blob: 5dc4ef90d4ed552b47bfcd4919c2a151e58600cb (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
|
// Yep, this is actually -*- c++ -*-
// These are our query commands from the host
#define SLAVE_CMD_VERSION 0
#define SLAVE_CMD_INIT 1
#define SLAVE_CMD_GET_TEMP 2
#define SLAVE_CMD_SET_TEMP 3
#define SLAVE_CMD_SET_MOTOR_1_PWM 4
#define SLAVE_CMD_SET_MOTOR_2_PWM 5
#define SLAVE_CMD_SET_MOTOR_1_RPM 6
#define SLAVE_CMD_SET_MOTOR_2_RPM 7
#define SLAVE_CMD_SET_MOTOR_1_DIR 8
#define SLAVE_CMD_SET_MOTOR_2_DIR 9
#define SLAVE_CMD_TOGGLE_MOTOR_1 10
#define SLAVE_CMD_TOGGLE_MOTOR_2 11
#define SLAVE_CMD_TOGGLE_FAN 12
#define SLAVE_CMD_TOGGLE_VALVE 13
#define SLAVE_CMD_SET_SERVO_1_POS 14
#define SLAVE_CMD_SET_SERVO_2_POS 15
#define SLAVE_CMD_FILAMENT_STATUS 16
#define SLAVE_CMD_GET_MOTOR_1_PWM 17
#define SLAVE_CMD_GET_MOTOR_2_PWM 18
#define SLAVE_CMD_GET_MOTOR_1_RPM 19
#define SLAVE_CMD_GET_MOTOR_2_RPM 20
#define SLAVE_CMD_SELECT_TOOL 21
#define SLAVE_CMD_IS_TOOL_READY 22
//initialize the firmware to default state.
void init_commands()
{
finishedCommands = 0;
masterPacket.init();
}
//handle our packets.
void process_packets()
{
//do we have any data to process?
if (Serial.available() > 0)
{
unsigned long start = millis();
unsigned long end = start + PACKET_TIMEOUT;
//is there serial data available?
//read through our available data
while (!masterPacket.isFinished())
{
//only try to grab it if theres something in the queue.
if (Serial.available() > 0)
{
digitalWrite(DEBUG_PIN, HIGH);
//grab a byte and process it.
byte d = Serial.read();
masterPacket.process_byte(d);
//keep us goign while we have data coming in.
start = millis();
end = start + PACKET_TIMEOUT;
digitalWrite(DEBUG_PIN, LOW);
}
//are we sure we wanna break mid-packet?
//have we timed out?
if (millis() >= end)
return;
}
//do we have a finished packet?
if (masterPacket.isFinished())
{
//only process packets intended for us.
if (masterPacket.get_8(0) == RS485_ADDRESS)
{
//take some action.
handle_query();
//send reply over RS485
send_reply();
//how many have we processed?
finishedCommands++;
//okay, we'll come back later.
return;
}
}
//always clean up the packet.
masterPacket.init();
}
}
void send_reply()
{
//might be needed to allow for pin switching / etc. testing needed.
delayMicrosecondsInterruptible(50);
digitalWrite(TX_ENABLE_PIN, HIGH); //enable tx
delayMicrosecondsInterruptible(10);
//okay, send our response
masterPacket.sendReply();
digitalWrite(TX_ENABLE_PIN, LOW); //disable tx
}
//this is for handling query commands that need a response.
void handle_query()
{
byte temp;
//which one did we get?
switch (masterPacket.get_8(1))
{
//WORKING
case SLAVE_CMD_VERSION:
//get our host version
master_version = masterPacket.get_16(2);
//send our version back.
masterPacket.add_16(FIRMWARE_VERSION);
break;
//WORKING
case SLAVE_CMD_INIT:
//just initialize
initialize();
break;
//WORKING
case SLAVE_CMD_GET_TEMP:
masterPacket.add_16(current_temperature);
break;
//WORKING
case SLAVE_CMD_SET_TEMP:
target_temperature = masterPacket.get_16(2);
break;
//WORKING
case SLAVE_CMD_SET_MOTOR_1_PWM:
motor1_control = MC_PWM;
motor1_pwm = masterPacket.get_8(2);
break;
//WORKING
case SLAVE_CMD_SET_MOTOR_2_PWM:
motor2_control = MC_PWM;
motor2_pwm = masterPacket.get_8(2);
break;
//NEEDS TESTING
case SLAVE_CMD_SET_MOTOR_1_RPM:
motor1_target_rpm = masterPacket.get_32(2) * 16;
#if MOTOR_STYLE == 1
motor1_control = MC_ENCODER;
#else
motor1_control = MC_STEPPER;
stepper_ticks = motor1_target_rpm / (MOTOR_STEPS * MOTOR_STEP_MULTIPLIER);
stepper_high_pwm = motor1_pwm;
stepper_low_pwm = round((float)motor1_pwm * 0.4);
#endif
break;
//NEEDS TESTING
case SLAVE_CMD_SET_MOTOR_2_RPM:
motor2_control = MC_ENCODER;
motor2_target_rpm = masterPacket.get_32(2);
break;
case SLAVE_CMD_SET_MOTOR_1_DIR:
temp = masterPacket.get_8(2);
if (temp & 1)
motor1_dir = MC_FORWARD;
else
motor1_dir = MC_REVERSE;
break;
case SLAVE_CMD_SET_MOTOR_2_DIR:
temp = masterPacket.get_8(2);
if (temp & 1)
motor2_dir = MC_FORWARD;
else
motor2_dir = MC_REVERSE;
break;
case SLAVE_CMD_TOGGLE_MOTOR_1:
temp = masterPacket.get_8(2);
if (temp & 2)
motor1_dir = MC_FORWARD;
else
motor1_dir = MC_REVERSE;
if (temp & 1)
{
enable_motor_1();
//if we interrupted a reversal, wait for the motor to get back to its old position.
if (motor1_reversal_count > 0)
delay(motor1_reversal_count);
motor1_reversal_count = 0;
}
else
disable_motor_1();
break;
//WORKING
case SLAVE_CMD_TOGGLE_MOTOR_2:
temp = masterPacket.get_8(2);
if (temp & 2)
motor2_dir = MC_FORWARD;
else
motor2_dir = MC_REVERSE;
//TODO: check to see if we're not in stepper mode.
if (temp & 1)
enable_motor_2();
else
disable_motor_2();
break;
//WORKING
case SLAVE_CMD_TOGGLE_FAN:
temp = masterPacket.get_8(2);
if (temp & 1)
enable_fan();
else
disable_fan();
break;
//WORKING
case SLAVE_CMD_TOGGLE_VALVE:
temp = masterPacket.get_8(2);
if (temp & 1)
open_valve();
else
close_valve();
break;
//WORKING
case SLAVE_CMD_SET_SERVO_1_POS:
servo1.attach(9);
servo1.write(masterPacket.get_8(2));
break;
//WORKING
case SLAVE_CMD_SET_SERVO_2_POS:
servo2.attach(10);
servo2.write(masterPacket.get_8(2));
break;
//WORKING
case SLAVE_CMD_FILAMENT_STATUS:
//TODO: figure out how to detect this.
masterPacket.add_8(255);
break;
//WORKING
case SLAVE_CMD_GET_MOTOR_1_PWM:
masterPacket.add_8(motor1_pwm);
break;
//WORKING
case SLAVE_CMD_GET_MOTOR_2_PWM:
masterPacket.add_8(motor2_pwm);
break;
//NEEDS TESTING
case SLAVE_CMD_GET_MOTOR_1_RPM:
masterPacket.add_32(motor1_current_rpm);
break;
//NEEDS TESTING
case SLAVE_CMD_GET_MOTOR_2_RPM:
masterPacket.add_32(motor1_current_rpm);
break;
//WORKING
case SLAVE_CMD_SELECT_TOOL:
//do we do anything?
break;
//WORKING
case SLAVE_CMD_IS_TOOL_READY:
masterPacket.add_8(is_tool_ready());
break;
}
}
|