Merge pull request #132 from TimEvWw/master

Genesis 1.5 board support and Express reporting encoder position
FarmBot · Feb 11, 2020 · ffe3573 · ffe3573
2 parents f452af7 + 37bc380
commit ffe3573
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Showing 12 changed files with 47 additions and 77 deletions.
diff --git a/src/Board.h b/src/Board.h
@@ -1,9 +1,15 @@
 #ifndef FARMBOT_BOARD_ID
 
+  // Farmbot using RAMPS board
   //#define RAMPS_V14
+
   //#define FARMDUINO_V10
   //#define FARMDUINO_V14
+
+  // Farmbot Genesis 1.5
   //#define FARMDUINO_V30
+
+  // Farmbot Express
   #define FARMDUINO_EXP_V20
 
 #else

diff --git a/src/Movement.cpp b/src/Movement.cpp
@@ -208,7 +208,7 @@ void Movement::loadSettings()
 
 }
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   void Movement::initTMC2130()
   {
     axisX.initTMC2130();
@@ -289,7 +289,7 @@ void Movement::loadSettings()
 
 void Movement::test()
 {
-  #if defined(FARMDUINO_EXP_V20)
+  #if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   //axisX.enableMotor();
   //axisX.setMotorStep();
   //delayMicroseconds(500);
@@ -747,18 +747,16 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
           break;
 
         case 2:
-          #if defined(FARMDUINO_EXP_V20)
-
-          serialBuffer += "R89";
-          serialBuffer += " X";
-          serialBuffer += axisX.getLoad();
-          serialBuffer += " Y";
-          serialBuffer += axisY.getLoad();
-          serialBuffer += " Z";
-          serialBuffer += axisZ.getLoad();
-          serialBuffer += CurrentState::getInstance()->getQAndNewLine();
-
-          #endif
+          //#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)          
+          //serialBuffer += "R89";
+          //serialBuffer += " X";
+          //serialBuffer += axisX.getLoad();
+          //serialBuffer += " Y";
+          //serialBuffer += axisY.getLoad();
+          //serialBuffer += " Z";
+          //serialBuffer += axisZ.getLoad();
+          //serialBuffer += CurrentState::getInstance()->getQAndNewLine();          
+          //#endif
           break;
 
         default:
@@ -767,14 +765,14 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
 
       serialMessageNr++;
 
-      #if !defined(FARMDUINO_EXP_V20)
+      #if !defined(FARMDUINO_EXP_V20) && !defined(FARMDUINO_V30)
       if (serialMessageNr > 1)
       {
         serialMessageNr = 0;
       }
       #endif
 
-      #if defined(FARMDUINO_EXP_V20)
+      #if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 
       if (serialMessageNr > 2)
       {
@@ -1400,56 +1398,22 @@ void Movement::checkAxisVsEncoder(MovementAxis *axis, MovementEncoder *encoder,
 #if defined(FARMDUINO_EXP_V20)
 void Movement::checkAxisVsEncoder(MovementAxis *axis, MovementEncoder *encoder, float *missedSteps, long *lastPosition, long *encoderLastPosition, int *encoderUseForPos, float *encoderStepDecay, bool *encoderEnabled)
 {
-
-  //
-  //  /**/
-  //  /*
-  //  Serial.print("R99");
-  //  Serial.print(" XXX ");
-  //  Serial.print(" cur pos ");
-  //  Serial.print(axis->currentPosition());
-  //  Serial.print(" last pos ");
-  //  Serial.print(*lastPosition);
-  //  */
-  //
-
-  //if (axis->stallDetected()) {
-  //  Serial.print("X");
-  //}
-  //else
-  //{
-  //  Serial.print(".");
-  //}
-
   /**/
   bool stallGuard = false;
   bool standStill = false;
   uint8_t status = 0;
 
   if (*encoderEnabled) {    
 
-    //TMC2130X.read_STAT();
-
     status = axis->getStatus();
 
     stallGuard = status & FB_TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
     standStill = status & FB_TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
 
     if (stallGuard || standStill) {
-      //Serial.print(".");
       // In case of stall detection, count this as a missed step
       (*missedSteps)++;
       axis->setCurrentPosition(*lastPosition);
-
-
-      //if (int(*missedSteps) % 10 == 0) {
-      //  Serial.println();
-      //  Serial.print(*missedSteps);
-      //  Serial.print("/");
-      //  Serial.print(axis->currentPosition());
-      //  Serial.println();
-      //}
-
     }
     else {
       // Decrease amount of missed steps if there are no missed step
@@ -1570,7 +1534,7 @@ void Movement::loadMotorSettings()
   /**/
 
 /*
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   loadSettingsTMC2130();
 #endif
 */
@@ -1722,7 +1686,7 @@ bool Movement::endStopsReached()
 void Movement::storePosition()
 {
 
-#if !defined(FARMDUINO_EXP_V20)
+#if !defined(FARMDUINO_EXP_V20) &&  !defined(FARMDUINO_V30)
   if (motorConsEncoderEnabled[0])
   {
     CurrentState::getInstance()->setX(encoderX.currentPosition());
@@ -1751,7 +1715,7 @@ void Movement::storePosition()
   }
 #endif
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   CurrentState::getInstance()->setX(axisX.currentPosition());
   CurrentState::getInstance()->setY(axisY.currentPosition());
   CurrentState::getInstance()->setZ(axisZ.currentPosition());

diff --git a/src/Movement.h b/src/Movement.h
@@ -37,7 +37,7 @@ class Movement
   void handleMovementInterrupt();
   void checkEncoders();
 
-  #if defined(FARMDUINO_EXP_V20)
+  #if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
     void initTMC2130();
     void loadSettingsTMC2130();
   #endif

diff --git a/src/MovementAxis.cpp b/src/MovementAxis.cpp
@@ -71,7 +71,7 @@ void MovementAxis::test()
 
 }
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 
 unsigned int MovementAxis::getLostSteps()
 {
@@ -611,7 +611,7 @@ void MovementAxis::setDirectionUp()
 //#endif
 
 /*
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 
   // The TMC2130 uses a command to change direction, not a pin
   if (motorMotorInv)
@@ -660,7 +660,7 @@ void MovementAxis::setDirectionDown()
 
   //#endif
 /*
-  #if defined(FARMDUINO_EXP_V20)
+  #if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 
   // The TMC2130 uses a command to change direction, not a pin
   if (motorMotorInv)
@@ -941,7 +941,7 @@ void MovementAxis::resetMotorStepWrite46()
   PORTL &= B11110111;
 }
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 //// TMC2130 Functions
 
 void MovementAxis::setMotorStepWriteTMC2130()

diff --git a/src/MovementAxis.h b/src/MovementAxis.h
@@ -29,7 +29,7 @@ class MovementAxis
 public:
   MovementAxis();
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   TMC2130_Basics *TMC2130A;
   TMC2130_Basics *TMC2130B;
 #endif
@@ -92,14 +92,14 @@ class MovementAxis
   char channelLabel;
   bool movementStarted;
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   void initTMC2130();
   void loadSettingsTMC2130(int motorCurrent, int  stallSensitivity, int microSteps);
   uint16_t getLoad();
 
 #endif
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   void setMotorStepWriteTMC2130();
   void setMotorStepWriteTMC2130_2();
   void resetMotorStepWriteTMC2130();

diff --git a/src/MovementEncoder.cpp b/src/MovementEncoder.cpp
@@ -76,7 +76,7 @@ void MovementEncoder::loadMdlEncoderId(MdlSpiEncoders encoder)
 
 void MovementEncoder::setPosition(long newPosition)
 {
-  #if defined(RAMPS_V14) || defined(FARMDUINO_V10)
+  #if defined(RAMPS_V14) || defined(FARMDUINO_V10) || defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
     position = newPosition;
   #endif
 
@@ -277,7 +277,7 @@ float MovementEncoder::getMissedSteps()
 
 void MovementEncoder::checkMissedSteps()
 {
-  #if !defined(FARMDUINO_EXP_V20)
+  #if !defined(FARMDUINO_EXP_V20) && !defined(FARMDUINO_V30)
     if (encoderEnabled)
     {
       bool stepMissed = false;
@@ -307,7 +307,7 @@ void MovementEncoder::checkMissedSteps()
   #endif
 
 /*
-  #if defined(FARMDUINO_EXP_V20)
+  #if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 
     if (encoderEnabled) {
       if (axis->stallDetected()) {

diff --git a/src/TMC2130.cpp b/src/TMC2130.cpp
@@ -8,7 +8,7 @@
 
 #include "TMC2130.h"
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 
 //void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int current, int sensitivity)
 void loadTMC2130ParametersMotor(TMC2130_Basics *tb, int microsteps, int current, int sensitivity)

diff --git a/src/TMC2130.h b/src/TMC2130.h
@@ -14,7 +14,7 @@
 #include "pins.h"
 #include "Board.h"
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   #include "TMC2130_Basics.h"
 
   static TMC2130_Basics TMC2130X(X_CHIP_SELECT);

diff --git a/src/farmbot_arduino_controller.cpp b/src/farmbot_arduino_controller.cpp
@@ -2,7 +2,7 @@
 #include "farmbot_arduino_controller.h"
 
 /**/
-//#if !defined(FARMDUINO_EXP_V20)
+//#if !defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 #include "TimerOne.h"
 //#endif
 
@@ -52,7 +52,7 @@ unsigned long interruptDurationMax = 0;
 bool interruptBusy = false;
 int interruptSecondTimer = 0;
 
-//#if !defined(FARMDUINO_EXP_V20)
+//#if !defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 void interrupt(void)
 {
   if (!debugInterrupt)
@@ -284,7 +284,7 @@ void checkParamsChanged()
     }
 
 
-    #if defined(FARMDUINO_EXP_V20)
+    #if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
       Movement::getInstance()->loadSettingsTMC2130();
     #endif
 
@@ -503,7 +503,7 @@ void setPinInputOutput()
 }
 #endif
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 void setPinInputOutput()
 {
   Serial.print(COMM_REPORT_COMMENT);
@@ -621,13 +621,13 @@ void startInterrupt()
   // Interrupt management code library written by Paul Stoffregen
   // The default time 100 micro seconds
 
-  //#if !defined(FARMDUINO_EXP_V20)
+  //#if !defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
     Timer1.attachInterrupt(interrupt);
     Timer1.initialize(MOVEMENT_INTERRUPT_SPEED);
     Timer1.start();
   //#endif
 
-  //#if defined(FARMDUINO_EXP_V20)
+  //#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   //  Serial.println("set timer");
   //      TIMSK2 = (TIMSK2 & B11111110) | 0x01; // Enable timer overflow
   //      TCCR2B = (TCCR2B & B11111000) | 0x01; // Set divider to 1
@@ -735,7 +735,7 @@ void startServo()
   ServoControl::getInstance()->attach();
 }
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 
 /**/
 //static Trinamic_TMC2130 controllerTMC2130_X(X_CHIP_SELECT);

diff --git a/src/farmbot_arduino_controller.h b/src/farmbot_arduino_controller.h
@@ -16,7 +16,7 @@
 #include "MemoryFree.h"
 #include "Debug.h"
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   #include "TMC2130.h"
 #endif
 
@@ -49,7 +49,7 @@ void setup();
   void setPinInputOutput();
   void startSerial();
 
-  #if defined(FARMDUINO_EXP_V20)
+  #if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   void loadTMC2130drivers();
   void loadTMC2130parameters();
   void startupTmc();

diff --git a/src/pins.h b/src/pins.h
@@ -257,7 +257,7 @@
 
 #endif
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
 
     // X1-AXIS
   #define X_STEP_PIN 26     // X1_STEP_PIN

diff --git a/src/src.ino b/src/src.ino
@@ -19,7 +19,7 @@ void setup()
 
   readParameters();
 
-#if defined(FARMDUINO_EXP_V20)
+#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
   loadTMC2130drivers();
   startupTmc();
   loadTMC2130parameters();