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[reprap-commits] SF.net SVN: reprap:[2466] trunk/reprap/firmware/Sanguino/Sanguino3G/ ArduinoSlaveExtruder
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From: <hoe...@us...> - 2009-01-31 17:42:48
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Revision: 2466
http://reprap.svn.sourceforge.net/reprap/?rev=2466&view=rev
Author: hoekstar
Date: 2009-01-31 17:42:46 +0000 (Sat, 31 Jan 2009)
Log Message:
-----------
okay, the slave firmware compiles.
Modified Paths:
--------------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde
Added Paths:
-----------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde
Removed Paths:
-------------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -32,6 +32,39 @@
//are we paused?
boolean is_tool_paused = false;
+#include <Servo.h>
+
+int current_temperature;
+int target_temperature;
+
+// motor control states.
+typedef enum {
+ MC_PWM = 0,
+ MC_ENCODER
+}
+MotorControlStyle;
+
+typedef enum {
+ MC_FORWARD = 0,
+ MC_REVERSE = 1
+}
+MotorControlDirection;
+
+MotorControlStyle motor1_control = MC_PWM;
+MotorControlDirection motor1_dir = MC_FORWARD;
+byte motor1_pwm = 0;
+long motor1_target_rpm = 0;
+long motor1_current_rpm = 0;
+
+MotorControlStyle motor2_control = MC_PWM;
+MotorControlDirection motor2_dir = MC_FORWARD;
+byte motor2_pwm = 0;
+long motor2_target_rpm = 0;
+long motor2_current_rpm = 0;
+
+Servo servo1;
+Servo servo2;
+
//set up our firmware for actual usage.
void setup()
{
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -1,199 +0,0 @@
-// 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
-
-//how many queued commands have we processed?
-//this will be used to keep track of our current progress.
-unsigned long finishedCommands = 0;
-
-//initialize the firmware to default state.
-void init_commands()
-{
- finishedCommands = 0;
-}
-
-//handle our packets.
-void process_packets()
-{
- //read through our available data
- while (Serial.available() > 0)
- {
- //grab a byte and process it.
- byte d = Serial.read();
- masterPacket.process_byte(d);
-
- //do we have a finished packet?
- if (masterPacket.isFinished())
- {
- //take some action.
- handle_query();
-
- //okay, send our response
- masterPacket.sendReply();
-
- //only process one packet at a time.
- break;
- }
- }
-}
-
-//this is for handling query commands that need a response.
-void handle_query()
-{
- byte temp;
-
- //which one did we get?
- switch (masterPacket.getData(0))
- {
- case SLAVE_CMD_VERSION:
- //get our host version
- master_version = masterPacket.get_16(1);
-
- //send our version back.
- masterPacket.add_16(FIRMWARE_VERSION);
- break;
-
- case SLAVE_CMD_INIT:
- //just initialize
- initialize();
- break;
-
- case SLAVE_CMD_GET_TEMP:
- masterPacket.add_16(current_temperature);
- break;
-
- case SLAVE_CMD_SET_TEMP:
- target_temperature = masterPacket.get_16(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_1_PWM:
- motor1_control = MC_PWM;
- motor1_pwm = masterPacket.get_8(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_2_PWM:
- motor2_control = MC_PWM;
- motor2_pwm = masterPacket.get_8(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_1_RPM:
- motor1_control = MC_ENCODER;
- motor1_target_rpm = masterPacket.get_32(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_2_RPM:
- motor2_control = MC_ENCODER;
- motor2_target_rpm = masterPacket.get_32(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_1_DIR:
- motor1_dir = masterPacket.get_8(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_2_DIR:
- motor2_dir = masterPacket.get_8(1);
- break;
-
- case SLAVE_CMD_TOGGLE_MOTOR_1:
- temp = masterPacket.get_8(1);
- if (temp & 1<<2)
- motor_1_dir = MC_FORWARD;
- else
- motor_1_dir = MC_REVERSE;
-
- if (temp & 1)
- enable_motor_1();
- else
- disable_motor_1();
- break;
-
- case SLAVE_CMD_TOGGLE_MOTOR_2:
- temp = masterPacket.get_8(1);
- if (temp & 1<<2)
- motor_2_dir = MC_FORWARD;
- else
- motor_2_dir = MC_REVERSE;
-
- if (temp & 1)
- enable_motor_2();
- else
- disable_motor_2();
- break;
-
- case SLAVE_CMD_TOGGLE_FAN:
- temp = masterPacket.get_8(1);
- if (temp & 1)
- enable_fan();
- else
- disable_fan();
- break;
-
- case SLAVE_CMD_TOGGLE_VALVE:
- temp = masterPacket.get_8(1);
- if (temp & 1)
- open_valve();
- else
- close_valve();
- break;
-
- case SLAVE_CMD_SET_SERVO_1_POS:
- servo1.attach();
- servo1.write(masterPacket.get_8(1));
- break;
-
- case SLAVE_CMD_SET_SERVO_2_POS:
- servo2.attach();
- servo2.write(masterPacket.get_8(1));
- break;
-
- case SLAVE_CMD_FILAMENT_STATUS:
- //TODO: figure out how to detect this.
- masterPacket.add_8(255);
- break;
-
- case SLAVE_CMD_GET_MOTOR_1_PWM:
- masterPacket.add_8(motor1_pwm);
- break;
-
- case SLAVE_CMD_GET_MOTOR_2_PWM:
- masterPacket.add_8(motor2_pwm);
- break;
-
- case SLAVE_CMD_GET_MOTOR_1_RPM:
- masterPacket.add_32(motor1_current_rpm);
- break;
-
- case SLAVE_CMD_GET_MOTOR_2_RPM:
- masterPacket.add_32(motor1_current_rpm);
- break;
-
- case SLAVE_CMD_SELECT_TOOL:
- //do we do anything?
- break;
-
- case SLAVE_CMD_IS_TOOL_READY:
- masterPacket.add_8(is_tool_ready());
- break;
- }
-}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h 2009-01-31 17:42:46 UTC (rev 2466)
@@ -187,8 +187,8 @@
{
if (uart == 0)
Serial.print(d, BYTE);
- else
- Serial1.print(d, BYTE);
+// else
+// Serial1.print(d, BYTE);
}
//add a four byte chunk of data to our reply
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde (from rev 2465, trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -0,0 +1,207 @@
+// 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
+
+//how many queued commands have we processed?
+//this will be used to keep track of our current progress.
+unsigned long finishedCommands = 0;
+
+//initialize the firmware to default state.
+void init_commands()
+{
+ finishedCommands = 0;
+}
+
+//handle our packets.
+void process_packets()
+{
+ //read through our available data
+ while (Serial.available() > 0)
+ {
+ //grab a byte and process it.
+ byte d = Serial.read();
+ masterPacket.process_byte(d);
+
+ //do we have a finished packet?
+ if (masterPacket.isFinished())
+ {
+ //take some action.
+ handle_query();
+
+ //okay, send our response
+ masterPacket.sendReply();
+
+ //only process one packet at a time.
+ break;
+ }
+ }
+}
+
+//this is for handling query commands that need a response.
+void handle_query()
+{
+ byte temp;
+
+ //which one did we get?
+ switch (masterPacket.getData(0))
+ {
+ case SLAVE_CMD_VERSION:
+ //get our host version
+ master_version = masterPacket.get_16(1);
+
+ //send our version back.
+ masterPacket.add_16(FIRMWARE_VERSION);
+ break;
+
+ case SLAVE_CMD_INIT:
+ //just initialize
+ initialize();
+ break;
+
+ case SLAVE_CMD_GET_TEMP:
+ masterPacket.add_16(current_temperature);
+ break;
+
+ case SLAVE_CMD_SET_TEMP:
+ target_temperature = masterPacket.get_16(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_1_PWM:
+ motor1_control = MC_PWM;
+ motor1_pwm = masterPacket.get_8(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_2_PWM:
+ motor2_control = MC_PWM;
+ motor2_pwm = masterPacket.get_8(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_1_RPM:
+ motor1_control = MC_ENCODER;
+ motor1_target_rpm = masterPacket.get_32(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_2_RPM:
+ motor2_control = MC_ENCODER;
+ motor2_target_rpm = masterPacket.get_32(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_1_DIR:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ motor1_dir = MC_FORWARD;
+ else
+ motor1_dir = MC_REVERSE;
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_2_DIR:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ motor2_dir = MC_FORWARD;
+ else
+ motor2_dir = MC_REVERSE;
+ break;
+
+ case SLAVE_CMD_TOGGLE_MOTOR_1:
+ temp = masterPacket.get_8(1);
+ if (temp & 1<<2)
+ motor1_dir = MC_FORWARD;
+ else
+ motor1_dir = MC_REVERSE;
+
+ if (temp & 1)
+ enable_motor_1();
+ else
+ disable_motor_1();
+ break;
+
+ case SLAVE_CMD_TOGGLE_MOTOR_2:
+ temp = masterPacket.get_8(1);
+ if (temp & 1<<2)
+ motor2_dir = MC_FORWARD;
+ else
+ motor2_dir = MC_REVERSE;
+
+ if (temp & 1)
+ enable_motor_2();
+ else
+ disable_motor_2();
+ break;
+
+ case SLAVE_CMD_TOGGLE_FAN:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ enable_fan();
+ else
+ disable_fan();
+ break;
+
+ case SLAVE_CMD_TOGGLE_VALVE:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ open_valve();
+ else
+ close_valve();
+ break;
+
+ case SLAVE_CMD_SET_SERVO_1_POS:
+ servo1.attach(9);
+ servo1.write(masterPacket.get_8(1));
+ break;
+
+ case SLAVE_CMD_SET_SERVO_2_POS:
+ servo2.attach(10);
+ servo2.write(masterPacket.get_8(1));
+ break;
+
+ case SLAVE_CMD_FILAMENT_STATUS:
+ //TODO: figure out how to detect this.
+ masterPacket.add_8(255);
+ break;
+
+ case SLAVE_CMD_GET_MOTOR_1_PWM:
+ masterPacket.add_8(motor1_pwm);
+ break;
+
+ case SLAVE_CMD_GET_MOTOR_2_PWM:
+ masterPacket.add_8(motor2_pwm);
+ break;
+
+ case SLAVE_CMD_GET_MOTOR_1_RPM:
+ masterPacket.add_32(motor1_current_rpm);
+ break;
+
+ case SLAVE_CMD_GET_MOTOR_2_RPM:
+ masterPacket.add_32(motor1_current_rpm);
+ break;
+
+ case SLAVE_CMD_SELECT_TOOL:
+ //do we do anything?
+ break;
+
+ case SLAVE_CMD_IS_TOOL_READY:
+ masterPacket.add_8(is_tool_ready());
+ break;
+ }
+}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -1,36 +1,5 @@
-#include <Servo.h>
-int current_temperature;
-int target_temperature;
-// motor control states.
-typedef enum {
- MC_PWM = 0,
- MC_ENCODER
-}
-MotorControlStyle;
-
-typedef enum {
- MC_FORWARD = 0,
- MC_REVERSE = 1
-}
-MotorControlDirection;
-
-MotorControlStyle motor1_control = MC_PWM;
-MotorControlDirection motor1_dir = MC_FORWARD;
-byte motor1_pwm = 0;
-long motor1_target_rpm = 0;
-long motor1_current_rpm = 0;
-
-MotorControlStyle motor2_control = MC_PWM;
-MotorControlDirection motor2_dir = MC_FORWARD;
-byte motor2_pwm = 0;
-long motor2_target_rpm = 0;
-long motor2_current_rpm = 0;
-
-Servo servo1;
-Servo servo2;
-
void init_extruder()
{
@@ -51,6 +20,15 @@
}
+void enable_motor_2()
+{
+
+}
+
+void disable_motor_2()
+{
+
+}
void enable_fan()
{
@@ -78,4 +56,4 @@
return 1;
else
return 0;
-}
\ No newline at end of file
+}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -3,7 +3,6 @@
//this handles the timer interrupt event
SIGNAL(SIG_OUTPUT_COMPARE1A)
{
- dda_step();
}
void enableTimer1Interrupt()
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