN 1 + #define CORE_INT2_PIN 2 + #define CORE_INT3_PIN 3 + #define CORE_INT4_PIN 4 + #define CORE_INT5_PIN 5 + #define CORE_INT6_PIN 6 + #define CORE_INT7_PIN 7 + #define CORE_INT8_PIN 8 + #define CORE_INT9_PIN 9 + #define CORE_INT10_PIN 10 + #define CORE_INT11_PIN 11 + #define CORE_INT12_PIN 12 + #define CORE_INT13_PIN 13 + #define CORE_INT14_PIN 14 + #define CORE_INT15_PIN 15 + #define CORE_INT16_PIN 16 + #define CORE_INT17_PIN 17 + #define CORE_INT18_PIN 18 + #define CORE_INT19_PIN 19 + #define CORE_INT20_PIN 20 + #define CORE_INT21_PIN 21 + #define CORE_INT22_PIN 22 + #define CORE_INT23_PIN 23 + #define CORE_INT24_PIN 24 + #define CORE_INT25_PIN 25 + #define CORE_INT26_PIN 26 + #define CORE_INT27_PIN 27 + #define CORE_INT28_PIN 28 + #define CORE_INT29_PIN 29 + #define CORE_INT30_PIN 30 + #define CORE_INT31_PIN 31 + #define CORE_INT32_PIN 32 + #define CORE_INT33_PIN 33 + #define CORE_INT34_PIN 34 + #define CORE_INT35_PIN 35 + #define CORE_INT36_PIN 36 + #define CORE_INT37_PIN 37 + #define CORE_INT38_PIN 38 + #define CORE_INT39_PIN 39 + #define CORE_INT40_PIN 40 + #define CORE_INT41_PIN 41 + #define CORE_INT42_PIN 42 + #define CORE_INT43_PIN 43 + #define CORE_INT44_PIN 44 + #define CORE_INT45_PIN 45 + #define CORE_INT46_PIN 46 + #define CORE_INT47_PIN 47 + #define CORE_INT48_PIN 48 + #define CORE_INT49_PIN 49 + #define CORE_INT50_PIN 50 + #define CORE_INT51_PIN 51 + #define CORE_INT52_PIN 52 + #define CORE_INT53_PIN 53 + +#endif +#endif + +#if !defined(CORE_NUM_INTERRUPT) +#error "Interrupts are unknown for this board, please add to this code" +#endif +#if CORE_NUM_INTERRUPT <= 0 +#error "Encoder requires interrupt pins, but this board does not have any :(" +#error "You could try defining ENCODER_DO_NOT_USE_INTERRUPTS as a kludge." +#endif + diff --git a/Firmware_1.26b/platformio.ini b/Firmware_1.26b/platformio.ini new file mode 100644 index 00000000..6dd2a572 --- /dev/null +++ b/Firmware_1.26b/platformio.ini @@ -0,0 +1,38 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; http://docs.platformio.org/page/projectconf.html + +[platformio] +src_dir = cnc_ctrl_v1 + +[env:megaatmega2560] +platform = atmelavr +board = megaatmega2560 +framework = arduino + +[env:simavr] +platform = atmelavr +board = megaatmega2560 +framework = arduino +extra_scripts = platformio/simavr_env.py +build_unflags = -Os +build_flags = -g -O0 -DSIMAVR -DFAKE_SERVO +monitor_port = /tmp/simavr-uart0 + +;[env:teensy36] +;platform = teensy +;board = teensy36 +;framework = arduino +;extra_scripts = platformio/teensy_env.py + +;[env:teensy35] +;platform = teensy +;board = teensy35 +;framework = arduino +;extra_scripts = platformio/teensy_env.py diff --git a/Firmware_1.26b/platformio/simavr_env.py b/Firmware_1.26b/platformio/simavr_env.py new file mode 100644 index 00000000..ab5b46bc --- /dev/null +++ b/Firmware_1.26b/platformio/simavr_env.py @@ -0,0 +1,21 @@ +from SCons.Script import ARGUMENTS, AlwaysBuild + +Import('env') + +# Run the linker with "-g", to prevent stripping of debugging symbols +env.Append( + LINKFLAGS=[ + "-g" + ] +) + +# Don't try to upload the firmware +env.Replace(UPLOADHEXCMD="echo Upload is not supported for ${PIOENV}. Skipping") + +pioenv = env.get("PIOENV") +progname = env.get("PROGNAME") + +def simulate_callback(*args, **kwargs): + env.Execute("./simduino/simduino .pioenvs/" + pioenv + "/" + progname + ".elf") + +AlwaysBuild(env.Alias("simulate", "", simulate_callback)) diff --git a/Firmware_1.26b/platformio/teensy_env.py b/Firmware_1.26b/platformio/teensy_env.py new file mode 100644 index 00000000..0f0265e5 --- /dev/null +++ b/Firmware_1.26b/platformio/teensy_env.py @@ -0,0 +1,12 @@ +import os + +Import('env') + +varname = env.get("PIOENV") + "_UPLOAD" + +if varname in os.environ: + print "$"+ varname + " is set, enabling upload." +else: + # Don't try to upload the firmware + env.Replace(UPLOADHEXCMD="echo Upload is disabled by default for ${PIOENV}. " + + "To enable upload, set " + varname + "environment variable") diff --git a/cnc_ctrl_v1/Kinematics.cpp b/cnc_ctrl_v1/Kinematics.cpp index ed2b3d97..c0162884 100644 --- a/cnc_ctrl_v1/Kinematics.cpp +++ b/cnc_ctrl_v1/Kinematics.cpp @@ -98,6 +98,8 @@ void Kinematics::_inverse(float xTarget,float yTarget, float* aChainLength, flo void Kinematics::_quadrilateralInverse(float xTarget,float yTarget, float* aChainLength, float* bChainLength){ + //Confirm that the coordinates are on the wood + _verifyValidTarget(&xTarget, &yTarget); // OK //coordinate shift to put (0,0) in the center of the plywood from the left sprocket y = (halfHeight) + sysSettings.motorOffsetY - yTarget; x = (sysSettings.distBetweenMotors/2.0) + xTarget; diff --git a/cnc_ctrl_v1/Kinematics.h b/cnc_ctrl_v1/Kinematics.h index 64fe6356..bfdeb8b3 100644 --- a/cnc_ctrl_v1/Kinematics.h +++ b/cnc_ctrl_v1/Kinematics.h @@ -50,7 +50,8 @@ float _YOffsetEqn(const float& YPlus, const float& Denominator, const float& Psi); void _MatSolv(); void _MyTrig(); - float x = 0; //target router bit coordinates. + //target router bit coordinates. + float x = 0; float y = 0; float _xCordOfMotor; float _yCordOfMotor; diff --git a/cnc_ctrl_v1/Maslow.h b/cnc_ctrl_v1/Maslow.h index 46104a7d..0ff1da08 100644 --- a/cnc_ctrl_v1/Maslow.h +++ b/cnc_ctrl_v1/Maslow.h @@ -18,7 +18,7 @@ #define maslow_h // Maslow Firmware Version tracking -#define VERSIONNUMBER 51.28 +#define VERSIONNUMBER 51.29 // Define standard libraries used by maslow. #include diff --git a/cnc_ctrl_v1/Motor.cpp b/cnc_ctrl_v1/Motor.cpp index 245694ec..76adb4eb 100644 --- a/cnc_ctrl_v1/Motor.cpp +++ b/cnc_ctrl_v1/Motor.cpp @@ -48,6 +48,15 @@ int Motor::setupMotor(const int& pwmPin, const int& pin1, const int& pin2){ digitalWrite(_pin1, LOW); digitalWrite(_pin2, LOW) ; + }else if (TB6643 == true ) { + // EBS V1.5 + pinMode(_pwmPin, INPUT); + pinMode(_pin1, OUTPUT); + pinMode(_pin2, OUTPUT); + + //stop the motor + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, LOW); } else if (TLE9201 == true) { //set pinmodes pinMode(_pwmPin, OUTPUT); @@ -81,7 +90,11 @@ void Motor::detach(){ //stop the motor digitalWrite(_pin1, LOW); digitalWrite(_pin2, LOW) ; - } else if (TLE9201 == true) { + }else if (TB6643 == true){ + //stop the motor + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, LOW) ; + } else if (TLE9201 == true) { //stop the motor digitalWrite(_pin2, HIGH); // TLE9201 ENABLE pin, LOW = on analogWrite(_pwmPin, 0); @@ -122,7 +135,7 @@ void Motor::write(int speed, bool force){ bool usePin1 = ((_pin1 != 4) && (_pin1 != 13) && (_pin1 != 11) && (_pin1 != 12)); // avoid PWM using timer0 or timer1 bool usePin2 = ((_pin2 != 4) && (_pin2 != 13) && (_pin2 != 11) && (_pin2 != 12)); // avoid PWM using timer0 or timer1 bool usepwmPin = ((TLE5206 == false) && (_pwmPin != 4) && (_pwmPin != 13) && (_pwmPin != 11) && (_pwmPin != 12)); // avoid PWM using timer0 or timer1 - if (!(TLE5206 || TLE9201)) { // L298 boards + if (!(TLE5206 || TLE9201)) { // NOT L298 boards if (forward){ if (usepwmPin){ digitalWrite(_pin1 , HIGH ); @@ -228,6 +241,19 @@ void Motor::write(int speed, bool force){ digitalWrite(dirPin, dirCMD); // TLE9201 DIR pin analogWrite (_pwmPin, speed); // TLE9201 PWM pin digitalWrite(enablePin, LOW); // TLE9201 ENABLE pin, HIGH = disable + }else if (TB6643) { //EBS 1.5 + if (forward) { + if (speed > 0) { + analogWrite(_pin1 , speed); + digitalWrite(_pin2 , LOW); + } else { // speed = 0 so put on the brakes + digitalWrite(_pin1 , HIGH); + digitalWrite(_pin2 , HIGH); + } + } else { // reverse + digitalWrite(_pin1 , LOW); + analogWrite(_pin2 , speed); + } } else {} // add new boards here } diff --git a/cnc_ctrl_v1/Motor.h b/cnc_ctrl_v1/Motor.h index f75e0e71..8ad61203 100644 --- a/cnc_ctrl_v1/Motor.h +++ b/cnc_ctrl_v1/Motor.h @@ -51,6 +51,7 @@ }; extern bool TLE5206; extern bool TLE9201; + extern bool TB6643; extern int ENA; extern int ENB; extern int ENC; diff --git a/cnc_ctrl_v1/Settings.cpp b/cnc_ctrl_v1/Settings.cpp index f3ae079d..431cc960 100644 --- a/cnc_ctrl_v1/Settings.cpp +++ b/cnc_ctrl_v1/Settings.cpp @@ -77,7 +77,7 @@ void settingsReset() { sysSettings.originalChainLength = 1651; // int originalChainLength; 2 sysSettings.encoderSteps = 8113.73; // float encoderSteps; 4 sysSettings.distPerRot = 63.5; // float distPerRot; 4 - sysSettings.maxFeed = 700; // int maxFeed; 2 + sysSettings.maxFeed = 900; // int maxFeed; 2 sysSettings.zAxisAttached = true; // zAxisAttached; 1 sysSettings.spindleAutomateType = SPEED_CONTROL_RELAY_ACTIVE_HIGH; // 1 bool spindleAutomate; sysSettings.maxZRPM = 12.60; // float maxZRPM; 4 diff --git a/cnc_ctrl_v1/Settings.h b/cnc_ctrl_v1/Settings.h index 86e6cc5c..5ae48609 100644 --- a/cnc_ctrl_v1/Settings.h +++ b/cnc_ctrl_v1/Settings.h @@ -20,7 +20,7 @@ Copyright 2014-2017 Bar Smith*/ #ifndef settings_h #define settings_h -#define SETTINGSVERSION 6 // The current version of settings, if this doesn't +#define SETTINGSVERSION 7 // The current version of settings, if this doesn't // match what is in EEPROM then settings on // machine are reset to defaults #define EEPROMVALIDDATA 56 // This is just a random byte value that is used diff --git a/cnc_ctrl_v1/System.cpp b/cnc_ctrl_v1/System.cpp index 88cbc9e3..3da81d13 100644 --- a/cnc_ctrl_v1/System.cpp +++ b/cnc_ctrl_v1/System.cpp @@ -22,6 +22,7 @@ Copyright 2014-2017 Bar Smith*/ bool TLE5206; bool TLE9201; +bool TB6643; // extern values using AUX pins defined in setupAxes() int SpindlePowerControlPin; //power relay or servo control to operate power switch for spindle @@ -243,6 +244,36 @@ void setupAxes(){ aux8 = 46; aux9 = 47; } + else if(pcbVersion == 5){ // EBS PCB v1.5 Detected + + //MP1 - Right Motor + encoder1A = 2; // INPUT + encoder1B = 3; // INPUT + in1 = 9; // OUTPUT + in2 = 10; // OUTPUT + //enA = 12; // errorFlag + + //MP2 - Z-axis + encoder2A = 18; // INPUT + encoder2B = 19; // INPUT + in3 = 7; // OUTPUT + in4 = 8; // OUTPUT + //enB = 8; // errorFlag + + //MP3 - Left Motor + encoder3A = 21; // INPUT + encoder3B = 20; // INPUT + in5 = 6; // OUTPUT + in6 = 5; // OUTPUT + //enC = 5; // errorFlag + //AUX pins + aux1 = 48; + aux2 = 49; + aux3 = 51; + aux4 = 50; + aux5 = 43; + aux6 = 44; + } else if (pcbVersion == 6){ // TLE9201 //TLE9201 PCB v1.6 Detected //MP1 - Right Motor @@ -337,11 +368,11 @@ void setupAxes(){ else{ // chain Under Sprocket... if (!TLE9201) { leftAxis.setup (enC, in5, in6, encoder3A, encoder3B, 'L', LOOPINTERVAL); - rightAxis.setup(enA, in2, in1, encoder1B, encoder1A, 'R', LOOPINTERVAL); + rightAxis.setup(enA, in2, in1, encoder1B, encoder1A, 'R', LOOPINTERVAL); //in2,in1 } else { leftAxis.setup (enC, in5, in6, encoder3A, encoder3B, 'L', LOOPINTERVAL); - rightAxis.setup(enA, in1, in2, encoder1B, encoder1A, 'R', LOOPINTERVAL); + rightAxis.setup(enA, in1, in2, encoder1B, encoder1A, 'R', LOOPINTERVAL); //in1,in2?? this should be backwards like everything else? } } @@ -391,19 +422,24 @@ int getPCBVersion(){ * and reported by the firmware was zero-based - a source of * confusion when creating new boards. * Beginning with board v1.6, the value from the gpio pins for new boards -* will be zero-based to match the number reported by the firmware +* will be zero based to match the number reported by the firmware * and the silkscreen. + + but version 1.5 which is 1 based overlaps with version 1.6 which is zero based. The easist way.. * * * "x" = not used * #53-#52 #27-#26 #25-#24 #23-#22 * ------- ------- ------- ------- -* GND GND PU PU PU PU GND PU -> rev.0001 PCB v1.0 aka beta release board -* GND GND PU PU PU PU PU GND -> rev.0002 PCB v1.1 -* GND GND PU PU PU PU PU PU -> rev.0003 PCB v1.2 -* x x x x GND PU GND GND -> PCB v1.3 and 1.4 TLE5206 -* x x GND GND GND PU GND PU -> reserved for v1.4 TLE5206, v1.5 is unused -* x x GND GND GND PU PU GND -> PCB v1.6 TLE9201 +* 128 64 32 16 8 4 2 1 binary math values. add if value is PU +* GND GND PU PU PU PU GND PU -> rev.0001 PCB v1.0 aka beta release board = 61 +* GND GND PU PU PU PU PU GND -> rev.0002 PCB v1.1 = 62 +* GND GND PU PU PU PU PU PU -> rev.0003 PCB v1.2 = 63 +* X X X X PU PU PU PU -> rev 0.000 PCB v1.2b = 0 -silk screened as 1.2b with all 4 pins direct connected to 5V +* x x x x GND PU GND GND -> PCB v1.3 and 1.4 TLE5206 = 4 +* x x GND GND GND PU GND PU -> reserved for v1.4 TLE5206 = 5 + X x GND GND GND PU PU GND -> PCB v1.5b is TB6643 = 6 +* x x GND GND GND PU PU [PU] -> PCB v1.6 TLE9201 = 7 --> need to manually cut trace or pin and disconnect pin 22 (vers1 label) */ pinMode(VERS1,INPUT_PULLUP); pinMode(VERS2,INPUT_PULLUP); @@ -412,19 +448,31 @@ int getPCBVersion(){ pinMode(VERS5,INPUT_PULLUP); pinMode(VERS6,INPUT_PULLUP); int pinCheck = (32*digitalRead(VERS6) + 16*digitalRead(VERS5) + 8*digitalRead(VERS4) + 4*digitalRead(VERS3) + 2*digitalRead(VERS2) + 1*digitalRead(VERS1)); + // everything should be grounded except those pulled high for counting + // according to the above pincheck should result in , 1 = 000001, 2 = 000010, 3 = 000100, 4 = 001000, 5 = 010000, 6 = 100000; + // ideally switch (pinCheck) { // boards v1.1, v1.2, v1.3 don't strap VERS3-6 low - case B111101: case B111110: case B111111: // v1.1, v1.2, v1.3 - pinCheck &= B000011; // strip off the unstrapped bits + case B111101: case B111110: case B111111: // v1.0, v1.1, v1.2, v1.3 + pinCheck &= B001111; // strip off the unstrapped bits TLE5206 = false; TLE9201 = false; break; - case B110100: case B000100: // some versions of board v1.4 don't strap VERS5-6 low - pinCheck &= B000111; // strip off the unstrapped bits + case B111100: case B000100: // some versions of board v1.4 don't strap VERS5-6 low + pinCheck &= B001111; // strip off the unstrapped bits + TB6643 = false; TLE5206 = true; TLE9201 = false; break; - case B000110: + case B001000: case B000101: // v 5 + pinCheck &= B001111; // this should be 101 for 5, not 110 for 6 !! wrong pins? + TB6643 = true; + TLE5206 = false; + TLE9201 = false; + break; + case B000110: //v 6 + pinCheck &= B001111; + TB6643 = false; TLE5206 = false; TLE9201 = true; break; @@ -592,6 +640,8 @@ void systemReset(){ rightAxis.detach(); zAxis.detach(); setSpindlePower(false); + // TODO: define in this scope: + //LaserOff(); // Reruns the initial setup function and calls stop to re-init state sys.stop = true; setup(); diff --git a/cnc_ctrl_v1/System.h b/cnc_ctrl_v1/System.h index dd0eaec7..8fa046b8 100644 --- a/cnc_ctrl_v1/System.h +++ b/cnc_ctrl_v1/System.h @@ -99,4 +99,6 @@ void systemSaveAxesPosition(); void systemReset(); byte systemExecuteCmdstring(String&); void setPWMPrescalers(int prescalerChoice); +void configAuxLow(int A1, int A2, int A3, int A4, int A5, int A6); +void configAuxHigh(int A7, int A8, int A9); #endif diff --git a/cnc_ctrl_v1/cnc_ctrl_v1.ino b/cnc_ctrl_v1/cnc_ctrl_v1.ino index 69cb0541..48532fc6 100644 --- a/cnc_ctrl_v1/cnc_ctrl_v1.ino +++ b/cnc_ctrl_v1/cnc_ctrl_v1.ino @@ -1,8 +1,4 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. +/*This file is pa Maslow Control Software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the @@ -33,6 +29,7 @@ // TLE9201 version // TLE5206 version +// EastBaySource TB6643 V1.5 #include "Maslow.h" #include @@ -59,11 +56,12 @@ Axis zAxis; Kinematics kinematics; void setup(){ - Serial.begin(115200); + Serial.begin(57600); Serial.print(F("PCB v1.")); Serial.print(getPCBVersion()); if (TLE5206 == true) { Serial.print(F(" TLE5206 ")); } if (TLE9201 == true) { Serial.print(F(" TLE9201 ")); } + if (TB6643 = true){Serial.print(F(" TB6643 "));} Serial.println(F(" Detected")); sys.inchesToMMConversion = 1; sys.writeStepsToEEPROM = false; @@ -115,6 +113,7 @@ void loop(){ if (sys.stop){ // only called on sys.stop to prevent stopping initMotion(); // on USB disconnect. Might consider removing setSpindlePower(false); // this restriction for safety if we are + laserOff(); } // comfortable that USB disconnects are // not a common occurrence anymore kinematics.init(); From 8ee4f92179a0a1a17848b6ff0618dd8fc9d43889 Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Tue, 24 Nov 2020 19:29:22 -0600 Subject: [PATCH 17/21] Update System.cpp board now identify as version +1 --- cnc_ctrl_v1/System.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/cnc_ctrl_v1/System.cpp b/cnc_ctrl_v1/System.cpp index 3da81d13..1b2223f8 100644 --- a/cnc_ctrl_v1/System.cpp +++ b/cnc_ctrl_v1/System.cpp @@ -453,25 +453,25 @@ int getPCBVersion(){ // ideally switch (pinCheck) { // boards v1.1, v1.2, v1.3 don't strap VERS3-6 low - case B111101: case B111110: case B111111: // v1.0, v1.1, v1.2, v1.3 - pinCheck &= B001111; // strip off the unstrapped bits + case B111101: case B111110: case B111111: case 001111:// v1.0, v1.1, v1.2, v1.3 + pinCheck &= B000011; // strip off the unstrapped bits TLE5206 = false; TLE9201 = false; break; case B111100: case B000100: // some versions of board v1.4 don't strap VERS5-6 low - pinCheck &= B001111; // strip off the unstrapped bits + pinCheck &= B000100; // strip off the unstrapped bits TB6643 = false; TLE5206 = true; TLE9201 = false; break; - case B001000: case B000101: // v 5 - pinCheck &= B001111; // this should be 101 for 5, not 110 for 6 !! wrong pins? + case B001000: case B000110: // v 5 + pinCheck &= B000110; // this should be 101 for 5, not 110 for 6 !! wrong pins? TB6643 = true; TLE5206 = false; TLE9201 = false; break; - case B000110: //v 6 - pinCheck &= B001111; + case B000111: //v 6 + pinCheck &= B00111; TB6643 = false; TLE5206 = false; TLE9201 = true; From 28837626ccd7be90799144fb31edfdd07807dba0 Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Tue, 24 Nov 2020 20:06:02 -0600 Subject: [PATCH 18/21] Update System.cpp updated board number --- cnc_ctrl_v1/System.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cnc_ctrl_v1/System.cpp b/cnc_ctrl_v1/System.cpp index 1b2223f8..8a53b0b1 100644 --- a/cnc_ctrl_v1/System.cpp +++ b/cnc_ctrl_v1/System.cpp @@ -477,7 +477,7 @@ int getPCBVersion(){ TLE9201 = true; break; } - return pinCheck<6 ? pinCheck-1 : pinCheck; + return pinCheck<8 ? pinCheck-1 : pinCheck; } From ddb1c6c1f3912ea7789453c3dab9971efe7fd81a Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Tue, 24 Nov 2020 21:13:47 -0600 Subject: [PATCH 19/21] Update System.cpp description changes and reserved Version 8 as the next board version to come out, reservd 15 because it is already used by board v 1.2b --- cnc_ctrl_v1/System.cpp | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/cnc_ctrl_v1/System.cpp b/cnc_ctrl_v1/System.cpp index 8a53b0b1..165cc400 100644 --- a/cnc_ctrl_v1/System.cpp +++ b/cnc_ctrl_v1/System.cpp @@ -421,12 +421,10 @@ int getPCBVersion(){ * but the board version number silkscreened on those boards * and reported by the firmware was zero-based - a source of * confusion when creating new boards. -* Beginning with board v1.6, the value from the gpio pins for new boards +* Beginning with board v1.8, the value from the gpio pins for new boards * will be zero based to match the number reported by the firmware * and the silkscreen. - - but version 1.5 which is 1 based overlaps with version 1.6 which is zero based. The easist way.. -* +* * * * "x" = not used * #53-#52 #27-#26 #25-#24 #23-#22 @@ -435,11 +433,17 @@ int getPCBVersion(){ * GND GND PU PU PU PU GND PU -> rev.0001 PCB v1.0 aka beta release board = 61 * GND GND PU PU PU PU PU GND -> rev.0002 PCB v1.1 = 62 * GND GND PU PU PU PU PU PU -> rev.0003 PCB v1.2 = 63 -* X X X X PU PU PU PU -> rev 0.000 PCB v1.2b = 0 -silk screened as 1.2b with all 4 pins direct connected to 5V +* X X X X PU PU PU PU -> rev 0.000 PCB v1.2b = 15 -silk screened as 1.2b with all 4 pins direct connected to 5V * x x x x GND PU GND GND -> PCB v1.3 and 1.4 TLE5206 = 4 * x x GND GND GND PU GND PU -> reserved for v1.4 TLE5206 = 5 X x GND GND GND PU PU GND -> PCB v1.5b is TB6643 = 6 * x x GND GND GND PU PU [PU] -> PCB v1.6 TLE9201 = 7 --> need to manually cut trace or pin and disconnect pin 22 (vers1 label) +* +* All above this line are 1 based. below this line will be zero based. 8 will = B001000 ^^^ was off by one. +* As of 11/2020, the next board will be version 1.8 and should have pin 25 pulled high with no connection and 22, 23, 24 pins all shorted to ground. +* +* X X PU GND GND GND -> RESERVED for next board = 8 +* X X PU PU PU PU -> ALREADy TAKEN AS 1.2B = 15 */ pinMode(VERS1,INPUT_PULLUP); pinMode(VERS2,INPUT_PULLUP); @@ -465,17 +469,18 @@ int getPCBVersion(){ TLE9201 = false; break; case B001000: case B000110: // v 5 - pinCheck &= B000110; // this should be 101 for 5, not 110 for 6 !! wrong pins? + pinCheck &= B000110; // this should be 101 for 5, not 110 for 6 all above are off by 1 TB6643 = true; TLE5206 = false; TLE9201 = false; break; - case B000111: //v 6 + case B000111: //v 1.6 AND V 1.7 (1.7 is a place holder and will not exist because 1.6 uses the same pins) pinCheck &= B00111; TB6643 = false; TLE5206 = false; TLE9201 = true; break; + case B00100: // V8 RESERVED for board version 1.8 } return pinCheck<8 ? pinCheck-1 : pinCheck; } From 0b0b358fd7c8668abad63c764844ac776caecfe4 Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Tue, 24 Nov 2020 21:49:47 -0600 Subject: [PATCH 20/21] updated board detection check verification showed TB6643 board identifies when not selected. Fixed to check rather than set variable when comparing. --- cnc_ctrl_v1/System.cpp | 18 +++++++++++------- cnc_ctrl_v1/cnc_ctrl_v1.ino | 2 +- 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/cnc_ctrl_v1/System.cpp b/cnc_ctrl_v1/System.cpp index 165cc400..f9879cf3 100644 --- a/cnc_ctrl_v1/System.cpp +++ b/cnc_ctrl_v1/System.cpp @@ -244,7 +244,7 @@ void setupAxes(){ aux8 = 46; aux9 = 47; } - else if(pcbVersion == 5){ // EBS PCB v1.5 Detected + else if(pcbVersion == 5){ // EBS PCB v1.5b Detected //MP1 - Right Motor encoder1A = 2; // INPUT @@ -433,7 +433,7 @@ int getPCBVersion(){ * GND GND PU PU PU PU GND PU -> rev.0001 PCB v1.0 aka beta release board = 61 * GND GND PU PU PU PU PU GND -> rev.0002 PCB v1.1 = 62 * GND GND PU PU PU PU PU PU -> rev.0003 PCB v1.2 = 63 -* X X X X PU PU PU PU -> rev 0.000 PCB v1.2b = 15 -silk screened as 1.2b with all 4 pins direct connected to 5V +* X X X X PU PU PU PU -> rev 0.000 PCB v1.2b = 15 -silk screened as 1.2b with all 4 pins direct connected to 5V and all disconnected pins if set to pullup will read high * x x x x GND PU GND GND -> PCB v1.3 and 1.4 TLE5206 = 4 * x x GND GND GND PU GND PU -> reserved for v1.4 TLE5206 = 5 X x GND GND GND PU PU GND -> PCB v1.5b is TB6643 = 6 @@ -461,27 +461,31 @@ int getPCBVersion(){ pinCheck &= B000011; // strip off the unstrapped bits TLE5206 = false; TLE9201 = false; + TB6643 = false; break; - case B111100: case B000100: // some versions of board v1.4 don't strap VERS5-6 low - pinCheck &= B000100; // strip off the unstrapped bits + case B111100: case B000100: case B000101: // some versions of board v1.4 don't strap VERS5-6 low + pinCheck &= B000101; // strip off the unstrapped bits TB6643 = false; TLE5206 = true; TLE9201 = false; break; - case B001000: case B000110: // v 5 + case B000110: // v 5 pinCheck &= B000110; // this should be 101 for 5, not 110 for 6 all above are off by 1 TB6643 = true; TLE5206 = false; TLE9201 = false; break; case B000111: //v 1.6 AND V 1.7 (1.7 is a place holder and will not exist because 1.6 uses the same pins) - pinCheck &= B00111; + pinCheck &= B000111; TB6643 = false; TLE5206 = false; TLE9201 = true; break; - case B00100: // V8 RESERVED for board version 1.8 + case B01000: // V8 RESERVED for board version 1.8 + pinCheck &= B001000; + break; } + return pinCheck<8 ? pinCheck-1 : pinCheck; } diff --git a/cnc_ctrl_v1/cnc_ctrl_v1.ino b/cnc_ctrl_v1/cnc_ctrl_v1.ino index 48532fc6..9f8379cc 100644 --- a/cnc_ctrl_v1/cnc_ctrl_v1.ino +++ b/cnc_ctrl_v1/cnc_ctrl_v1.ino @@ -61,7 +61,7 @@ void setup(){ Serial.print(getPCBVersion()); if (TLE5206 == true) { Serial.print(F(" TLE5206 ")); } if (TLE9201 == true) { Serial.print(F(" TLE9201 ")); } - if (TB6643 = true){Serial.print(F(" TB6643 "));} + if (TB6643 == true){Serial.print(F(" TB6643 "));} Serial.println(F(" Detected")); sys.inchesToMMConversion = 1; sys.writeStepsToEEPROM = false; From 733a45a431c90b39411b053b4deac309dd2524ee Mon Sep 17 00:00:00 2001 From: Orob-Maslow <59507087+Orob-Maslow@users.noreply.github.com> Date: Tue, 24 Nov 2020 23:07:50 -0600 Subject: [PATCH 21/21] purge diff files from repo --- Firmware_1.26b/.gitignore | 17 - Firmware_1.26b/.travis.yml | 35 - Firmware_1.26b/CODE_OF_CONDUCT.md | 46 - .../Documentation/Download Firmware.jpg | Bin 87994 -> 0 bytes Firmware_1.26b/Documentation/Download IDE.jpg | Bin 102625 -> 0 bytes .../How To Contribute Pictures/Clone.png | Bin 37021 -> 0 bytes .../How To Contribute Pictures/Clone2.png | Bin 34398 -> 0 bytes .../How To Contribute Pictures/Clone3.png | Bin 14502 -> 0 bytes .../How To Contribute Pictures/Commit.png | Bin 44800 -> 0 bytes .../EditingFile.png | Bin 55394 -> 0 bytes .../How To Contribute Pictures/Fork.jpg | Bin 58378 -> 0 bytes .../How To Contribute Pictures/GithubHome.jpg | Bin 76690 -> 0 bytes .../GithubWelcome.jpg | Bin 30594 -> 0 bytes .../How To Contribute Pictures/PR0.png | Bin 46931 -> 0 bytes .../How To Contribute Pictures/PR1.png | Bin 69205 -> 0 bytes .../How To 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Firmware_1.26b/cnc_ctrl_v1/Kinematics.cpp | 425 -------- Firmware_1.26b/cnc_ctrl_v1/Kinematics.h | 99 -- Firmware_1.26b/cnc_ctrl_v1/Maslow.h | 52 - Firmware_1.26b/cnc_ctrl_v1/Motion.cpp | 376 ------- Firmware_1.26b/cnc_ctrl_v1/Motion.h | 36 - Firmware_1.26b/cnc_ctrl_v1/Motor.cpp | 227 ---- Firmware_1.26b/cnc_ctrl_v1/Motor.h | 54 - .../cnc_ctrl_v1/MotorGearboxEncoder.cpp | 205 ---- .../cnc_ctrl_v1/MotorGearboxEncoder.h | 56 - Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.cpp | 67 -- Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.h | 31 - Firmware_1.26b/cnc_ctrl_v1/PID_v1.cpp | 236 ----- Firmware_1.26b/cnc_ctrl_v1/PID_v1.h | 98 -- Firmware_1.26b/cnc_ctrl_v1/Probe.cpp | 33 - Firmware_1.26b/cnc_ctrl_v1/Probe.h | 25 - Firmware_1.26b/cnc_ctrl_v1/Report.cpp | 316 ------ Firmware_1.26b/cnc_ctrl_v1/Report.h | 85 -- Firmware_1.26b/cnc_ctrl_v1/RingBuffer.cpp | 208 ---- Firmware_1.26b/cnc_ctrl_v1/RingBuffer.h | 42 - Firmware_1.26b/cnc_ctrl_v1/Settings.cpp | 414 -------- Firmware_1.26b/cnc_ctrl_v1/Settings.h | 109 -- Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.cpp | 27 - Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.h | 32 - Firmware_1.26b/cnc_ctrl_v1/Spindle.cpp | 117 --- Firmware_1.26b/cnc_ctrl_v1/Spindle.h | 24 - Firmware_1.26b/cnc_ctrl_v1/System.cpp | 658 ------------ Firmware_1.26b/cnc_ctrl_v1/System.h | 94 -- Firmware_1.26b/cnc_ctrl_v1/Testing.cpp | 181 ---- Firmware_1.26b/cnc_ctrl_v1/Testing.h | 25 - Firmware_1.26b/cnc_ctrl_v1/TimerOne.cpp | 209 ---- Firmware_1.26b/cnc_ctrl_v1/TimerOne.h | 67 -- Firmware_1.26b/cnc_ctrl_v1/cnc_ctrl_v1.ino | 120 --- .../cnc_ctrl_v1/utility/direct_pin_read.h | 27 - .../cnc_ctrl_v1/utility/interrupt_config.h | 87 -- .../cnc_ctrl_v1/utility/interrupt_pins.h | 156 --- Firmware_1.26b/platformio.ini | 38 - Firmware_1.26b/platformio/simavr_env.py | 21 - Firmware_1.26b/platformio/teensy_env.py | 12 - 72 files changed, 7854 deletions(-) delete mode 100644 Firmware_1.26b/.gitignore delete mode 100644 Firmware_1.26b/.travis.yml delete mode 100644 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-.vscode/*.db -obj-x86_64-apple-darwin17.4.0 diff --git a/Firmware_1.26b/.travis.yml b/Firmware_1.26b/.travis.yml deleted file mode 100644 index 7805f835..00000000 --- a/Firmware_1.26b/.travis.yml +++ /dev/null @@ -1,35 +0,0 @@ -# Continuous Integration (CI) is the practice, in software -# engineering, of merging all developer working copies with a shared mainline -# several times a day < http://docs.platformio.org/page/ci/index.html > -# -# Documentation: -# -# * Travis CI Embedded Builds with PlatformIO -# < https://docs.travis-ci.com/user/integration/platformio/ > -# -# * PlatformIO integration with Travis CI -# < http://docs.platformio.org/page/ci/travis.html > -# -# * User Guide for `platformio ci` command -# < http://docs.platformio.org/page/userguide/cmd_ci.html > -# -# -# Please choice one of the following templates (proposed below) and uncomment -# it (remove "# " before each line) or use own configuration according to the -# Travis CI documentation (see above). -# - - -# -# Template #1: General project. Test it using existing `platformio.ini`. -# - -language: python -python: - - "2.7" - -install: - - pip install -U platformio - -script: - - platformio run diff --git a/Firmware_1.26b/CODE_OF_CONDUCT.md b/Firmware_1.26b/CODE_OF_CONDUCT.md deleted file mode 100644 index f214249a..00000000 --- a/Firmware_1.26b/CODE_OF_CONDUCT.md +++ /dev/null @@ -1,46 +0,0 @@ -# Contributor Covenant Code of Conduct - -## Our Pledge - -In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation. - -## Our Standards - -Examples of behavior that contributes to creating a positive environment include: - -* Using welcoming and inclusive language -* Being respectful of differing viewpoints and experiences -* Gracefully accepting constructive criticism -* Focusing on what is best for the community -* Showing empathy towards other community members - -Examples of unacceptable behavior by participants include: - -* The use of sexualized language or imagery and unwelcome sexual attention or advances -* Trolling, insulting/derogatory comments, and personal or political attacks -* Public or private harassment -* Publishing others' private information, such as a physical or electronic address, without explicit permission -* Other conduct which could reasonably be considered inappropriate in a professional setting - -## Our Responsibilities - -Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior. - -Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful. - -## Scope - -This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers. - -## Enforcement - -Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at info@maslowcnc.com. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately. - -Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership. - -## Attribution - -This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version] - -[homepage]: http://contributor-covenant.org -[version]: http://contributor-covenant.org/version/1/4/ diff --git a/Firmware_1.26b/Documentation/Download Firmware.jpg b/Firmware_1.26b/Documentation/Download Firmware.jpg deleted file mode 100644 index 88e8e33178fe5e0d62a57df70b9ecb32359c98e6..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 87994 zcmeFZ1zeR~w=eq84T5w_2$Is>(%s!H0@BR_R8SI@bax{u-7N0%4fWfv z@80L#=R4=#bC1j4^JDrvGsgIjF~=OU#?8dd0&q)CN>&Phfq?-`p#OlI#aly?p0-v1 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zakyO=CXlpf5g4e2V-7q??OWNoY70CX-{2R*OeOR4<}>!1o%CLuMb#r~>_6^8)sBOn zm^9p3xzwqvJaou3e>}F6y>t__1>qt1n0i6g`rx`g)yRk-%sxrQVy3yWLkWxPh0s5&bIlw7Wt^>e-C~eD1?yX(C@xDjJaMx`yqSUp-4ID`2QZ)EG6?Uka(j>F z3^uMS^sF@3KLP?7gko2P%$pAx@Rz$oL*%e`XA$0QBlP?o%k_k1sV{@5X<2|^uzZ!BLHWNo(IKMV<^c%qq|34{#|QDO52Ae Xic=g;>uN&jLbVn}j1AZ9-dFGsTUfs{ diff --git a/Firmware_1.26b/INSTRUCTIONS.md b/Firmware_1.26b/INSTRUCTIONS.md deleted file mode 100644 index 9921ba72..00000000 --- a/Firmware_1.26b/INSTRUCTIONS.md +++ /dev/null @@ -1,41 +0,0 @@ - - -# Maslow Firmware Setup - -Installing new firmware on your machine is important. We come out with a new firmware version every other week so be prepared to do this regularly. This process will also install the proper drivers to connect to your Arduino on some older computers so if you have trouble connecting it can be helpful to do this process on the same computer you will control the machine with. - -### Step 1: Connect Your Arduino -Connect your Arduino to your computer using the provided USB cable. - -### Step 2: Download The Arduino IDE -Download and install the last Arduino IDE from [https://www.arduino.cc/en/Main/Software](https://www.arduino.cc/en/Main/Software). Older versions of Arduino IDE have problems with libraries when compiling the firmware, so make sure you have the latest version. - -Note - For Windows there are three options: "Windows Installer", "Windows Zip", and "Windows App". - Some users have reported problems with the "Windows App" version. -![Download IDE](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Download%20IDE.jpg) - -### Step 3: Download The Latest Maslow Firmware -You can do this at http://github.com/MaslowCNC/Firmware/releases/ Click the zip file for the most recent release to download it. Extract the files from the zip folder. -![Download Firmware](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Download%20Firmware.jpg) - -### Step 4: Open Firmware -Click **File -> Open** and then open the firmware by selecting cnc_ctrl_v1.ino -![Open Firmware](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Open%20Firmware.jpg) - -### Step 5: Select The Board Type -Select the board type by clicking **Tools -> Board -> Arduino/Genuino Mega or Mega 2560** -![Select Board Type](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Select%20Board.jpg) - -### Step 6: Select The Serial Port -Select the correct port to connect to by clicking **Tools -> Port -> Your Port**. On Windows this will be something like COM3, on Mac and Linux computers it will be something like dev/tty/. You can find the right one by plugging and unplugging your Arduino compatible board and checking which option disappears. -![Select Serial Port](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Select%20COM%20Port.jpg) - -### Step 7: Upload The Firmware -Upload the newest firmware to your machine by clicking the upload button in the top left corner. The arrow looks disabled until you hover over it! _Linux users_: if you are getting timeout or permissions errors, you may need to add your username to the `dialout` group and then logout and back in. [Instructions here.](https://askubuntu.com/questions/112568/how-do-i-allow-a-non-default-user-to-use-serial-device-ttyusb0) -![Upload Firmware](https://raw.githubusercontent.com/MaslowCNC/Firmware/master/Documentation/Upload.jpg) - -### Step 8: Finish -You are now running the latest firmware. *Great Job!* Make sure you close the Arduino IDE before proceeding. - -### Step 9: Proceed -You have finished setting up the Maslow firmware. Proceed to the [next step](http://maslowcommunitygarden.org/GroundControl.html?instructions=true) to install Ground Control on your OS. diff --git a/Firmware_1.26b/LICENSE b/Firmware_1.26b/LICENSE deleted file mode 100644 index 2f4b8c0b..00000000 --- a/Firmware_1.26b/LICENSE +++ /dev/null @@ -1,189 +0,0 @@ -GNU GENERAL PUBLIC LICENSE - -Version 3, 29 June 2007 - -Copyright © 2007 Free Software Foundation, Inc. - -Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. -Preamble - -The GNU General Public License is a free, copyleft license for software and other kinds of works. - -The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. 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Interpretation of Sections 15 and 16. - -If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee. - -END OF TERMS AND CONDITIONS \ No newline at end of file diff --git a/Firmware_1.26b/README.md b/Firmware_1.26b/README.md deleted file mode 100644 index 56b5ec48..00000000 --- a/Firmware_1.26b/README.md +++ /dev/null @@ -1,77 +0,0 @@ -# Maslow Firmware - -This is the firmware which controls the Maslow CNC machine - -[![Build Status](https://travis-ci.org/MaslowCNC/Firmware.svg?branch=master)](https://travis-ci.org/MaslowCNC/Firmware) - -This is the firmware for the Maslow CNC Router - - -## Steps to setup the Firmware development environment - -First clone the Firmware repository, then install and setup the IDE of your choice. - -### Using Arduino IDE -1. Download [Arduino IDE](https://www.arduino.cc/en/main/software) 1.8.1 or higher -2. Install Arduino IDE and run Arduino IDE -3. Navigate menus: File, Open -4. In the file chooser navigate to the cloned repository and choose the "cnc_ctrl_v1.ino" file to open -5. Navigate menu: Tools, Board, change to "Arduino/Genuino Mega or Mega 2560" -6. Navigate menu: Sketch -> Upload - -This should compile the project without errors, and possibly some warnings. - -### Using PlatformIO -1. Download package for [Atom](https://atom.io/) -2. Follow directions for [installing PlatformIO within Atom](http://docs.platformio.org/en/latest/ide/atom.html#ide-installation) -3. Within Atom navigate menus: PlatformIO, Open Project -4. Select "Firmware" directory -5. Click "Open Firmware" - -### Using Eclipse Neon C/C++ with Sloeber plugin - -1. Download [Eclipse C/C++](https://eclipse.org/downloads/) Neon or higher -2. Install Eclipse C/C++ and run Eclipse -3. Install Sloeber Arduino plugin - * Navigate menus: Help, Install New Software... - * Copy this URL in the "Work With" field: http://eclipse.baeyens.it/update/V4/stable - * Select "Add" button - * Select "Sloeber Arduino IDE" check box - * Select "Finish" button - * Accept defaults and accept licenses, the plugin will restart Eclipse, and configure the plugin -4. Change to Arduino perspective, navigate menus: Window, Perspective, Open Perspective, Other... - * Choose the "Arduino" perspective and select "Ok" button -5. Create an Arduino project - * Navigate menus: File, New, New Arduino Sketch - * Project Name: cnc_ctrl_v1 - * Select "Next" button - * Select appropriate item from "Platform folder" drop down listing - * Select Board: Arduino/Genuino Mega or Mega 2560 - * Select Upload Protocol: Default - * Select Processor: ATmega2560 (Mega 2560) - * Select "Finish" button -6. Import project source code - * Select project folder, navigate menus: File, Import... - * Expand "General" and select "File system" - * Select "Next" button - * Select the "Browse" button to select the source location (location of the cloned repository cnc_ctrl_v1 directory) - * Select whole source directory in the left pane - * Open Advanced Settings by klicking on "Advanced>>" button - * Select 'Create Links in Workspace' and 'Create virtual folders' leave other settings untouched - * Select 'Finish' button - * Eclipse asks if overwriting the original cnc_ctrl_v1.ino file is ok. Confirm with 'yes'. -7. Update eclipse project include paths - * Select the project folder in the project explorer and click Project->Properties in the menu. - * In the Project properties left Pane select C/C++ Build->Settings - * In the right Pane select the 'Tool Settings' Tab and add the path to the source location to the include paths of all compilers/linkers of the toolchain. - * The last two steps may differ between toolchains. - - -### Using NotePad++ in Conjunction with the Arduino IDE -1. Download NotePad++ (Windows only) [link](https://notepad-plus-plus.org/) -2. Download the Arduino IDE [link](https://www.arduino.cc/en/main/software) -3. Set that you would like use an external editor from within the Arduino IDE by clicking File -> Preferences -> Use External Editor - *The Arduino editor will no longer allow you to edit the files, but instead will only work to compile and upload your code. - *The code can be edited from within NotePad++ - *This method can be used on other platforms with editing programs other than NP++ - diff --git a/Firmware_1.26b/cnc_ctrl_v1/Axis.cpp b/Firmware_1.26b/cnc_ctrl_v1/Axis.cpp deleted file mode 100644 index c6ce84b9..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Axis.cpp +++ /dev/null @@ -1,301 +0,0 @@ -/*This file is part of the Maslow Control Software. - - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - - -#include "Maslow.h" - -void Axis::setup(const int& pwmPin, const int& directionPin1, const int& directionPin2, const int& encoderPin1, const int& encoderPin2, const char& axisName, const unsigned long& loopInterval) -{ - // I don't really like this, but I don't know how else to initialize a pointer to a value - float zero = 0.0; - float one = 1.0; - _Kp = _Ki = _Kd = &zero; - - motorGearboxEncoder.setup(pwmPin, directionPin1, directionPin2, encoderPin1, encoderPin2, loopInterval); - _pidController.setup(&_pidInput, &_pidOutput, &_pidSetpoint, _Kp, _Ki, _Kd, &one, REVERSE); - - //initialize variables - _axisName = axisName; - - initializePID(loopInterval); - - motorGearboxEncoder.setName(&_axisName); -} - -void Axis::initializePID(const unsigned long& loopInterval){ - _pidController.SetMode(AUTOMATIC); - _pidController.SetOutputLimits(-20, 20); - _pidController.SetSampleTime( loopInterval / 1000); -} - -void Axis::write(const float& targetPosition){ - _timeLastMoved = millis(); - _pidSetpoint = targetPosition/ *_mmPerRotation; - return; -} - -float Axis::read(){ - //returns the true axis position - - return (motorGearboxEncoder.encoder.read()/ *_encoderSteps) * *_mmPerRotation; - -} - -float Axis::setpoint(){ - return _pidSetpoint * *_mmPerRotation; -} - -void Axis::set(const float& newAxisPosition){ - - //reset everything to the new value - _pidSetpoint = newAxisPosition/ *_mmPerRotation; - motorGearboxEncoder.encoder.write((newAxisPosition * *_encoderSteps)/ *_mmPerRotation); - -} - -long Axis::steps(){ - /* - Returns the number of steps reported by the encoder - */ - return motorGearboxEncoder.encoder.read(); -} - -void Axis::setSteps(const long& steps){ - - //reset everything to the new value - _pidSetpoint = steps/ *_encoderSteps; - motorGearboxEncoder.encoder.write(steps); - -} - -void Axis::computePID(){ - - #ifdef FAKE_SERVO - if (motorGearboxEncoder.motor.attached()){ - // Adds up to 10% error just to simulate servo noise - double rpm = (-1 * _pidOutput) * random(90, 110) / 100; - unsigned long steps = motorGearboxEncoder.encoder.read() + round( rpm * *_encoderSteps * LOOPINTERVAL)/(60 * 1000000); - motorGearboxEncoder.encoder.write(steps); - } - #endif - - if (_disableAxisForTesting || !motorGearboxEncoder.motor.attached()){ - return; - } - - _pidInput = motorGearboxEncoder.encoder.read()/ *_encoderSteps; - - if (_pidController.Compute()){ - // Only write output if the PID calculation was performed - motorGearboxEncoder.write(_pidOutput); - } - - motorGearboxEncoder.computePID(); - -} - -void Axis::disablePositionPID(){ - - _pidController.SetMode(MANUAL); - -} - -void Axis::enablePositionPID(){ - - _pidController.SetMode(AUTOMATIC); - -} - -void Axis::setPIDValues(float* KpPos, float* KiPos, float* KdPos, float* propWeight, float* KpV, float* KiV, float* KdV, float* propWeightV){ - /* - - Sets the positional PID values for the axis - - */ - _Kp = KpPos; - _Ki = KiPos; - _Kd = KdPos; - - _pidController.SetTunings(_Kp, _Ki, _Kd, propWeight); - - motorGearboxEncoder.setPIDValues(KpV, KiV, KdV, propWeightV); -} - -String Axis::getPIDString(){ - /* - - Get PID tuning values - - */ - String PIDString = "Kp="; - return PIDString + *_Kp + ",Ki=" + *_Ki + ",Kd=" + *_Kd; -} - -void Axis::setPIDAggressiveness(float aggressiveness){ - /* - - The setPIDAggressiveness() function sets the aggressiveness of the PID controller to - compensate for a change in the load on the motor. - - */ - - motorGearboxEncoder.setPIDAggressiveness(aggressiveness); -} - -float Axis::error(){ - - float encoderErr = (motorGearboxEncoder.encoder.read()/ *_encoderSteps) - _pidSetpoint; - - return encoderErr * *_mmPerRotation; -} - -void Axis::changePitch(float *newPitch){ - /* - Reassign the distance moved per-rotation for the axis. - */ - _mmPerRotation = newPitch; -} - -float Axis::getPitch(){ - /* - Returns the distance moved per-rotation for the axis. - */ - return *_mmPerRotation; -} - -void Axis::changeEncoderResolution(float *newResolution){ - /* - Reassign the encoder resolution for the axis. - */ - _encoderSteps = newResolution; - - //push to the gearbox for calculating RPM - motorGearboxEncoder.setEncoderResolution(*newResolution); - -} - -int Axis::detach(){ - - motorGearboxEncoder.motor.detach(); - - return 1; -} - -int Axis::attach(){ - motorGearboxEncoder.motor.attach(); - return 1; -} - -bool Axis::attached(){ - /* - - Returns true if the axis is attached, false if it is not. - - */ - - return motorGearboxEncoder.motor.attached(); -} - -void Axis::detachIfIdle(){ - /* - Detaches the axis, turning off the motor and PID control, if it has been - stationary for more than axisDetachTime - */ - if (millis() - _timeLastMoved > sysSettings.axisDetachTime){ - detach(); - } - -} - -void Axis::endMove(const float& finalTarget){ - - _timeLastMoved = millis(); - _pidSetpoint = finalTarget/ *_mmPerRotation; - -} - -void Axis::stop(){ - /* - - Immediately stop the axis where it is, not where it should be - - */ - - _timeLastMoved = millis(); - _pidSetpoint = read()/ *_mmPerRotation; - -} - -void Axis::test(){ - /* - Test the axis by directly commanding the motor and observing if the encoder moves - */ - - Serial.print(F("Testing ")); - Serial.print(_axisName); - Serial.println(F(" motor:")); - - //print something to prevent the connection from timing out - Serial.print(F("")); - - int i = 0; - double encoderPos = motorGearboxEncoder.encoder.read(); //record the position now - - //move the motor - while (i < 1000){ - motorGearboxEncoder.motor.directWrite(255); - i++; - maslowDelay(1); - if (sys.stop){return;} - } - - //check to see if it moved - if(encoderPos - motorGearboxEncoder.encoder.read() > 500){ - Serial.println(F("Direction 1 - Pass")); - } - else{ - Serial.println(F("Direction 1 - Fail")); - } - - //record the position again - encoderPos = motorGearboxEncoder.encoder.read(); - Serial.print(F("")); - - //move the motor in the other direction - i = 0; - while (i < 1000){ - motorGearboxEncoder.motor.directWrite(-255); - i++; - maslowDelay(1); - if (sys.stop){return;} - } - - //check to see if it moved - if(encoderPos - motorGearboxEncoder.encoder.read() < -500){ - Serial.println(F("Direction 2 - Pass")); - } - else{ - Serial.println(F("Direction 2 - Fail")); - } - - //stop the motor - motorGearboxEncoder.motor.directWrite(0); - Serial.print(F("")); -} - -double Axis::pidInput(){ return _pidInput * *_mmPerRotation;} -double Axis::pidOutput(){ return _pidOutput;} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Axis.h b/Firmware_1.26b/cnc_ctrl_v1/Axis.h deleted file mode 100644 index 2f193dbc..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Axis.h +++ /dev/null @@ -1,70 +0,0 @@ - /*This file is part of the Maslow Control Software. - - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - - #ifndef Axis_h - #define Axis_h - - class Axis{ - public: - void setup(const int& pwmPin, const int& directionPin1, const int& directionPin2, const int& encoderPin1, const int& encoderPin2, const char& axisName, const unsigned long& loopInterval); - void write(const float& targetPosition); - float read(); - void set(const float& newAxisPosition); - void setSteps(const long& steps); - int updatePositionFromEncoder(); - void initializePID(const unsigned long& loopInterval); - int detach(); - int attach(); - void detachIfIdle(); - void endMove(const float& finalTarget); - void stop(); - float target(); - float error(); - float setpoint(); - void computePID(); - void disablePositionPID(); - void enablePositionPID(); - void setPIDAggressiveness(float aggressiveness); - void test(); - void changePitch(float* newPitch); - float getPitch(); - void changeEncoderResolution(float* newResolution); - bool attached(); - MotorGearboxEncoder motorGearboxEncoder; - void setPIDValues(float* Kp, float* Ki, float* Kd, float* propWeight, float* KpV, float* KiV, float* KdV, float* propWeightV); - String getPIDString(); - double pidInput(); - double pidOutput(); - long steps(); - - private: - int _PWMread(int pin); - void _writeFloat(const unsigned int& addr, const float& x); - float _readFloat(const unsigned int& addr); - unsigned long _timeLastMoved; - volatile double _pidSetpoint; - volatile double _pidInput; - volatile double _pidOutput; - float *_Kp, *_Ki, *_Kd; - PID _pidController; - float *_mmPerRotation; - float *_encoderSteps; - bool _disableAxisForTesting = false; - char _axisName; - }; - - #endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Config.h b/Firmware_1.26b/cnc_ctrl_v1/Config.h deleted file mode 100644 index b31d2dac..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Config.h +++ /dev/null @@ -1,64 +0,0 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -// This file contains precompile configuration settings that apply to the -// whole system - -#ifndef config_h -#define config_h - -// Debugging Options -#define verboseDebug 0 // set to 0 for no debug messages, 1 for single-line messages, 2 to also output ring buffer contents -#define misloopDebug 0 // set to 1 for a warning every time the movement loop fails - // to complete before being interrupted, helpful for loop - // LOOPINTERVAL tuning -#define KINEMATICSDBG 0 // set to 1 for additional kinematics debug messaging - -// #define FAKE_SERVO // Uncomment this line to cause the Firmware to mimic - // a servo updating the encoder steps even if no servo - // is connected. Useful for testing on an arduino only - -// #define SIMAVR // Uncomment this if you plan to run the Firmware in the simavr - // simulator. Normally, you would not define this directly, but - // use PlatformIO to build the simavr environment. - -#define LOOPINTERVAL 10000 // What is the frequency of the PID loop in microseconds - -// Define version detect pins -#define VERS1 22 -#define VERS2 23 -#define VERS3 24 -#define VERS4 25 -#define VERS5 26 -#define VERS6 27 - -// Serial variables -#define INCBUFFERLENGTH 128 // The number of bytes(characters) allocated to the - // incoming buffer. -#define EXPGCODELINE 60 // Maximum expected Gcode line length in characters - // including line ending character(s). Assumes - // client will not send more than this. Ground - // Control is currently set to 60. NIST spec allows - // 256. This value must be <= INCBUFFERLENGTH -#define MAXBUFFERLINES 4 // The maximum number of lines allowed in the buffer -#define POSITIONTIMEOUT 200 // The minimum number of milliseconds between - // position reports sent to Ground Control. This - // cannot be larger than the connection timout in - // Ground Control which is 2000, a smaller number - // takes more processing time for sending data - // a larger number make position updates in GC less - // smooth. This is only a minimum, and the actual - // timeout could be significantly larger. - -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Encoder.cpp b/Firmware_1.26b/cnc_ctrl_v1/Encoder.cpp deleted file mode 100644 index b4492dfe..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Encoder.cpp +++ /dev/null @@ -1,10 +0,0 @@ - -#include "Maslow.h" - -// Yes, all the code is in the header file, to provide the user -// configure options with #define (before they include it), and -// to facilitate some crafty optimizations! - -Encoder_internal_state_t * Encoder::interruptArgs[]; - - diff --git a/Firmware_1.26b/cnc_ctrl_v1/Encoder.h b/Firmware_1.26b/cnc_ctrl_v1/Encoder.h deleted file mode 100644 index 4b428997..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Encoder.h +++ /dev/null @@ -1,976 +0,0 @@ -/* Encoder Library, for measuring quadrature encoded signals - * http://www.pjrc.com/teensy/td_libs_Encoder.html - * Copyright (c) 2011,2013 PJRC.COM, LLC - Paul Stoffregen - * - * Version 1.2 - fix -2 bug in C-only code - * Version 1.1 - expand to support boards with up to 60 interrupts - * Version 1.0 - initial release - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - - -#ifndef Encoder_h_ -#define Encoder_h_ - -#if defined(ARDUINO) && ARDUINO >= 100 -#include "Arduino.h" -#elif defined(WIRING) -#include "Wiring.h" -#else -#include "WProgram.h" -#include "pins_arduino.h" -#endif - -#if defined(ENCODER_USE_INTERRUPTS) || !defined(ENCODER_DO_NOT_USE_INTERRUPTS) -#define ENCODER_USE_INTERRUPTS -#define ENCODER_ARGLIST_SIZE CORE_NUM_INTERRUPT -#include "utility/interrupt_pins.h" -#ifdef ENCODER_OPTIMIZE_INTERRUPTS -#include "utility/interrupt_config.h" -#endif -#else -#define ENCODER_ARGLIST_SIZE 0 -#endif - - - -// All the data needed by interrupts is consolidated into this ugly struct -// to facilitate assembly language optimizing of the speed critical update. -// The assembly code uses auto-incrementing addressing modes, so the struct -// must remain in exactly this order. -typedef struct { - volatile IO_REG_TYPE * pin1_register; - volatile IO_REG_TYPE * pin2_register; - IO_REG_TYPE pin1_bitmask; - IO_REG_TYPE pin2_bitmask; - uint8_t state; - int32_t position; - int32_t elapsedTime; - int32_t lastTime; -} Encoder_internal_state_t; - -class Encoder -{ -public: - void setup(uint8_t pin1, uint8_t pin2) { - #ifdef INPUT_PULLUP - pinMode(pin1, INPUT_PULLUP); - pinMode(pin2, INPUT_PULLUP); - #else - pinMode(pin1, INPUT); - digitalWrite(pin1, HIGH); - pinMode(pin2, INPUT); - digitalWrite(pin2, HIGH); - #endif - encoder.pin1_register = PIN_TO_BASEREG(pin1); - encoder.pin1_bitmask = PIN_TO_BITMASK(pin1); - encoder.pin2_register = PIN_TO_BASEREG(pin2); - encoder.pin2_bitmask = PIN_TO_BITMASK(pin2); - encoder.position = 0; - // allow time for a passive R-C filter to charge - // through the pullup resistors, before reading - // the initial state - delayMicroseconds(2000); - uint8_t s = 0; - if (DIRECT_PIN_READ(encoder.pin1_register, encoder.pin1_bitmask)) s |= 1; - if (DIRECT_PIN_READ(encoder.pin2_register, encoder.pin2_bitmask)) s |= 2; - encoder.state = s; -#ifdef ENCODER_USE_INTERRUPTS - interrupts_in_use = attach_interrupt(pin1, &encoder); - interrupts_in_use += attach_interrupt(pin2, &encoder); -#endif - //update_finishup(); // to force linker to include the code (does not work) - } - - -#ifdef ENCODER_USE_INTERRUPTS - inline int32_t read() { - if (interrupts_in_use < 2) { - noInterrupts(); - update(&encoder); - } else { - noInterrupts(); - } - int32_t ret = encoder.position; - interrupts(); - return ret; - } - inline int32_t elapsedTime() { - if (interrupts_in_use < 2) { - noInterrupts(); - update(&encoder); - } else { - noInterrupts(); - } - int32_t ret = encoder.elapsedTime; - interrupts(); - return ret; - } - inline int32_t lastStepTime() { - if (interrupts_in_use < 2) { - noInterrupts(); - update(&encoder); - } else { - noInterrupts(); - } - int32_t ret = encoder.lastTime; - interrupts(); - return ret; - } - inline void write(int32_t p) { - noInterrupts(); - encoder.position = p; - interrupts(); - } -#else - inline int32_t read() { - update(&encoder); - return encoder.position; - } - inline void write(int32_t p) { - encoder.position = p; - } -#endif -private: - Encoder_internal_state_t encoder; -#ifdef ENCODER_USE_INTERRUPTS - uint8_t interrupts_in_use; -#endif -public: - static Encoder_internal_state_t * interruptArgs[ENCODER_ARGLIST_SIZE]; - -// _______ _______ -// Pin1 ______| |_______| |______ Pin1 -// negative <--- _______ _______ __ --> positive -// Pin2 __| |_______| |_______| Pin2 - - // new new old old - // pin2 pin1 pin2 pin1 Result - // ---- ---- ---- ---- ------ - // 0 0 0 0 no movement - // 0 0 0 1 +1 - // 0 0 1 0 -1 - // 0 0 1 1 +2 (assume pin1 edges only) - // 0 1 0 0 -1 - // 0 1 0 1 no movement - // 0 1 1 0 -2 (assume pin1 edges only) - // 0 1 1 1 +1 - // 1 0 0 0 +1 - // 1 0 0 1 -2 (assume pin1 edges only) - // 1 0 1 0 no movement - // 1 0 1 1 -1 - // 1 1 0 0 +2 (assume pin1 edges only) - // 1 1 0 1 -1 - // 1 1 1 0 +1 - // 1 1 1 1 no movement -/* - // Simple, easy-to-read "documentation" version :-) - // - void update(void) { - uint8_t s = state & 3; - if (digitalRead(pin1)) s |= 4; - if (digitalRead(pin2)) s |= 8; - switch (s) { - case 0: case 5: case 10: case 15: - break; - case 1: case 7: case 8: case 14: - position++; break; - case 2: case 4: case 11: case 13: - position--; break; - case 3: case 12: - position += 2; break; - default: - position -= 2; break; - } - state = (s >> 2); - } -*/ - -private: - static void update(Encoder_internal_state_t *arg) { -#if defined(__AVR_DISABLED__) - // Changed from __AVR__ to force C code below, until someone has - // the chance to write the elapsedTime feature into assembly - // code. The time difference between the two options is - // minimal at best. - // The compiler believes this is just 1 line of code, so - // it will inline this function into each interrupt - // handler. That's a tiny bit faster, but grows the code. - // Especially when used with ENCODER_OPTIMIZE_INTERRUPTS, - // the inline nature allows the ISR prologue and epilogue - // to only save/restore necessary registers, for very nice - // speed increase. - asm volatile ( - "ld r30, X+" "\n\t" - "ld r31, X+" "\n\t" - "ld r24, Z" "\n\t" // r24 = pin1 input - "ld r30, X+" "\n\t" - "ld r31, X+" "\n\t" - "ld r25, Z" "\n\t" // r25 = pin2 input - "ld r30, X+" "\n\t" // r30 = pin1 mask - "ld r31, X+" "\n\t" // r31 = pin2 mask - "ld r22, X" "\n\t" // r22 = state - "andi r22, 3" "\n\t" - "and r24, r30" "\n\t" - "breq L%=1" "\n\t" // if (pin1) - "ori r22, 4" "\n\t" // state |= 4 - "L%=1:" "and r25, r31" "\n\t" - "breq L%=2" "\n\t" // if (pin2) - "ori r22, 8" "\n\t" // state |= 8 - "L%=2:" "ldi r30, lo8(pm(L%=table))" "\n\t" - "ldi r31, hi8(pm(L%=table))" "\n\t" - "add r30, r22" "\n\t" - "adc r31, __zero_reg__" "\n\t" - "asr r22" "\n\t" - "asr r22" "\n\t" - "st X+, r22" "\n\t" // store new state - "ld r22, X+" "\n\t" - "ld r23, X+" "\n\t" - "ld r24, X+" "\n\t" - "ld r25, X+" "\n\t" - "ijmp" "\n\t" // jumps to update_finishup() - // TODO move this table to another static function, - // so it doesn't get needlessly duplicated. Easier - // said than done, due to linker issues and inlining - "L%=table:" "\n\t" - "rjmp L%=end" "\n\t" // 0 - "rjmp L%=plus1" "\n\t" // 1 - "rjmp L%=minus1" "\n\t" // 2 - "rjmp L%=plus2" "\n\t" // 3 - "rjmp L%=minus1" "\n\t" // 4 - "rjmp L%=end" "\n\t" // 5 - "rjmp L%=minus2" "\n\t" // 6 - "rjmp L%=plus1" "\n\t" // 7 - "rjmp L%=plus1" "\n\t" // 8 - "rjmp L%=minus2" "\n\t" // 9 - "rjmp L%=end" "\n\t" // 10 - "rjmp L%=minus1" "\n\t" // 11 - "rjmp L%=plus2" "\n\t" // 12 - "rjmp L%=minus1" "\n\t" // 13 - "rjmp L%=plus1" "\n\t" // 14 - "rjmp L%=end" "\n\t" // 15 - "L%=minus2:" "\n\t" - "subi r22, 2" "\n\t" - "sbci r23, 0" "\n\t" - "sbci r24, 0" "\n\t" - "sbci r25, 0" "\n\t" - "rjmp L%=store" "\n\t" - "L%=minus1:" "\n\t" - "subi r22, 1" "\n\t" - "sbci r23, 0" "\n\t" - "sbci r24, 0" "\n\t" - "sbci r25, 0" "\n\t" - "rjmp L%=store" "\n\t" - "L%=plus2:" "\n\t" - "subi r22, 254" "\n\t" - "rjmp L%=z" "\n\t" - "L%=plus1:" "\n\t" - "subi r22, 255" "\n\t" - "L%=z:" "sbci r23, 255" "\n\t" - "sbci r24, 255" "\n\t" - "sbci r25, 255" "\n\t" - "L%=store:" "\n\t" - "st -X, r25" "\n\t" - "st -X, r24" "\n\t" - "st -X, r23" "\n\t" - "st -X, r22" "\n\t" - "L%=end:" "\n" - : : "x" (arg) : "r22", "r23", "r24", "r25", "r30", "r31"); -#else - uint8_t p1val = DIRECT_PIN_READ(arg->pin1_register, arg->pin1_bitmask); - uint8_t p2val = DIRECT_PIN_READ(arg->pin2_register, arg->pin2_bitmask); - uint8_t state = arg->state & 3; - if (p1val) state |= 4; - if (p2val) state |= 8; - arg->state = (state >> 2); - switch (state) { - case 1: case 7: case 8: case 14: - arg->position++; - arg->elapsedTime = (micros() - arg->lastTime); - arg->lastTime = micros(); - return; - case 2: case 4: case 11: case 13: - arg->position--; - arg->elapsedTime = (arg->lastTime - micros()); - arg->lastTime = micros(); - return; - case 3: case 12: - arg->position += 2; - arg->elapsedTime = (micros() - arg->lastTime) >> 1; - arg->lastTime = micros(); - return; - case 6: case 9: - arg->position -= 2; - arg->elapsedTime = (arg->lastTime - micros()) >> 1; - arg->lastTime = micros(); - return; - } -#endif - } -/* -#if defined(__AVR__) - // TODO: this must be a no inline function - // even noinline does not seem to solve difficult - // problems with this. Oh well, it was only meant - // to shrink code size - there's no performance - // improvement in this, only code size reduction. - __attribute__((noinline)) void update_finishup(void) { - asm volatile ( - "ldi r30, lo8(pm(Ltable))" "\n\t" - "ldi r31, hi8(pm(Ltable))" "\n\t" - "Ltable:" "\n\t" - "rjmp L%=end" "\n\t" // 0 - "rjmp L%=plus1" "\n\t" // 1 - "rjmp L%=minus1" "\n\t" // 2 - "rjmp L%=plus2" "\n\t" // 3 - "rjmp L%=minus1" "\n\t" // 4 - "rjmp L%=end" "\n\t" // 5 - "rjmp L%=minus2" "\n\t" // 6 - "rjmp L%=plus1" "\n\t" // 7 - "rjmp L%=plus1" "\n\t" // 8 - "rjmp L%=minus2" "\n\t" // 9 - "rjmp L%=end" "\n\t" // 10 - "rjmp L%=minus1" "\n\t" // 11 - "rjmp L%=plus2" "\n\t" // 12 - "rjmp L%=minus1" "\n\t" // 13 - "rjmp L%=plus1" "\n\t" // 14 - "rjmp L%=end" "\n\t" // 15 - "L%=minus2:" "\n\t" - "subi r22, 2" "\n\t" - "sbci r23, 0" "\n\t" - "sbci r24, 0" "\n\t" - "sbci r25, 0" "\n\t" - "rjmp L%=store" "\n\t" - "L%=minus1:" "\n\t" - "subi r22, 1" "\n\t" - "sbci r23, 0" "\n\t" - "sbci r24, 0" "\n\t" - "sbci r25, 0" "\n\t" - "rjmp L%=store" "\n\t" - "L%=plus2:" "\n\t" - "subi r22, 254" "\n\t" - "rjmp L%=z" "\n\t" - "L%=plus1:" "\n\t" - "subi r22, 255" "\n\t" - "L%=z:" "sbci r23, 255" "\n\t" - "sbci r24, 255" "\n\t" - "sbci r25, 255" "\n\t" - "L%=store:" "\n\t" - "st -X, r25" "\n\t" - "st -X, r24" "\n\t" - "st -X, r23" "\n\t" - "st -X, r22" "\n\t" - "L%=end:" "\n" - : : : "r22", "r23", "r24", "r25", "r30", "r31"); - } -#endif -*/ - - -#ifdef ENCODER_USE_INTERRUPTS - // this giant function is an unfortunate consequence of Arduino's - // attachInterrupt function not supporting any way to pass a pointer - // or other context to the attached function. - static uint8_t attach_interrupt(uint8_t pin, Encoder_internal_state_t *state) { - switch (pin) { - #ifdef CORE_INT0_PIN - case CORE_INT0_PIN: - interruptArgs[0] = state; - attachInterrupt(0, isr0, CHANGE); - break; - #endif - #ifdef CORE_INT1_PIN - case CORE_INT1_PIN: - interruptArgs[1] = state; - attachInterrupt(1, isr1, CHANGE); - break; - #endif - #ifdef CORE_INT2_PIN - case CORE_INT2_PIN: - interruptArgs[2] = state; - attachInterrupt(2, isr2, CHANGE); - break; - #endif - #ifdef CORE_INT3_PIN - case CORE_INT3_PIN: - interruptArgs[3] = state; - attachInterrupt(3, isr3, CHANGE); - break; - #endif - #ifdef CORE_INT4_PIN - case CORE_INT4_PIN: - interruptArgs[4] = state; - attachInterrupt(4, isr4, CHANGE); - break; - #endif - #ifdef CORE_INT5_PIN - case CORE_INT5_PIN: - interruptArgs[5] = state; - attachInterrupt(5, isr5, CHANGE); - break; - #endif - #ifdef CORE_INT6_PIN - case CORE_INT6_PIN: - interruptArgs[6] = state; - attachInterrupt(6, isr6, CHANGE); - break; - #endif - #ifdef CORE_INT7_PIN - case CORE_INT7_PIN: - interruptArgs[7] = state; - attachInterrupt(7, isr7, CHANGE); - break; - #endif - #ifdef CORE_INT8_PIN - case CORE_INT8_PIN: - interruptArgs[8] = state; - attachInterrupt(8, isr8, CHANGE); - break; - #endif - #ifdef CORE_INT9_PIN - case CORE_INT9_PIN: - interruptArgs[9] = state; - attachInterrupt(9, isr9, CHANGE); - break; - #endif - #ifdef CORE_INT10_PIN - case CORE_INT10_PIN: - interruptArgs[10] = state; - attachInterrupt(10, isr10, CHANGE); - break; - #endif - #ifdef CORE_INT11_PIN - case CORE_INT11_PIN: - interruptArgs[11] = state; - attachInterrupt(11, isr11, CHANGE); - break; - #endif - #ifdef CORE_INT12_PIN - case CORE_INT12_PIN: - interruptArgs[12] = state; - attachInterrupt(12, isr12, CHANGE); - break; - #endif - #ifdef CORE_INT13_PIN - case CORE_INT13_PIN: - interruptArgs[13] = state; - attachInterrupt(13, isr13, CHANGE); - break; - #endif - #ifdef CORE_INT14_PIN - case CORE_INT14_PIN: - interruptArgs[14] = state; - attachInterrupt(14, isr14, CHANGE); - break; - #endif - #ifdef CORE_INT15_PIN - case CORE_INT15_PIN: - interruptArgs[15] = state; - attachInterrupt(15, isr15, CHANGE); - break; - #endif - #ifdef CORE_INT16_PIN - case CORE_INT16_PIN: - interruptArgs[16] = state; - attachInterrupt(16, isr16, CHANGE); - break; - #endif - #ifdef CORE_INT17_PIN - case CORE_INT17_PIN: - interruptArgs[17] = state; - attachInterrupt(17, isr17, CHANGE); - break; - #endif - #ifdef CORE_INT18_PIN - case CORE_INT18_PIN: - interruptArgs[18] = state; - attachInterrupt(18, isr18, CHANGE); - break; - #endif - #ifdef CORE_INT19_PIN - case CORE_INT19_PIN: - interruptArgs[19] = state; - attachInterrupt(19, isr19, CHANGE); - break; - #endif - #ifdef CORE_INT20_PIN - case CORE_INT20_PIN: - interruptArgs[20] = state; - attachInterrupt(20, isr20, CHANGE); - break; - #endif - #ifdef CORE_INT21_PIN - case CORE_INT21_PIN: - interruptArgs[21] = state; - attachInterrupt(21, isr21, CHANGE); - break; - #endif - #ifdef CORE_INT22_PIN - case CORE_INT22_PIN: - interruptArgs[22] = state; - attachInterrupt(22, isr22, CHANGE); - break; - #endif - #ifdef CORE_INT23_PIN - case CORE_INT23_PIN: - interruptArgs[23] = state; - attachInterrupt(23, isr23, CHANGE); - break; - #endif - #ifdef CORE_INT24_PIN - case CORE_INT24_PIN: - interruptArgs[24] = state; - attachInterrupt(24, isr24, CHANGE); - break; - #endif - #ifdef CORE_INT25_PIN - case CORE_INT25_PIN: - interruptArgs[25] = state; - attachInterrupt(25, isr25, CHANGE); - break; - #endif - #ifdef CORE_INT26_PIN - case CORE_INT26_PIN: - interruptArgs[26] = state; - attachInterrupt(26, isr26, CHANGE); - break; - #endif - #ifdef CORE_INT27_PIN - case CORE_INT27_PIN: - interruptArgs[27] = state; - attachInterrupt(27, isr27, CHANGE); - break; - #endif - #ifdef CORE_INT28_PIN - case CORE_INT28_PIN: - interruptArgs[28] = state; - attachInterrupt(28, isr28, CHANGE); - break; - #endif - #ifdef CORE_INT29_PIN - case CORE_INT29_PIN: - interruptArgs[29] = state; - attachInterrupt(29, isr29, CHANGE); - break; - #endif - - #ifdef CORE_INT30_PIN - case CORE_INT30_PIN: - interruptArgs[30] = state; - attachInterrupt(30, isr30, CHANGE); - break; - #endif - #ifdef CORE_INT31_PIN - case CORE_INT31_PIN: - interruptArgs[31] = state; - attachInterrupt(31, isr31, CHANGE); - break; - #endif - #ifdef CORE_INT32_PIN - case CORE_INT32_PIN: - interruptArgs[32] = state; - attachInterrupt(32, isr32, CHANGE); - break; - #endif - #ifdef CORE_INT33_PIN - case CORE_INT33_PIN: - interruptArgs[33] = state; - attachInterrupt(33, isr33, CHANGE); - break; - #endif - #ifdef CORE_INT34_PIN - case CORE_INT34_PIN: - interruptArgs[34] = state; - attachInterrupt(34, isr34, CHANGE); - break; - #endif - #ifdef CORE_INT35_PIN - case CORE_INT35_PIN: - interruptArgs[35] = state; - attachInterrupt(35, isr35, CHANGE); - break; - #endif - #ifdef CORE_INT36_PIN - case CORE_INT36_PIN: - interruptArgs[36] = state; - attachInterrupt(36, isr36, CHANGE); - break; - #endif - #ifdef CORE_INT37_PIN - case CORE_INT37_PIN: - interruptArgs[37] = state; - attachInterrupt(37, isr37, CHANGE); - break; - #endif - #ifdef CORE_INT38_PIN - case CORE_INT38_PIN: - interruptArgs[38] = state; - attachInterrupt(38, isr38, CHANGE); - break; - #endif - #ifdef CORE_INT39_PIN - case CORE_INT39_PIN: - interruptArgs[39] = state; - attachInterrupt(39, isr39, CHANGE); - break; - #endif - #ifdef CORE_INT40_PIN - case CORE_INT40_PIN: - interruptArgs[40] = state; - attachInterrupt(40, isr40, CHANGE); - break; - #endif - #ifdef CORE_INT41_PIN - case CORE_INT41_PIN: - interruptArgs[41] = state; - attachInterrupt(41, isr41, CHANGE); - break; - #endif - #ifdef CORE_INT42_PIN - case CORE_INT42_PIN: - interruptArgs[42] = state; - attachInterrupt(42, isr42, CHANGE); - break; - #endif - #ifdef CORE_INT43_PIN - case CORE_INT43_PIN: - interruptArgs[43] = state; - attachInterrupt(43, isr43, CHANGE); - break; - #endif - #ifdef CORE_INT44_PIN - case CORE_INT44_PIN: - interruptArgs[44] = state; - attachInterrupt(44, isr44, CHANGE); - break; - #endif - #ifdef CORE_INT45_PIN - case CORE_INT45_PIN: - interruptArgs[45] = state; - attachInterrupt(45, isr45, CHANGE); - break; - #endif - #ifdef CORE_INT46_PIN - case CORE_INT46_PIN: - interruptArgs[46] = state; - attachInterrupt(46, isr46, CHANGE); - break; - #endif - #ifdef CORE_INT47_PIN - case CORE_INT47_PIN: - interruptArgs[47] = state; - attachInterrupt(47, isr47, CHANGE); - break; - #endif - #ifdef CORE_INT48_PIN - case CORE_INT48_PIN: - interruptArgs[48] = state; - attachInterrupt(48, isr48, CHANGE); - break; - #endif - #ifdef CORE_INT49_PIN - case CORE_INT49_PIN: - interruptArgs[49] = state; - attachInterrupt(49, isr49, CHANGE); - break; - #endif - #ifdef CORE_INT50_PIN - case CORE_INT50_PIN: - interruptArgs[50] = state; - attachInterrupt(50, isr50, CHANGE); - break; - #endif - #ifdef CORE_INT51_PIN - case CORE_INT51_PIN: - interruptArgs[51] = state; - attachInterrupt(51, isr51, CHANGE); - break; - #endif - #ifdef CORE_INT52_PIN - case CORE_INT52_PIN: - interruptArgs[52] = state; - attachInterrupt(52, isr52, CHANGE); - break; - #endif - #ifdef CORE_INT53_PIN - case CORE_INT53_PIN: - interruptArgs[53] = state; - attachInterrupt(53, isr53, CHANGE); - break; - #endif - #ifdef CORE_INT54_PIN - case CORE_INT54_PIN: - interruptArgs[54] = state; - attachInterrupt(54, isr54, CHANGE); - break; - #endif - #ifdef CORE_INT55_PIN - case CORE_INT55_PIN: - interruptArgs[55] = state; - attachInterrupt(55, isr55, CHANGE); - break; - #endif - #ifdef CORE_INT56_PIN - case CORE_INT56_PIN: - interruptArgs[56] = state; - attachInterrupt(56, isr56, CHANGE); - break; - #endif - #ifdef CORE_INT57_PIN - case CORE_INT57_PIN: - interruptArgs[57] = state; - attachInterrupt(57, isr57, CHANGE); - break; - #endif - #ifdef CORE_INT58_PIN - case CORE_INT58_PIN: - interruptArgs[58] = state; - attachInterrupt(58, isr58, CHANGE); - break; - #endif - #ifdef CORE_INT59_PIN - case CORE_INT59_PIN: - interruptArgs[59] = state; - attachInterrupt(59, isr59, CHANGE); - break; - #endif - default: - return 0; - } - return 1; - } -#endif // ENCODER_USE_INTERRUPTS - - -#if defined(ENCODER_USE_INTERRUPTS) && !defined(ENCODER_OPTIMIZE_INTERRUPTS) - #ifdef CORE_INT0_PIN - static void isr0(void) { update(interruptArgs[0]); } - #endif - #ifdef CORE_INT1_PIN - static void isr1(void) { update(interruptArgs[1]); } - #endif - #ifdef CORE_INT2_PIN - static void isr2(void) { update(interruptArgs[2]); } - #endif - #ifdef CORE_INT3_PIN - static void isr3(void) { update(interruptArgs[3]); } - #endif - #ifdef CORE_INT4_PIN - static void isr4(void) { update(interruptArgs[4]); } - #endif - #ifdef CORE_INT5_PIN - static void isr5(void) { update(interruptArgs[5]); } - #endif - #ifdef CORE_INT6_PIN - static void isr6(void) { update(interruptArgs[6]); } - #endif - #ifdef CORE_INT7_PIN - static void isr7(void) { update(interruptArgs[7]); } - #endif - #ifdef CORE_INT8_PIN - static void isr8(void) { update(interruptArgs[8]); } - #endif - #ifdef CORE_INT9_PIN - static void isr9(void) { update(interruptArgs[9]); } - #endif - #ifdef CORE_INT10_PIN - static void isr10(void) { update(interruptArgs[10]); } - #endif - #ifdef CORE_INT11_PIN - static void isr11(void) { update(interruptArgs[11]); } - #endif - #ifdef CORE_INT12_PIN - static void isr12(void) { update(interruptArgs[12]); } - #endif - #ifdef CORE_INT13_PIN - static void isr13(void) { update(interruptArgs[13]); } - #endif - #ifdef CORE_INT14_PIN - static void isr14(void) { update(interruptArgs[14]); } - #endif - #ifdef CORE_INT15_PIN - static void isr15(void) { update(interruptArgs[15]); } - #endif - #ifdef CORE_INT16_PIN - static void isr16(void) { update(interruptArgs[16]); } - #endif - #ifdef CORE_INT17_PIN - static void isr17(void) { update(interruptArgs[17]); } - #endif - #ifdef CORE_INT18_PIN - static void isr18(void) { update(interruptArgs[18]); } - #endif - #ifdef CORE_INT19_PIN - static void isr19(void) { update(interruptArgs[19]); } - #endif - #ifdef CORE_INT20_PIN - static void isr20(void) { update(interruptArgs[20]); } - #endif - #ifdef CORE_INT21_PIN - static void isr21(void) { update(interruptArgs[21]); } - #endif - #ifdef CORE_INT22_PIN - static void isr22(void) { update(interruptArgs[22]); } - #endif - #ifdef CORE_INT23_PIN - static void isr23(void) { update(interruptArgs[23]); } - #endif - #ifdef CORE_INT24_PIN - static void isr24(void) { update(interruptArgs[24]); } - #endif - #ifdef CORE_INT25_PIN - static void isr25(void) { update(interruptArgs[25]); } - #endif - #ifdef CORE_INT26_PIN - static void isr26(void) { update(interruptArgs[26]); } - #endif - #ifdef CORE_INT27_PIN - static void isr27(void) { update(interruptArgs[27]); } - #endif - #ifdef CORE_INT28_PIN - static void isr28(void) { update(interruptArgs[28]); } - #endif - #ifdef CORE_INT29_PIN - static void isr29(void) { update(interruptArgs[29]); } - #endif - #ifdef CORE_INT30_PIN - static void isr30(void) { update(interruptArgs[30]); } - #endif - #ifdef CORE_INT31_PIN - static void isr31(void) { update(interruptArgs[31]); } - #endif - #ifdef CORE_INT32_PIN - static void isr32(void) { update(interruptArgs[32]); } - #endif - #ifdef CORE_INT33_PIN - static void isr33(void) { update(interruptArgs[33]); } - #endif - #ifdef CORE_INT34_PIN - static void isr34(void) { update(interruptArgs[34]); } - #endif - #ifdef CORE_INT35_PIN - static void isr35(void) { update(interruptArgs[35]); } - #endif - #ifdef CORE_INT36_PIN - static void isr36(void) { update(interruptArgs[36]); } - #endif - #ifdef CORE_INT37_PIN - static void isr37(void) { update(interruptArgs[37]); } - #endif - #ifdef CORE_INT38_PIN - static void isr38(void) { update(interruptArgs[38]); } - #endif - #ifdef CORE_INT39_PIN - static void isr39(void) { update(interruptArgs[39]); } - #endif - #ifdef CORE_INT40_PIN - static void isr40(void) { update(interruptArgs[40]); } - #endif - #ifdef CORE_INT41_PIN - static void isr41(void) { update(interruptArgs[41]); } - #endif - #ifdef CORE_INT42_PIN - static void isr42(void) { update(interruptArgs[42]); } - #endif - #ifdef CORE_INT43_PIN - static void isr43(void) { update(interruptArgs[43]); } - #endif - #ifdef CORE_INT44_PIN - static void isr44(void) { update(interruptArgs[44]); } - #endif - #ifdef CORE_INT45_PIN - static void isr45(void) { update(interruptArgs[45]); } - #endif - #ifdef CORE_INT46_PIN - static void isr46(void) { update(interruptArgs[46]); } - #endif - #ifdef CORE_INT47_PIN - static void isr47(void) { update(interruptArgs[47]); } - #endif - #ifdef CORE_INT48_PIN - static void isr48(void) { update(interruptArgs[48]); } - #endif - #ifdef CORE_INT49_PIN - static void isr49(void) { update(interruptArgs[49]); } - #endif - #ifdef CORE_INT50_PIN - static void isr50(void) { update(interruptArgs[50]); } - #endif - #ifdef CORE_INT51_PIN - static void isr51(void) { update(interruptArgs[51]); } - #endif - #ifdef CORE_INT52_PIN - static void isr52(void) { update(interruptArgs[52]); } - #endif - #ifdef CORE_INT53_PIN - static void isr53(void) { update(interruptArgs[53]); } - #endif - #ifdef CORE_INT54_PIN - static void isr54(void) { update(interruptArgs[54]); } - #endif - #ifdef CORE_INT55_PIN - static void isr55(void) { update(interruptArgs[55]); } - #endif - #ifdef CORE_INT56_PIN - static void isr56(void) { update(interruptArgs[56]); } - #endif - #ifdef CORE_INT57_PIN - static void isr57(void) { update(interruptArgs[57]); } - #endif - #ifdef CORE_INT58_PIN - static void isr58(void) { update(interruptArgs[58]); } - #endif - #ifdef CORE_INT59_PIN - static void isr59(void) { update(interruptArgs[59]); } - #endif -#endif -}; - -#if defined(ENCODER_USE_INTERRUPTS) && defined(ENCODER_OPTIMIZE_INTERRUPTS) -#if defined(__AVR__) -#if defined(INT0_vect) && CORE_NUM_INTERRUPT > 0 -ISR(INT0_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(0)]); } -#endif -#if defined(INT1_vect) && CORE_NUM_INTERRUPT > 1 -ISR(INT1_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(1)]); } -#endif -#if defined(INT2_vect) && CORE_NUM_INTERRUPT > 2 -ISR(INT2_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(2)]); } -#endif -#if defined(INT3_vect) && CORE_NUM_INTERRUPT > 3 -ISR(INT3_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(3)]); } -#endif -#if defined(INT4_vect) && CORE_NUM_INTERRUPT > 4 -ISR(INT4_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(4)]); } -#endif -#if defined(INT5_vect) && CORE_NUM_INTERRUPT > 5 -ISR(INT5_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(5)]); } -#endif -#if defined(INT6_vect) && CORE_NUM_INTERRUPT > 6 -ISR(INT6_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(6)]); } -#endif -#if defined(INT7_vect) && CORE_NUM_INTERRUPT > 7 -ISR(INT7_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(7)]); } -#endif -#endif // AVR -#endif // ENCODER_OPTIMIZE_INTERRUPTS - - -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/GCode.cpp b/Firmware_1.26b/cnc_ctrl_v1/GCode.cpp deleted file mode 100644 index 8a0cc684..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/GCode.cpp +++ /dev/null @@ -1,889 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains all the functions used to receive and parse the gcode -// commands - -#include "Maslow.h" - -RingBuffer incSerialBuffer; -String readyCommandString = ""; //KRK why is this a global? -String gcodeLine = ""; //Our use of this is a bit sloppy, at times, - //we pass references to this global and then - //name them the same thing. - -void initGCode(){ - // Called on startup or after a stop command - readyCommandString = ""; - incSerialBuffer.empty(); -} - -void readSerialCommands(){ - /* - Check to see if a new character is available from the serial connection, - if this is a necessary character write to the incSerialBuffer otherwise discard - it. - */ - - static bool quickCommandFlag = false; - - if (Serial.available() > 0) { - while (Serial.available() > 0) { - char c = Serial.read(); - if (c == '!'){ - sys.stop = true; - quickCommandFlag = true; - bit_false(sys.pause, PAUSE_FLAG_USER_PAUSE); - reportStatusMessage(STATUS_OK); - } - else if (c == '~'){ - quickCommandFlag = true; - bit_false(sys.pause, PAUSE_FLAG_USER_PAUSE); - reportStatusMessage(STATUS_OK); - } - else if (quickCommandFlag and c == '\n'){ - // Catch line ending and ignore after quick commands - quickCommandFlag = false; - } - else{ - quickCommandFlag = false; - int bufferOverflow = incSerialBuffer.write(c); //gets one byte from serial buffer, writes it to the internal ring buffer - if (bufferOverflow != 0) { - sys.stop = true; - } - } - if (sys.stop){return;} - } - #if defined (verboseDebug) && verboseDebug > 1 - // print ring buffer contents - Serial.println(F("rSC added to ring buffer")); - incSerialBuffer.print(); - #endif - } -} - -int findEndOfNumber(const String& textString, const int& index){ - //Return the index of the last digit of the number beginning at the index passed in - unsigned int i = index; - - while (i < textString.length()){ - - if(isDigit(textString[i]) or isPunct(textString[i])){ //If we're still looking at a number, keep goin - i++; - } - else{ - return i; //If we've reached the end of the number, return the last index - } - } - return i; //If we've reached the end of the string, return the last number -} - -float extractGcodeValue(const String& readString, char target, const float& defaultReturn){ - - /*Reads a string and returns the value of number following the target character. - If no number is found, defaultReturn is returned*/ - - int begin; - int end; - String numberAsString; - float numberAsFloat; - - begin = readString.indexOf(target); - end = findEndOfNumber(readString,begin+1); - numberAsString = readString.substring(begin+1,end); - - numberAsFloat = numberAsString.toFloat(); - - if (begin == -1){ //if the character was not found, return error - return defaultReturn; - } - - return numberAsFloat; -} - -byte executeBcodeLine(const String& gcodeLine){ - /* - - Executes a single line of gcode beginning with the character 'B'. - - */ - - //Handle B-codes - - if(gcodeLine.substring(0, 3) == "B05"){ - Serial.print(F("Firmware Version ")); - Serial.println(VERSIONNUMBER); - return STATUS_OK; - } - - if(sys.state == STATE_OLD_SETTINGS){ - return STATUS_OLD_SETTINGS; - } - - if(gcodeLine.substring(0, 3) == "B01"){ - - Serial.println(F("Motor Calibration Not Needed")); - - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B02"){ - calibrateChainLengths(gcodeLine); - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B04"){ - //set flag to ignore position error limit during the tests - sys.state = (sys.state | STATE_POS_ERR_IGNORE); - //Test each of the axis - maslowDelay(500); - if(sys.stop){return STATUS_OK;} - leftAxis.test(); - maslowDelay(500); - if(sys.stop){return STATUS_OK;} - rightAxis.test(); - maslowDelay(500); - if(sys.stop){return STATUS_OK;} - zAxis.test(); - Serial.println(F("Tests complete.")); - - // update our position - leftAxis.set(leftAxis.read()); - rightAxis.set(rightAxis.read()); - - //clear the flag, re-enable position error limit - sys.state = (sys.state & (!STATE_POS_ERR_IGNORE)); - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B06"){ - Serial.println(F("Setting Chain Lengths To: ")); - float newL = extractGcodeValue(gcodeLine, 'L', 0); - float newR = extractGcodeValue(gcodeLine, 'R', 0); - - leftAxis.set(newL); - rightAxis.set(newR); - - Serial.print(F("Left: ")); - Serial.print(leftAxis.read()); - Serial.println(F("mm")); - Serial.print(F("Right: ")); - Serial.print(rightAxis.read()); - Serial.println(F("mm")); - - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B08"){ - //Manually recalibrate chain lengths - leftAxis.set(sysSettings.originalChainLength); - rightAxis.set(sysSettings.originalChainLength); - - Serial.print(F("Left: ")); - Serial.print(leftAxis.read()); - Serial.println(F("mm")); - Serial.print(F("Right: ")); - Serial.print(rightAxis.read()); - Serial.println(F("mm")); - - kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0, 0); - - Serial.println(F("Message: The machine chains have been manually re-calibrated.")); - - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B09"){ - //Directly command each axis to move to a given distance - float lDist = extractGcodeValue(gcodeLine, 'L', 0); - float rDist = extractGcodeValue(gcodeLine, 'R', 0); - float speed = extractGcodeValue(gcodeLine, 'F', 800); - - if(sys.useRelativeUnits){ - if(abs(lDist) > 0){ - singleAxisMove(&leftAxis, leftAxis.read() + lDist, speed); - } - if(abs(rDist) > 0){ - singleAxisMove(&rightAxis, rightAxis.read() + rDist, speed); - } - } - else{ - singleAxisMove(&leftAxis, lDist, speed); - singleAxisMove(&rightAxis, rDist, speed); - } - - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B10"){ - //measure the left axis chain length - Serial.print(F("[Measure: ")); - if (gcodeLine.indexOf('L') != -1){ - Serial.print(leftAxis.read()); - } - else{ - Serial.print(rightAxis.read()); - } - Serial.println(F("]")); - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B11"){ - //run right motor in the given direction at the given speed for the given time - float speed = extractGcodeValue(gcodeLine, 'S', 100); - float time = extractGcodeValue(gcodeLine, 'T', 1); - - double ms = 1000*time; - double begin = millis(); - - int i = 0; - sys.state = (sys.state | STATE_POS_ERR_IGNORE); - while (millis() - begin < ms){ - if (gcodeLine.indexOf('L') != -1){ - leftAxis.motorGearboxEncoder.motor.directWrite(speed); - } - else{ - rightAxis.motorGearboxEncoder.motor.directWrite(speed); - } - - i++; - execSystemRealtime(); - if (sys.stop){return STATUS_OK;} - } - sys.state = (sys.state | (!STATE_POS_ERR_IGNORE)); - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B13"){ - //PID Testing of Velocity - float left = extractGcodeValue(gcodeLine, 'L', 0); - float useZ = extractGcodeValue(gcodeLine, 'Z', 0); - float start = extractGcodeValue(gcodeLine, 'S', 1); - float stop = extractGcodeValue(gcodeLine, 'F', 1); - float steps = extractGcodeValue(gcodeLine, 'I', 1); - float version = extractGcodeValue(gcodeLine, 'V', 1); - - Axis* axis = &rightAxis; - if (left > 0) axis = &leftAxis; - if (useZ > 0) axis = &zAxis; - PIDTestVelocity(axis, start, stop, steps, version); - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B14"){ - //PID Testing of Position - float left = extractGcodeValue(gcodeLine, 'L', 0); - float useZ = extractGcodeValue(gcodeLine, 'Z', 0); - float start = extractGcodeValue(gcodeLine, 'S', 1); - float stop = extractGcodeValue(gcodeLine, 'F', 1); - float steps = extractGcodeValue(gcodeLine, 'I', 1); - float stepTime = extractGcodeValue(gcodeLine, 'T', 2000); - float version = extractGcodeValue(gcodeLine, 'V', 1); - - Axis* axis = &rightAxis; - if (left > 0) axis = &leftAxis; - if (useZ > 0) axis = &zAxis; - PIDTestPosition(axis, start, stop, steps, stepTime, version); - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B16"){ - //Incrementally tests voltages to see what RPMs they produce - float left = extractGcodeValue(gcodeLine, 'L', 0); - float useZ = extractGcodeValue(gcodeLine, 'Z', 0); - float start = extractGcodeValue(gcodeLine, 'S', 1); - float stop = extractGcodeValue(gcodeLine, 'F', 1); - - Axis* axis = &rightAxis; - if (left > 0) axis = &leftAxis; - if (useZ > 0) axis = &zAxis; - voltageTest(axis, start, stop); - return STATUS_OK; - } - - if(gcodeLine.substring(0, 3) == "B15"){ - //The B15 command moves the chains to the length which will put the sled in the center of the sheet - - //Compute chain length for position 0,0 - float chainLengthAtMiddle; - kinematics.inverse(0,0,&chainLengthAtMiddle,&chainLengthAtMiddle); - - //Adjust left chain length - singleAxisMove(&leftAxis, chainLengthAtMiddle, 800); - - //Adjust right chain length - singleAxisMove(&rightAxis, chainLengthAtMiddle, 800); - - //Reload the position - kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0, 0); - - return STATUS_OK; - } - return STATUS_INVALID_STATEMENT; -} - -void executeGcodeLine(const String& gcodeLine){ - /* - - Executes a single line of gcode beginning with the character 'G'. If the G code is - not included on the front of the line, the code from the previous line will be added. - - */ - - //Handle G-Codes - - int gNumber = extractGcodeValue(gcodeLine,'G', -1); - - if (gNumber == -1){ // If the line does not have a G command - gNumber = sys.lastGCommand; // apply the last one - } - - switch(gNumber){ - case 0: // Rapid positioning - case 1: // Linear interpolation - G1(gcodeLine, gNumber); - sys.lastGCommand = gNumber; // remember G number for next time - break; - case 2: // Circular interpolation, clockwise - case 3: // Circular interpolation, counterclockwise - G2(gcodeLine, gNumber); - sys.lastGCommand = gNumber; // remember G number for next time - break; - case 4: - G4(gcodeLine); - break; - case 10: - G10(gcodeLine); - break; - case 20: - setInchesToMillimetersConversion(INCHES); - break; - case 21: - setInchesToMillimetersConversion(MILLIMETERS); - break; - case 40: - break; //the G40 command turns off cutter compensation which is already off so it is safe to ignore - case 38: - G38(gcodeLine); - break; - case 90: - sys.useRelativeUnits = false; - break; - case 91: - sys.useRelativeUnits = true; - break; - default: - Serial.print(F("Command G")); - Serial.print(gNumber); - Serial.println(F(" unsupported and ignored.")); - } - -} - -void executeMcodeLine(const String& gcodeLine){ - /* - - Executes a single line of gcode beginning with the character 'M'. - - */ - - //Handle M-Codes - - int mNumber = extractGcodeValue(gcodeLine,'M', -1); - - switch(mNumber){ - case 0: // Program Pause / Unconditional Halt / Stop - case 1: // Optional Pause / Halt / Sleep - pause(); - break; - case 2: // Program End - case 30: // Program End with return to program top - case 5: // Spindle Off - setSpindlePower(false); // turn off spindle - break; - case 3: // Spindle On - clockwise - case 4: // Spindle On - counterclockwise - // Maslow spindle runs only one direction, but turn spindle on for either code - setSpindlePower(true); // turn on spindle - break; - case 6: // Tool Change - if (sys.nextTool != sys.lastTool) { - setSpindlePower(false); // first, turn off spindle - Serial.print(F("Tool Change: Please insert tool ")); // prompt user to change tool - Serial.println(sys.nextTool); - sys.lastTool = sys.nextTool; - pause(); - } - break; - case 106: - //Turn laser on - laserOn(true); // EBS - break; - case 107: - //Turn laser off - laserOn(false); - break; - default: - Serial.print(F("Command M")); - Serial.print(mNumber); - Serial.println(F(" unsupported and ignored.")); - } - -} - -void executeOtherCodeLine(const String& gcodeLine){ - /* - - Executes a single line of gcode beginning with a character other than 'G', 'B', or 'M'. - - */ - - if (gcodeLine.length() > 1) { - if (gcodeLine[0] == 'T') { - int tNumber = extractGcodeValue(gcodeLine,'T', 0); // get tool number - Serial.print(F("Tool change to tool ")); - Serial.println(tNumber); - sys.nextTool = tNumber; // remember tool number to prompt user when G06 is received - } - else { // try it as a 'G' command without the leading 'G' code - executeGcodeLine(gcodeLine); - } - } - else { - Serial.print(F("Command ")); - Serial.print(gcodeLine); - Serial.println(F(" too short - ignored.")); - } - -} - -int findNextGM(const String& readString, const int& startingPoint){ - int nextGIndex = readString.indexOf('G', startingPoint); - int nextMIndex = readString.indexOf('M', startingPoint); - if (nextMIndex != -1) { // if 'M' was found - if ((nextGIndex == -1) || (nextMIndex < nextGIndex)) { // and 'G' was not found, or if 'M' is before 'G' - nextGIndex = nextMIndex; // then use 'M' - } - } - if (nextGIndex == -1) { // if 'G' was not found (and therefore 'M' was not found) - nextGIndex = readString.length(); // then use the whole string - } - - return nextGIndex; -} - -void sanitizeCommandString(String& cmdString){ - /* - Primarily removes comments and some other non supported characters or functions. - This is taken heavily from the GRBL project at https://github.com/gnea/grbl - */ - - byte line_flags = 0; - size_t pos = 0; - - while (cmdString.length() > pos){ - if (line_flags) { - // Throw away all (except EOL) comment characters and overflow characters. - if (cmdString[pos] == ')') { - // End of '()' comment. Resume line allowed. - cmdString.remove(pos, 1); - if (line_flags & LINE_FLAG_COMMENT_PARENTHESES) { line_flags &= ~(LINE_FLAG_COMMENT_PARENTHESES); } - } - } - else { - if (cmdString[pos] < ' ') { - // Throw away control characters - cmdString.remove(pos, 1); - } - else if (cmdString[pos] == '/') { - // Block delete NOT SUPPORTED. Ignore character. - // NOTE: If supported, would simply need to check the system if block delete is enabled. - cmdString.remove(pos, 1); - } else if (cmdString[pos] == '(') { - // Enable comments flag and ignore all characters until ')' or EOL. - // NOTE: This doesn't follow the NIST definition exactly, but is good enough for now. - // In the future, we could simply remove the items within the comments, but retain the - // comment control characters, so that the g-code parser can error-check it. - cmdString.remove(pos, 1); - line_flags |= LINE_FLAG_COMMENT_PARENTHESES; - } else if (cmdString[pos] == ';') { - // NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST. - cmdString.remove(pos, 1); - line_flags |= LINE_FLAG_COMMENT_SEMICOLON; - } else if (cmdString[pos] == '%') { - // Program start-end percent sign NOT SUPPORTED. - cmdString.remove(pos, 1); - } else { - pos++; - } - } - } - #if defined (verboseDebug) && verboseDebug > 1 - // print results - Serial.println(F("sCS execution complete")); - Serial.println(cmdString); - #endif -} - -byte interpretCommandString(String& cmdString){ - /* - - Splits a string into lines of gcode which begin with 'G' or 'M', executing each in order - Also executes full lines for 'B' codes, and handles 'T' at beginning of line - - Assumptions: - Leading and trailing white space has already been removed from cmdString - cmdString has been converted to upper case - - */ - - size_t firstG; - size_t secondG; - - if (cmdString.length() > 0) { - if (cmdString[0] == '$') { - // Maslow '$' system command - return(systemExecuteCmdstring(cmdString)); - } - else if (cmdString[0] == 'B'){ //If the command is a B command - #if defined (verboseDebug) && verboseDebug > 0 - Serial.print(F("iCS executing B code line: ")); - #endif - Serial.println(cmdString); - return executeBcodeLine(cmdString); - } - else if (sys.state == STATE_OLD_SETTINGS){ - return STATUS_OLD_SETTINGS; - } - else { - while(cmdString.length() > 0){ //Extract each line of gcode from the string - firstG = findNextGM(cmdString, 0); - secondG = findNextGM(cmdString, firstG + 1); - - if(firstG == cmdString.length()){ //If the line contains no G or M letters - firstG = 0; //send the whole line - } - - if (firstG > 0) { //If there is something before the first 'G' or 'M' - gcodeLine = cmdString.substring(0, firstG); - #if defined (verboseDebug) && verboseDebug > 0 - Serial.print(F("iCS executing other code: ")); - #endif - Serial.println(gcodeLine); - executeOtherCodeLine(gcodeLine); // execute it first - } - - gcodeLine = cmdString.substring(firstG, secondG); - - if (gcodeLine.length() > 0){ - if (gcodeLine[0] == 'M') { - #if defined (verboseDebug) && verboseDebug > 0 - Serial.print(F("iCS executing M code: ")); - #endif - Serial.println(gcodeLine); - executeMcodeLine(gcodeLine); - } - else { - #if defined (verboseDebug) && verboseDebug > 0 - Serial.print(F("iCS executing G code: ")); - #endif - Serial.println(gcodeLine); - executeGcodeLine(gcodeLine); - } - } - - cmdString = cmdString.substring(secondG, cmdString.length()); - - } - return STATUS_OK; - } - return STATUS_INVALID_STATEMENT; - } - return STATUS_OK; -} - -void gcodeExecuteLoop(){ - byte status; - if (incSerialBuffer.numberOfLines() > 0){ - incSerialBuffer.prettyReadLine(readyCommandString); - sanitizeCommandString(readyCommandString); - status = interpretCommandString(readyCommandString); - readyCommandString = ""; - - // Get next line of GCode - if (!sys.stop){reportStatusMessage(status);} - } -} - -void G1(const String& readString, int G0orG1){ - - /*G1() is the function which is called to process the string if it begins with - 'G01' or 'G00'*/ - - float xgoto; - float ygoto; - float zgoto; - - float currentXPos = sys.xPosition; - float currentYPos = sys.yPosition; - - float currentZPos = zAxis.read(); - - xgoto = sys.inchesToMMConversion*extractGcodeValue(readString, 'X', currentXPos/sys.inchesToMMConversion); - ygoto = sys.inchesToMMConversion*extractGcodeValue(readString, 'Y', currentYPos/sys.inchesToMMConversion); - zgoto = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', currentZPos/sys.inchesToMMConversion); - sys.feedrate = sys.inchesToMMConversion*extractGcodeValue(readString, 'F', sys.feedrate/sys.inchesToMMConversion); - - if (sys.useRelativeUnits){ //if we are using a relative coordinate system - - if(readString.indexOf('X') >= 0){ //if there is an X command - xgoto = currentXPos + xgoto; - } - if(readString.indexOf('Y') >= 0){ //if y has moved - ygoto = currentYPos + ygoto; - } - if(readString.indexOf('Z') >= 0){ //if y has moved - zgoto = currentZPos + zgoto; - } - } - - sys.feedrate = constrain(sys.feedrate, 1, sysSettings.maxFeed); //constrain the maximum feedrate, 35ipm = 900 mmpm - - //if the zaxis is attached - if(!sysSettings.zAxisAttached){ - float threshold = .1; //units of mm - if (abs(currentZPos - zgoto) > threshold){ - Serial.print(F("Message: Please adjust Z-Axis to a depth of ")); - if (zgoto > 0){ - Serial.print(F("+")); - } - Serial.print(zgoto/sys.inchesToMMConversion); - if (sys.inchesToMMConversion == INCHES){ - Serial.println(F(" in")); - } - else{ - Serial.println(F(" mm")); - } - - pause(); //Wait until the z-axis is adjusted - - zAxis.set(zgoto); - - maslowDelay(1000); - } - } - - - if (G0orG1 == 1){ - //if this is a regular move - coordinatedMove(xgoto, ygoto, zgoto, sys.feedrate); //The XY move is performed - } - else{ - //if this is a rapid move - coordinatedMove(xgoto, ygoto, zgoto, sysSettings.maxFeed); //move the same as a regular move, but go fast - } -} - -void G2(const String& readString, int G2orG3){ - /* - - The G2 function handles the processing of the gcode line for both the command G2 and the - command G3 which cut arcs. - - */ - - - float X1 = sys.xPosition; //does this work if units are inches? (It seems to) - float Y1 = sys.yPosition; - float Z1 = zAxis.read(); // I don't know why we treat the zaxis differently - - float X2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'X', X1/sys.inchesToMMConversion); - float Y2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Y', Y1/sys.inchesToMMConversion); - float Z2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', Z1/sys.inchesToMMConversion); - float I = sys.inchesToMMConversion*extractGcodeValue(readString, 'I', 0.0); - float J = sys.inchesToMMConversion*extractGcodeValue(readString, 'J', 0.0); - sys.feedrate = sys.inchesToMMConversion*extractGcodeValue(readString, 'F', sys.feedrate/sys.inchesToMMConversion); - - float centerX = X1 + I; - float centerY = Y1 + J; - - sys.feedrate = constrain(sys.feedrate, 1, sysSettings.maxFeed); //constrain the maximum feedrate, 35ipm = 900 mmpm - - if (G2orG3 == 2){ - arc(X1, Y1, Z1, X2, Y2, Z2, centerX, centerY, sys.feedrate, CLOCKWISE); - } - else { - arc(X1, Y1, Z1, X2, Y2, Z2, centerX, centerY, sys.feedrate, COUNTERCLOCKWISE); - } -} - -void G4(const String& readString){ - /* - The G4() dwell function handles the G4 gcode which pauses for P milliseconds or S seconds. - Only one of the two is accepted, the other ignored. - Use maslowDelay() to remain responsive to GC during the dwell time. - Because maslowDelay() operates in milliseconds, round to the nearest millisecond. - Negative values are treated as positive (not a time machine). - */ - float dwellMS = abs(extractGcodeValue(readString, 'P', 0)); - float dwellS = abs(extractGcodeValue(readString, 'S', 0)); - - if (dwellMS == 0) { - /* - ignore S parameter unless P is zero - */ - dwellMS = dwellS * 1000; - } - dwellMS = long(dwellMS + .5); - Serial.print(F("dwell time ")); - if (dwellS > 0) { - Serial.print(dwellS); - Serial.println(F(" seconds")); - } else { - Serial.print(dwellMS, 0); - Serial.println(F(" ms.")); - } - maslowDelay(dwellMS); -} - -void G10(const String& readString){ - /*The G10() function handles the G10 gcode which re-zeros one or all of the machine's axes.*/ - float currentZPos = zAxis.read(); - float zgoto = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', currentZPos/sys.inchesToMMConversion); - - zAxis.set(zgoto); - zAxis.endMove(zgoto); - zAxis.attach(); -} - -void G38(const String& readString) { - //if the zaxis is attached - if (sysSettings.zAxisAttached) { - /* - The G38() function handles the G38 gcode which zeros the machine's z axis. - Currently ignores X and Y options - */ - if (readString.substring(3, 5) == ".2") { - Serial.println(F("probing for z axis zero")); - float zgoto; - - - float currentZPos = zAxis.read(); - int zDirection = sysSettings.zEncoderSteps<0 ? -1 : 1; - - zgoto = zDirection * sys.inchesToMMConversion * extractGcodeValue(readString, 'Z', currentZPos / sys.inchesToMMConversion); - sys.feedrate = sys.inchesToMMConversion * extractGcodeValue(readString, 'F', sys.feedrate / sys.inchesToMMConversion); - sys.feedrate = constrain(sys.feedrate, 1, sysSettings.maxZRPM * abs(zAxis.getPitch())); - - if (sys.useRelativeUnits) { //if we are using a relative coordinate system - if (readString.indexOf('Z') >= 0) { //if z has moved - zgoto = currentZPos + zgoto; - } - } - - Serial.print(F("max depth ")); - Serial.print(zgoto); - Serial.println(F(" mm.")); - Serial.print(F("feedrate ")); - Serial.print(sys.feedrate); - Serial.println(F(" mm per min.")); - - - //set Probe to input with pullup - pinMode(ProbePin, INPUT_PULLUP); - digitalWrite(ProbePin, HIGH); - - if (zgoto != currentZPos / sys.inchesToMMConversion) { - // now move z to the Z destination; - // Currently ignores X and Y options - // we need a version of singleAxisMove that quits if the AUXn input changes (goes LOW) - // which will act the same as the stop found in singleAxisMove (need both?) - // singleAxisMove(&zAxis, zgoto, feedrate); - - /* - Takes a pointer to an axis object and mo ves that axis to endPos at speed MMPerMin - */ - - Axis* axis = &zAxis; - float startingPos = axis->read(); - float endPos = zgoto; - float moveDist = endPos - currentZPos; //total distance to move - - float direction = moveDist / abs(moveDist); //determine the direction of the move - - float stepSizeMM = 0.01; //step size in mm - - //the argument to abs should only be a variable -- splitting calc into 2 lines - long finalNumberOfSteps = moveDist / stepSizeMM; //number of steps taken in move - finalNumberOfSteps = abs(finalNumberOfSteps); - - long numberOfStepsTaken = 0; - float whereAxisShouldBeAtThisStep = startingPos; - - axis->attach(); - // zAxis->attach(); - - while (numberOfStepsTaken < finalNumberOfSteps) { - if (!movementUpdated){ - //find the target point for this step - whereAxisShouldBeAtThisStep += stepSizeMM * direction; - - //write to each axis - axis->write(whereAxisShouldBeAtThisStep); - movementUpdate(); - - // Run realtime commands - execSystemRealtime(); - if (sys.stop){return;} - - //increment the number of steps taken - numberOfStepsTaken++; - } - - //check for Probe touchdown - if (checkForProbeTouch(ProbePin)) { - zAxis.set(0); - zAxis.endMove(0); - zAxis.attach(); - Serial.println(F("z axis zeroed")); - return; - } - } - - /* - If we get here, the probe failed to touch down - - print error - - STOP execution - */ - axis->endMove(endPos); - Serial.println(F("error: probe did not connect\nprogram stopped\nz axis not set\n")); - sys.stop = true; - } // end if zgoto != currentZPos / sys.inchesToMMConversion - - } else { - Serial.print(F("G38")); - Serial.print(readString.substring(3, 5)); - Serial.println(F(" is invalid. Only G38.2 recognized.")); - } - } else { - Serial.println(F("G38.2 gcode only valid with z-axis attached")); - } -} - -void setInchesToMillimetersConversion(float newConversionFactor){ - sys.inchesToMMConversion = newConversionFactor; -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/GCode.h b/Firmware_1.26b/cnc_ctrl_v1/GCode.h deleted file mode 100644 index d2cf12f4..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/GCode.h +++ /dev/null @@ -1,50 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -#ifndef gcode_h -#define gcode_h - -// Define line flags. Includes comment type tracking and line overflow detection. -#define LINE_FLAG_COMMENT_PARENTHESES bit(0) -#define LINE_FLAG_COMMENT_SEMICOLON bit(1) - -extern String readyCommandString; //next command queued up and ready to send -extern String gcodeLine; //The next individual line of gcode (for example G91 G01 X19 would be run as two lines) - -void initGCode(); -void gcodeExecuteLoop(); -void readSerialCommands(); -String gcodeBufferReadline(); -int findEndOfNumber(const String&, const int&); -float extractGcodeValue(const String&, char, const float&); -byte executeBcodeLine(const String&); -void executeGcodeLine(const String&); -void executeMcodeLine(const String&); -void executeOtherCodeLine(const String&); -int findNextGM(const String&, const int&); -void sanitizeCommandString(String&); -byte interpretCommandString(String&); -void G1(const String&, int); -void G2(const String&, int); -void G4(const String&); -void G10(const String&); -void G38(const String&); -void setInchesToMillimetersConversion(float); -extern int SpindlePowerControlPin; -extern int ProbePin; - -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Kinematics.cpp b/Firmware_1.26b/cnc_ctrl_v1/Kinematics.cpp deleted file mode 100644 index f5415ea3..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Kinematics.cpp +++ /dev/null @@ -1,425 +0,0 @@ -/*This file is part of the Maslow Control Software. - - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -/* -The Kinematics module relates the lengths of the chains to the position of the cutting head -in X-Y space. -*/ - -#include "Maslow.h" - - -Kinematics::Kinematics(){ - recomputeGeometry(); -} - -void Kinematics::init(){ - recomputeGeometry(); - if (sys.state != STATE_OLD_SETTINGS){ - forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, sys.xPosition, sys.yPosition); - } -} - -void Kinematics::_verifyValidTarget(float* xTarget,float* yTarget){ - //If the target point is beyond one of the edges of the board, the machine stops at the edge - - *xTarget = (*xTarget < -halfWidth) ? -halfWidth : (*xTarget > halfWidth) ? halfWidth : *xTarget; - *yTarget = (*yTarget < -halfHeight) ? -halfHeight : (*yTarget > halfHeight) ? halfHeight : *yTarget; - -} - -void Kinematics::recomputeGeometry(){ - /* - Some variables are computed on class creation for the geometry of the machine to reduce overhead, - calling this function regenerates those values. These are all floats so they take up - ~32bytes of RAM to keep them in memory. - */ - Phi = -0.2; - h = sqrt((sysSettings.sledWidth/2)*(sysSettings.sledWidth/2) + sysSettings.sledHeight * sysSettings.sledHeight); - Theta = atan(2*sysSettings.sledHeight/sysSettings.sledWidth); - Psi1 = Theta - Phi; - Psi2 = Theta + Phi; - - halfWidth = sysSettings.machineWidth / 2.0; - halfHeight = sysSettings.machineHeight / 2.0; - _xCordOfMotor = sysSettings.distBetweenMotors/2; - _yCordOfMotor = halfHeight + sysSettings.motorOffsetY; - -} - -void Kinematics::inverse(float xTarget,float yTarget, float* aChainLength, float* bChainLength){ - /* - - This function works as a switch to call either the quadrilateralInverse kinematic function - or the triangularInverse kinematic function - - */ - - if(sysSettings.kinematicsType == 1){ - quadrilateralInverse(xTarget, yTarget, aChainLength, bChainLength); - } - else{ - triangularInverse(xTarget, yTarget, aChainLength, bChainLength); - } - -} - -void Kinematics::quadrilateralInverse(float xTarget,float yTarget, float* aChainLength, float* bChainLength){ - - //Confirm that the coordinates are on the wood - _verifyValidTarget(&xTarget, &yTarget); - - //coordinate shift to put (0,0) in the center of the plywood from the left sprocket - y = (halfHeight) + sysSettings.motorOffsetY - yTarget; - x = (sysSettings.distBetweenMotors/2.0) + xTarget; - - //Coordinates definition: - // x -->, y | - // v - // (0,0) at center of left sprocket - // upper left corner of plywood (270, 270) - - byte Tries = 0; //initialize - if(x > sysSettings.distBetweenMotors/2.0){ //the right half of the board mirrors the left half so all computations are done using left half coordinates. - x = sysSettings.distBetweenMotors-x; //Chain lengths are swapped at exit if the x,y is on the right half - Mirror = true; - } - else{ - Mirror = false; - } - - TanGamma = y/x; - TanLambda = y/(sysSettings.distBetweenMotors-x); - Y1Plus = R * sqrt(1 + TanGamma * TanGamma); - Y2Plus = R * sqrt(1 + TanLambda * TanLambda); - - - while (Tries <= KINEMATICSMAXINVERSE) { - - _MyTrig(); - //These criteria will be zero when the correct values are reached - //They are negated here as a numerical efficiency expedient - - Crit[0]= - _moment(Y1Plus, Y2Plus, MySinPhi, SinPsi1, CosPsi1, SinPsi2, CosPsi2); - Crit[1] = - _YOffsetEqn(Y1Plus, x - h * CosPsi1, SinPsi1); - Crit[2] = - _YOffsetEqn(Y2Plus, sysSettings.distBetweenMotors - (x + h * CosPsi2), SinPsi2); - - if (abs(Crit[0]) < KINEMATICSMAXERROR) { - if (abs(Crit[1]) < KINEMATICSMAXERROR) { - if (abs(Crit[2]) < KINEMATICSMAXERROR){ - break; - } - } - } - - //estimate the tilt angle that results in zero net _moment about the pen - //and refine the estimate until the error is acceptable or time runs out - - //Estimate the Jacobian components - - Jac[0] = (_moment( Y1Plus, Y2Plus, MySinPhiDelta, SinPsi1D, CosPsi1D, SinPsi2D, CosPsi2D) + Crit[0])/DELTAPHI; - Jac[1] = (_moment( Y1Plus + DELTAY, Y2Plus, MySinPhi, SinPsi1, CosPsi1, SinPsi2, CosPsi2) + Crit[0])/DELTAY; - Jac[2] = (_moment(Y1Plus, Y2Plus + DELTAY, MySinPhi, SinPsi1, CosPsi1, SinPsi2, CosPsi2) + Crit[0])/DELTAY; - Jac[3] = (_YOffsetEqn(Y1Plus, x - h * CosPsi1D, SinPsi1D) + Crit[1])/DELTAPHI; - Jac[4] = (_YOffsetEqn(Y1Plus + DELTAY, x - h * CosPsi1,SinPsi1) + Crit[1])/DELTAY; - Jac[5] = 0.0; - Jac[6] = (_YOffsetEqn(Y2Plus, sysSettings.distBetweenMotors - (x + h * CosPsi2D), SinPsi2D) + Crit[2])/DELTAPHI; - Jac[7] = 0.0; - Jac[8] = (_YOffsetEqn(Y2Plus + DELTAY, sysSettings.distBetweenMotors - (x + h * CosPsi2D), SinPsi2) + Crit[2])/DELTAY; - - - //solve for the next guess - _MatSolv(); // solves the matrix equation Jx=-Criterion - - // update the variables with the new estimate - - Phi = Phi + Solution[0]; - Y1Plus = Y1Plus + Solution[1]; //don't allow the anchor points to be inside a sprocket - Y1Plus = (Y1Plus < R) ? R : Y1Plus; - - Y2Plus = Y2Plus + Solution[2]; //don't allow the anchor points to be inside a sprocke - Y2Plus = (Y2Plus < R) ? R : Y2Plus; - - Psi1 = Theta - Phi; - Psi2 = Theta + Phi; - - Tries++; // increment itteration count - - } - - //Variables are within accuracy limits - // perform output computation - - Offsetx1 = h * CosPsi1; - Offsetx2 = h * CosPsi2; - Offsety1 = h * SinPsi1; - Offsety2 = h * SinPsi2; - TanGamma = (y - Offsety1 + Y1Plus)/(x - Offsetx1); - TanLambda = (y - Offsety2 + Y2Plus)/(sysSettings.distBetweenMotors -(x + Offsetx2)); - Gamma = atan(TanGamma); - Lambda =atan(TanLambda); - - //compute the chain lengths - - if(Mirror){ - Chain2 = sqrt((x - Offsetx1)*(x - Offsetx1) + (y + Y1Plus - Offsety1)*(y + Y1Plus - Offsety1)) - R * TanGamma + R * Gamma; //right chain length - Chain1 = sqrt((sysSettings.distBetweenMotors - (x + Offsetx2))*(sysSettings.distBetweenMotors - (x + Offsetx2))+(y + Y2Plus - Offsety2)*(y + Y2Plus - Offsety2)) - R * TanLambda + R * Lambda; //left chain length - } - else{ - Chain1 = sqrt((x - Offsetx1)*(x - Offsetx1) + (y + Y1Plus - Offsety1)*(y + Y1Plus - Offsety1)) - R * TanGamma + R * Gamma; //left chain length - Chain2 = sqrt((sysSettings.distBetweenMotors - (x + Offsetx2))*(sysSettings.distBetweenMotors - (x + Offsetx2))+(y + Y2Plus - Offsety2)*(y + Y2Plus - Offsety2)) - R * TanLambda + R * Lambda; //right chain length - } - - *aChainLength = Chain1; - *bChainLength = Chain2; - -} - -void Kinematics::triangularInverse(float xTarget,float yTarget, float* aChainLength, float* bChainLength){ - /* - - The inverse kinematics (relating an xy coordinate pair to the required chain lengths to hit that point) - function for a triangular set up where the chains meet at a point, or are arranged so that they simulate - meeting at a point. - - */ - - //Confirm that the coordinates are on the wood - _verifyValidTarget(&xTarget, &yTarget); - - //Set up variables - float Chain1Angle = 0; - float Chain2Angle = 0; - float Chain1AroundSprocket = 0; - float Chain2AroundSprocket = 0; - - //Calculate motor axes length to the bit - float Motor1Distance = sqrt(pow((-1*_xCordOfMotor - xTarget),2)+pow((_yCordOfMotor - yTarget),2)); - float Motor2Distance = sqrt(pow((_xCordOfMotor - xTarget),2)+pow((_yCordOfMotor - yTarget),2)); - - //Calculate the chain angles from horizontal, based on if the chain connects to the sled from the top or bottom of the sprocket - if(sysSettings.chainOverSprocket == 1){ - Chain1Angle = asin((_yCordOfMotor - yTarget)/Motor1Distance) + asin(R/Motor1Distance); - Chain2Angle = asin((_yCordOfMotor - yTarget)/Motor2Distance) + asin(R/Motor2Distance); - - Chain1AroundSprocket = R * Chain1Angle; - Chain2AroundSprocket = R * Chain2Angle; - } - else{ - Chain1Angle = asin((_yCordOfMotor - yTarget)/Motor1Distance) - asin(R/Motor1Distance); - Chain2Angle = asin((_yCordOfMotor - yTarget)/Motor2Distance) - asin(R/Motor2Distance); - - Chain1AroundSprocket = R * (3.14159 - Chain1Angle); - Chain2AroundSprocket = R * (3.14159 - Chain2Angle); - } - - //Calculate the straight chain length from the sprocket to the bit - float Chain1Straight = sqrt(pow(Motor1Distance,2)-pow(R,2)); - float Chain2Straight = sqrt(pow(Motor2Distance,2)-pow(R,2)); - - //Correct the straight chain lengths to account for chain sag - Chain1Straight *= (1 + ((sysSettings.chainSagCorrection / 1000000000000) * pow(cos(Chain1Angle),2) * pow(Chain1Straight,2) * pow((tan(Chain2Angle) * cos(Chain1Angle)) + sin(Chain1Angle),2))); - Chain2Straight *= (1 + ((sysSettings.chainSagCorrection / 1000000000000) * pow(cos(Chain2Angle),2) * pow(Chain2Straight,2) * pow((tan(Chain1Angle) * cos(Chain2Angle)) + sin(Chain2Angle),2))); - - //Calculate total chain lengths accounting for sprocket geometry and chain sag - float Chain1 = Chain1AroundSprocket + Chain1Straight / (1.0f + sysSettings.leftChainTolerance / 100.0f); - float Chain2 = Chain2AroundSprocket + Chain2Straight / (1.0f + sysSettings.rightChainTolerance / 100.0f); - - //Subtract of the virtual length which is added to the chain by the rotation mechanism - Chain1 = Chain1 - sysSettings.rotationDiskRadius; - Chain2 = Chain2 - sysSettings.rotationDiskRadius; - - *aChainLength = Chain1; - *bChainLength = Chain2; -} - -void Kinematics::forward(const float& chainALength, const float& chainBLength, float* xPos, float* yPos, float xGuess, float yGuess){ - - Serial.println(F("[Forward Calculating Position]")); - - - float guessLengthA; - float guessLengthB; - - int guessCount = 0; - - while(1){ - - - //check our guess - inverse(xGuess, yGuess, &guessLengthA, &guessLengthB); - - float aChainError = chainALength - guessLengthA; - float bChainError = chainBLength - guessLengthB; - - - //adjust the guess based on the result - xGuess = xGuess + .1*aChainError - .1*bChainError; - yGuess = yGuess - .1*aChainError - .1*bChainError; - - guessCount++; - - #if defined (KINEMATICSDBG) && KINEMATICSDBG > 0 - Serial.print(F("[PEk:")); - Serial.print(aChainError); - Serial.print(','); - Serial.print(bChainError); - Serial.print(','); - Serial.print('0'); - Serial.println(F("]")); - #endif - - execSystemRealtime(); - // No need for sys.stop check here - - //if we've converged on the point...or it's time to give up, exit the loop - if((abs(aChainError) < .1 && abs(bChainError) < .1) or guessCount > KINEMATICSMAXGUESS or guessLengthA > sysSettings.chainLength or guessLengthB > sysSettings.chainLength){ - if((guessCount > KINEMATICSMAXGUESS) or guessLengthA > sysSettings.chainLength or guessLengthB > sysSettings.chainLength){ - Serial.print(F("Message: Unable to find valid machine position for chain lengths ")); - Serial.print(chainALength); - Serial.print(", "); - Serial.print(chainBLength); - Serial.println(F(" . Please set the chains to a known length (Actions -> Set Chain Lengths)")); - *xPos = 0; - *yPos = 0; - } - else{ - Serial.println("position loaded at:"); - Serial.println(xGuess); - Serial.println(yGuess); - *xPos = xGuess; - *yPos = yGuess; - } - break; - } - } -} - -void Kinematics::_MatSolv(){ - float Sum; - int NN; - int i; - int ii; - int J; - int JJ; - int K; - int KK; - int L; - int M; - int N; - - float fact; - - // gaus elimination, no pivot - - N = 3; - NN = N-1; - for (i=1;i<=NN;i++){ - J = (N+1-i); - JJ = (J-1) * N-1; - L = J-1; - KK = -1; - for (K=0;K. - - Copyright 2014-2017 Bar Smith*/ - - #ifndef Kinematics_h - #define Kinematics_h - - - //Calculation tolerances - #define DELTAPHI 0.001 - #define DELTAY 0.01 - #define KINEMATICSMAXERROR 0.001 - #define KINEMATICSMAXINVERSE 10 - #define KINEMATICSMAXGUESS 200 - - class Kinematics{ - public: - Kinematics(); - void init (); - void inverse (float xTarget,float yTarget, float* aChainLength, float* bChainLength); - void quadrilateralInverse (float xTarget,float yTarget, float* aChainLength, float* bChainLength); - void triangularInverse (float xTarget,float yTarget, float* aChainLength, float* bChainLength); - void recomputeGeometry(); - void forward(const float& chainALength, const float& chainBLength, float* xPos, float* yPos, float xGuess, float yGuess); - //geometry - float h; //distance between sled attach point and bit - float R = 10.1; //sprocket radius - - float halfWidth; //Half the machine width - float halfHeight; //Half the machine height - private: - float _moment(const float& Y1Plus, const float& Y2Plus, const float& MSinPhi, const float& MSinPsi1, const float& MCosPsi1, const float& MSinPsi2, const float& MCosPsi2); - float _YOffsetEqn(const float& YPlus, const float& Denominator, const float& Psi); - void _MatSolv(); - void _MyTrig(); - void _verifyValidTarget(float* xTarget,float* yTarget); - //target router bit coordinates. - float x = 0; - float y = 0; - float _xCordOfMotor; - float _yCordOfMotor; - - //utility variables - boolean Mirror; - - //Criterion Computation Variables - float Phi = -0.2; - float TanGamma; - float TanLambda; - float Y1Plus ; - float Y2Plus; - float Theta; - float Psi1 = Theta - Phi; - float Psi2 = Theta + Phi; - float Jac[9]; - float Solution[3]; - float Crit[3]; - float Offsetx1; - float Offsetx2; - float Offsety1; - float Offsety2; - float SinPsi1; - float CosPsi1; - float SinPsi2; - float CosPsi2; - float SinPsi1D; - float CosPsi1D; - float SinPsi2D; - float CosPsi2D; - float MySinPhi; - float MySinPhiDelta; - - //intermediate output - float Lambda; - float Gamma; - - // Motor axes length to the bit for triangular kinematics - float Motor1Distance; //left motor axis distance to sled - float Motor2Distance; //right motor axis distance to sled - - // output = chain lengths measured from 12 o'clock - float Chain1; //left chain length - float Chain2; //right chain length - }; - - #endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Maslow.h b/Firmware_1.26b/cnc_ctrl_v1/Maslow.h deleted file mode 100644 index 8380a13e..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Maslow.h +++ /dev/null @@ -1,52 +0,0 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -// This is the main maslow include file - -#ifndef maslow_h -#define maslow_h - -// Maslow Firmware Version tracking -#define VERSIONNUMBER 1.26 - -// Define standard libraries used by maslow. -#include -#include -#include -#include - -// Define the maslow system include files. This ensures that dependencies are -// loaded in the proper order. Be careful moving these around. -#include "Config.h" -#include "TimerOne.h" -#include "Motor.h" -#include "PID_v1.h" -#include "utility/direct_pin_read.h" -#include "Encoder.h" -#include "MotorGearboxEncoder.h" -#include "Axis.h" -#include "Kinematics.h" -#include "RingBuffer.h" -#include "GCode.h" -#include "Testing.h" -#include "Motion.h" -#include "Report.h" -#include "Spindle.h" -#include "Probe.h" -#include "Settings.h" -#include "NutsAndBolts.h" -#include "System.h" -#include "SimavrSerial.h" - -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Motion.cpp b/Firmware_1.26b/cnc_ctrl_v1/Motion.cpp deleted file mode 100644 index 358dc222..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Motion.cpp +++ /dev/null @@ -1,376 +0,0 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -// This contains all of the Motion commands - -#include "Maslow.h" - -// Flag for when to send movement commands -volatile bool movementUpdated = false; -// Global variables for misloop tracking -#if misloopDebug > 0 - volatile bool inMovementLoop = false; - volatile bool movementFail = false; -#endif - -void initMotion(){ - // Called on startup or after a stop command - leftAxis.stop(); - rightAxis.stop(); - if(sysSettings.zAxisAttached){ - zAxis.stop(); - } -} - - -float calculateFeedrate(const float& stepSizeMM, const float& usPerStep){ - /* - Calculate the time delay between each step for a given feedrate - */ - - #define MINUTEINUS 60000000.0 - - // derivation: ms / step = 1 min in ms / dist in one min - - float tempFeedrate = (stepSizeMM*MINUTEINUS)/usPerStep; - - return tempFeedrate; -} - -float computeStepSize(const float& MMPerMin){ - /* - - Determines the minimum step size which can be taken for the given feed-rate - based on the loop interval frequency. Converts to MM per microsecond first, - then mutiplies by the number of microseconds in each loop interval - - */ - return LOOPINTERVAL*(MMPerMin/(60 * 1000000)); -} - -void movementUpdate(){ - #if misloopDebug > 0 - if (movementFail){ - Serial.println("Movement loop failed to complete before interrupt."); - movementFail = false; - } - #endif - movementUpdated = true; -} - - -// why does this return anything -int coordinatedMove(const float& xEnd, const float& yEnd, const float& zEnd, float MMPerMin){ - - /*The move() function moves the tool in a straight line to the position (xEnd, yEnd) at - the speed moveSpeed. Movements are correlated so that regardless of the distances moved in each - direction, the tool moves to the target in a straight line. This function is used by the G00 - and G01 commands. The units at this point should all be in mm or mm per minute*/ - - float xStartingLocation = sys.xPosition; - float yStartingLocation = sys.yPosition; - float zStartingLocation = zAxis.read(); // I don't know why we treat the zaxis differently - float zMaxFeed = sysSettings.maxZRPM * abs(zAxis.getPitch()); - - //find the total distances to move - float distanceToMoveInMM = sqrt( sq(xEnd - xStartingLocation) + sq(yEnd - yStartingLocation) + sq(zEnd - zStartingLocation)); - float xDistanceToMoveInMM = xEnd - xStartingLocation; - float yDistanceToMoveInMM = yEnd - yStartingLocation; - float zDistanceToMoveInMM = zEnd - zStartingLocation; - - //compute feed details - MMPerMin = constrain(MMPerMin, 1, sysSettings.maxFeed); //constrain the maximum feedrate, 35ipm = 900 mmpm - float stepSizeMM = computeStepSize(MMPerMin); - float finalNumberOfSteps = abs(distanceToMoveInMM/stepSizeMM); - float delayTime = LOOPINTERVAL; - float zFeedrate = calculateFeedrate(fabs(zDistanceToMoveInMM/finalNumberOfSteps), delayTime); - - //throttle back federate if it exceeds zaxis max - if (zFeedrate > zMaxFeed){ - float zStepSizeMM = computeStepSize(zMaxFeed); - finalNumberOfSteps = abs(zDistanceToMoveInMM/zStepSizeMM); - stepSizeMM = (distanceToMoveInMM/finalNumberOfSteps); - MMPerMin = calculateFeedrate(stepSizeMM, delayTime); - } - - // (fraction of distance in x direction)* size of step toward target - float xStepSize = (xDistanceToMoveInMM/finalNumberOfSteps); - float yStepSize = (yDistanceToMoveInMM/finalNumberOfSteps); - float zStepSize = (zDistanceToMoveInMM/finalNumberOfSteps); - - //attach the axes - leftAxis.attach(); - rightAxis.attach(); - if(sysSettings.zAxisAttached){ - zAxis.attach(); - } - - float aChainLength; - float bChainLength; - float zPosition = zStartingLocation; - long numberOfStepsTaken = 0; - - while(numberOfStepsTaken < finalNumberOfSteps){ - - #if misloopDebug > 0 - inMovementLoop = true; - #endif - //if last movment was performed start the next - if (!movementUpdated) { - //find the target point for this step - // This section ~20us - sys.xPosition += xStepSize; - sys.yPosition += yStepSize; - zPosition += zStepSize; - - //find the chain lengths for this step - // This section ~180us - kinematics.inverse(sys.xPosition,sys.yPosition,&aChainLength,&bChainLength); - - //write to each axis - // This section ~180us - leftAxis.write(aChainLength); - rightAxis.write(bChainLength); - if(sysSettings.zAxisAttached){ - zAxis.write(zPosition); - } - - movementUpdate(); - - //increment the number of steps taken - numberOfStepsTaken++; - - // Run realtime commands - execSystemRealtime(); - if (sys.stop){return 1;} - } - } - #if misloopDebug > 0 - inMovementLoop = false; - #endif - - kinematics.inverse(xEnd,yEnd,&aChainLength,&bChainLength); - leftAxis.endMove(aChainLength); - rightAxis.endMove(bChainLength); - if(sysSettings.zAxisAttached){ - zAxis.endMove(zPosition); - } - - sys.xPosition = xEnd; - sys.yPosition = yEnd; - - return 1; - -} - -void singleAxisMove(Axis* axis, const float& endPos, const float& MMPerMin){ - /* - Takes a pointer to an axis object and moves that axis to endPos at speed MMPerMin - */ - - float startingPos = axis->read(); - float moveDist = endPos - startingPos; //total distance to move - - float direction = moveDist/abs(moveDist); //determine the direction of the move - - float stepSizeMM = computeStepSize(MMPerMin); //step size in mm - - //the argument to abs should only be a variable -- splitting calc into 2 lines - long finalNumberOfSteps = abs(moveDist/stepSizeMM); //number of steps taken in move - finalNumberOfSteps = abs(finalNumberOfSteps); - stepSizeMM = stepSizeMM*direction; - - long numberOfStepsTaken = 0; - - //attach the axis we want to move - axis->attach(); - - float whereAxisShouldBeAtThisStep = startingPos; - #if misloopDebug > 0 - inMovementLoop = true; - #endif - while(numberOfStepsTaken < finalNumberOfSteps){ - if (!movementUpdated) { - //find the target point for this step - whereAxisShouldBeAtThisStep += stepSizeMM; - - //write to axis - axis->write(whereAxisShouldBeAtThisStep); - movementUpdate(); - - // Run realtime commands - execSystemRealtime(); - if (sys.stop){return;} - - //increment the number of steps taken - numberOfStepsTaken++; - } - } - #if misloopDebug > 0 - inMovementLoop = false; - #endif - - axis->endMove(endPos); - -} - -// return the sign of the parameter -int sign(double x) { return x<0 ? -1 : 1; } - -// why does this return anything -int arc(const float& X1, const float& Y1, const float& Z1, const float& X2, const float& Y2, const float& Z2, const float& centerX, const float& centerY, const float& MMPerMin, const float& direction){ - /* - - Move the machine through an arc from point (X1, Y1) to point (X2, Y2) along the - arc defined by center (centerX, centerY) at speed MMPerMin - - */ - - //compute geometry - float pi = 3.1415; - float radius = sqrt( sq(centerX - X1) + sq(centerY - Y1) ); - float circumference = 2.0*pi*radius; - - float startingAngle = atan2(Y1 - centerY, X1 - centerX); - float endingAngle = atan2(Y2 - centerY, X2 - centerX); - - // compute chord height of arc - float chordSquared = sqrt(sq(X2 - X1) + sq(Y2 - Y1)); - float tau = sqrt( sq(radius) - (chordSquared/4.0)); - float chordHeight = radius - tau; - - //compute angle between lines - float theta = endingAngle - startingAngle; - if (direction == COUNTERCLOCKWISE){ - if (theta <= 0){ - theta += 2*pi; - } - } - else { - //CLOCKWISE - if (theta >= 0){ - theta -= 2*pi; - } - } - if ((sign(theta) != sign(direction)) || ((abs(chordHeight) < .01) && (abs(theta) < 0.5)) || (radius > 25400)) { - // There is a parameter error in this line of gcode, either in the size of the angle calculated - // or the chord height of the arc between the starting and ending points - // In either case, the gcode cut was essentially a straight line, so - // Replace it with a G1 cut to the endpoint - String gcodeSubstitution = "G1 X"; - gcodeSubstitution = gcodeSubstitution + String(X2 / sys.inchesToMMConversion, 3) + " Y" + String(Y2 / sys.inchesToMMConversion, 3) + " Z" + String(Z2 / sys.inchesToMMConversion, 3) + " "; - Serial.println("Large-radius arc replaced by straight line to improve accuracy: " + gcodeSubstitution); - G1(gcodeSubstitution, 1); - return 1; - } - - float arcLengthMM = fabs(circumference * (theta / (2*pi) )); - float zDistanceToMoveInMM = Z2 - Z1; - - //set up variables for movement - long numberOfStepsTaken = 0; - - float feedMMPerMin = constrain(MMPerMin, 1, sysSettings.maxFeed); - float stepSizeMM = computeStepSize(feedMMPerMin); - - long finalNumberOfSteps = arcLengthMM/stepSizeMM; - float delayTime = LOOPINTERVAL; - - float zFeedRate = calculateFeedrate(fabs(zDistanceToMoveInMM/finalNumberOfSteps), delayTime); - float zMaxFeed = sysSettings.maxZRPM * abs(zAxis.getPitch()); - // float zStepSizeMM = computeStepSize(zMaxFeed); - float zStepSizeMM = zDistanceToMoveInMM/finalNumberOfSteps; - - if (zFeedRate > zMaxFeed){ - zStepSizeMM = computeStepSize(zMaxFeed); - finalNumberOfSteps = fabs(zDistanceToMoveInMM/zStepSizeMM); - stepSizeMM = arcLengthMM/finalNumberOfSteps; - feedMMPerMin = calculateFeedrate(stepSizeMM, delayTime); - } - - zStepSizeMM = zDistanceToMoveInMM/finalNumberOfSteps; - - //Compute the starting position - float angleNow = startingAngle; - float degreeComplete = 0.0; - - float aChainLength; - float bChainLength; - float zPosition = Z1 + zStepSizeMM; - - //attach the axes - leftAxis.attach(); - rightAxis.attach(); - if (sysSettings.zAxisAttached) { - zAxis.attach(); - } - - while(numberOfStepsTaken < abs(finalNumberOfSteps)){ - #if misloopDebug > 0 - inMovementLoop = true; - #endif - - //if last movement was performed start the next one - if (!movementUpdated){ - - degreeComplete = float(numberOfStepsTaken)/float(finalNumberOfSteps); - - angleNow = startingAngle + theta*degreeComplete; - - sys.xPosition = radius * cos(angleNow) + centerX; - sys.yPosition = radius * sin(angleNow) + centerY; - - kinematics.inverse(sys.xPosition,sys.yPosition,&aChainLength,&bChainLength); - - leftAxis.write(aChainLength); - rightAxis.write(bChainLength); - if(sysSettings.zAxisAttached){ - zAxis.write(zPosition); - } - movementUpdate(); - - // Run realtime commands - execSystemRealtime(); - if (sys.stop){return 1;} - - numberOfStepsTaken++; - zPosition += zStepSizeMM; - } - } - #if misloopDebug > 0 - inMovementLoop = false; - #endif - - kinematics.inverse(X2,Y2,&aChainLength,&bChainLength); - leftAxis.endMove(aChainLength); - rightAxis.endMove(bChainLength); - - sys.xPosition = X2; - sys.yPosition = Y2; - - return 1; -} - -void motionDetachIfIdle(){ - /* - - This function is called every time the main loop runs. When the machine is executing a move it is not called, but when the machine is - not executing a line it is called regularly and causes the motors to hold their positions. - - */ - - leftAxis.detachIfIdle(); - rightAxis.detachIfIdle(); - zAxis.detachIfIdle(); -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Motion.h b/Firmware_1.26b/cnc_ctrl_v1/Motion.h deleted file mode 100644 index b2aa62a1..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Motion.h +++ /dev/null @@ -1,36 +0,0 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -// This contains all of the Motion commands - -#ifndef motion_h -#define motion_h - -// These are used for movement tracking and need to be available to the ISR -extern volatile bool movementUpdated; -#if misloopDebug > 0 - extern volatile bool inMovementLoop; - extern volatile bool movementFail; -#endif - -void initMotion(); -int coordinatedMove(const float&, const float&, const float&, float); -void singleAxisMove(Axis*, const float&, const float&); -int arc(const float&, const float&, const float&, const float&, const float&, const float&, const float&, const float&, const float&, const float&); -float calculateFeedrate(const float&, const float&); -float computeStepSize(const float&); -void movementUpdate(); -void motionDetachIfIdle(); - -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Motor.cpp b/Firmware_1.26b/cnc_ctrl_v1/Motor.cpp deleted file mode 100644 index 0833a66f..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Motor.cpp +++ /dev/null @@ -1,227 +0,0 @@ -/*This file is part of the Maslow Control Software. - - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -/* -The Motor module imitates the behavior of the Arduino servo module. It allows a gear motor (or any electric motor) -to be a drop in replacement for a continuous rotation servo. - -*/ - -#include "Maslow.h" - -Motor::Motor(){ - - _attachedState = 0; - - -} - -int Motor::setupMotor(const int& pwmPin, const int& pin1, const int& pin2){ - - //store pin numbers as private variables - _pwmPin = pwmPin; - _pin1 = pin1; - _pin2 = pin2; - _attachedState = 0; - - if (TLE5206 == true ) { - // EBS v1.4 - pinMode(_pwmPin, INPUT); - pinMode(_pin1, OUTPUT); - pinMode(_pin2, OUTPUT); - - //stop the motor - digitalWrite(_pin1, LOW); - digitalWrite(_pin2, LOW) ; - } - else if (TB6643 == true ) { - // EBS V1.5 - pinMode(_pwmPin, INPUT); - pinMode(_pin1, OUTPUT); - pinMode(_pin2, OUTPUT); - - //stop the motor - digitalWrite(_pin1, LOW); - digitalWrite(_pin2, LOW); - } - else { - // V1.2 - //set pinmodes - pinMode(_pwmPin, OUTPUT); - pinMode(_pin1, OUTPUT); - pinMode(_pin2, OUTPUT); - - //stop the motor - digitalWrite(_pin1, HIGH); - digitalWrite(_pin2, LOW) ; - digitalWrite(_pwmPin, LOW); - } - return 1; -} - -void Motor::attach(){ - _attachedState = 1; -} - -void Motor::detach(){ - _attachedState = 0; - - if (TLE5206 == true) { - //stop the motor - digitalWrite(_pin1, LOW); - digitalWrite(_pin2, LOW) ; - } - else if (TB6643 == true){ - //stop the motor - digitalWrite(_pin1, LOW); - digitalWrite(_pin2, LOW) ; - } - else { - //stop the motor - digitalWrite(_pin1, HIGH); - digitalWrite(_pin2, LOW) ; - digitalWrite(_pwmPin, LOW); - } -} - - -int Motor::lastSpeed(){ - /* - Returns the last speed(voltage) value sent to the pwm - */ - return _lastSpeed; -} - -void Motor::additiveWrite(int speed){ - /* - Increases/decreases the motor speed by the passed speed amount - */ - write(_lastSpeed + speed); -} - -void Motor::write(int speed, bool force){ - /* - Sets motor speed from input. Speed = 0 is stopped, -255 is full reverse, 255 is full ahead. If force is true the motor attached state will be ignored - */ - if (_attachedState == 1 or force){ - speed = constrain(speed, -255, 255); - _lastSpeed = speed; //saves speed for use in additive write - bool forward = (speed > 0); - speed = abs(speed); //remove sign from input because direction is set by control pins on H-bridge - - bool usePin1 = ((_pin1 != 4) && (_pin1 != 13) && (_pin1 != 11) && (_pin1 != 12)); // avoid PWM using timer0 or timer1 - bool usePin2 = ((_pin2 != 4) && (_pin2 != 13) && (_pin2 != 11) && (_pin2 != 12)); // avoid PWM using timer0 or timer1 - bool usepwmPin = ((TLE5206 == false) && (_pwmPin != 4) && (_pwmPin != 13) && (_pwmPin != 11) && (_pwmPin != 12)); // avoid PWM using timer0 or timer1 - if (TLE5206) { - if (forward) { - if (speed > 0) { - if (usePin2) { - digitalWrite(_pin1 , HIGH ); - analogWrite(_pin2 , 255 - speed); // invert drive signals - don't alter speed - } - else { - analogWrite(_pin1 , speed); - digitalWrite(_pin2 , LOW ); - } - } - else { // speed = 0 so put on the brakes - digitalWrite(_pin1 , HIGH ); - digitalWrite(_pin2 , HIGH ); - } - } - else { // reverse - if (usePin1) { - analogWrite(_pin1 , 255 - speed); // invert drive signals - don't alter speed - digitalWrite(_pin2 , HIGH ); - } else { - analogWrite(_pin2 , speed); - digitalWrite(_pin1 , LOW ); - } - } - } - else if (TB6643) { //EBS 1.5 - if (forward) { - if (speed > 0) { - analogWrite(_pin1 , speed); - digitalWrite(_pin2 , LOW); - } else { // speed = 0 so put on the brakes - digitalWrite(_pin1 , HIGH); - digitalWrite(_pin2 , HIGH); - } - } else { // reverse - digitalWrite(_pin1 , LOW); - analogWrite(_pin2 , speed); - } - } - else { // V1.2 - if (forward){ - if (usepwmPin){ - digitalWrite(_pin1 , HIGH ); - digitalWrite(_pin2 , LOW ); - analogWrite(_pwmPin, speed); - } - else if (usePin2) { - digitalWrite(_pin1 , HIGH ); - analogWrite(_pin2 , 255 - speed); // invert drive signals - don't alter speed - digitalWrite(_pwmPin, HIGH); - } - else{ - analogWrite(_pin1 , speed); - digitalWrite(_pin2 , LOW ); - digitalWrite(_pwmPin, HIGH); - } - } - else { // reverse or zero speed - if (usepwmPin){ - digitalWrite(_pin2 , HIGH); - digitalWrite(_pin1 , LOW ); - analogWrite(_pwmPin, speed); - } - else if (usePin1) { - analogWrite(_pin1 , 255 - speed); // invert drive signals - don't alter speed - digitalWrite(_pin2 , HIGH ); - digitalWrite(_pwmPin, HIGH); - } - else { - analogWrite(_pin2 , speed); - digitalWrite(_pin1 , LOW ); - digitalWrite(_pwmPin, HIGH); - } - } - } - - } -} - - - - - - - - -void Motor::directWrite(int voltage){ - /* - Write directly to the motor, ignoring if the axis is attached or any applied calibration. - */ - write(voltage, true); -} - -int Motor::attached(){ - - return _attachedState; -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Motor.h b/Firmware_1.26b/cnc_ctrl_v1/Motor.h deleted file mode 100644 index c393ec89..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Motor.h +++ /dev/null @@ -1,54 +0,0 @@ - /*This file is part of the Makesmith Control Software. - - The Makesmith Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Makesmith Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with the Makesmith Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - - #ifndef Motor_h - #define Motor_h - - struct LinSegment{ - float slope = 1; - float intercept = 0; - //The bounds are strict, so if the bounds are 0,1 .9 would work - //but 1 and 0 will not - int positiveBound = 0; - int negativeBound = 0; - }; - - - - class Motor{ - public: - Motor(); - void attach(); - int setupMotor(const int& pwmPin, const int& pin1, const int& pin2); - void detach(); - void write(int speed, bool force = false); - int lastSpeed(); - void additiveWrite(int speed); - int attached(); - void directWrite(int voltage); - private: - int _pwmPin; - int _pin1; - int _pin2; - bool _attachedState = false; - LinSegment _linSegments[4]; - int _lastSpeed = 0; - - }; - extern bool TLE5206; - extern bool TB6643; - #endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.cpp b/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.cpp deleted file mode 100644 index d5befc9d..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.cpp +++ /dev/null @@ -1,205 +0,0 @@ -/*This file is part of the Maslow Control Software. - - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -/* -The Motor module imitates the behavior of the Arduino servo module. It allows a gear motor (or any electric motor) -to be a drop in replacement for a continuous rotation servo. - -*/ - -#include "Maslow.h" - -void MotorGearboxEncoder::setup(const int& pwmPin, const int& directionPin1, const int& directionPin2, const int& encoderPin1, const int& encoderPin2, const unsigned long& loopInterval) -{ - //initialize encoder - encoder.setup(encoderPin1,encoderPin2); - // I don't like this, but I don't know how else to initialize a pointer to a value - float zero = 0.0; - float one = 1.0; - _Kp = _Ki = _Kd = &zero; - - //initialize motor - motor.setupMotor(pwmPin, directionPin1, directionPin2); - motor.write(0); - - //initialize the PID - _PIDController.setup(&_currentSpeed, &_pidOutput, &_targetSpeed, _Kp, _Ki, _Kd, &one, DIRECT); - initializePID(loopInterval); - - -} - -void MotorGearboxEncoder::write(const float& speed){ - /* - Command the motor to turn at the given speed. Should be RPM is PWM right now. - */ - - _targetSpeed = speed; - -} - -void MotorGearboxEncoder::initializePID(const unsigned long& loopInterval){ - //setup positive PID controller - _PIDController.SetMode(AUTOMATIC); - _PIDController.SetOutputLimits(-255, 255); - _PIDController.SetSampleTime(loopInterval / 1000); -} - -void MotorGearboxEncoder::computePID(){ - /* - Recompute the speed control PID loop and command the motor to move. - */ - _currentSpeed = computeSpeed(); - - _PIDController.Compute(); - - motor.additiveWrite(_pidOutput); -} - -void MotorGearboxEncoder::setPIDValues(float* KpV, float* KiV, float* KdV, float* propWeightV){ - /* - - Set PID tuning values - - */ - - _Kp = KpV; - _Ki = KiV; - _Kd = KdV; - - _PIDController.SetTunings(_Kp, _Ki, _Kd, propWeightV); -} - -String MotorGearboxEncoder::getPIDString(){ - /* - - Get PID tuning values - - */ - String PIDString = "Kp="; - return PIDString + *_Kp + ",Ki=" + *_Ki + ",Kd=" + *_Kd; -} - -String MotorGearboxEncoder::pidState(){ - /* - - Get current value of PID variables, setpoint, input, output - - */ - return _PIDController.pidState(); -} - -void MotorGearboxEncoder::setPIDAggressiveness(float aggressiveness){ - /* - - The setPIDAggressiveness() function sets the aggressiveness of the PID controller to - compensate for a change in the load on the motor. - - */ - - float adjustedKp = aggressiveness * *_Kp; - float one = 1.0; - - _PIDController.SetTunings(&adjustedKp, _Ki, _Kd, &one); - -} - -void MotorGearboxEncoder::setEncoderResolution(float resolution){ - /* - - Change the encoder resolution - - */ - - _encoderStepsToRPMScaleFactor = 60000000.0/resolution; //6*10^7 us per minute divided by 8113.73 steps per revolution - -} - -float MotorGearboxEncoder::computeSpeed(){ - /* - - Returns the motors speed in RPM since the last time this function was called - should only be called by the PID process otherwise we are calculating the - distance moved over a varying amount of time. - - */ - - float currentPosition = encoder.read(); - float currentMicros = micros(); - - float distMoved = currentPosition - _lastPosition; - if (distMoved > 3 || distMoved < -3){ - - // This dampens some of the effects of quantization without having - // a big effect on other changes - float saveDistMoved = distMoved; - if (distMoved - _lastDistMoved <= -1){ distMoved += .5;} - else if (distMoved - _lastDistMoved >= 1){distMoved -= .5;} - _lastDistMoved = saveDistMoved; - - unsigned long timeElapsed = currentMicros - _lastTimeStamp; - //Compute the speed in RPM - _RPM = (_encoderStepsToRPMScaleFactor*distMoved)/float(timeElapsed); - - } - else { - float elapsedTime = encoder.elapsedTime(); - float lastTime = micros() - encoder.lastStepTime(); // no direction associated with this - if (lastTime > abs(elapsedTime)) { - // This allows the RPM to approach 0 - if (elapsedTime < 0){ - elapsedTime = -lastTime; - } - else { - elapsedTime = lastTime; - } - }; - - _RPM = 0 ; - if (elapsedTime != 0){ - _RPM = _encoderStepsToRPMScaleFactor / elapsedTime; - } - } - _RPM = _RPM * -1.0; - - //Store values for next time - _lastTimeStamp = currentMicros; - _lastPosition = currentPosition; - - return _RPM; -} - -float MotorGearboxEncoder::cachedSpeed(){ - /* - Returns the last result of computeSpeed - */ - return _RPM; -} - -void MotorGearboxEncoder::setName(char *newName){ - /* - Set the name for the object - */ - _motorName = newName; -} - -char MotorGearboxEncoder::name(){ - /* - Get the name for the object - */ - return *_motorName; -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.h b/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.h deleted file mode 100644 index 6a680351..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/MotorGearboxEncoder.h +++ /dev/null @@ -1,56 +0,0 @@ - /*This file is part of the Makesmith Control Software. - - The Makesmith Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Makesmith Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with the Makesmith Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - - #ifndef MotorGearboxEncoder_h - #define MotorGearboxEncoder_h - - class MotorGearboxEncoder{ - public: - void setup(const int& pwmPin, const int& directionPin1, const int& directionPin2, const int& encoderPin1, const int& encoderPin2, const unsigned long& loopInterval); - Encoder encoder; - Motor motor; - float cachedSpeed(); - void write(const float& speed); - void computePID(); - void setName(char *newName); - char name(); - void initializePID(const unsigned long& loopInterval); - void setPIDAggressiveness(float aggressiveness); - void setPIDValues(float* KpV, float* KiV, float* KdV, float* propWeight); - void setEncoderResolution(float resolution); - float computeSpeed(); - String getPIDString(); - String pidState(); - private: - double _targetSpeed; - double _currentSpeed; - volatile double _lastPosition; - volatile double _lastTimeStamp; - float _lastDistMoved; - float _RPM; - char *_motorName; - double _pidOutput; - PID _PIDController; - float *_Kp, *_Ki, *_Kd; - // This could be converted to a pointer to save 4 bytes, but the - // calculation would have to be done at a much higher level and - // passed through each axis for it to have a single pointer to - // both main motors - float _encoderStepsToRPMScaleFactor = 7394.87; //6*10^7 us per minute divided by 8113.73 steps per revolution - }; - - #endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.cpp b/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.cpp deleted file mode 100644 index f3711689..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.cpp +++ /dev/null @@ -1,67 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains helper functions that are used throughout - -#include "Maslow.h" - -float readFloat(const String& str, byte& index, float& retVal){ - /* - Takes a string and a starting character index and returns a float if it can - be parsed from the string, it will skip leading spaces. Does not support - scientific notation as this is officially not supported by GCode. - Code was adopted from arduino Stream::parseFloat and some from Grbl's - read_float. It is a custom function because all arduino and c++ functions - appear to handle scientific notation or hexadecimal notation, or some other - type of numerical representation that we don't want supported. - */ - bool isNegative = false; - bool isFraction = false; - long value = 0; - float fraction = 1.0; - byte ndigit = 0; - while (str[index] == ' ' && index < str.length()){ - index++; - } - do{ - if (index < str.length()){ - if(str[index] == '-') - isNegative = true; - else if (str[index] == '.') - isFraction = true; - else if(str[index] >= '0' && str[index] <= '9') {// is a digit? - ndigit++; - value = value * 10 + str[index] - '0'; - if(isFraction) - fraction *= 0.1; - } - index++; - } - } - while(((str[index] >= '0' && str[index] <= '9') || (str[index] == '.' && !isFraction)) && index < str.length()); - - if (!ndigit) { return false; }; - - if(isNegative) - value = -value; - if(isFraction) - retVal = value * fraction; - else - retVal = value; - - return true; -} \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.h b/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.h deleted file mode 100644 index 4f1936f6..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/NutsAndBolts.h +++ /dev/null @@ -1,31 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains helper functions that are used throughout - -#ifndef nutsandbolts_h -#define nutsandbolts_h - -// These are nifty functions from Grbl -#define bit_true(x,mask) (x) |= (mask) -#define bit_false(x,mask) (x) &= ~(mask) -#define bit_istrue(x,mask) ((x & mask) != 0) -#define bit_isfalse(x,mask) ((x & mask) == 0) - -float readFloat(const String&, byte&, float&); - -#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/PID_v1.cpp b/Firmware_1.26b/cnc_ctrl_v1/PID_v1.cpp deleted file mode 100644 index 8401109c..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/PID_v1.cpp +++ /dev/null @@ -1,236 +0,0 @@ -/********************************************************************************************** - * Arduino PID Library - Version 1.2.1 - * by Brett Beauregard brettbeauregard.com - * - * This Library is licensed under the MIT License - **********************************************************************************************/ - -#if ARDUINO >= 100 - #include "Arduino.h" -#else - #include "WProgram.h" -#endif - -#include "Maslow.h" - -/*Constructor (...)********************************************************* - * The parameters specified here are those for for which we can't set up - * reliable defaults, so we need to have the user set them. - ***************************************************************************/ -PID::PID() -{ - inAuto = false; -} - -void PID::setup(volatile double* Input, volatile double* Output, volatile double* Setpoint, - float* Kp, float* Ki, float* Kd, float* POn, const int& ControllerDirection) -{ - - myOutput = Output; - myInput = Input; - mySetpoint = Setpoint; - inAuto = false; - - PID::SetOutputLimits(0, 255); //default output limit corresponds to - //the arduino pwm limits - - SampleTime = 100; //default Controller Sample Time is 0.1 seconds - - PID::SetControllerDirection(ControllerDirection); - PID::SetTunings(Kp, Ki, Kd, POn); - - lastTime = millis()-SampleTime; -} - -/* Compute() ********************************************************************** - * This, as they say, is where the magic happens. this function should be called - * every time "void loop()" executes. the function will decide for itself whether a new - * pid Output needs to be computed. returns true when the output is computed, - * false when nothing has been done. - **********************************************************************************/ -bool PID::Compute() -{ - if(!inAuto) return false; - //unsigned long now = millis(); - //unsigned long timeChange = (now - lastTime); - //if(timeChange>=SampleTime) - //{ <--- This if statement has been removed to reduce timing jitter on the interrupt. - //because we are calling the function from within an interrupt timer it will be called - //with a consistent sample period - - /*Compute all the working error variables*/ - double input = *myInput; - double error = *mySetpoint - input; - double dInput = (input - lastInput); - outputSum+= (ki * error); - - /*Add Proportional on Measurement, if P_ON_M is specified*/ - if(pOnM) outputSum-= pOnMKp * dInput; - - if(outputSum > outMax) outputSum= outMax; - else if(outputSum < outMin) outputSum= outMin; - - /*Add Proportional on Error, if P_ON_E is specified*/ - double output; - if(pOnE) output = pOnEKp * error; - else output = 0; - - /*Compute Rest of PID Output*/ - output += outputSum - kd * dInput; - - if(output > outMax) output = outMax; - else if(output < outMin) output = outMin; - *myOutput = output; - - /*Remember some variables for next time*/ - lastInput = input; - //lastTime = now; - return true; - //} - //else return false; -} - - -/* SetTunings(...)************************************************************* - * This function allows the controller's dynamic performance to be adjusted. - * it's called automatically from the constructor, but tunings can also - * be adjusted on the fly during normal operation - ******************************************************************************/ -void PID::SetTunings(float* Kp, float* Ki, float* Kd, float* pOn) -{ - if (*Kp<0 || *Ki<0 || *Kd<0 || *pOn<0 || *pOn>1) return; - - pOnE = *pOn>0; //some p on error is desired; - pOnM = *pOn<1; //some p on measurement is desired; - - dispKp = Kp; dispKi = Ki; dispKd = Kd; - - double SampleTimeInSec = ((double)SampleTime)/1000; - kp = *Kp; - ki = *Ki * SampleTimeInSec; - kd = *Kd / SampleTimeInSec; - - if(controllerDirection ==REVERSE) - { - kp = (0 - kp); - ki = (0 - ki); - kd = (0 - kd); - } - pOnEKp = *pOn * kp; - pOnMKp = (1 - *pOn) * kp; -} - -/* SetSampleTime(...) ********************************************************* - * sets the period, in Milliseconds, at which the calculation is performed - ******************************************************************************/ -void PID::SetSampleTime(const int& NewSampleTime) -{ - if (NewSampleTime > 0) - { - double ratio = (double)NewSampleTime - / (double)SampleTime; - ki *= ratio; - kd /= ratio; - SampleTime = (unsigned long)NewSampleTime; - } -} - -/* SetOutputLimits(...)**************************************************** - * This function will be used far more often than SetInputLimits. while - * the input to the controller will generally be in the 0-1023 range (which is - * the default already,) the output will be a little different. maybe they'll - * be doing a time window and will need 0-8000 or something. or maybe they'll - * want to clamp it from 0-125. who knows. at any rate, that can all be done - * here. - **************************************************************************/ -void PID::SetOutputLimits(const double& Min, const double& Max) -{ - if(Min >= Max) return; - outMin = Min; - outMax = Max; - - if(inAuto) - { - - //clamp myOutput and ITerm - *myOutput = - (*myOutput > outMax) ? outMax : (*myOutput < outMin) ? outMin : *myOutput; - - if(outputSum > outMax) outputSum= outMax; - else if(outputSum < outMin) outputSum= outMin; - - } -} - -/* SetMode(...)**************************************************************** - * Allows the controller Mode to be set to manual (0) or Automatic (non-zero) - * when the transition from manual to auto occurs, the controller is - * automatically initialized - ******************************************************************************/ -void PID::SetMode(const int& Mode) -{ - bool newAuto = (Mode == AUTOMATIC); - if(newAuto && !inAuto) - { /*we just went from manual to auto*/ - PID::Initialize(); - } - inAuto = newAuto; -} - -/* Initialize()**************************************************************** - * does all the things that need to happen to ensure a bumpless transfer - * from manual to automatic mode. - ******************************************************************************/ -void PID::Initialize() -{ - outputSum = *myOutput; - lastInput = *myInput; - if(outputSum > outMax) outputSum = outMax; - else if(outputSum < outMin) outputSum = outMin; -} - -/* SetControllerDirection(...)************************************************* - * The PID will either be connected to a DIRECT acting process (+Output leads - * to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to - * know which one, because otherwise we may increase the output when we should - * be decreasing. This is called from the constructor. - ******************************************************************************/ -void PID::SetControllerDirection(const int& Direction) -{ - if(inAuto && Direction !=controllerDirection) - { - kp = (0 - kp); - ki = (0 - ki); - kd = (0 - kd); - } - controllerDirection = Direction; -} - -/* Status Funcions************************************************************* - * Just because you set the Kp=-1 doesn't mean it actually happened. these - * functions query the internal state of the PID. they're here for display - * purposes. this are the functions the PID Front-end uses for example - ******************************************************************************/ -double PID::GetKp(){ return *dispKp;} -double PID::GetKi(){ return *dispKi;} -double PID::GetKd(){ return *dispKd;} -int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;} -int PID::GetDirection(){ return controllerDirection;} -double PID::GetIterm(){ return outputSum; } -String PID::pidState() { - /* - Returns a comma seperated string of the PID setpoint, input, & output - useful for debugging - */ - double input = *myInput; - double setpoint = *mySetpoint; - double output = *myOutput; - String ret = ""; - ret.concat((double)setpoint); - ret.concat(","); - ret.concat((double)input); - ret.concat(","); - ret.concat((double)output); - return ret; -} - diff --git a/Firmware_1.26b/cnc_ctrl_v1/PID_v1.h b/Firmware_1.26b/cnc_ctrl_v1/PID_v1.h deleted file mode 100644 index 803076db..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/PID_v1.h +++ /dev/null @@ -1,98 +0,0 @@ -#ifndef PID_v1_h -#define PID_v1_h -#define LIBRARY_VERSION 1.2.1 - -class PID -{ - - - public: - - //Constants used in some of the functions below - #define AUTOMATIC 1 - #define MANUAL 0 - #define DIRECT 0 - #define REVERSE 1 - #define P_ON_M 0.0 - #define P_ON_E 1.0 - bool pOnE = true, pOnM = false; - double pOnEKp, pOnMKp; - - //commonly used functions ************************************************************************** - - PID(); - - void setup(volatile double*, volatile double*, volatile double*, // * constructor. links the PID to the Input, Output, and - float*, float*, float*, float*, const int&);// Setpoint. Initial tuning parameters are also set here. - // (overload for specifying proportional mode) - - PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and - double, double, double, int); // Setpoint. Initial tuning parameters are also set here - - void SetMode(const int& Mode); // * sets PID to either Manual (0) or Auto (non-0) - - bool Compute(); // * performs the PID calculation. it should be - // called every time loop() cycles. ON/OFF and - // calculation frequency can be set using SetMode - // SetSampleTime respectively - - void SetOutputLimits(const double&, const double&); //clamps the output to a specific range. 0-255 by default, but - //it's likely the user will want to change this depending on - //the application - - - - //available but not commonly used functions ******************************************************** - void SetTunings(float*, float*, // * While most users will set the tunings once in the - float*); // constructor, this function gives the user the option - // of changing tunings during runtime for Adaptive control - void SetTunings(float*, float*, // * overload for specifying proportional mode - float*, float*); - - void SetControllerDirection(const int&); // * Sets the Direction, or "Action" of the controller. DIRECT - // means the output will increase when error is positive. REVERSE - // means the opposite. it's very unlikely that this will be needed - // once it is set in the constructor. - void SetSampleTime(const int&); // * sets the frequency, in Milliseconds, with which - // the PID calculation is performed. default is 100 - - - //Display functions **************************************************************** - double GetKp(); // These functions query the pid for interal values. - double GetKi(); // they were created mainly for the pid front-end, - double GetKd(); // where it's important to know what is actually - int GetMode(); // inside the PID. - int GetDirection(); // - double GetIterm(); - String pidState(); - - private: - void Initialize(); - - float *dispKp; // * we'll hold on to the tuning parameters in user-entered - float *dispKi; // format for display purposes - float *dispKd; // - -// While shared by both main motors, these are not pointers because they are -// calculated using sample time in this file. - double kp; // * (P)roportional Tuning Parameter - double ki; // * (I)ntegral Tuning Parameter - double kd; // * (D)erivative Tuning Parameter - - int controllerDirection; - int pOn; - - volatile double *myInput; // * Pointers to the Input, Output, and Setpoint variables - volatile double *myOutput; // This creates a hard link between the variables and the - volatile double *mySetpoint; // PID, freeing the user from having to constantly tell us - // what these values are. with pointers we'll just know. - - unsigned long lastTime; - double outputSum, lastInput; - - unsigned long SampleTime; - double outMin, outMax; - bool inAuto; -}; -#endif - diff --git a/Firmware_1.26b/cnc_ctrl_v1/Probe.cpp b/Firmware_1.26b/cnc_ctrl_v1/Probe.cpp deleted file mode 100644 index 619fc09a..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Probe.cpp +++ /dev/null @@ -1,33 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains functions related to the probe - -#include "Maslow.h" - -// the variable probePin is assigned in configAuxLow() in System.cpp - -bool checkForProbeTouch(const int& probePin) { - /* - Check to see if ProbePin has gone LOW - */ - if (digitalRead(probePin) == LOW) { - readyCommandString = ""; - return 1; - } - return 0; -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Probe.h b/Firmware_1.26b/cnc_ctrl_v1/Probe.h deleted file mode 100644 index c4340366..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Probe.h +++ /dev/null @@ -1,25 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains functions related to the probe - -#ifndef probe_h -#define probe_h - -bool checkForProbeTouch(const int&); - -#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/Report.cpp b/Firmware_1.26b/cnc_ctrl_v1/Report.cpp deleted file mode 100644 index 0c8b9e4f..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Report.cpp +++ /dev/null @@ -1,316 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains the functions for outgoing Serial responses - -#include "Maslow.h" - -void reportStatusMessage(byte status_code){ - /* - - Sends confirmation protocol response for commands. For every incoming line, - this method responds with an 'ok' for a successful command or an 'error:' - to indicate some error event with the line or some critical system error during - operation. - - Taken from Grbl http://github.com/grbl/grbl - */ - if (status_code == 0) { // STATUS_OK - Serial.println(F("ok")); - } else { - Serial.print(F("error: ")); - #ifdef REPORT_GUI_MODE - Serial.println(status_code); - #else - switch(status_code) { - // case STATUS_EXPECTED_COMMAND_LETTER=")); Serial.println( // Serial.println(F("Expected command letter")); break; - case STATUS_BAD_NUMBER_FORMAT: - Serial.println(F("Bad number format")); break; - case STATUS_INVALID_STATEMENT: - Serial.println(F("Invalid statement")); break; - case STATUS_OLD_SETTINGS: - Serial.println(F("Please set $12, $13, $19, and $20 to load old position data.")); break; - // case STATUS_NEGATIVE_VALUE: - // Serial.println(F("Value < 0")); break; - // case STATUS_SETTING_DISABLED: - // Serial.println(F("Setting disabled")); break; - // case STATUS_SETTING_STEP_PULSE_MIN: - // Serial.println(F("Value < 3 usec")); break; - case STATUS_SETTING_READ_FAIL: - Serial.println(F("EEPROM read fail. Using default settings.")); break; - // case STATUS_IDLE_ERROR: - // Serial.println(F("Not idle")); break; - // case STATUS_ALARM_LOCK: - // Serial.println(F("Alarm lock")); break; - // case STATUS_SOFT_LIMIT_ERROR: - // Serial.println(F("Homing not enabled")); break; - // case STATUS_OVERFLOW: - // Serial.println(F("Line overflow")); break; - // #ifdef MAX_STEP_RATE_HZ - // case STATUS_MAX_STEP_RATE_EXCEEDED: - // Serial.println(F("Step rate > 30kHz")); break; - // #endif - // Common g-code parser errors. - // case STATUS_GCODE_MODAL_GROUP_VIOLATION: - // Serial.println(F("Modal group violation")); break; - // case STATUS_GCODE_UNSUPPORTED_COMMAND: - // Serial.println(F("Unsupported command")); break; - // case STATUS_GCODE_UNDEFINED_FEED_RATE: - // Serial.println(F("Undefined feed rate")); break; - default: - // Remaining g-code parser errors with error codes - Serial.print(F("Invalid gcode ID:")); - Serial.println(status_code); // Print error code for user reference - } - #endif - } -} - -void reportFeedbackMessage(byte message_code){ - Serial.print(F("Message: ")); - switch(message_code) { - // case MESSAGE_CRITICAL_EVENT: - // Serial.print(F("Reset to continue")); break; - // case MESSAGE_ALARM_LOCK: - // Serial.print(F("'$H'|'$X' to unlock")); break; - // case MESSAGE_ALARM_UNLOCK: - // Serial.print(F("Caution: Unlocked")); break; - // case MESSAGE_ENABLED: - // Serial.print(F("Enabled")); break; - // case MESSAGE_DISABLED: - // Serial.print(F("Disabled")); break; - // case MESSAGE_SAFETY_DOOR_AJAR: - // Serial.print(F("Check Door")); break; - // case MESSAGE_CHECK_LIMITS: - // Serial.print(F("Check Limits")); break; - // case MESSAGE_PROGRAM_END: - // Serial.print(F("Pgm End")); break; - case MESSAGE_RESTORE_DEFAULTS: - Serial.print(F("Restoring defaults")); break; - // case MESSAGE_SPINDLE_RESTORE: - // Serial.print(F("Restoring spindle")); break; - // case MESSAGE_SLEEP_MODE: - // Serial.print(F("Sleeping")); break; - } - Serial.println(F(" ")); -} - -// Prints alarm messages. -void reportAlarmMessage(byte alarm_code) { - Serial.print(F("ALARM: ")); - #ifdef REPORT_GUI_MODE - Serial.println(alarm_code); - #else - switch (alarm_code) { - case ALARM_POSITION_LOST: { - Serial.println(F("Position Lost")); break; - } - case ALARM_GCODE_PARAM_ERROR: { - Serial.println(F("There is a parameter error in this line of Gcode - make a note of the line number. Cutting will be put on hold until you choose whether to 'Resume Cut' (skipping this line) or 'Stop'. ")); - pause(); //This pause() waits for user acknowledgement of message - pause(); //Now wait for user decision about 'Stop' or 'Resume' - break; - } - case ALARM_POSITION_LIMIT_ERROR: { - Serial.println(F("The sled is not keeping up with its expected position and has halted. Click the 'Stop' button to clear the alarm. More information at: https://github.com/MaslowCNC/Firmware/wiki/Keeping-Up ")); - sys.stop = true; - break; - } - } - #endif -} - -// Maslow global settings print out. -// NOTE: The numbering scheme here must correlate to storing in settings.c -void reportMaslowSettings() { - // Print Maslow settings. - // Taken from Grbl. http://github.com/grbl/grbl - #ifdef REPORT_GUI_MODE - Serial.print(F("$0=")); Serial.println(sysSettings.machineWidth, 8); - Serial.print(F("$1=")); Serial.println(sysSettings.machineHeight, 8); - Serial.print(F("$2=")); Serial.println(sysSettings.distBetweenMotors, 8); - Serial.print(F("$3=")); Serial.println(sysSettings.motorOffsetY, 8); - Serial.print(F("$4=")); Serial.println(sysSettings.sledWidth, 8); - Serial.print(F("$5=")); Serial.println(sysSettings.sledHeight, 8); - Serial.print(F("$6=")); Serial.println(sysSettings.sledCG, 8); - Serial.print(F("$7=")); Serial.println(sysSettings.kinematicsType); - Serial.print(F("$8=")); Serial.println(sysSettings.rotationDiskRadius, 8); - Serial.print(F("$9=")); Serial.println(sysSettings.axisDetachTime); - Serial.print(F("$10=")); Serial.println(sysSettings.chainLength); - Serial.print(F("$11=")); Serial.println(sysSettings.originalChainLength); - Serial.print(F("$12=")); Serial.println(sysSettings.encoderSteps, 8); - Serial.print(F("$13=")); Serial.println(sysSettings.distPerRot, 8); - Serial.print(F("$15=")); Serial.println(sysSettings.maxFeed); - Serial.print(F("$16=")); Serial.println(sysSettings.zAxisAttached); - Serial.print(F("$17=")); Serial.println(sysSettings.spindleAutomate); - Serial.print(F("$18=")); Serial.println(sysSettings.maxZRPM, 8); - Serial.print(F("$19=")); Serial.println(sysSettings.zDistPerRot, 8); - Serial.print(F("$20=")); Serial.println(sysSettings.zEncoderSteps, 8); - Serial.print(F("$21=")); Serial.println(sysSettings.KpPos, 8); - Serial.print(F("$22=")); Serial.println(sysSettings.KiPos, 8); - Serial.print(F("$23=")); Serial.println(sysSettings.KdPos, 8); - Serial.print(F("$24=")); Serial.println(sysSettings.propWeightPos, 8); - Serial.print(F("$25=")); Serial.println(sysSettings.KpV, 8); - Serial.print(F("$26=")); Serial.println(sysSettings.KiV, 8); - Serial.print(F("$27=")); Serial.println(sysSettings.KdV, 8); - Serial.print(F("$28=")); Serial.println(sysSettings.propWeightV, 8); - Serial.print(F("$29=")); Serial.println(sysSettings.zKpPos, 8); - Serial.print(F("$30=")); Serial.println(sysSettings.zKiPos, 8); - Serial.print(F("$31=")); Serial.println(sysSettings.zKdPos, 8); - Serial.print(F("$32=")); Serial.println(sysSettings.zPropWeightPos, 8); - Serial.print(F("$33=")); Serial.println(sysSettings.zKpV, 8); - Serial.print(F("$34=")); Serial.println(sysSettings.zKiV, 8); - Serial.print(F("$35=")); Serial.println(sysSettings.zKdV, 8); - Serial.print(F("$36=")); Serial.println(sysSettings.zPropWeightV, 8); - Serial.print(F("$37=")); Serial.println(sysSettings.chainSagCorrection, 8); - Serial.print(F("$38=")); Serial.println(sysSettings.chainOverSprocket); - Serial.print(F("$39=")); Serial.println(sysSettings.fPWM); - Serial.print(F("$40=")); Serial.println(sysSettings.leftChainTolerance, 8); - Serial.print(F("$41=")); Serial.println(sysSettings.rightChainTolerance, 8); - Serial.print(F("$42=")); Serial.println(sysSettings.positionErrorLimit, 8); - - #else - Serial.print(F("$0=")); Serial.print(sysSettings.machineWidth); - Serial.print(F(" (machine width, mm)\r\n$1=")); Serial.print(sysSettings.machineHeight, 8); - Serial.print(F(" (machine height, mm)\r\n$2=")); Serial.print(sysSettings.distBetweenMotors, 8); - Serial.print(F(" (motor distance, mm)\r\n$3=")); Serial.print(sysSettings.motorOffsetY, 8); - Serial.print(F(" (motor height, mm)\r\n$4=")); Serial.print(sysSettings.sledWidth, 8); - Serial.print(F(" (sled width, mm)\r\n$5=")); Serial.print(sysSettings.sledHeight, 8); - Serial.print(F(" (sled height, mm)\r\n$6=")); Serial.print(sysSettings.sledCG, 8); - Serial.print(F(" (sled cg, mm)\r\n$7=")); Serial.print(sysSettings.kinematicsType); - Serial.print(F(" (Kinematics Type 1=Quadrilateral, 2=Triangular)\r\n$8=")); Serial.print(sysSettings.rotationDiskRadius, 8); - Serial.print(F(" (rotation radius, mm)\r\n$9=")); Serial.print(sysSettings.axisDetachTime); - Serial.print(F(" (axis idle before detach, ms)\r\n$10=")); Serial.print(sysSettings.chainLength); - Serial.print(F(" (full length of chain, mm)\r\n$11=")); Serial.print(sysSettings.originalChainLength); - Serial.print(F(" (calibration chain length, mm)\r\n$12=")); Serial.print(sysSettings.encoderSteps, 8); - Serial.print(F(" (main steps per revolution)\r\n$13=")); Serial.print(sysSettings.distPerRot, 8); - Serial.print(F(" (distance / rotation, mm)\r\n$15=")); Serial.print(sysSettings.maxFeed); - Serial.print(F(" (max feed, mm/min)\r\n$16=")); Serial.print(sysSettings.zAxisAttached); - Serial.print(F(" (Auto Z Axis, 1 = Yes)\r\n$17=")); Serial.print(sysSettings.spindleAutomateType); - Serial.print(F(" (auto spindle enable 1=servo, 2=relay_h, 3=relay_l)\r\n$18=")); Serial.print(sysSettings.maxZRPM, 8); - Serial.print(F(" (max z axis RPM)\r\n$19=")); Serial.print(sysSettings.zDistPerRot, 8); - Serial.print(F(" (z axis distance / rotation)\r\n$20=")); Serial.print(sysSettings.zEncoderSteps, 8); - Serial.print(F(" (z axis steps per revolution)\r\n$21=")); Serial.print(sysSettings.KpPos, 8); - Serial.print(F(" (main Kp Pos)\r\n$22=")); Serial.print(sysSettings.KiPos, 8); - Serial.print(F(" (main Ki Pos)\r\n$23=")); Serial.print(sysSettings.KdPos, 8); - Serial.print(F(" (main Kd Pos)\r\n$24=")); Serial.print(sysSettings.propWeightPos, 8); - Serial.print(F(" (main Pos proportional weight)\r\n$25=")); Serial.print(sysSettings.KpV, 8); - Serial.print(F(" (main Kp Velocity)\r\n$26=")); Serial.print(sysSettings.KiV, 8); - Serial.print(F(" (main Ki Velocity)\r\n$27=")); Serial.print(sysSettings.KdV, 8); - Serial.print(F(" (main Kd Velocity)\r\n$28=")); Serial.print(sysSettings.propWeightV, 8); - Serial.print(F(" (main Velocity proportional weight)\r\n$29=")); Serial.print(sysSettings.zKpPos, 8); - Serial.print(F(" (z axis Kp Pos)\r\n$30=")); Serial.print(sysSettings.zKiPos, 8); - Serial.print(F(" (z axis Ki Pos)\r\n$31=")); Serial.print(sysSettings.zKdPos, 8); - Serial.print(F(" (z axis Kd Pos)\r\n$32=")); Serial.print(sysSettings.zPropWeightPos, 8); - Serial.print(F(" (z axis Pos proportional weight)\r\n$33=")); Serial.print(sysSettings.zKpV, 8); - Serial.print(F(" (z axis Kp Velocity)\r\n$34=")); Serial.print(sysSettings.zKiV, 8); - Serial.print(F(" (z axis Ki Velocity)\r\n$35=")); Serial.print(sysSettings.zKdV, 8); - Serial.print(F(" (z axis Kd Velocity)\r\n$36=")); Serial.print(sysSettings.zPropWeightV, 8); - Serial.print(F(" (z axis Velocity proportional weight)\r\n$37=")); Serial.print(sysSettings.chainSagCorrection, 8); - Serial.print(F(" (chain sag correction value)\r\n$38=")); Serial.print(sysSettings.chainOverSprocket); - Serial.print(F(" (chain over sprocket)\r\n$39=")); Serial.print(sysSettings.fPWM); - Serial.print(F(" (PWM frequency value 1=39,000Hz, 2=4,100Hz, 3=490Hz)\r\n$40=")); Serial.print(sysSettings.leftChainTolerance, 8); - Serial.print(F(" (chain tolerance, left chain, mm)\r\n$41=")); Serial.print(sysSettings.rightChainTolerance, 8); - Serial.print(F(" (chain tolerance, right chain, mm)\r\n$42=")); Serial.print(sysSettings.positionErrorLimit, 8); - Serial.print(F(" (position error alarm limit, mm)")); - Serial.println(); - #endif -} - -void returnError(){ - /* - Prints the machine's positional error and the amount of space available in the - gcode buffer - */ - Serial.print(F("[PE:")); - Serial.print(leftAxis.error()); - Serial.print(','); - Serial.print(rightAxis.error()); - Serial.print(','); - Serial.print(incSerialBuffer.spaceAvailable()); - Serial.println(F("]")); - if (!sys.stop) { - if (!(sys.state & STATE_POS_ERR_IGNORE)) { - if ((abs(leftAxis.error()) >= sysSettings.positionErrorLimit) || (abs(rightAxis.error()) >= sysSettings.positionErrorLimit)) { - reportAlarmMessage(ALARM_POSITION_LIMIT_ERROR); - } - } - } -} - -void returnPoz(){ - /* - Causes the machine's position (x,y) to be sent over the serial connection updated on the UI - in Ground Control. Also causes the error report to be sent. Only executes - if hasn't been called in at least POSITIONTIMEOUT ms. - */ - - static unsigned long lastRan = millis(); - - if (millis() - lastRan > POSITIONTIMEOUT){ - - - Serial.print(F("<")); - if (sys.stop){ - Serial.print(F("Stop,MPos:")); - } - else if (sys.pause){ - Serial.print(F("Pause,MPos:")); - } - else{ - Serial.print(F("Idle,MPos:")); - } - Serial.print(sys.xPosition/sys.inchesToMMConversion); - Serial.print(F(",")); - Serial.print(sys.yPosition/sys.inchesToMMConversion); - Serial.print(F(",")); - Serial.print(zAxis.read()/sys.inchesToMMConversion); - Serial.println(F(",WPos:0.000,0.000,0.000>")); - - - returnError(); - - lastRan = millis(); - } - -} - -void reportMaslowHelp(){ - /* - This function outputs a brief summary of the $ system commands available. - The list is somewhat aspirational based on what Grbl offers. Maslow - does not currently support all of these features. - - This is taken heavily from grbl. https://github.com/grbl/grbl - */ - #ifndef REPORT_GUI_MODE - Serial.println(F("$$ (view Maslow settings)")); - // Serial.println(F("$# (view # parameters)")); - // Serial.println(F("$G (view parser state)")); - // Serial.println(F("$I (view build info)")); - // Serial.println(F("$N (view startup blocks)")); - Serial.println(F("$x=value (save Maslow setting)")); - // Serial.println(F("$Nx=line (save startup block)")); - // Serial.println(F("$C (check gcode mode)")); - // Serial.println(F("$X (kill alarm lock)")); - // Serial.println(F("$H (run homing cycle)")); - Serial.println(F("~ (cycle start)")); // Maslow treats this as resume or un-pause currently - Serial.println(F("! (feed hold)")); // Maslow treats this as a cycle stop. - // Serial.println(F("? (current status)")); - // Serial.println(F("ctrl-x (reset Maslow)")); - #endif -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Report.h b/Firmware_1.26b/cnc_ctrl_v1/Report.h deleted file mode 100644 index d62b2289..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Report.h +++ /dev/null @@ -1,85 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains the functions for outgoing Serial responses - -#ifndef report_h -#define report_h - -// Define Maslow status codes. -// Taken from Grbl http://github.com/grbl/grbl -#define STATUS_OK 0 -#define STATUS_EXPECTED_COMMAND_LETTER 1 -#define STATUS_BAD_NUMBER_FORMAT 2 -#define STATUS_INVALID_STATEMENT 3 -#define STATUS_NEGATIVE_VALUE 4 -#define STATUS_SETTING_DISABLED 5 -#define STATUS_SETTING_STEP_PULSE_MIN 6 -#define STATUS_SETTING_READ_FAIL 7 -#define STATUS_IDLE_ERROR 8 -#define STATUS_ALARM_LOCK 9 -#define STATUS_SOFT_LIMIT_ERROR 10 -#define STATUS_OVERFLOW 11 -#define STATUS_MAX_STEP_RATE_EXCEEDED 12 -#define STATUS_OLD_SETTINGS 13 - -#define STATUS_GCODE_UNSUPPORTED_COMMAND 20 -#define STATUS_GCODE_MODAL_GROUP_VIOLATION 21 -#define STATUS_GCODE_UNDEFINED_FEED_RATE 22 -#define STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER 23 -#define STATUS_GCODE_AXIS_COMMAND_CONFLICT 24 -#define STATUS_GCODE_WORD_REPEATED 25 -#define STATUS_GCODE_NO_AXIS_WORDS 26 -#define STATUS_GCODE_INVALID_LINE_NUMBER 27 -#define STATUS_GCODE_VALUE_WORD_MISSING 28 -#define STATUS_GCODE_UNSUPPORTED_COORD_SYS 29 -#define STATUS_GCODE_G53_INVALID_MOTION_MODE 30 -#define STATUS_GCODE_AXIS_WORDS_EXIST 31 -#define STATUS_GCODE_NO_AXIS_WORDS_IN_PLANE 32 -#define STATUS_GCODE_INVALID_TARGET 33 -#define STATUS_GCODE_ARC_RADIUS_ERROR 34 -#define STATUS_GCODE_NO_OFFSETS_IN_PLANE 35 -#define STATUS_GCODE_UNUSED_WORDS 36 -#define STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR 37 - -// Define Maslow alarm codes. -#define ALARM_POSITION_LOST bit(0) -#define ALARM_GCODE_PARAM_ERROR bit(1) -#define ALARM_POSITION_LIMIT_ERROR bit(2) - -// Define Maslow feedback message codes. Valid values (0-255). -#define MESSAGE_CRITICAL_EVENT 1 -#define MESSAGE_ALARM_LOCK 2 -#define MESSAGE_ALARM_UNLOCK 3 -#define MESSAGE_ENABLED 4 -#define MESSAGE_DISABLED 5 -#define MESSAGE_SAFETY_DOOR_AJAR 6 -#define MESSAGE_CHECK_LIMITS 7 -#define MESSAGE_PROGRAM_END 8 -#define MESSAGE_RESTORE_DEFAULTS 9 -#define MESSAGE_SPINDLE_RESTORE 10 -#define MESSAGE_SLEEP_MODE 11 - -void reportStatusMessage(byte); -void reportFeedbackMessage(byte); -void reportMaslowSettings(); -void reportAlarmMessage(byte); -void returnError(); -void returnPoz(); -void reportMaslowHelp(); - -#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.cpp b/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.cpp deleted file mode 100644 index c391edc8..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.cpp +++ /dev/null @@ -1,208 +0,0 @@ -/*This file is part of the Maslow Control Software. - - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -/* -The RingBuffer module creates a circular character buffer used for storing incoming -serial data. -*/ - -#include "Maslow.h" - -RingBuffer::RingBuffer(){ - -} -int RingBuffer::write(char letter){ - /* - - Write one character into the ring buffer. - Return 0 on success - Return 1 on buffer overflow - - */ - if (letter != '?'){ //ignore question marks because grbl sends them all the time - _buffer[_endOfString] = letter; - int bufferOverflow = _incrementEnd(); - return bufferOverflow; - } - return 0; -} - -char RingBuffer::read(){ - /* - - Read one character from the ring buffer. - - */ - - char letter; - if (_beginningOfString == _endOfString){ - letter = '\0'; //if the buffer is empty return null - } - else{ - letter = _buffer[_beginningOfString]; //else return first character - _buffer[_beginningOfString] = '\0'; //set the read character to null so it cannot be read again - _incrementBeginning(); //and increment the pointer - } - - return letter; -} - -int RingBuffer::numberOfLines() { - /* - - Return the number of full lines (as determined by \n terminations) in the buffer - - */ - - int lineCount = 0; - - int i = _beginningOfString; - while (i != _endOfString) { // if we haven't gotten to the end of the buffer yet - if(_buffer[i] == '\n'){ // check to see if the buffer contains a complete line terminated with \n - lineCount++; // yes, so increment lineCount - } - _incrementVariable(&i); // go to the next character in the buffer - } - - return lineCount; -} - -void RingBuffer::readLine(String &lineToReturn){ - /* - - Return one line (terminated with \n) from the buffer - if there are no full lines in the buffer, passed string will be empty - - */ - lineToReturn = ""; // begin with an empty string - - if (numberOfLines() > 0) { // there is at least one full line in the buffer - char lastReadValue = '\0'; - while(lastReadValue != '\n'){ //read until the end of the line is found, building the string - lastReadValue = read(); - lineToReturn += lastReadValue; - } - } -} - -void RingBuffer::prettyReadLine(String &lineToReturn){ - /* - - Return one line (terminated with \n) from the buffer, but in all uppercase - with no leading or trailing whitespaces - - */ - readLine(lineToReturn); - lineToReturn.trim(); // remove leading and trailing white space - lineToReturn.toUpperCase(); -} - -void RingBuffer::print(){ - Serial.print(F("Buffer Used: ")); - Serial.println(length()); - Serial.print(F("Buffer Number of Lines: ")); - Serial.println(numberOfLines()); - Serial.print(F("Buffer Begin: ")); - Serial.println(_beginningOfString); - Serial.print(F("Buffer End: ")); - Serial.println(_endOfString); - - Serial.print(F("Buffer Contents: ")); - int i = _beginningOfString; - while(i != _endOfString){ - if (_buffer[i] == '\n') { - Serial.print(F("\\n")); - } - else if (_buffer[i] == '\r') { - Serial.print(F("\\r")); - } - else if (_buffer[i] == '\t') { - Serial.print(F("\\t")); - } - else { - Serial.print(_buffer[i]); - } - _incrementVariable(&i); - } - - Serial.println(F("(End of Buffer)")); - -} - -void RingBuffer::_incrementBeginning(){ - /* - - Increment the pointer to the beginning of the ring buffer by one. - - */ - - if (_beginningOfString == _endOfString) - return; //don't allow the beginning to pass the end - else - _beginningOfString = (_beginningOfString + 1) % INCBUFFERLENGTH; //move the beginning up one and wrap to zero based upon INCBUFFERLENGTH -} - -int RingBuffer::_incrementEnd(){ - /* - - Increment the pointer to the end of the ring buffer by one. - - */ - if ( spaceAvailable() == 0 ) { - Serial.println(F("Buffer overflow!")); - print(); // print buffer info and contents - return 1; - } - else - _endOfString = (_endOfString+1) % INCBUFFERLENGTH; - return 0; - } - -void RingBuffer::_incrementVariable(int* variable){ - /* - Increment the target variable. - */ - *variable = (*variable + 1 ) % INCBUFFERLENGTH; - } - -int RingBuffer::spaceAvailable(){ - /* - Returns the number of characters available in the buffer - */ - return INCBUFFERLENGTH - length() - 1; -} - -int RingBuffer::length(void) - /* - Returns the number of characters held in the buffer - */ -{ - if ( _endOfString >= _beginningOfString ) // Linear - return _endOfString - _beginningOfString ; - else // must have rolled - return ( INCBUFFERLENGTH - _beginningOfString + _endOfString); -} - - -void RingBuffer::empty(){ - /* - Empty the contents of the ring buffer - */ - - _beginningOfString = 0; - _endOfString = 0; -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.h b/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.h deleted file mode 100644 index f6369f62..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/RingBuffer.h +++ /dev/null @@ -1,42 +0,0 @@ - /*This file is part of the Maslow Control Software. - - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - - #ifndef RingBuffer_h - #define RingBuffer_h - - class RingBuffer{ - public: - RingBuffer(); - int write(char letter); - void print(); - char read(); - int length(); - int numberOfLines(); - int spaceAvailable(); - void empty(); - void readLine(String&); - void prettyReadLine(String&); - private: - void _incrementBeginning(); - int _incrementEnd(); - void _incrementVariable(int* variable); - int _beginningOfString = 0; //points to the first valid character which can be read - int _endOfString = 0; //points to the first open space which can be written - char _buffer[INCBUFFERLENGTH]; - }; - - #endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Settings.cpp b/Firmware_1.26b/cnc_ctrl_v1/Settings.cpp deleted file mode 100644 index a622e04e..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Settings.cpp +++ /dev/null @@ -1,414 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains the machine settings that are saved to eeprom - -// EEPROM addresses 300 and up can be used by Maslow. Under 300 was used -// previously by pre v1.00 Firmware. - -#include "Maslow.h" -#include - -void settingsLoadFromEEprom(){ - /* - Loads data from EEPROM if EEPROM data is valid, only called on startup - - Settings are stored starting at address 340 all the way up. - */ - settingsVersion_t settingsVersionStruct; - settings_t tempSettings; - - settingsReset(); // Load default values first - EEPROM.get(300, settingsVersionStruct); - EEPROM.get(340, tempSettings); - if (settingsVersionStruct.settingsVersion == SETTINGSVERSION && - settingsVersionStruct.eepromValidData == EEPROMVALIDDATA && - tempSettings.eepromValidData == EEPROMVALIDDATA){ - sysSettings = tempSettings; - } - else { - reportStatusMessage(STATUS_SETTING_READ_FAIL); - } - - // Apply settings - setPWMPrescalers(int(sysSettings.fPWM)); - kinematics.recomputeGeometry(); - leftAxis.changeEncoderResolution(&sysSettings.encoderSteps); - rightAxis.changeEncoderResolution(&sysSettings.encoderSteps); - leftAxis.changePitch(&sysSettings.distPerRot); - rightAxis.changePitch(&sysSettings.distPerRot); - zAxis.changePitch(&sysSettings.zDistPerRot); - zAxis.changeEncoderResolution(&sysSettings.zEncoderSteps); -} - -void settingsReset() { - /* - Loads default data into settings, many of these values are approximations - from the an ideal stock frame. Other values are just the recommended - value. Ideally we want these defaults to match the defaults in GroundControl - so that if a value is not changed by a user or is not used, it doesn't - need to be updated here. - */ - sysSettings.machineWidth = 2438.4; // float machineWidth; - sysSettings.machineHeight = 1219.2; // float machineHeight; - sysSettings.distBetweenMotors = 2978.4; // float distBetweenMotors; - sysSettings.motorOffsetY = 463.0; // float motorOffsetY; - sysSettings.sledWidth = 310.0; // float sledWidth; - sysSettings.sledHeight = 139.0; // float sledHeight; - sysSettings.sledCG = 79.0; // float sledCG; - sysSettings.kinematicsType = 1; // byte kinematicsType; - sysSettings.rotationDiskRadius = 250.0; // float rotationDiskRadius; - sysSettings.axisDetachTime = 2000; // int axisDetachTime; - sysSettings.chainLength = 3360; // int maximum length of chain; - sysSettings.originalChainLength = 1650; // int originalChainLength; - sysSettings.encoderSteps = 8113.73; // float encoderSteps; - sysSettings.distPerRot = 63.5; // float distPerRot; - sysSettings.maxFeed = 700; // int maxFeed; - sysSettings.zAxisAttached = true; // zAxisAttached; - sysSettings.spindleAutomateType = NONE; // bool spindleAutomate; - sysSettings.maxZRPM = 12.60; // float maxZRPM; - sysSettings.zDistPerRot = 3.17; // float zDistPerRot; - sysSettings.zEncoderSteps = 7560.0; // float zEncoderSteps; - sysSettings.KpPos = 1300.0; // float KpPos; - sysSettings.KiPos = 0.0; // float KiPos; - sysSettings.KdPos = 34.0; // float KdPos; - sysSettings.propWeightPos = 1.0; // float propWeightPos; - sysSettings.KpV = 5.0; // float KpV; - sysSettings.KiV = 0.0; // float KiV; - sysSettings.KdV = 0.28; // float KdV; - sysSettings.propWeightV = 1.0; // float propWeightV; - sysSettings.zKdPos = 1300.0; // float zKpPos; - sysSettings.zKiPos = 0.0; // float zKiPos; - sysSettings.zKdPos = 34.0; // float zKdPos; - sysSettings.zPropWeightPos = 1.0; // float zPropWeightPos; - sysSettings.zKpV = 5.0; // float zKpV; - sysSettings.zKiV = 0.0; // float zKiV; - sysSettings.zKdV = 0.28; // float zKdV; - sysSettings.zPropWeightV = 1.0; // float zPropWeightV; - sysSettings.chainSagCorrection = 0.0; // float chainSagCorrection; - sysSettings.chainOverSprocket = 1; // byte chainOverSprocket; - sysSettings.fPWM = 3; // byte fPWM; - sysSettings.leftChainTolerance = 0.0; // float leftChainTolerance; - sysSettings.rightChainTolerance = 0.0; // float rightChainTolerance; - sysSettings.positionErrorLimit = 2.0; // float positionErrorLimit; - sysSettings.eepromValidData = EEPROMVALIDDATA; // byte eepromValidData; -} - -void settingsWipe(byte resetType){ - /* - Wipes certain bytes in the EEPROM, you probably want to reset after calling - this - */ - if (bit_istrue(resetType, SETTINGS_RESTORE_SETTINGS)){ - for (size_t i = 340 ; i < sizeof(sysSettings) + 340 ; i++) { - EEPROM.write(i, 0); - } - } - else if (bit_istrue(resetType, SETTINGS_RESTORE_MASLOW)){ - for (size_t i = 300 ; i < sizeof(sysSettings) + 340; i++) { - EEPROM.write(i, 0); - } - } - else if (bit_istrue(resetType, SETTINGS_RESTORE_ALL)){ - for (size_t i = 0 ; i < EEPROM.length() ; i++) { - EEPROM.write(i, 0); - } - } -} - -void settingsSaveToEEprom(){ - /* - Saves settings to EEPROM, only called when settings change - - Settings are stored starting at address 340 all the way up. - */ - settingsVersion_t settingsVersionStruct = {SETTINGSVERSION, EEPROMVALIDDATA}; - EEPROM.put(300, settingsVersionStruct); - EEPROM.put(340, sysSettings); -} - -void settingsSaveStepstoEEprom(){ - /* - Saves position to EEPROM, is called frequently by execSystemRealtime - - Steps are saved in address 310 -> 339. Room for expansion for additional - axes in the future. - */ - // don't run if old position data has not been incorporated yet - if (!sys.oldSettingsFlag){ - settingsStepsV1_t sysSteps = { - leftAxis.steps(), - rightAxis.steps(), - zAxis.steps(), - EEPROMVALIDDATA - }; - EEPROM.put(310, sysSteps); - } -} - -void settingsLoadStepsFromEEprom(){ - /* - Loads position to EEPROM, is called on startup. - - Steps are saved in address 310 -> 339. Room for expansion for additional - axes in the future. - */ - settingsStepsV1_t tempStepsV1; - - EEPROM.get(310, tempStepsV1); - if (tempStepsV1.eepromValidData == EEPROMVALIDDATA){ - leftAxis.setSteps(tempStepsV1.lSteps); - rightAxis.setSteps(tempStepsV1.rSteps); - zAxis.setSteps(tempStepsV1.zSteps); - } - else if (EEPROM.read(5) == EEPROMVALIDDATA && - EEPROM.read(105) == EEPROMVALIDDATA && - EEPROM.read(205) == EEPROMVALIDDATA){ - bit_true(sys.oldSettingsFlag, NEED_ENCODER_STEPS); - bit_true(sys.oldSettingsFlag, NEED_DIST_PER_ROT); - bit_true(sys.oldSettingsFlag, NEED_Z_ENCODER_STEPS); - bit_true(sys.oldSettingsFlag, NEED_Z_DIST_PER_ROT); - sys.state = STATE_OLD_SETTINGS; - Serial.println(F("Old position data detected.")); - Serial.println(F("Please set $12, $13, $19, and $20 to load position.")); - } - else { - systemRtExecAlarm |= ALARM_POSITION_LOST; // if this same global is touched by ISR then need to make atomic somehow - // also need to consider if need difference between flag with bits and - // error message as a byte. - } -} - -void settingsLoadOldSteps(){ - /* - Loads the old version of step settings, only called once encoder steps - and distance per rotation have been loaded. Wipes the old data once - incorporated to prevent oddities in the future - */ - if (sys.state == STATE_OLD_SETTINGS){ - float l, r , z; - EEPROM.get(9, l); - EEPROM.get(109, r); - EEPROM.get(209, z); - leftAxis.set(l); - rightAxis.set(r); - zAxis.set(z); - for (int i = 0; i <= 200; i = i +100){ - for (int j = 5; j <= 13; j++){ - EEPROM.write(i + j, 0); - } - } - sys.state = STATE_IDLE; - } - } - -byte settingsStoreGlobalSetting(const byte& parameter,const float& value){ - /* - Alters individual settings which are then stored to EEPROM. Returns a - status message byte value - */ - - // We can add whatever sanity checks we want here and error out if we like - switch(parameter) { - case 0: case 1: case 2: case 3: case 4: case 5: case 6: case 7: case 8: - switch(parameter) { - case 0: - sysSettings.machineWidth = value; - break; - case 1: - sysSettings.machineHeight = value; - break; - case 2: - sysSettings.distBetweenMotors = value; - break; - case 3: - sysSettings.motorOffsetY = value; - break; - case 4: - sysSettings.sledWidth = value; - break; - case 5: - sysSettings.sledHeight = value; - break; - case 6: - sysSettings.sledCG = value; - break; - case 7: - sysSettings.kinematicsType = value; - break; - case 8: - sysSettings.rotationDiskRadius = value; - break; - } - kinematics.init(); - break; - case 9: - sysSettings.axisDetachTime = value; - break; - case 10: - sysSettings.chainLength = value; - break; - case 11: - sysSettings.originalChainLength = value; - break; - case 12: - sysSettings.encoderSteps = value; - leftAxis.changeEncoderResolution(&sysSettings.encoderSteps); - rightAxis.changeEncoderResolution(&sysSettings.encoderSteps); - if (sys.oldSettingsFlag){ - bit_false(sys.oldSettingsFlag, NEED_ENCODER_STEPS); - if (!sys.oldSettingsFlag){ - settingsLoadOldSteps(); - } - } - kinematics.init(); - break; - case 13: - sysSettings.distPerRot = value; - kinematics.R = (sysSettings.distPerRot)/(2.0 * 3.14159); - if (sys.oldSettingsFlag){ - bit_false(sys.oldSettingsFlag, NEED_DIST_PER_ROT); - if (!sys.oldSettingsFlag){ - settingsLoadOldSteps(); - } - } - kinematics.init(); - break; - case 15: - sysSettings.maxFeed = value; - break; - case 16: - sysSettings.zAxisAttached = value; - break; - case 17: - sysSettings.spindleAutomateType = static_cast(value); - break; - case 18: - sysSettings.maxZRPM = value; - break; - case 19: - sysSettings.zDistPerRot = value; - zAxis.changePitch(&sysSettings.zDistPerRot); - if (sys.oldSettingsFlag){ - bit_false(sys.oldSettingsFlag, NEED_Z_DIST_PER_ROT); - if (!sys.oldSettingsFlag){ - settingsLoadOldSteps(); - } - } - break; - case 20: - sysSettings.zEncoderSteps = value; - zAxis.changeEncoderResolution(&sysSettings.zEncoderSteps); - if (sys.oldSettingsFlag){ - bit_false(sys.oldSettingsFlag, NEED_Z_ENCODER_STEPS); - if (!sys.oldSettingsFlag){ - settingsLoadOldSteps(); - } - } - break; - case 21: case 22: case 23: case 24: case 25: case 26: case 27: case 28: - switch(parameter) { - case 21: - sysSettings.KpPos = value; - break; - case 22: - sysSettings.KiPos = value; - break; - case 23: - sysSettings.KdPos = value; - break; - case 24: - sysSettings.propWeightPos = value; - break; - case 25: - sysSettings.KpV = value; - break; - case 26: - sysSettings.KiV = value; - break; - case 27: - sysSettings.KdV = value; - break; - case 28: - sysSettings.propWeightV = value; - break; - } - leftAxis.setPIDValues(&sysSettings.KpPos, &sysSettings.KiPos, &sysSettings.KdPos, &sysSettings.propWeightPos, &sysSettings.KpV, &sysSettings.KiV, &sysSettings.KdV, &sysSettings.propWeightV); - rightAxis.setPIDValues(&sysSettings.KpPos, &sysSettings.KiPos, &sysSettings.KdPos, &sysSettings.propWeightPos, &sysSettings.KpV, &sysSettings.KiV, &sysSettings.KdV, &sysSettings.propWeightV); - break; - case 29: case 30: case 31: case 32: case 33: case 34: case 35: case 36: - switch(parameter) { - case 29: - sysSettings.zKpPos = value; - break; - case 30: - sysSettings.zKiPos = value; - break; - case 31: - sysSettings.zKdPos = value; - break; - case 32: - sysSettings.zPropWeightPos = value; - break; - case 33: - sysSettings.zKpV = value; - break; - case 34: - sysSettings.zKiV = value; - break; - case 35: - sysSettings.zKdV = value; - break; - case 36: - sysSettings.zPropWeightV = value; - break; - } - zAxis.setPIDValues(&sysSettings.zKpPos, &sysSettings.zKiPos, &sysSettings.zKdPos, &sysSettings.zPropWeightPos, &sysSettings.zKpV, &sysSettings.zKiV, &sysSettings.zKdV, &sysSettings.zPropWeightV); - break; - case 37: - sysSettings.chainSagCorrection = value; - break; - case 38: - settingsSaveStepstoEEprom(); - sysSettings.chainOverSprocket = value; - setupAxes(); - settingsLoadStepsFromEEprom(); - // Set initial desired position of the machine to its current position - leftAxis.write(leftAxis.read()); - rightAxis.write(rightAxis.read()); - zAxis.write(zAxis.read()); - kinematics.init(); - break; - case 39: - sysSettings.fPWM = value; - setPWMPrescalers(value); - break; - case 40: - sysSettings.leftChainTolerance = value; - break; - case 41: - sysSettings.rightChainTolerance = value; - break; - case 42: - sysSettings.positionErrorLimit = value; - break; - default: - return(STATUS_INVALID_STATEMENT); - } - settingsSaveToEEprom(); - return(STATUS_OK); -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/Settings.h b/Firmware_1.26b/cnc_ctrl_v1/Settings.h deleted file mode 100644 index cd18150b..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Settings.h +++ /dev/null @@ -1,109 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains the machine settings that are saved to eeprom - -#ifndef settings_h -#define settings_h - -#define SETTINGSVERSION 5 // The current version of settings, if this doesn't - // match what is in EEPROM then settings on - // machine are reset to defaults -#define EEPROMVALIDDATA 56 // This is just a random byte value that is used - // to determine if the data in the EEPROM was - // saved by maslow, or something else. - -// Reset Types -#define SETTINGS_RESTORE_SETTINGS bit(0) -#define SETTINGS_RESTORE_MASLOW bit(1) -#define SETTINGS_RESTORE_ALL bit(2) - -enum SpindleAutomationType { - NONE, - SERVO, - RELAY_ACTIVE_HIGH, - RELAY_ACTIVE_LOW }; - -typedef struct { // I think this is about ~128 bytes in size if I counted correctly - float machineWidth; - float machineHeight; - float distBetweenMotors; - float motorOffsetY; - float sledWidth; - float sledHeight; - float sledCG; - byte kinematicsType; - float rotationDiskRadius; - unsigned int axisDetachTime; - unsigned int chainLength; - unsigned int originalChainLength; - float encoderSteps; - float distPerRot; - unsigned int maxFeed; - bool zAxisAttached; - SpindleAutomationType spindleAutomateType; - float maxZRPM; - float zDistPerRot; - float zEncoderSteps; - float KpPos; - float KiPos; - float KdPos; - float propWeightPos; - float KpV; - float KiV; - float KdV; - float propWeightV; - float zKpPos; - float zKiPos; - float zKdPos; - float zPropWeightPos; - float zKpV; - float zKiV; - float zKdV; - float zPropWeightV; - float chainSagCorrection; - byte chainOverSprocket; - byte fPWM; - float leftChainTolerance; - float rightChainTolerance; - float positionErrorLimit; - byte eepromValidData; // This should always be last, that way if an error - // happens in writing, it will not be written and we -} settings_t; // will know to reset the settings -extern settings_t sysSettings; - -typedef struct { - byte settingsVersion; - byte eepromValidData; -} settingsVersion_t; - -typedef struct { - long lSteps; - long rSteps; - long zSteps; - byte eepromValidData; -} settingsStepsV1_t; - -void settingsLoadFromEEprom(); -void settingsReset(); -void settingsWipe(byte); -void settingsSaveToEEprom(); -void settingsSaveStepstoEEprom(); -void settingsLoadStepsFromEEprom(); -byte settingsStoreGlobalSetting(const byte&,const float&); - -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.cpp b/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.cpp deleted file mode 100644 index 5ddebd96..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.cpp +++ /dev/null @@ -1,27 +0,0 @@ -#include "SimavrSerial.h" - -#ifdef Serial -#undef Serial -#endif - -SimavrSerial_ SimavrSerial; - -size_t SimavrSerial_::write(uint8_t c) -{ - size_t n = Serial.write(c); - Serial.flush(); - - return n; -} - -void SimavrSerial_::begin(unsigned long baud) { - Serial.begin(baud); -} - -int SimavrSerial_::available() { - return Serial.available(); -} - -int SimavrSerial_::read() { - return Serial.read(); -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.h b/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.h deleted file mode 100644 index 879dd362..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/SimavrSerial.h +++ /dev/null @@ -1,32 +0,0 @@ -#include "Maslow.h" - -#ifndef SimavrSerial_h_ -#define SimavrSerial_h_ - -#ifdef SIMAVR -#define Serial SimavrSerial -#endif - -// This class is a wrapper around Serial, to be used when running in the simavr simulator -// (https://github.com/buserror/simavr) -// -// Simavr's UART seems to lock up and crash when you write more than a few characters to it. -// SimavrSerial works around this issue by flushing after every single character. On a real -// controller, this might cause a performance issue, so this class is only used if SIMAVR is defined. -// If SIMAVR is defined, though, any reference to Serial is replaces to a reference to SimavrSerial. -// This means that every Serial method that is used in our code also needs a wrapper in SimavrSerial, -// of the simavr environment will not compile. -// -// Not the cleanest thing ever, but it's the best I could come up with that -// will have zero impact on the actual production code. -class SimavrSerial_ : public Print -{ - public: - virtual size_t write(uint8_t); - virtual int available(); - virtual int read(); - void begin(unsigned long baud); -}; - -extern SimavrSerial_ SimavrSerial; -#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/Spindle.cpp b/Firmware_1.26b/cnc_ctrl_v1/Spindle.cpp deleted file mode 100644 index 647acf9c..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Spindle.cpp +++ /dev/null @@ -1,117 +0,0 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -// This contains all of the Spindle commands - -#include "Maslow.h" -#include "Settings.h" - -// the variables SpindlePowerControlPin and LaserPowerPin are assigned in configAuxLow() in System.cpp - -// Globals for Spindle control, both poorly named -Servo myservo; // create servo object to control a servo - -void setSpindlePower(bool powerState) { - /* - * Turn spindle on/off depending on powerState - */ - SpindleAutomationType spindleAutomateType = sysSettings.spindleAutomateType; - - int delayAfterChange = 1000; // milliseconds - int servoIdle = 90; // degrees - int servoOn = 180; // degrees - int servoOff = 0; // degrees - int servoDelay = 2000; // milliseconds - - // Now for the main code - #if defined (verboseDebug) && verboseDebug > 1 - Serial.print(F("Spindle control uses pin ")); - Serial.print(SpindlePowerControlPin); - Serial.print(F("Spindle automation type ")); - Serial.print(spindleAutomateType); - #endif - if (spindleAutomateType == SERVO) { // use a servo to control a standard wall switch - #if defined (verboseDebug) && verboseDebug > 1 - Serial.print(F(" with servo (idle=")); - Serial.print(servoIdle); - Serial.print(F(", on=")); - Serial.print(servoOn); - Serial.print(F(", off=")); - Serial.print(servoOff); - Serial.println(F(")")); - #endif - myservo.attach(SpindlePowerControlPin); // start servo control - myservo.write(servoIdle); // move servo to idle position - maslowDelay(servoDelay); // wait for move to complete - if(sys.stop){return;} - if (powerState) { // turn on spindle - Serial.println(F("Turning Spindle On")); - myservo.write(servoOn); // move servo to turn on switch - } - else { // turn off spindle - Serial.println(F("Turning Spindle Off")); - myservo.write(servoOff); // move servo to turn off switch - } - maslowDelay(servoDelay); // wait for move to complete - if(sys.stop){return;} - myservo.write(servoIdle); // return servo to idle position - maslowDelay(servoDelay); // wait for move to complete - if(sys.stop){return;} - myservo.detach(); // stop servo control - } - else if (spindleAutomateType == RELAY_ACTIVE_HIGH) { - #if defined (verboseDebug) && verboseDebug > 1 - Serial.print(F(" as digital output, active high")); - #endif - pinMode(SpindlePowerControlPin, OUTPUT); - if (powerState) { // turn on spindle - Serial.println(F("Turning Spindle On")); - digitalWrite(SpindlePowerControlPin, HIGH); - } - else { // turn off spindle - Serial.println(F("Turning Spindle Off")); - digitalWrite(SpindlePowerControlPin, LOW); - } - } - else if (spindleAutomateType == RELAY_ACTIVE_LOW) { // use a digital I/O pin to control a relay - #if defined (verboseDebug) && verboseDebug > 1 - Serial.print(F(" as digital output, active low")); - #endif - pinMode(SpindlePowerControlPin, OUTPUT); - if (powerState) { // turn on spindle - Serial.println(F("Turning Spindle On")); - digitalWrite(SpindlePowerControlPin, LOW); - } - else { // turn off spindle - Serial.println(F("Turning Spindle Off")); - digitalWrite(SpindlePowerControlPin, HIGH); - } - } - if (spindleAutomateType != NONE) { - maslowDelay(delayAfterChange); - } -} - -void laserOn(bool OnOff) { - pinMode(LaserPowerPin, OUTPUT); - if (OnOff) { // turn on Laser - EBS BETTER go LOW on system stop - Serial.println(F("Turning Laser ON")); - digitalWrite(LaserPowerPin, HIGH); - } - else { // turn off Laser - // Serial.println(F("Turning Laser OFF")); - digitalWrite(LaserPowerPin, LOW); - } -} - diff --git a/Firmware_1.26b/cnc_ctrl_v1/Spindle.h b/Firmware_1.26b/cnc_ctrl_v1/Spindle.h deleted file mode 100644 index f42fc442..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Spindle.h +++ /dev/null @@ -1,24 +0,0 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -// This contains all of the Spindle commands - -#ifndef spindle_h -#define spindle_h - -void setSpindlePower(bool powerState); -void laserOn(bool OnOff); - - -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/System.cpp b/Firmware_1.26b/cnc_ctrl_v1/System.cpp deleted file mode 100644 index e082222d..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/System.cpp +++ /dev/null @@ -1,658 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -// This file contains system level functions and states - -#include "Maslow.h" - -bool TLE5206; -bool TB6643; - -// extern values using AUX pins defined in configAuxLow() and configAuxHigh() -int SpindlePowerControlPin; // output for controlling spindle power -int ProbePin; // use this input for zeroing zAxis with G38.2 gcode -int LaserPowerPin; // Use this output to turn on and off a laser diode - - -void calibrateChainLengths(String gcodeLine){ - /* - The calibrateChainLengths function lets the machine know that the chains are set to a given length where each chain is ORIGINCHAINLEN - in length - */ - - if (extractGcodeValue(gcodeLine, 'L', 0)){ - //measure out the left chain - Serial.println(F("Measuring out left chain")); - singleAxisMove(&leftAxis, sysSettings.originalChainLength, (sysSettings.maxFeed * .9)); - - Serial.print(leftAxis.read()); - Serial.println(F("mm")); - - leftAxis.detach(); - } - else if(extractGcodeValue(gcodeLine, 'R', 0)){ - //measure out the right chain - Serial.println(F("Measuring out right chain")); - singleAxisMove(&rightAxis, sysSettings.originalChainLength, (sysSettings.maxFeed * .9)); - - Serial.print(rightAxis.read()); - Serial.println(F("mm")); - - rightAxis.detach(); - } - -} - -void setupAxes(){ - /* - - Detect the version of the Arduino shield connected, and use the appropriate pins - - This function runs before the serial port is open so the version is not printed here - - */ - - - int encoder1A; - int encoder1B; - int encoder2A; - int encoder2B; - int encoder3A; - int encoder3B; - - int in1; - int in2; - int in3; - int in4; - int in5; - int in6; - - int enA; - int enB; - int enC; - - int aux1; - int aux2; - int aux3; - int aux4; - int aux5; - int aux6; - int aux7; - int aux8; - int aux9; - - //read the pins which indicate the PCB version - int pcbVersion = getPCBVersion(); - - if(pcbVersion == 0){ - //Beta PCB v1.0 Detected - //MP1 - Right Motor - encoder1A = 18; // INPUT - encoder1B = 19; // INPUT - in1 = 9; // OUTPUT - in2 = 8; // OUTPUT - enA = 6; // PWM - - //MP2 - Z-axis - encoder2A = 2; // INPUT - encoder2B = 3; // INPUT - in3 = 11; // OUTPUT - in4 = 10; // OUTPUT - enB = 7; // PWM - - //MP3 - Left Motor - encoder3A = 21; // INPUT - encoder3B = 20; // INPUT - in5 = 12; // OUTPUT - in6 = 13; // OUTPUT - enC = 5; // PWM - - //AUX pins - aux1 = 17; - aux2 = 16; - aux3 = 15; - aux4 = 14; - aux5 = 0; // warning! this is the serial TX line on the Mega2560 - aux6 = 1; // warning! this is the serial RX line on the Mega2560 - } - else if(pcbVersion == 1){ - //PCB v1.1 Detected - //MP1 - Right Motor - encoder1A = 20; // INPUT - encoder1B = 21; // INPUT - in1 = 6; // OUTPUT - in2 = 4; // OUTPUT - enA = 5; // PWM - - //MP2 - Z-axis - encoder2A = 19; // INPUT - encoder2B = 18; // INPUT - in3 = 9; // OUTPUT - in4 = 7; // OUTPUT - enB = 8; // PWM - - //MP3 - Left Motor - encoder3A = 2; // INPUT - encoder3B = 3; // INPUT - in5 = 10; // OUTPUT - in6 = 11; // OUTPUT - enC = 12; // PWM - - //AUX pins - aux1 = 17; - aux2 = 16; - aux3 = 15; - aux4 = 14; - aux5 = A7; - aux6 = A6; - } - else if(pcbVersion == 2){ - //PCB v1.2 Detected - - //MP1 - Right Motor - encoder1A = 20; // INPUT - encoder1B = 21; // INPUT - in1 = 4; // OUTPUT - in2 = 6; // OUTPUT - enA = 5; // PWM - - //MP2 - Z-axis - encoder2A = 19; // INPUT - encoder2B = 18; // INPUT - in3 = 7; // OUTPUT - in4 = 9; // OUTPUT - enB = 8; // PWM - - //MP3 - Left Motor - encoder3A = 2; // INPUT - encoder3B = 3; // INPUT - in5 = 11; // OUTPUT - in6 = 12; // OUTPUT - enC = 10; // PWM - - //AUX pins - aux1 = 17; - aux2 = 16; - aux3 = 15; - aux4 = 14; - aux5 = A7; - aux6 = A6; - } - else if(pcbVersion == 4){ // TLE5206 - //TLE5206 PCB v1.4 Detected - //MP1 - Right Motor - encoder1A = 20; // INPUT - encoder1B = 21; // INPUT - in1 = 6; // OUTPUT - in2 = 4; // OUTPUT - enA = 5; // errorFlag - - //MP2 - Z-axis - encoder2A = 19; // INPUT - encoder2B = 18; // INPUT - in3 = 7; // OUTPUT - in4 = 9; // OUTPUT - enB = 8; // errorFlag - - //MP3 - Left Motor - encoder3A = 2; // INPUT - encoder3B = 3; // INPUT - in5 = 10; // OUTPUT - in6 = 11; // OUTPUT - enC = 12; // errorFlag - - //AUX pins - aux1 = 40; - aux2 = 41; - aux3 = 42; - aux4 = 43; - aux5 = 68; - aux6 = 69; - aux7 = 45; - aux8 = 46; - aux9 = 47; - } -else if(pcbVersion == 5){ // EBS PCB v1.5 Detected - - //MP1 - Right Motor - encoder1A = 2; // INPUT - encoder1B = 3; // INPUT - in1 = 9; // OUTPUT - in2 = 10; // OUTPUT - //enA = 12; // errorFlag - - //MP2 - Z-axis - encoder2A = 18; // INPUT - encoder2B = 19; // INPUT - in3 = 7; // OUTPUT - in4 = 8; // OUTPUT - //enB = 8; // errorFlag - - //MP3 - Left Motor - encoder3A = 21; // INPUT - encoder3B = 20; // INPUT - in5 = 6; // OUTPUT - in6 = 5; // OUTPUT - //enC = 5; // errorFlag - - //AUX pins - aux1 = 48; - aux2 = 49; - aux3 = 51; - aux4 = 50; - aux5 = 43; - aux6 = 44; - } - - if(sysSettings.chainOverSprocket == 1){ - leftAxis.setup (enC, in6, in5, encoder3B, encoder3A, 'L', LOOPINTERVAL); - rightAxis.setup(enA, in1, in2, encoder1A, encoder1B, 'R', LOOPINTERVAL); - } - else{ - leftAxis.setup (enC, in5, in6, encoder3A, encoder3B, 'L', LOOPINTERVAL); - rightAxis.setup(enA, in2, in1, encoder1B, encoder1A, 'R', LOOPINTERVAL); - } - - zAxis.setup (enB, in3, in4, encoder2B, encoder2A, 'Z', LOOPINTERVAL); - leftAxis.setPIDValues(&sysSettings.KpPos, &sysSettings.KiPos, &sysSettings.KdPos, &sysSettings.propWeightPos, &sysSettings.KpV, &sysSettings.KiV, &sysSettings.KdV, &sysSettings.propWeightV); - rightAxis.setPIDValues(&sysSettings.KpPos, &sysSettings.KiPos, &sysSettings.KdPos, &sysSettings.propWeightPos, &sysSettings.KpV, &sysSettings.KiV, &sysSettings.KdV, &sysSettings.propWeightV); - zAxis.setPIDValues(&sysSettings.zKpPos, &sysSettings.zKiPos, &sysSettings.zKdPos, &sysSettings.zPropWeightPos, &sysSettings.zKpV, &sysSettings.zKiV, &sysSettings.zKdV, &sysSettings.zPropWeightV); - - // implement the AUXx values that are 'used'. This accomplishes setting their values at runtime. - // Using a separate function is a compiler work-around to avoid - // "warning: variable ‘xxxxx’ set but not used [-Wunused-but-set-variable]" - // for AUX pins defined but not connected - configAuxLow(aux1, aux2, aux3, aux4, aux5, aux6); - if(pcbVersion == 4){ // TLE5206 - configAuxHigh(aux7, aux8, aux9); - } -} - -// Assign AUX pins to extern variables used by functions like Spindle and Probe -void configAuxLow(int aux1, int aux2, int aux3, int aux4, int aux5, int aux6) { - SpindlePowerControlPin = aux1; // output for controlling spindle power - LaserPowerPin = aux2; // output for controlling a laser diode - ProbePin = aux4; // use this input for zeroing zAxis with G38.2 gcode - pinMode(LaserPowerPin, OUTPUT); - digitalWrite(LaserPowerPin, LOW); -} - -void configAuxHigh(int aux7, int aux8, int aux9) { -} - -int getPCBVersion(){ - pinMode(VERS1,INPUT_PULLUP); //22 - pinMode(VERS2,INPUT_PULLUP); //23 - pinMode(VERS3,INPUT_PULLUP); //24 - pinMode(VERS4,INPUT_PULLUP); //25 - pinMode(VERS5,INPUT_PULLUP); //26 - pinMode(VERS6,INPUT_PULLUP); //27 - int pinCheck = (32*digitalRead(VERS6) + 16*digitalRead(VERS5) + 8*digitalRead(VERS4) + 4*digitalRead(VERS3) + 2*digitalRead(VERS2) + 1*digitalRead(VERS1)); - switch (pinCheck) { - // boards v1.0, v1.1, v1.2 don't strap VERS3-6 low - case B111101: case B111110: case B111111: // v 1.0, v1.1, v1.2 - pinCheck &= B000011; // strip off the unstrapped bits - TLE5206 = false; - break; - case B110100: case B000100: // some versions of board v1.3, v1.4 don't strap VERS5-6 low - pinCheck = 5; // V1.3 ~ V1.4 - SAME SHIELD - TLE5206 = true; - break; - case B000110: // new v1.5 - pinCheck &= B000110; // - TB6643 = true; - TLE5206 = false; - break; - -} - return pinCheck - 1; -} - - -// -// PWM frequency change -// presently just sets the default value -// different values seem to need specific PWM tunings... -// -void setPWMPrescalers(int prescalerChoice) { - #if defined (verboseDebug) && verboseDebug > 0 - Serial.print(F("fPWM set to ")); - switch (prescalerChoice) { - case 1: - Serial.println(F("31,000Hz")); - break; - case 2: - Serial.println(F("4,100Hz")); - break; - case 3: - Serial.println(F("490Hz")); - } - #endif - - // tailor the PWM frequency to the chip - //if (TLE5206) { - // The upper limit to PWM frequency for TLE5206 is 1,000Hz - // so only '3' is valid - // prescalerChoice = 3; - //} else if (TLE9201) { - // The upper limit to PWM frequency for TLE9201 is 20,000Hz - // prescalerChoice = 3; - // } - //} else if (TB6643) { - // The upper limit to PWM frequency for TB6643 is 100kz - // prescalerChoice = 3; - // } - - - -// first must erase the bits in each TTCRxB register that control the timers prescaler - int prescalerEraser = 7; // this is 111 in binary and is used as an eraser - TCCR2B &= ~prescalerEraser; // this operation sets the three bits in TCCR2B to 0 - TCCR3B &= ~prescalerEraser; // this operation sets the three bits in TCCR3B to 0 - TCCR4B &= ~prescalerEraser; // this operation sets the three bits in TCCR4B to 0 - // now set those same three bits - - -//----------------------------------------------- -//timer 0 ----- pin 4, 13 -//timer 1 ----- pin 11, 12 -//timer 2 ----- pin 9, 10 -//timer 3 ----- pin 2, 3, 5 -//timer 4 ----- pin 6, 7, 8 -//timer 5 ----- pin 44, 45, 46 -// ————————————————————————————– -// TIMER 2  -// Value Divisor Frequency -// 0x01 1 31.374 KHz -// 0x02 8 3.921 KHz -// 0x03 32 980.3 Hz // don;t use this... -// 0x04 64 490.1 Hz // default -// 0x05 128 245 hz -// 0x06 256 122.5 hz -// 0x07 1024 30.63 hz -// Code: TCCR2B = (TCCR2B & 0xF8) | value ; -// —————————————————————————————- -// Timers 3 & 4 -// -// Value Divisor Frequency -// 0x01 1 31.374 KHz -// 0x02 8 3.921 Khz -// 0x03 64 490.1 Hz        // default -// 0x04 256 122.5 Hz -// 0x05 1024 30.63 Hz -// Code: TCCR3B = (TCCR3B & 0xF8) | value ; -// —————————————————————————————- - // and apply it - if (prescalerChoice >= 3) { - TCCR2B |= (prescalerChoice + 1); // pins 9, 10 - change to match timers3&4 - } else { - TCCR2B |= prescalerChoice; // pins 9, 10 - } - TCCR3B |= prescalerChoice; // pins 2, 3, 5 - TCCR4B |= prescalerChoice; // pins 6, 7, 8 -} - - -// This should likely go away and be handled by setting the pause flag and then -// pausing in the execSystemRealtime function -// Need to check if all returns from this subsequently look to sys.stop -void pause(){ - /* - - The pause command pauses the machine in place without flushing the lines stored in the machine's - buffer. - - When paused the machine enters a while() loop and doesn't exit until the '~' cycle resume command - is issued from Ground Control. - - */ - - bit_true(sys.pause, PAUSE_FLAG_USER_PAUSE); - Serial.println(F("Maslow Paused")); - - while(bit_istrue(sys.pause, PAUSE_FLAG_USER_PAUSE)) { - - // Run realtime commands - execSystemRealtime(); - if (sys.stop){return;} - } -} - - -// This is an important concept. I think maybe this should be expanded and Used -// whenever we have a delay. This should be all of the 'realtime' operations -// and should probably include check for stop command. Although, the holdPosition -// would have to be moved out of here, but I think that is probably correct - -// need to check if all returns from here check for sys.stop -void maslowDelay(unsigned long waitTimeMs) { - /* - * Provides a time delay while holding the machine position, reading serial commands, - * and periodically sending the machine position to Ground Control. This prevents - * Ground Control from thinking that the connection is lost. - * - * This is similar to the pause() command above, but provides a time delay rather than - * waiting for the user (through Ground Control) to tell the machine to continue. - */ - - unsigned long startTime = millis(); - - while ((millis() - startTime) < waitTimeMs){ - execSystemRealtime(); - if (sys.stop){return;} - } -} - -// This executes all of the actions that we want to happen in 'realtime'. This -// should be called whenever there is a delay in the code or when it may have -// been a long time since this command was called. Everything that is executed -// by this command should be relatively fast. Should always check for sys.stop -// after returning from this function -void execSystemRealtime(){ - readSerialCommands(); - returnPoz(); - systemSaveAxesPosition(); - motionDetachIfIdle(); - // check systemRtExecAlarm flag and do stuff -} - -void systemSaveAxesPosition(){ - /* - Save steps of axes to EEPROM if they are all detached - */ - if (!leftAxis.attached() && !rightAxis.attached() && !zAxis.attached()){ - settingsSaveStepstoEEprom(); - } -} - -void systemReset(){ - /* - Stops everything and resets the arduino - */ - leftAxis.detach(); - rightAxis.detach(); - zAxis.detach(); - setSpindlePower(false); - laserOn(false); // EBS - // Reruns the initial setup function and calls stop to re-init state - sys.stop = true; - setup(); -} - -byte systemExecuteCmdstring(String& cmdString){ - /* - This function processes the $ system commands - - This is taken heavily from grbl. https://github.com/grbl/grbl - */ - byte char_counter = 1; -// byte helper_var = 0; // Helper variable - float parameter, value; - if (cmdString.length() == 1){ - reportMaslowHelp(); - } - else { - switch( cmdString[char_counter] ) { - case '$': // case 'G': case 'C': case 'X': - if ( cmdString.length() > 2 ) { return(STATUS_INVALID_STATEMENT); } - switch( cmdString[char_counter] ) { - case '$' : // Prints Maslow settings - // if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print. - // else { - reportMaslowSettings(); - // } - break; - // case 'G' : // Prints gcode parser state - // report_gcode_modes(); - // break; - // case 'C' : // Set check g-code mode [IDLE/CHECK] - // // Perform reset when toggling off. Check g-code mode should only work if Grbl - // // is idle and ready, regardless of alarm locks. This is mainly to keep things - // // simple and consistent. - // if ( sys.state == STATE_CHECK_MODE ) { - // mc_reset(); - // report_feedback_message(MESSAGE_DISABLED); - // } else { - // if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode. - // sys.state = STATE_CHECK_MODE; - // report_feedback_message(MESSAGE_ENABLED); - // } - // break; - // case 'X' : // Disable alarm lock [ALARM] - // if (sys.state == STATE_ALARM) { - // report_feedback_message(MESSAGE_ALARM_UNLOCK); - // sys.state = STATE_IDLE; - // // Don't run startup script. Prevents stored moves in startup from causing accidents. - // if (system_check_safety_door_ajar()) { // Check safety door switch before returning. - // bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR); - // protocol_execute_realtime(); // Enter safety door mode. - // } - // } // Otherwise, no effect. - // break; - } - break; - //case 'J' : break; // Jogging methods - // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be - // susceptible to other realtime commands except for e-stop. The jogging function is intended to - // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped - // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would - // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the - // motion by repeatedly toggling to slow the motion to the desired location. Location data would - // need to be updated real-time and supplied to the user through status queries. - // More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are - // handled by the planner. It would be possible for the jog subprogram to insert blocks into the - // block buffer without having the planner plan them. It would need to manage de/ac-celerations - // on its own carefully. This approach could be effective and possibly size/memory efficient. - // break; - // } - //break; - default : - // Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing) - // if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); } - switch( cmdString[char_counter] ) { - // case '#' : // Print Grbl NGC parameters - // if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } - // else { report_ngc_parameters(); } - // break; - // case 'H' : // Perform homing cycle [IDLE/ALARM] - // if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { - // sys.state = STATE_HOMING; // Set system state variable - // // Only perform homing if Grbl is idle or lost. - // - // // TODO: Likely not required. - // if (system_check_safety_door_ajar()) { // Check safety door switch before homing. - // bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR); - // protocol_execute_realtime(); // Enter safety door mode. - // } - // - // - // mc_homing_cycle(); - // if (!sys.abort) { // Execute startup scripts after successful homing. - // sys.state = STATE_IDLE; // Set to IDLE when complete. - // st_go_idle(); // Set steppers to the settings idle state before returning. - // system_execute_startup(line); - // } - // } else { return(STATUS_SETTING_DISABLED); } - // break; - // case 'I' : // Print or store build info. [IDLE/ALARM] - // if ( line[++char_counter] == 0 ) { - // settings_read_build_info(line); - // report_build_info(line); - // } else { // Store startup line [IDLE/ALARM] - // if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); } - // helper_var = char_counter; // Set helper variable as counter to start of user info line. - // do { - // line[char_counter-helper_var] = line[char_counter]; - // } while (line[char_counter++] != 0); - // settings_store_build_info(line); - // } - // break; - case 'R' : // Restore defaults [IDLE/ALARM] - if (cmdString[++char_counter] != 'S') { return(STATUS_INVALID_STATEMENT); } - if (cmdString[++char_counter] != 'T') { return(STATUS_INVALID_STATEMENT); } - if (cmdString[++char_counter] != '=') { return(STATUS_INVALID_STATEMENT); } - if (cmdString.length() != 6) { return(STATUS_INVALID_STATEMENT); } - switch (cmdString[++char_counter]) { - case '$': settingsWipe(SETTINGS_RESTORE_SETTINGS); break; - case '#': settingsWipe(SETTINGS_RESTORE_MASLOW); break; - case '*': settingsWipe(SETTINGS_RESTORE_ALL); break; - default: return(STATUS_INVALID_STATEMENT); - } - reportFeedbackMessage(MESSAGE_RESTORE_DEFAULTS); - systemReset(); // Force reset to ensure settings are initialized correctly. - break; - // case 'N' : // Startup lines. [IDLE/ALARM] - // if ( line[++char_counter] == 0 ) { // Print startup lines - // for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) { - // if (!(settings_read_startup_line(helper_var, line))) { - // report_status_message(STATUS_SETTING_READ_FAIL); - // } else { - // report_startup_line(helper_var,line); - // } - // } - // break; - // } else { // Store startup line [IDLE Only] Prevents motion during ALARM. - // if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle. - // helper_var = true; // Set helper_var to flag storing method. - // // No break. Continues into default: to read remaining command characters. - // } - default : // Storing setting methods [IDLE/ALARM] - if(!readFloat(cmdString, char_counter, parameter)) { return(STATUS_BAD_NUMBER_FORMAT); } - if(cmdString[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); } - // if (helper_var) { // Store startup line - // // Prepare sending gcode block to gcode parser by shifting all characters - // helper_var = char_counter; // Set helper variable as counter to start of gcode block - // do { - // line[char_counter-helper_var] = line[char_counter]; - // } while (line[char_counter++] != 0); - // // Execute gcode block to ensure block is valid. - // helper_var = gc_execute_line(line); // Set helper_var to returned status code. - // if (helper_var) { return(helper_var); } - // else { - // helper_var = trunc(parameter); // Set helper_var to int value of parameter - // settings_store_startup_line(helper_var,line); - // } - // } else { // Store global setting. - if(!readFloat(cmdString, char_counter, value)) { return(STATUS_BAD_NUMBER_FORMAT); } - if((cmdString[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); } - return(settingsStoreGlobalSetting((byte)parameter, value)); - // } - } - } - } - return(STATUS_OK); -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/System.h b/Firmware_1.26b/cnc_ctrl_v1/System.h deleted file mode 100644 index 9e297e47..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/System.h +++ /dev/null @@ -1,94 +0,0 @@ -/*This file is part of the Maslow Control Software. - -The Maslow Control Software is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -Maslow Control Software is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with the Maslow Control Software. If not, see . - -Copyright 2014-2017 Bar Smith*/ - -#ifndef system_h -#define system_h - -// Convenience Defines - Maybe move into a nuts and bolts file? -#define FORWARD 1 -#define BACKWARD -1 -#define CLOCKWISE -1 -#define COUNTERCLOCKWISE 1 -#define MILLIMETERS 1 -#define INCHES 25.4 - -// Define various pause bits -#define PAUSE_FLAG_USER_PAUSE bit(0) // a pause triggered within the code that must be cleared by user using the ~ command - -// Define system state bit map. The state variable primarily tracks the individual functions -// of Maslow to manage each without overlapping. It is also used as a messaging flag for -// critical events. -#define STATE_IDLE 0 // Must be zero. No flags. -#define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access. -#define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only. -#define STATE_OLD_SETTINGS bit(2) // Locks out all g-code processes, allows settings access until old settings are loaded -#define STATE_CYCLE bit(3) // Cycle is running or motions are being executed. -#define STATE_HOLD bit(4) // Active feed hold -#define STATE_SAFETY_DOOR bit(5) // Safety door is ajar. Feed holds and de-energizes system. -#define STATE_MOTION_CANCEL bit(6) // Motion cancel by feed hold and return to idle. -#define STATE_POS_ERR_IGNORE bit(7) // Motion not checked for position error - -// Define old settings flag details -#define NEED_ENCODER_STEPS bit(0) -#define NEED_DIST_PER_ROT bit(1) -#define NEED_Z_ENCODER_STEPS bit(2) -#define NEED_Z_DIST_PER_ROT bit(3) - -// Storage for global system states -// Some of this could be more appropriately moved to the gcode parser -typedef struct { - bool stop; // Stop flag. - byte state; // State tracking flag - byte pause; // Pause flag. - float xPosition; // Cartessian position of XY axes - float yPosition; // Cached because calculating position is intensive - float steps[3]; // Encoder position of axes - bool useRelativeUnits; // - unsigned long lastSerialRcvd; // The millis of the last rcvd serial command, used by watchdo - int lastGCommand; //Stores the value of the last command run eg: G01 -> 1 - int lastTool; //Stores the value of the last tool number eg: T4 -> 4 - int nextTool; //Stores the value of the next tool number eg: T4 -> 4 - float inchesToMMConversion; //Used to track whether to convert from inches, can probably be done in a way that doesn't require RAM - float feedrate; //The feedrate of the machine in mm/min - // THE FOLLOWING IS USED FOR IMPORTING SETTINGS FROM FIRMWARE v1.00 AND EARLIER - // It can be deleted at some point - byte oldSettingsFlag; -} system_t; -extern system_t sys; -extern Axis leftAxis; -extern Axis rightAxis; -extern Axis zAxis; -extern RingBuffer incSerialBuffer; -extern Kinematics kinematics; -extern byte systemRtExecAlarm; -extern int SpindlePowerControlPin; -extern int LaserPowerPin; -extern int ProbePin; - -void calibrateChainLengths(String); -void setupAxes(); -int getPCBVersion(); -void pause(); -void maslowDelay(unsigned long); -void execSystemRealtime(); -void systemSaveAxesPosition(); -void systemReset(); -byte systemExecuteCmdstring(String&); -void setPWMPrescalers(int prescalerChoice); -void configAuxLow(int A1, int A2, int A3, int A4, int A5, int A6); -void configAuxHigh(int A7, int A8, int A9); -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/Testing.cpp b/Firmware_1.26b/cnc_ctrl_v1/Testing.cpp deleted file mode 100644 index 3f8bfa39..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Testing.cpp +++ /dev/null @@ -1,181 +0,0 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -// This file contains various testing provisions - -#include "Maslow.h" - -void PIDTestVelocity(Axis* axis, const float start, const float stop, const float steps, const float version){ - // Moves the defined Axis at series of speed steps for PID tuning - // Start Log - Serial.println(F("--PID Velocity Test Start--")); - Serial.println(axis->motorGearboxEncoder.getPIDString()); - if (version == 2) { - Serial.println(F("setpoint,input,output")); - } - - double startTime; - double print = micros(); - double current = micros(); - float error; - float reportedSpeed; - float span = stop - start; - float speed; - - // Start the steps - axis->disablePositionPID(); - axis->attach(); - for(int i = 0; i < steps; i++){ - // 1 step = start, 2 step = start & finish, 3 = start, start + 1/2 span... - speed = start; - if (i > 0){ - speed = start + (span * (i/(steps-1))); - } - startTime = micros(); - axis->motorGearboxEncoder.write(speed); - while (startTime + 2000000 > current){ - if (current - print > LOOPINTERVAL){ - if (version == 2) { - Serial.println(axis->motorGearboxEncoder.pidState()); - } - else { - reportedSpeed= axis->motorGearboxEncoder.cachedSpeed(); - error = reportedSpeed - speed; - print = current; - Serial.println(error); - } - } - current = micros(); - } - } - axis->motorGearboxEncoder.write(0); - - // Print end of log, and update axis for use again - Serial.println(F("--PID Velocity Test Stop--\n")); - axis->write(axis->read()); - axis->detach(); - axis->enablePositionPID(); - kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0.0, 0.0); -} - -void positionPIDOutput (Axis* axis, float setpoint, float startingPoint){ - Serial.print((setpoint - startingPoint), 4); - Serial.print(F(",")); - Serial.print((axis->pidInput() - startingPoint),4); - Serial.print(F(",")); - Serial.print(axis->pidOutput(),4); - Serial.print(F(",")); - Serial.print(axis->motorGearboxEncoder.cachedSpeed(), 4); - Serial.print(F(",")); - Serial.println(axis->motorGearboxEncoder.motor.lastSpeed()); -} - -void PIDTestPosition(Axis* axis, float start, float stop, const float steps, const float stepTime, const float version){ - // Moves the defined Axis at series of chain distance steps for PID tuning - // Start Log - Serial.println(F("--PID Position Test Start--")); - Serial.println(axis->getPIDString()); - if (version == 2) { - Serial.println(F("setpoint,input,output,rpminput,voltage")); - } - - unsigned long startTime; - unsigned long print = micros(); - unsigned long current = micros(); - float error; - float startingPoint = axis->read(); - start = startingPoint + start; - stop = startingPoint + stop; - float span = stop - start; - float location; - - // Start the steps - axis->attach(); - for(int i = 0; i < steps; i++){ - // 1 step = start, 2 step = start & finish, 3 = start, start + 1/2 span... - location = start; - if (i > 0){ - location = start + (span * (i/(steps-1))); - } - startTime = micros(); - current = micros(); - axis->write(location); - while (startTime + (stepTime * 1000) > current){ - if (current - print > LOOPINTERVAL){ - if (version == 2) { - positionPIDOutput(axis, location, startingPoint); - } - else { - error = axis->read() - location; - Serial.println(error); - } - print = current; - } - current = micros(); - } - } - startTime = micros(); - current = micros(); - //Allow 1 seccond to settle out - while (startTime + 1000000 > current){ - if (current - print > LOOPINTERVAL){ - if (version == 2) { - positionPIDOutput(axis, location, startingPoint); - } - else { - error = axis->read() - location; - Serial.println(error); - } - print = current; - } - current = micros(); - } - // Print end of log, and update axis for use again - Serial.println(F("--PID Position Test Stop--\n")); - axis->write(axis->read()); - axis->detach(); - kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0.0, 0.0); -} - -void voltageTest(Axis* axis, int start, int stop){ - // Moves the defined Axis at a series of voltages and reports the resulting - // RPM - Serial.println(F("--Voltage Test Start--")); - int direction = 1; - if (stop < start){ direction = -1;} - int steps = abs(start - stop); - unsigned long startTime = millis() + 200; - unsigned long currentTime = millis(); - unsigned long printTime = 0; - - for (int i = 0; i <= steps; i++){ - axis->motorGearboxEncoder.motor.directWrite((start + (i*direction))); - while (startTime > currentTime - (i * 200)){ - currentTime = millis(); - if ((printTime + 50) <= currentTime){ - Serial.print((start + (i*direction))); - Serial.print(F(",")); - Serial.print(axis->motorGearboxEncoder.computeSpeed(),4); - Serial.print(F("\n")); - printTime = millis(); - } - } - } - - // Print end of log, and update axis for use again - axis->motorGearboxEncoder.motor.directWrite(0); - Serial.println(F("--Voltage Test Stop--\n")); - axis->write(axis->read()); - kinematics.forward(leftAxis.read(), rightAxis.read(), &sys.xPosition, &sys.yPosition, 0.0, 0.0); -} \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/Testing.h b/Firmware_1.26b/cnc_ctrl_v1/Testing.h deleted file mode 100644 index 4673b012..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/Testing.h +++ /dev/null @@ -1,25 +0,0 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - -// This file contains various testing provisions - -#ifndef testing_h -#define testing_h - -void PIDTestVelocity(Axis*, const float, const float, const float, const float); -void positionPIDOutput (Axis*, float, float); -void PIDTestPosition(Axis*, float, float, const float, const float, const float); -void voltageTest(Axis*, int, int); - -#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/TimerOne.cpp b/Firmware_1.26b/cnc_ctrl_v1/TimerOne.cpp deleted file mode 100644 index 5db3b317..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/TimerOne.cpp +++ /dev/null @@ -1,209 +0,0 @@ -/* - * Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328 - * Original code by Jesse Tane for http://labs.ideo.com August 2008 - * Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support - * Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop - * Modified June 2011 by Lex Talionis to add a function to read the timer - * Modified Oct 2011 by Andrew Richards to avoid certain problems: - * - Add (long) assignments and casts to TimerOne::read() to ensure calculations involving tmp, ICR1 and TCNT1 aren't truncated - * - Ensure 16 bit registers accesses are atomic - run with interrupts disabled when accessing - * - Remove global enable of interrupts (sei())- could be running within an interrupt routine) - * - Disable interrupts whilst TCTN1 == 0. Datasheet vague on this, but experiment shows that overflow interrupt - * flag gets set whilst TCNT1 == 0, resulting in a phantom interrupt. Could just set to 1, but gets inaccurate - * at very short durations - * - startBottom() added to start counter at 0 and handle all interrupt enabling. - * - start() amended to enable interrupts - * - restart() amended to point at startBottom() - * Modiied 7:26 PM Sunday, October 09, 2011 by Lex Talionis - * - renamed start() to resume() to reflect it's actual role - * - renamed startBottom() to start(). This breaks some old code that expects start to continue counting where it left off - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - * See Google Code project http://code.google.com/p/arduino-timerone/ for latest - */ -#ifndef TIMERONE_cpp -#define TIMERONE_cpp - -#include "Maslow.h" - -TimerOne Timer1; // preinstatiate - -ISR(TIMER1_OVF_vect) // interrupt service routine that wraps a user defined function supplied by attachInterrupt -{ - Timer1.isrCallback(); -} - - -void TimerOne::initialize(long microseconds) -{ - TCCR1A = 0; // clear control register A - TCCR1B = _BV(WGM13); // set mode 8: phase and frequency correct pwm, stop the timer - setPeriod(microseconds); -} - - -void TimerOne::setPeriod(long microseconds) // AR modified for atomic access -{ - - long cycles = (F_CPU / 2000000) * microseconds; // the counter runs backwards after TOP, interrupt is at BOTTOM so divide microseconds by 2 - if(cycles < RESOLUTION) clockSelectBits = _BV(CS10); // no prescale, full xtal - else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11); // prescale by /8 - else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11) | _BV(CS10); // prescale by /64 - else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12); // prescale by /256 - else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12) | _BV(CS10); // prescale by /1024 - else cycles = RESOLUTION - 1, clockSelectBits = _BV(CS12) | _BV(CS10); // request was out of bounds, set as maximum - - oldSREG = SREG; - cli(); // Disable interrupts for 16 bit register access - ICR1 = pwmPeriod = cycles; // ICR1 is TOP in p & f correct pwm mode - SREG = oldSREG; - - TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); - TCCR1B |= clockSelectBits; // reset clock select register, and starts the clock -} - -void TimerOne::setPwmDuty(char pin, int duty) -{ - unsigned long dutyCycle = pwmPeriod; - - dutyCycle *= duty; - dutyCycle >>= 10; - - oldSREG = SREG; - cli(); - if(pin == 1 || pin == 9) OCR1A = dutyCycle; - else if(pin == 2 || pin == 10) OCR1B = dutyCycle; - SREG = oldSREG; -} - -void TimerOne::pwm(char pin, int duty, long microseconds) // expects duty cycle to be 10 bit (1024) -{ - if(microseconds > 0) setPeriod(microseconds); - if(pin == 1 || pin == 9) { - DDRB |= _BV(PORTB1); // sets data direction register for pwm output pin - TCCR1A |= _BV(COM1A1); // activates the output pin - } - else if(pin == 2 || pin == 10) { - DDRB |= _BV(PORTB2); - TCCR1A |= _BV(COM1B1); - } - setPwmDuty(pin, duty); - resume(); // Lex - make sure the clock is running. We don't want to restart the count, in case we are starting the second WGM - // and the first one is in the middle of a cycle -} - -void TimerOne::disablePwm(char pin) -{ - if(pin == 1 || pin == 9) TCCR1A &= ~_BV(COM1A1); // clear the bit that enables pwm on PB1 - else if(pin == 2 || pin == 10) TCCR1A &= ~_BV(COM1B1); // clear the bit that enables pwm on PB2 -} - -void TimerOne::attachInterrupt(void (*isr)(), long microseconds) -{ - if(microseconds > 0) setPeriod(microseconds); - isrCallback = isr; // register the user's callback with the real ISR - TIMSK1 = _BV(TOIE1); // sets the timer overflow interrupt enable bit - // might be running with interrupts disabled (eg inside an ISR), so don't touch the global state -// sei(); - resume(); -} - -void TimerOne::detachInterrupt() -{ - TIMSK1 &= ~_BV(TOIE1); // clears the timer overflow interrupt enable bit - // timer continues to count without calling the isr -} - -void TimerOne::resume() // AR suggested -{ - TCCR1B |= clockSelectBits; -} - -void TimerOne::restart() // Depricated - Public interface to start at zero - Lex 10/9/2011 -{ - start(); -} - -void TimerOne::start() // AR addition, renamed by Lex to reflect it's actual role -{ - unsigned int tcnt1; - - TIMSK1 &= ~_BV(TOIE1); // AR added - GTCCR |= _BV(PSRSYNC); // AR added - reset prescaler (NB: shared with all 16 bit timers); - - oldSREG = SREG; // AR - save status register - cli(); // AR - Disable interrupts - TCNT1 = 0; - SREG = oldSREG; // AR - Restore status register - resume(); - do { // Nothing -- wait until timer moved on from zero - otherwise get a phantom interrupt - oldSREG = SREG; - cli(); - tcnt1 = TCNT1; - SREG = oldSREG; - } while (tcnt1==0); - -// TIFR1 = 0xff; // AR - Clear interrupt flags -// TIMSK1 = _BV(TOIE1); // sets the timer overflow interrupt enable bit -} - -void TimerOne::stop() -{ - TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); // clears all clock selects bits -} - -unsigned long TimerOne::read() //returns the value of the timer in microseconds -{ //rember! phase and freq correct mode counts up to then down again - unsigned long tmp; // AR amended to hold more than 65536 (could be nearly double this) - unsigned int tcnt1; // AR added - - oldSREG= SREG; - cli(); - tmp=TCNT1; - SREG = oldSREG; - - char scale=0; - switch (clockSelectBits) - { - case 1:// no prescalse - scale=0; - break; - case 2:// x8 prescale - scale=3; - break; - case 3:// x64 - scale=6; - break; - case 4:// x256 - scale=8; - break; - case 5:// x1024 - scale=10; - break; - } - - do { // Nothing -- max delay here is ~1023 cycles. AR modified - oldSREG = SREG; - cli(); - tcnt1 = TCNT1; - SREG = oldSREG; - } while (tcnt1==tmp); //if the timer has not ticked yet - - //if we are counting down add the top value to how far we have counted down - tmp = ( (tcnt1>tmp) ? (tmp) : (long)(ICR1-tcnt1)+(long)ICR1 ); // AR amended to add casts and reuse previous TCNT1 - return ((tmp*1000L)/(F_CPU /1000L))<. - * - * See Google Code project http://code.google.com/p/arduino-timerone/ for latest - */ -#ifndef TIMERONE_h -#define TIMERONE_h - -#define RESOLUTION 65536 // Timer1 is 16 bit - -class TimerOne -{ - public: - - // properties - unsigned int pwmPeriod; - unsigned char clockSelectBits; - char oldSREG; // To hold Status Register while ints disabled - - // methods - void initialize(long microseconds=1000000); - void start(); - void stop(); - void restart(); - void resume(); - unsigned long read(); - void pwm(char pin, int duty, long microseconds=-1); - void disablePwm(char pin); - void attachInterrupt(void (*isr)(), long microseconds=-1); - void detachInterrupt(); - void setPeriod(long microseconds); - void setPwmDuty(char pin, int duty); - void (*isrCallback)(); -}; - -extern TimerOne Timer1; -#endif \ No newline at end of file diff --git a/Firmware_1.26b/cnc_ctrl_v1/cnc_ctrl_v1.ino b/Firmware_1.26b/cnc_ctrl_v1/cnc_ctrl_v1.ino deleted file mode 100644 index 3523f955..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/cnc_ctrl_v1.ino +++ /dev/null @@ -1,120 +0,0 @@ -/*This file is part of the Maslow Control Software. - The Maslow Control Software is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - Maslow Control Software is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - You should have received a copy of the GNU General Public License - along with the Maslow Control Software. If not, see . - - Copyright 2014-2017 Bar Smith*/ - - -/* To the projects contributers: - * - * it is highly recommended to activate warning output of the arduino gcc compiler. - * Compiler warnings are a great help to keep the codebase clean and can give clues - * to potentally wrong code. Also, if a codebase produces too many warnings it gets - * more likely that possibly important warnings could be overlooked. - * - * Since the Arduino IDE suppresses any compiler output by default we have to activate it. - * - * Therefore Arduino IDE users need to activate compiler output in the - * preferences dialog. Additionally Arduino IDE needs to tell the compiler to generate - * warning messages. This is done in the Arduino IDE's preferences.txt file - you can - * get there via the Preferences Dialog - there is a link to the file at the bottom. - * Edit the line "compiler.warning_level=none" to "compiler.warning_level=all" - * and restart the IDE. - */ - - -// TLE5206 v1.4 -// EastBaySource TB6643 V1.5 - -#include "Maslow.h" - -// Define system global state structure -system_t sys; - -// Define the global settings storage - treat as readonly -settings_t sysSettings; - -// Global realtime executor bitflag variable for setting various alarms. -byte systemRtExecAlarm; - -// Define axes, it might be tighter to define these within the sys struct -Axis leftAxis; -Axis rightAxis; -Axis zAxis; - -// Define kinematics, is it necessary for this to be a class? Is this really -// going to be reused? -Kinematics kinematics; - -void setup(){ - Serial.begin(57600); - Serial.print(F("PCB v1.")); - Serial.print(getPCBVersion()); - if (TLE5206 == true) { Serial.print(F(" TLE5206 ")); } - Serial.println(F(" Detected")); - sys.inchesToMMConversion = 1; - settingsLoadFromEEprom(); - setupAxes(); - settingsLoadStepsFromEEprom(); - // Set initial desired position of the machine to its current position - leftAxis.write(leftAxis.read()); - rightAxis.write(rightAxis.read()); - zAxis.write(zAxis.read()); - readyCommandString.reserve(INCBUFFERLENGTH); //Allocate memory so that this string doesn't fragment the heap as it grows and shrinks - gcodeLine.reserve(INCBUFFERLENGTH); - - #ifndef SIMAVR // Using the timer will crash simavr, so we disable it. - // Instead, we'll run runsOnATimer periodically in loop(). - Timer1.initialize(LOOPINTERVAL); - Timer1.attachInterrupt(runsOnATimer); - #endif - - Serial.println(F("Grbl v1.00")); // Why GRBL? Apparently because some programs are silly and look for this as an initialization command - Serial.println(F("ready")); - reportStatusMessage(STATUS_OK); - -} - -void runsOnATimer(){ - #if misloopDebug > 0 - if (inMovementLoop && !movementUpdated){ - movementFail = true; - } - #endif - movementUpdated = false; - leftAxis.computePID(); - rightAxis.computePID(); - zAxis.computePID(); -} - -void loop(){ - // This section is called on startup and whenever a stop command is issued - initGCode(); - if (sys.stop){ // only called on sys.stop to prevent stopping - initMotion(); // on USB disconnect. Might consider removing - setSpindlePower(false); // this restriction for safety if we are - laserOn(false); // EBS added laser - } // comfortable that USB disconnects are - // not a common occurrence anymore - kinematics.init(); - - // Let's go! - sys.stop = false; // We should consider an abort option which - // is not reset automatically such as a software - // limit - while (!sys.stop){ - gcodeExecuteLoop(); - #ifdef SIMAVR // Normally, runsOnATimer() will, well, run on a timer. See also setup(). - runsOnATimer(); - #endif - execSystemRealtime(); - } -} diff --git a/Firmware_1.26b/cnc_ctrl_v1/utility/direct_pin_read.h b/Firmware_1.26b/cnc_ctrl_v1/utility/direct_pin_read.h deleted file mode 100644 index 97b88620..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/utility/direct_pin_read.h +++ /dev/null @@ -1,27 +0,0 @@ -#ifndef direct_pin_read_h_ -#define direct_pin_read_h_ - -#if defined(__AVR__) || defined(__MK20DX128__) || defined(__MK20DX256__) - -#define IO_REG_TYPE uint8_t -#define PIN_TO_BASEREG(pin) (portInputRegister(digitalPinToPort(pin))) -#define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin)) -#define DIRECT_PIN_READ(base, mask) (((*(base)) & (mask)) ? 1 : 0) - -#elif defined(__SAM3X8E__) - -#define IO_REG_TYPE uint32_t -#define PIN_TO_BASEREG(pin) (portInputRegister(digitalPinToPort(pin))) -#define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin)) -#define DIRECT_PIN_READ(base, mask) (((*(base)) & (mask)) ? 1 : 0) - -#elif defined(__PIC32MX__) - -#define IO_REG_TYPE uint32_t -#define PIN_TO_BASEREG(pin) (portModeRegister(digitalPinToPort(pin))) -#define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin)) -#define DIRECT_PIN_READ(base, mask) (((*(base+4)) & (mask)) ? 1 : 0) - -#endif - -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_config.h b/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_config.h deleted file mode 100644 index cde6adf2..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_config.h +++ /dev/null @@ -1,87 +0,0 @@ -#if defined(__AVR__) - -#include -#include - -#define attachInterrupt(num, func, mode) enableInterrupt(num) -#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) -#define SCRAMBLE_INT_ORDER(num) ((num < 4) ? num + 2 : ((num < 6) ? num - 4 : num)) -#define DESCRAMBLE_INT_ORDER(num) ((num < 2) ? num + 4 : ((num < 6) ? num - 2 : num)) -#else -#define SCRAMBLE_INT_ORDER(num) (num) -#define DESCRAMBLE_INT_ORDER(num) (num) -#endif - -static void enableInterrupt(uint8_t num) -{ - switch (DESCRAMBLE_INT_ORDER(num)) { - #if defined(EICRA) && defined(EIMSK) - case 0: - EICRA = (EICRA & 0xFC) | 0x01; - EIMSK |= 0x01; - return; - case 1: - EICRA = (EICRA & 0xF3) | 0x04; - EIMSK |= 0x02; - return; - case 2: - EICRA = (EICRA & 0xCF) | 0x10; - EIMSK |= 0x04; - return; - case 3: - EICRA = (EICRA & 0x3F) | 0x40; - EIMSK |= 0x08; - return; - #elif defined(MCUCR) && defined(GICR) - case 0: - MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); - GICR |= (1 << INT0); - return; - case 1: - MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); - GICR |= (1 << INT1); - return; - #elif defined(MCUCR) && defined(GIMSK) - case 0: - MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); - GIMSK |= (1 << INT0); - return; - case 1: - MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); - GIMSK |= (1 << INT1); - return; - #endif - #if defined(EICRB) && defined(EIMSK) - case 4: - EICRB = (EICRB & 0xFC) | 0x01; - EIMSK |= 0x10; - return; - case 5: - EICRB = (EICRB & 0xF3) | 0x04; - EIMSK |= 0x20; - return; - case 6: - EICRB = (EICRB & 0xCF) | 0x10; - EIMSK |= 0x40; - return; - case 7: - EICRB = (EICRB & 0x3F) | 0x40; - EIMSK |= 0x80; - return; - #endif - } -} - -#elif defined(__PIC32MX__) - -#ifdef ENCODER_OPTIMIZE_INTERRUPTS -#undef ENCODER_OPTIMIZE_INTERRUPTS -#endif - -#else - -#ifdef ENCODER_OPTIMIZE_INTERRUPTS -#undef ENCODER_OPTIMIZE_INTERRUPTS -#endif - -#endif diff --git a/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_pins.h b/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_pins.h deleted file mode 100644 index e677c4f8..00000000 --- a/Firmware_1.26b/cnc_ctrl_v1/utility/interrupt_pins.h +++ /dev/null @@ -1,156 +0,0 @@ -// interrupt pins for known boards - -// Teensy (and maybe others) define these automatically -#if !defined(CORE_NUM_INTERRUPT) - -// Wiring boards -#if defined(WIRING) - #define CORE_NUM_INTERRUPT NUM_EXTERNAL_INTERRUPTS - #if NUM_EXTERNAL_INTERRUPTS > 0 - #define CORE_INT0_PIN EI0 - #endif - #if NUM_EXTERNAL_INTERRUPTS > 1 - #define CORE_INT1_PIN EI1 - #endif - #if NUM_EXTERNAL_INTERRUPTS > 2 - #define CORE_INT2_PIN EI2 - #endif - #if NUM_EXTERNAL_INTERRUPTS > 3 - #define CORE_INT3_PIN EI3 - #endif - #if NUM_EXTERNAL_INTERRUPTS > 4 - #define CORE_INT4_PIN EI4 - #endif - #if NUM_EXTERNAL_INTERRUPTS > 5 - #define CORE_INT5_PIN EI5 - #endif - #if NUM_EXTERNAL_INTERRUPTS > 6 - #define CORE_INT6_PIN EI6 - #endif - #if NUM_EXTERNAL_INTERRUPTS > 7 - #define CORE_INT7_PIN EI7 - #endif - -// Arduino Uno, Duemilanove, Diecimila, LilyPad, Mini, Fio, etc... -#elif defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) - #define CORE_NUM_INTERRUPT 2 - #define CORE_INT0_PIN 2 - #define CORE_INT1_PIN 3 - -// Arduino Mega -#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) - #define CORE_NUM_INTERRUPT 6 - #define CORE_INT0_PIN 2 - #define CORE_INT1_PIN 3 - #define CORE_INT2_PIN 21 - #define CORE_INT3_PIN 20 - #define CORE_INT4_PIN 19 - #define CORE_INT5_PIN 18 - -// Arduino Leonardo (untested) -#elif defined(__AVR_ATmega32U4__) && !defined(CORE_TEENSY) - #define CORE_NUM_INTERRUPT 4 - #define CORE_INT0_PIN 3 - #define CORE_INT1_PIN 2 - #define CORE_INT2_PIN 0 - #define CORE_INT3_PIN 1 - -// Sanguino (untested) -#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) - #define CORE_NUM_INTERRUPT 3 - #define CORE_INT0_PIN 10 - #define CORE_INT1_PIN 11 - #define CORE_INT2_PIN 2 - -// Chipkit Uno32 - attachInterrupt may not support CHANGE option -#elif defined(__PIC32MX__) && defined(_BOARD_UNO_) - #define CORE_NUM_INTERRUPT 5 - #define CORE_INT0_PIN 38 - #define CORE_INT1_PIN 2 - #define CORE_INT2_PIN 7 - #define CORE_INT3_PIN 8 - #define CORE_INT4_PIN 35 - -// Chipkit Uno32 - attachInterrupt may not support CHANGE option -#elif defined(__PIC32MX__) && defined(_BOARD_MEGA_) - #define CORE_NUM_INTERRUPT 5 - #define CORE_INT0_PIN 3 - #define CORE_INT1_PIN 2 - #define CORE_INT2_PIN 7 - #define CORE_INT3_PIN 21 - #define CORE_INT4_PIN 20 - -// http://hlt.media.mit.edu/?p=1229 -#elif defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__) - #define CORE_NUM_INTERRUPT 1 - #define CORE_INT0_PIN 2 - -// Arduino Due (untested) -#elif defined(__SAM3X8E__) - #define CORE_NUM_INTERRUPT 54 - #define CORE_INT0_PIN 0 - #define CORE_INT1_PIN 1 - #define CORE_INT2_PIN 2 - #define CORE_INT3_PIN 3 - #define CORE_INT4_PIN 4 - #define CORE_INT5_PIN 5 - #define CORE_INT6_PIN 6 - #define CORE_INT7_PIN 7 - #define CORE_INT8_PIN 8 - #define CORE_INT9_PIN 9 - #define CORE_INT10_PIN 10 - #define CORE_INT11_PIN 11 - #define CORE_INT12_PIN 12 - #define CORE_INT13_PIN 13 - #define CORE_INT14_PIN 14 - #define CORE_INT15_PIN 15 - #define CORE_INT16_PIN 16 - #define CORE_INT17_PIN 17 - #define CORE_INT18_PIN 18 - #define CORE_INT19_PIN 19 - #define CORE_INT20_PIN 20 - #define CORE_INT21_PIN 21 - #define CORE_INT22_PIN 22 - #define CORE_INT23_PIN 23 - #define CORE_INT24_PIN 24 - #define CORE_INT25_PIN 25 - #define CORE_INT26_PIN 26 - #define CORE_INT27_PIN 27 - #define CORE_INT28_PIN 28 - #define CORE_INT29_PIN 29 - #define CORE_INT30_PIN 30 - #define CORE_INT31_PIN 31 - #define CORE_INT32_PIN 32 - #define CORE_INT33_PIN 33 - #define CORE_INT34_PIN 34 - #define CORE_INT35_PIN 35 - #define CORE_INT36_PIN 36 - #define CORE_INT37_PIN 37 - #define CORE_INT38_PIN 38 - #define CORE_INT39_PIN 39 - #define CORE_INT40_PIN 40 - #define CORE_INT41_PIN 41 - #define CORE_INT42_PIN 42 - #define CORE_INT43_PIN 43 - #define CORE_INT44_PIN 44 - #define CORE_INT45_PIN 45 - #define CORE_INT46_PIN 46 - #define CORE_INT47_PIN 47 - #define CORE_INT48_PIN 48 - #define CORE_INT49_PIN 49 - #define CORE_INT50_PIN 50 - #define CORE_INT51_PIN 51 - #define CORE_INT52_PIN 52 - #define CORE_INT53_PIN 53 - -#endif -#endif - -#if !defined(CORE_NUM_INTERRUPT) -#error "Interrupts are unknown for this board, please add to this code" -#endif -#if CORE_NUM_INTERRUPT <= 0 -#error "Encoder requires interrupt pins, but this board does not have any :(" -#error "You could try defining ENCODER_DO_NOT_USE_INTERRUPTS as a kludge." -#endif - diff --git a/Firmware_1.26b/platformio.ini b/Firmware_1.26b/platformio.ini deleted file mode 100644 index 6dd2a572..00000000 --- a/Firmware_1.26b/platformio.ini +++ /dev/null @@ -1,38 +0,0 @@ -; PlatformIO Project Configuration File -; -; Build options: build flags, source filter -; Upload options: custom upload port, speed and extra flags -; Library options: dependencies, extra library storages -; Advanced options: extra scripting -; -; Please visit documentation for the other options and examples -; http://docs.platformio.org/page/projectconf.html - -[platformio] -src_dir = cnc_ctrl_v1 - -[env:megaatmega2560] -platform = atmelavr -board = megaatmega2560 -framework = arduino - -[env:simavr] -platform = atmelavr -board = megaatmega2560 -framework = arduino -extra_scripts = platformio/simavr_env.py -build_unflags = -Os -build_flags = -g -O0 -DSIMAVR -DFAKE_SERVO -monitor_port = /tmp/simavr-uart0 - -;[env:teensy36] -;platform = teensy -;board = teensy36 -;framework = arduino -;extra_scripts = platformio/teensy_env.py - -;[env:teensy35] -;platform = teensy -;board = teensy35 -;framework = arduino -;extra_scripts = platformio/teensy_env.py diff --git a/Firmware_1.26b/platformio/simavr_env.py b/Firmware_1.26b/platformio/simavr_env.py deleted file mode 100644 index ab5b46bc..00000000 --- a/Firmware_1.26b/platformio/simavr_env.py +++ /dev/null @@ -1,21 +0,0 @@ -from SCons.Script import ARGUMENTS, AlwaysBuild - -Import('env') - -# Run the linker with "-g", to prevent stripping of debugging symbols -env.Append( - LINKFLAGS=[ - "-g" - ] -) - -# Don't try to upload the firmware -env.Replace(UPLOADHEXCMD="echo Upload is not supported for ${PIOENV}. Skipping") - -pioenv = env.get("PIOENV") -progname = env.get("PROGNAME") - -def simulate_callback(*args, **kwargs): - env.Execute("./simduino/simduino .pioenvs/" + pioenv + "/" + progname + ".elf") - -AlwaysBuild(env.Alias("simulate", "", simulate_callback)) diff --git a/Firmware_1.26b/platformio/teensy_env.py b/Firmware_1.26b/platformio/teensy_env.py deleted file mode 100644 index 0f0265e5..00000000 --- a/Firmware_1.26b/platformio/teensy_env.py +++ /dev/null @@ -1,12 +0,0 @@ -import os - -Import('env') - -varname = env.get("PIOENV") + "_UPLOAD" - -if varname in os.environ: - print "$"+ varname + " is set, enabling upload." -else: - # Don't try to upload the firmware - env.Replace(UPLOADHEXCMD="echo Upload is disabled by default for ${PIOENV}. " + - "To enable upload, set " + varname + "environment variable")