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FrickupWinder.cpp
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FrickupWinder.cpp
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/* Copyright (c) 2014-2021 Matt Frick All Rights Reserved. */
/* This file is best viewed with Tabs = 4 spaces */
#ifdef OUTSIDE_OF_ARDUINO_IDE
#include "Arduino.h"
#include "core_pins.h"
#include "mk20dx128.h"
#endif
#include <LiquidCrystal.h>
#include "EEPROM.h"
#define SOFTWARE_VERSION 1
#define USE_SERIAL
#define USE_ENCODER 1
#if USE_ENCODER
#include <Encoder.h>
#endif
/* TODO: macro definitions for pins: */
LiquidCrystal lcd(7, 8, 9, 10, 11, 12);
#ifdef USE_ENCODER
Encoder encoder_knob(18, 19);
#endif
volatile int strobe_rotation;
#define DIG_FILTER_MASK 0x1FF
#define FILT_LEN 10
typedef struct filter {
int buf[FILT_LEN];
int idx;
int last;
} filter_t;
typedef enum {
PT_UNUSED,
PT_DIGITAL,
PT_ANALOG
} pintype_t;
// Most all digital inputs conduct to ground when asserted:
#define DIG_ASSERTED 0
// There are some exceptions: STOP
#define STOP_ASSERTED 1
typedef enum {
PD_UNUSED,
PD_OUTPUT = OUTPUT,
PD_INPUT = INPUT_PULLUP,
} pindir_t;
typedef enum {
SIG_INVALID, // 0
SIG_TRAV_FAULT,
SIG_TRAV_ENABLE,
SIG_TRAV_DIR,
SIG_TRAV_STEP,
SIG_SPIN_STEP, // 5
SIG_SPIN_ENABLE,
SIG_SPIN_DIR,
SIG_LCD1,
SIG_LCD2,
SIG_LCD3, // 10
SIG_LCD4,
SIG_LCD5,
SIG_LCD6,
SIG_TEENSY_LED,
SIG_LIMIT_SW2, // 15
SIG_LIMIT_SW1,
SIG_SPIN_SPEED,
SIG_TRAV_RATE,
SIG_ENCODER_B,
SIG_ENCODER_A, //20
SIG_ENCODER_BUTTON,
SIG_COUNT_RESET,
SIG_MAX_DOWN,
SIG_MAX_UP,
SIG_LLIM_LED, // 25
SIG_SET_LIM_R,
SIG_STOP,
SIG_WIND_DIR, // input, not stepper dir output!
SIG_STROBE,
SIG_RLIM_LED, // 30
SIG_START,
SIG_SET_LIM_L,
SIG_RLIM,
SIG_LLIM, // 34
SIG_LAST, // INVALID,
} signal_t;
typedef struct pinmap {
int num;
pindir_t dir;
pintype_t type;
signal_t signal;
char name[20];
filter_t *filter;
int value;
int prev_value;
} pinmap_t;
filter_t analog_filter1;
filter_t analog_filter2;
filter_t analog_filter3;
filter_t analog_filter4;
#define NUM_PINS (int)(sizeof(pin_map)/sizeof(pin_map[0]))
pinmap_t pin_map[] = {
{ 0, PD_UNUSED, PT_UNUSED, SIG_INVALID, "Invalid" },
{ 0, PD_INPUT, PT_DIGITAL, SIG_TRAV_FAULT, "TravFault" },
{ 1, PD_OUTPUT, PT_DIGITAL, SIG_TRAV_ENABLE, "TravEnable" },
{ 2, PD_OUTPUT, PT_DIGITAL, SIG_TRAV_DIR, "TravDir" },
{ 3, PD_OUTPUT, PT_DIGITAL, SIG_TRAV_STEP, "TravStep" },
{ 4, PD_OUTPUT, PT_DIGITAL, SIG_SPIN_STEP, "SpinStep" },
{ 5, PD_OUTPUT, PT_DIGITAL, SIG_SPIN_ENABLE, "SpinEnable" },
{ 6, PD_OUTPUT, PT_DIGITAL, SIG_SPIN_DIR, "SpinDir" },
{ 7, PD_OUTPUT, PT_DIGITAL, SIG_LCD1, "LCD1" },
{ 8, PD_OUTPUT, PT_DIGITAL, SIG_LCD2, "LCD2" },
{ 9, PD_OUTPUT, PT_DIGITAL, SIG_LCD3, "LCD3" },
{ 10, PD_OUTPUT, PT_DIGITAL, SIG_LCD4, "LCD4" },
{ 11, PD_OUTPUT, PT_DIGITAL, SIG_LCD5, "LCD_5" },
{ 12, PD_OUTPUT, PT_DIGITAL, SIG_LCD6, "LCD_6" },
{ 13, PD_OUTPUT, PT_DIGITAL, SIG_TEENSY_LED, "TeensyLED" },
{ 14, PD_INPUT, PT_DIGITAL, SIG_LIMIT_SW2, "LimitSw2" },
{ 15, PD_INPUT, PT_DIGITAL, SIG_LIMIT_SW1, "LimitSw1" },
{ 16, PD_INPUT, PT_ANALOG, SIG_SPIN_SPEED, "SpinSpeed", &analog_filter1 },
{ 17, PD_INPUT, PT_ANALOG, SIG_TRAV_RATE, "TravRate", &analog_filter2 },
{ 18, PD_INPUT, PT_DIGITAL, SIG_ENCODER_B, "EncoderB" },
{ 19, PD_INPUT, PT_DIGITAL, SIG_ENCODER_A, "EncoderA" },
{ 20, PD_INPUT, PT_DIGITAL, SIG_ENCODER_BUTTON, "EncButton" },
{ 21, PD_INPUT, PT_DIGITAL, SIG_COUNT_RESET, "CntReset" },
{ 22, PD_INPUT, PT_DIGITAL, SIG_MAX_DOWN, "Max Down" },
{ 23, PD_INPUT, PT_DIGITAL, SIG_MAX_UP, "Max Up" },
{ 24, PD_OUTPUT, PT_DIGITAL, SIG_LLIM_LED, "LLim LED" },
{ 25, PD_INPUT, PT_DIGITAL, SIG_SET_LIM_R, "SetMaxR" },
{ 26, PD_INPUT, PT_DIGITAL, SIG_STOP, "Stop" },
{ 27, PD_INPUT, PT_DIGITAL, SIG_WIND_DIR, "WindDir" },
{ 28, PD_OUTPUT, PT_DIGITAL, SIG_STROBE, "Strobe" },
// { 29, PD_UNUSED, PT_DIGITAL, "_unused2_" },
{ 30, PD_OUTPUT, PT_DIGITAL, SIG_RLIM_LED, "RLim LED" },
{ 31, PD_INPUT, PT_DIGITAL, SIG_START, "Start" },
{ 32, PD_INPUT, PT_DIGITAL, SIG_SET_LIM_L, "SetLimL" },
#if 0 // DONT ENABLE: This made it not program when socketed!
{ 33, PD_OUTPUT, PT_DIGITAL, SIG_RLIM_LED, "RLim LED" },
#endif
{ A12, PD_INPUT, PT_ANALOG, SIG_RLIM, "RLim", &analog_filter3 },
{ A13, PD_INPUT, PT_ANALOG, SIG_LLIM, "LLim", &analog_filter4 },
};
#define SPINDLE_STEPS_PER_REV 2000
#define SPINDLE_INITIAL_PERIOD 65000
#define TRAV_STEPS_PER_REV 200
#define TRAV_MAX_ACCEL_STEPS 125
#define TRAV_INITIAL_PERIOD 2000
#define TRAV_MAX_ACCEL_STEPS_HFAST 10
#define TRAV_LIMSW_OPEN_TO_AXIS_ZERO 5
#define TRAV_LIM_TO_LIM (TRAV_STEPS_PER_REV * 40)
#define H_CLOSE2_MARGIN TRAV_LIMSW_OPEN_TO_AXIS_ZERO
#define TRAV_DISTANCE_THOU 1882
typedef enum {
MOT_STOPPED,
MOT_ACCEL,
MOT_AT_MAX,
MOT_DECEL
} motor_state_t;
typedef void (EnableStepDriver)(int val);
typedef int (SendStepPulse)(void);
typedef void (SetDirection)(int dir);
typedef void (StartTimer)(int init, unsigned long period);
typedef void (StopTimer)(void);
typedef int (GetTimerHz)(void);
typedef int (CheckLimit)(void);
typedef struct MotFunctions {
EnableStepDriver *enable_driver;
SendStepPulse *send_step;
SetDirection *set_direction;
StartTimer *start_timer;
StopTimer *stop_timer;
GetTimerHz *get_timer_hz;
CheckLimit *check_limit1;
CheckLimit *check_limit2;
} MotFunctions_t;
/*************************** FTM Spindle Specifics: ********************/
#define FTM_CLOCK_PRESCALE 0
#define FTM_STEPS_PER_IRQ 2
#define FTM_STEP_PIN 4
void SetSpindleEnable(int enable)
{
digitalWrite(pin_map[SIG_SPIN_ENABLE].num, enable);
}
void SetSpindleDir(int dir)
{
digitalWrite(pin_map[SIG_SPIN_DIR].num, dir > 0 ? 1 : 0);
}
void SpindleStartFtmTimer(int init, unsigned long period)
{
if (init) {
// Enable clock to FTM1
SIM_SCGC6 |= SIM_SCGC6_FTM1;
// Init FTM 1 count/mod/mode
FTM1_CNTIN = 0;
FTM1_CNT = 0;
FTM1_MOD = 65535;
FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_PS(FTM_CLOCK_PRESCALE) | FTM_SC_TOIE;
FTM1_CONF = FTM_STEPS_PER_IRQ - 1; // set NUMTOF
// Configure channel 1:
FTM1_C1V = 0;
FTM1_C1SC = 0x14;
*portConfigRegister(FTM_STEP_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
NVIC_ENABLE_IRQ(IRQ_FTM1);
}
FTM1_SC = FTM1_SC & ~(FTM_SC_TOF);
FTM1_MOD = period;
}
void SpindleSetFtmPeriod(unsigned long period)
{
FTM1_MOD = period;
}
void SpindleStopFtmTimer(void)
{
FTM1_SC = FTM_SC_PS(FTM_CLOCK_PRESCALE) | FTM_SC_TOIE;
}
int SpindleGetTimerHz(void)
{
int hz = F_CPU / 2;
hz /= (1 << FTM_CLOCK_PRESCALE) * FTM1_MOD * 2;
return hz;
}
MotFunctions SpindleMotFunctions = {
SetSpindleEnable,
NULL,
SetSpindleDir,
SpindleStartFtmTimer,
SpindleStopFtmTimer,
SpindleGetTimerHz,
};
/*************************** Trav Specifics: ********************/
#if 1
/* This is the interval timer version. */
IntervalTimer g_travTimer;
unsigned long last_period = 0;
int travIsrs;
void TravIsr(void);
void SetTravEnable(int enable)
{
if (enable >= 0) {
digitalWrite(pin_map[SIG_TRAV_ENABLE].num, 1); // just keep traversal enabled
} else {
digitalWrite(pin_map[SIG_TRAV_ENABLE].num, 0); // just keep traversal enabled
}
}
int TravSendStep(void)
{
volatile static int last_val = 0;
if (last_val == 0) {
last_val = 1;
} else {
last_val = 0;
}
digitalWrite(pin_map[SIG_TRAV_STEP].num, last_val);
return last_val;
}
void SetTravDir(int dir)
{
digitalWrite(pin_map[SIG_TRAV_DIR].num, dir > 0 ? 1 : 0);
}
void TravStartTimer(int init, unsigned long period)
{
last_period = period;
g_travTimer.begin(TravIsr, period);
}
void TravStopTimer(void)
{
g_travTimer.end();
}
int TravGetTimerHz(void)
{
return F_CPU / last_period;
}
int TravCheckLimit1(void)
{
return digitalRead(pin_map[SIG_LIMIT_SW1].num);
}
int TravCheckLimit2(void)
{
return digitalRead(pin_map[SIG_LIMIT_SW2].num);
}
MotFunctions TravMotFunctions = {
SetTravEnable,
TravSendStep,
SetTravDir,
TravStartTimer,
TravStopTimer,
TravGetTimerHz,
TravCheckLimit1,
TravCheckLimit2
};
#else
/* This is the PIT version of traversal: */
void TravIsr();
int travIsrs;
void pit0_isr();
void pit0_isr(void)
{
travIsrs++;
TravIsr();
}
void SetTravEnable(int enable)
{
digitalWrite(pin_map[SIG_TRAV_ENABLE].num, enable);
}
int TravSendStep(void)
{
volatile static int last_val = 0;
if (last_val == 0) {
last_val = 1;
} else {
last_val = 0;
}
digitalWrite(pin_map[SIG_TRAV_STEP].num, last_val);
return last_val;
}
void SetTravDir(int dir)
{
digitalWrite(pin_map[SIG_TRAV_DIR].num, dir);
}
void TravStartTimer(int init, unsigned long period)
{
if (init) {
PIT_TCTRL0 = 0;
// enable
SIM_SCGC6 |= SIM_SCGC6_PIT;
PIT_MCR = 0;
NVIC_ENABLE_IRQ(IRQ_PIT_CH0);
}
PIT_LDVAL0 = period;
PIT_TCTRL0 = 3;
}
void TravStopTimer(void)
{
PIT_MCR = 1;
SIM_SCGC6 &= ~SIM_SCGC6_PIT;
// disable interrupt and PIT
NVIC_DISABLE_IRQ(IRQ_PIT_CH0);
PIT_TCTRL0 = 0;
}
int TravGetTimerHz(void)
{
return F_CPU / PIT_LDVAL0;
}
MotFunctions TravMotFunctions = {
SetTravEnable,
TravSendStep,
SetTravDir,
TravStartTimer,
TravStopTimer,
TravGetTimerHz,
};
#endif
/*************************** Motor Specifics: ********************/
typedef void (DoneCallback)(void *);
class Motor {
//private:
public:
MotFunctions_t func;
volatile int estopped;
volatile motor_state_t mot_state;
volatile unsigned long timer_period;
volatile unsigned long min_period; // Set when threshold is crossed.
volatile unsigned long accel_steps;
volatile unsigned long accel_remainder;
volatile unsigned long max_accel_steps;
volatile unsigned long min_accel_steps = 0;
volatile int direction = 1;
volatile int pos = 0;
volatile int cmd_pos = 0;
volatile int next_cmd_pos = 0; // Used for when changing directions
volatile unsigned long initial_period = 2000;
int accel;
unsigned long GetStepsToGo(void);
void SpeedUpdateInISR(void);
void AccountForStep(void);
DoneCallback *done_callback;
void *done_cookie;
//public:
void SetMotorFunctions(MotFunctions_t *mf) { func = *mf; }
void OverwriteCmdCurPos(int p) { pos = cmd_pos = next_cmd_pos = p; }
void ClearCounter(void) { cmd_pos -= pos; next_cmd_pos -= pos; pos = 0; }
int GetCurPos(void) { return pos; }
int GetCmdPos(void) { return next_cmd_pos; } // queued pos for reversal case
int SetCmdPos(int);
void SetMaxSpeed(int s) { max_accel_steps = (unsigned long)s; }
void SetInitialPeriod(unsigned long p) { initial_period = p; }
void SetAccel(int a) { accel = a; }
void TimerCallback(void);
int GetTimerHz(void);
int IsStopped(void) { return (mot_state == MOT_STOPPED); }
void Stop(void);
void EStop(int);
void RegisterDoneCallback(DoneCallback *cb, void *c) { done_callback = cb; done_cookie = c; }
};
unsigned long Motor::GetStepsToGo(void)
{
int to_go = direction * (cmd_pos - pos);
//assert(to_go >= 0);
if (to_go < 0) {
return 0;
}
return (unsigned long)to_go;
}
void Motor::AccountForStep(void)
{
pos += direction * 1;
}
void Motor::SpeedUpdateInISR(void)
{
unsigned long num, den;
switch (mot_state) {
case MOT_STOPPED:
func.stop_timer();
// Leaving driver enabled, to see if this gets hit: func.enable_driver(0);
break;
case MOT_ACCEL:
accel_steps++;
num = (2 * timer_period + accel_remainder);
den = (4 * (accel_steps + min_accel_steps) + 1);
timer_period -= (num / den);
accel_remainder = num % den;
if (accel_steps >= max_accel_steps) {
mot_state = MOT_AT_MAX;
}
/* Fallthrough to evaluate if it's time to stop. */
case MOT_AT_MAX:
if (accel_steps < GetStepsToGo()) {
/* Not time to start braking */
if (accel_steps < max_accel_steps) {
/* Speed was increased.*/
mot_state = MOT_ACCEL;
break;
}
if (accel_steps == max_accel_steps) {
/* Speed was not reduced since we hit peak speed. */
break;
}
}
mot_state = MOT_DECEL;
/* Fallthrough to decelerate: */
case MOT_DECEL:
if (GetStepsToGo() > accel_steps) {
/* Don't need to brake yet, see if we should accelerate. */
if (accel_steps < max_accel_steps) {
/* Not at max speed, which must have just been raised */
mot_state = MOT_ACCEL;
break;
}
}
if (accel_steps > 0) {
accel_steps--;
}
num = (2 * timer_period + accel_remainder);
den = (4 * (accel_steps + min_accel_steps) + 1);
timer_period += (num / den);
accel_remainder = num % den;
if (timer_period >= initial_period) {
timer_period = initial_period;
accel_remainder = 0;
//assert(accel_steps == 0);
accel_steps = 0;
}
if (GetStepsToGo() == 0) {
// assert(timer_period == initial_period);
mot_state = MOT_STOPPED;
//assert(pos == cmd_pos);
if (next_cmd_pos != cmd_pos) {
/* Leave timer/driver enabled, this will reverse direction and start. */
SetCmdPos(next_cmd_pos);
return;
}
func.stop_timer();
func.enable_driver(0);
if (done_callback != NULL) {
done_callback(done_cookie);
}
return;
}
break;
default:
break;
}
/* Restart timer, return early if not wanted. */
func.start_timer(0, timer_period);
}
int Motor::SetCmdPos(int new_pos)
{
int to_go = new_pos - pos;
if (estopped || cmd_pos == new_pos) {
return 0;
}
if (mot_state == MOT_STOPPED) {
cmd_pos = next_cmd_pos = new_pos;
if (to_go == 0) {
return 0;
}
if (to_go >= 0) {
direction = 1;
} else {
direction = -1;
}
func.set_direction(direction);
func.enable_driver(1);
mot_state = MOT_ACCEL;
accel_steps = 0;
accel_remainder = 0;
timer_period = initial_period;
func.start_timer(1, timer_period);
}
/* Moving, see soonest we could stop in case we need
* to change directions. */
int stop_at = pos + (direction * accel_steps);
if ((direction * stop_at) < (direction * new_pos)) {
/* Don't need to change directions. */
if (abs(to_go) > accel_steps) {
/* Keep going: accelerate to minimum braking distance*/
mot_state = MOT_ACCEL;
} else {
/* Should only be exact case already at minimum braking distance */
//assert(to_go == accel_steps);
mot_state = MOT_DECEL;
}
cmd_pos = next_cmd_pos = new_pos;
} else {
/* Stop to reverse direction, queue up next cmd pos */
mot_state = MOT_DECEL;
cmd_pos = stop_at;
next_cmd_pos = new_pos;
}
return to_go;
}
void Motor::TimerCallback(void)
{
if (estopped) {
/* Just in case we somehow started again after EStop(): */
func.stop_timer();
func.enable_driver(-1);
}
if (func.send_step != NULL) {
if (func.send_step()) {
/* De-asserting step output. */
return;
}
}
AccountForStep();
SpeedUpdateInISR();
}
int Motor::GetTimerHz(void)
{
if (mot_state == MOT_STOPPED) {
return 0;
}
return func.get_timer_hz();
}
void Motor::Stop(void)
{
if (mot_state > MOT_STOPPED) {
mot_state = MOT_DECEL;
cmd_pos = next_cmd_pos = pos + (direction * accel_steps);
}
}
void Motor::EStop(int val)
{
estopped = val;
if (estopped) {
mot_state = MOT_STOPPED;
func.stop_timer();
func.enable_driver(-1);
if (done_callback != NULL) {
done_callback(done_cookie);
}
}
}
/*************************** Axis Specifics: ********************/
typedef enum {
HOMING_NOT_STARTED,
HOMING_1_INITIAL_CLOSE,
HOMING_2_INITIAL_BACKOFF,
HOMING_3_SLOW_CLOSE,
HOMING_4_SLOW_BACKOFF,
HOMING_5_CLOSE_OTHER_SIDE,
HOMING_6_OPEN_OTHER_SIDE,
HOMING_7_TO_HOME,
HOMING_ERROR,
HOMED
} homing_state_t;
class Axis {
public:
Motor motor;
homing_state_t homing_state;
int estopped;
int h_close1; // Homing positions on switch changes
int h_open1;
int h_close2;
int h_open2;
int hard_limit[2]; // Min is [0] max is [1]
int steps_per_rev;
MotFunctions mot_functions;
Axis(MotFunctions_t *mf, int s) { mot_functions = *mf; // Save a copy
motor.SetMotorFunctions(mf);
steps_per_rev = s; }
void StartHomingCycle(void);
void HomingStateHandler(void);
homing_state_t GetHomedStatus(void) { return homing_state; }
void ZeroAxis(void) { motor.OverwriteCmdCurPos(0); }
void ClearCounter(void) { motor.ClearCounter(); }
int GetMaxPos(void) { return (h_close2 - H_CLOSE2_MARGIN); }
int GetCurPos(void) { return motor.GetCurPos(); }
int GetCmdPos(void) { return motor.GetCmdPos(); }
int GetTurns(void) { return (motor.GetCurPos() / steps_per_rev); }
void SetInitialPeriod(int m) { motor.SetInitialPeriod(m); }
void SetMaxSpeed(int s) { motor.SetMaxSpeed(s); }
int GetRpm(void);
int MoveTo(int pos) { return motor.SetCmdPos(pos); }
int MoveTurns(int t) { return MoveTo(GetCmdPos() + (t * steps_per_rev)); }
int IsStopped(void) { return motor.IsStopped(); }
void Stop(void) { motor.Stop(); }
void EStop(int v) { estopped = v; motor.EStop(v); }
void TimerCallback(void);
void RegisterDoneCallback(DoneCallback *cb, void *c) { motor.RegisterDoneCallback(cb, c); }
};
void Axis::StartHomingCycle(void)
{
if (homing_state != HOMING_NOT_STARTED) {
return;
}
motor.SetInitialPeriod(TRAV_INITIAL_PERIOD);
SetMaxSpeed(1);
homing_state = HOMING_1_INITIAL_CLOSE;
MoveTurns(-10); // XXX Constant for max homing distance
/* From here it is event driven */
}
void Axis::TimerCallback(void)
{
motor.TimerCallback();
if (!mot_functions.check_limit1 || !mot_functions.check_limit2) {
return;
}
if (homing_state == HOMED) {
if (DIG_ASSERTED == mot_functions.check_limit1() ||
DIG_ASSERTED == mot_functions.check_limit2())
{
/* Emergency shutdown! */
motor.EStop(1);
}
return;
}
switch(homing_state) {
case HOMING_1_INITIAL_CLOSE:
if (DIG_ASSERTED == mot_functions.check_limit1()) {
h_close1 = GetCurPos();
homing_state = HOMING_2_INITIAL_BACKOFF;
#define HOMING_BACKOFF_DISTANCE TRAV_STEPS_PER_REV
MoveTo(h_close1 + HOMING_BACKOFF_DISTANCE);
}
break;
case HOMING_2_INITIAL_BACKOFF:
if (DIG_ASSERTED != mot_functions.check_limit1()) {
h_open1 = GetCurPos();
homing_state = HOMING_3_SLOW_CLOSE;
MoveTo(h_close1 - HOMING_BACKOFF_DISTANCE);
}
break;
case HOMING_3_SLOW_CLOSE:
if (DIG_ASSERTED == mot_functions.check_limit1()) {
h_close1 = GetCurPos();
homing_state = HOMING_4_SLOW_BACKOFF;
MoveTo(h_open1 + HOMING_BACKOFF_DISTANCE);
}
break;
case HOMING_4_SLOW_BACKOFF:
if (DIG_ASSERTED != mot_functions.check_limit1()) {
h_open1 = GetCurPos();
homing_state = HOMING_5_CLOSE_OTHER_SIDE;
/* This is it, zero axis by resetting to slightly negative,
* so that we're not always right on the limit switch. */
//motor.Stop();
motor.OverwriteCmdCurPos(-TRAV_LIMSW_OPEN_TO_AXIS_ZERO);
SetMaxSpeed(TRAV_MAX_ACCEL_STEPS_HFAST);
MoveTo(h_open1 + TRAV_LIM_TO_LIM);
}
break;
case HOMING_5_CLOSE_OTHER_SIDE:
if (DIG_ASSERTED == mot_functions.check_limit2()) {
h_close2 = GetCurPos();
motor.SetMaxSpeed(TRAV_MAX_ACCEL_STEPS);
MoveTo(0);
homing_state = HOMING_6_OPEN_OTHER_SIDE;
}
break;
case HOMING_6_OPEN_OTHER_SIDE:
if (DIG_ASSERTED != mot_functions.check_limit2()) {
h_open2 = GetCurPos();
homing_state = HOMING_7_TO_HOME;
}
break;
case HOMING_7_TO_HOME:
if (IsStopped()) {
homing_state = HOMED;
}
break;
default:
break;
}
}
int Axis::GetRpm(void)
{
return (motor.GetTimerHz() * 60 / steps_per_rev);
}
/*************************** MENU specifics: ********************/
typedef struct {
int num;
int winds;
int trav;
} ProgOp;
typedef enum {
DATA_NONE,
DATA_YESNO,
DATA_STRING,
DATA_UINT,
DATA_INT,
} ItemData;
typedef enum {
MENU_OP_SELECT,
MENU_OP_ADJUST,
MENU_OP_GETVAL,
MENU_OP_DRAW,
} MenuOp;
typedef int (MenuFunc)(class Menu *m, struct MenuItem *mi, MenuOp op);
/* All the handlers are located far below so that they can
* reference g_system, etc. */
int ExitSelect(Menu *m, MenuItem *mi, MenuOp op);
int ProgramModeSelect(Menu *m, MenuItem *mi, MenuOp op);
int WindingProgMenu(Menu *m, MenuItem *mi, MenuOp op);
int TravProgMenu(Menu *m, MenuItem *mi, MenuOp op);
int SaveConfigProgMenu(Menu *m, MenuItem *mi, MenuOp op);
int SaveCountProgMenu(Menu *m, MenuItem *mi, MenuOp op);
#define MENU_WIDTH 16
#define MENU_HEIGHT 2
typedef struct MenuItem {
char name[MENU_WIDTH + 1];
union {
char *dstr;
int dyesno;
unsigned int duint;
int dint;
} data;
int external_id; // app specific int
ItemData data_type;
MenuFunc *func; // Enter is hit on this item
} MenuItem;
#define MENU_PROG_ITEMS 10
#define MAX_ITEMS 2 + (MENU_PROG_ITEMS * 2) + 2
class Menu {
private:
MenuItem items[MAX_ITEMS]; // Storage
MenuItem *display_top; // top/left item in menu
int editing = 0;
int items_used = 0;
int prev_encoder_val = 0;
int exit_requested = 0;
unsigned int screen_redraws = 0;
public:
int ui_diff;
MenuItem *selected; // may equal display_top
Menu(void);
MenuItem *AddMenuItem(void);
void DelMenuItem(MenuItem *m);
MenuItem *ItemNext(MenuItem *mi);
MenuItem *ItemPrev(MenuItem *mi);
void ConvertData(MenuItem *item, char *buf);
void DrawScreen(LiquidCrystal *lcd);
void RequestExit() { exit_requested = 1; }
void ResetMenu(void);
int ItemOnScreen(MenuItem *item);
int RunMenu(int encoder_val, int encoder_button);
};
Menu::Menu(void)
{
/* Create basic menu items. */
MenuItem *exit;
MenuItem *prog;
items_used = 0;
if (NULL == (exit = AddMenuItem()) ||
NULL == (prog = AddMenuItem()))
{
/* Don't care about freeing partial allocation,
* this will "never" happen. :) */
return;
}
strncpy(exit->name, "Exit menu mode ", MENU_WIDTH);
exit->data_type = DATA_NONE;
exit->func = ExitSelect;
selected = exit;
strncpy(prog->name, "Program Mode: ", MENU_WIDTH);
prog->data_type = DATA_YESNO;
prog->func = ProgramModeSelect;
MenuItem *wind;
MenuItem *trav;
int i;
for (i = 0; i < MENU_PROG_ITEMS && (wind = AddMenuItem()) && (trav = AddMenuItem()); i++) {
snprintf(wind->name, MENU_WIDTH, "OP%d winds:", i + 1);
wind->data_type = DATA_INT;
wind->func = WindingProgMenu;
wind->external_id = i;
snprintf(trav->name, MENU_WIDTH, "OP%d trav:.", i + 1);
trav->data_type = DATA_INT;
trav->func = TravProgMenu;
trav->external_id = i;
}
MenuItem *save = AddMenuItem();
MenuItem *info = AddMenuItem();
if (save && info) {
snprintf(save->name, MENU_WIDTH, "Save Config");
save->data_type = DATA_NONE;
save->func = SaveConfigProgMenu;
snprintf(info->name, MENU_WIDTH, "Num Saves");
info->data_type = DATA_UINT;
info->func = SaveCountProgMenu;
}
}
MenuItem *Menu::AddMenuItem(void)
{
if (items_used < MAX_ITEMS) {
return &items[items_used++];
}
return NULL;
}
void Menu::DelMenuItem(MenuItem *m)
{
if (m < &items[0] || m > &items[MAX_ITEMS-1] || items_used <= 0) {
return;
}
/* decrement first, to convert count to index. */
items_used--;
if (m != &items[items_used]) {
memmove(m + 1, m, (&items[items_used] - m) * sizeof(m));
}
}
MenuItem *Menu::ItemNext(MenuItem *mi)
{
mi++;
if (mi >= &items[items_used]) {
mi = items;
}
return mi;
}
MenuItem *Menu::ItemPrev(MenuItem *mi)
{
if (mi <= items) {
mi = &items[items_used];
}
mi--;
return mi;
}
void Menu::ConvertData(MenuItem *item, char *buf)
{
/* Convert data to string */
switch(item->data_type) {
case DATA_YESNO:
if (item->data.dyesno) {
strcpy(buf, "Y");
} else {
strcpy(buf, "N");
}
break;
case DATA_INT:
snprintf(buf, MENU_WIDTH, "%4.4d", item->data.dint);
break;
case DATA_UINT:
snprintf(buf, MENU_WIDTH, "%u", item->data.duint);
break;
case DATA_STRING:
strncpy(buf, item->data.dstr, MENU_WIDTH);
break;
default:
buf[0] = 0;
break;
}
}
void Menu::DrawScreen(LiquidCrystal *lcd)
{
MenuItem *item;
char buf[MENU_WIDTH+1];
int y;
item = display_top;
for (y = 0; y < MENU_HEIGHT; y++) {
/* Call DRAW op to update value. */
item->func(this, item, MENU_OP_DRAW);
ConvertData(item, buf);
if ((item == selected) && editing &&
(screen_redraws % 30 < 5)) // Blink duty cycle
{
buf[0] = 0;
}
lcd->setCursor(0, y);
lcd->printf("%c%s%s ", (selected == item) ? '>' : ' ', item->name, buf);
item = ItemNext(item);
}
screen_redraws++;
}
void Menu::ResetMenu(void)
{
editing = 0;
selected = items;
display_top = items;
}
int Menu::ItemOnScreen(MenuItem *item)
{
MenuItem *mi = display_top;
int i;
for (i = 0; i < MENU_HEIGHT; i++, mi = ItemNext(mi)) {
if (item == mi) {
return 1;
}
}
return 0;