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Merge pull request #292 from krkeegan/eeprom_fixes
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Require Machine Settings Before Unsafe Commands
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@BarbourSmith
BarbourSmith authored Sep 5, 2017
2 parents e83e9fe + e32baea commit 3667e17
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Showing 2 changed files with 68 additions and 43 deletions.
42 changes: 7 additions & 35 deletions cnc_ctrl_v1/Axis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,9 @@ void Axis::loadPositionFromMemory(){

//If a valid position has been stored
if (EEPROM.read(_eepromAdr) == EEPROMVALIDDATA){
set(_readFloat(_eepromAdr + SIZEOFFLOAT));
float f = 0.00f;
f = EEPROM.get(_eepromAdr + SIZEOFFLOAT, f );
set(f);
}

}
Expand Down Expand Up @@ -175,9 +177,9 @@ void Axis::changeEncoderResolution(const int& newResolution){
int Axis::detach(){

if (motorGearboxEncoder.motor.attached()){
_writeFloat (_eepromAdr+SIZEOFFLOAT, read()); //Store the axis position
EEPROM.write(_eepromAdr, EEPROMVALIDDATA);

float f = read(); //Store the axis position
EEPROM.put(_eepromAdr + SIZEOFFLOAT, f);
EEPROM.update(_eepromAdr, EEPROMVALIDDATA);
}

motorGearboxEncoder.motor.detach();
Expand Down Expand Up @@ -219,36 +221,6 @@ void Axis::endMove(const float& finalTarget){

}

float Axis::_readFloat(const unsigned int& addr){

//readFloat and writeFloat functions courtesy of http://www.alexenglish.info/2014/05/saving-floats-longs-ints-eeprom-arduino-using-unions/


union{
byte b[4];
float f;
} data;
for(int i = 0; i < 4; i++)
{
data.b[i] = EEPROM.read(addr+i);
}
return data.f;
}

void Axis::_writeFloat(const unsigned int& addr, const float& x){

//Writes a floating point number into the eeprom memory by splitting it into four one byte chunks and saving them

union{
byte b[4];
float f;
} data;
data.f = x;
for(int i = 0; i < 4; i++){
EEPROM.write(addr+i, data.b[i]);
}
}

void Axis::wipeEEPROM(){
/*
Expand All @@ -258,7 +230,7 @@ void Axis::wipeEEPROM(){

int i = 0;
while(i < 50){
EEPROM.write(_eepromAdr + i, 0);
EEPROM.update(_eepromAdr + i, 0);
i++;
}

Expand Down
69 changes: 61 additions & 8 deletions cnc_ctrl_v1/CNC_Functions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,12 @@ float _inchesToMMConversion = 1;
bool useRelativeUnits = false;
bool stopFlag = false;
bool pauseFlag = false;
bool rcvdKinematicSettings = false;
bool rcvdMotorSettings = false;
bool encoderStepsChanged = false;
bool zEncoderStepsChanged = false;
// Commands that can safely be executed before machineReady
String safeCommands[] = {"B01", "B03", "B04", "B05", "B07", "B12", "G20", "G21", "G90", "G91"};
String readyCommandString; //next command queued up and ready to send
String gcodeLine; //The next individual line of gcode (for example G91 G01 X19 would be run as two lines)

Expand All @@ -148,6 +154,29 @@ int lastCommand = 0; //Stores the value of the last command
float xTarget = 0;
float yTarget = 0;

bool machineReady(){
bool ret = false;
if (rcvdMotorSettings && rcvdKinematicSettings){
ret = true;
}
return ret;
}

void finalizeMachineSettings(){
if(machineReady()){
if (encoderStepsChanged){
leftAxis.loadPositionFromMemory();
rightAxis.loadPositionFromMemory();
encoderStepsChanged = false;
}
if (zEncoderStepsChanged){
zAxis.loadPositionFromMemory();
zEncoderStepsChanged = false;
}
kinematics.forward(leftAxis.read(), rightAxis.read(), &xTarget, &yTarget);
}
}

void returnError(){
/*
Prints the machine's positional error and the amount of space available in the
Expand Down Expand Up @@ -984,9 +1013,9 @@ void updateKinematicsSettings(const String& readString){
}

//propagate the new values
rcvdKinematicSettings = true;
kinematics.recomputeGeometry();

kinematics.forward(leftAxis.read(), rightAxis.read(), &xTarget, &yTarget);
finalizeMachineSettings();

Serial.println(F("Kinematics Settings Loaded"));
}
Expand Down Expand Up @@ -1014,7 +1043,7 @@ void updateMotorSettings(const String& readString){
float KpV = extractGcodeValue(readString, 'V', -1);
float KiV = extractGcodeValue(readString, 'W', -1);
float KdV = extractGcodeValue(readString, 'X', -1);

//Write the PID values to the axis if new ones have been received
if (KpPos != -1){
leftAxis.setPIDValues(KpPos, KiPos, KdPos, KpV, KiV, KdV);
Expand All @@ -1035,13 +1064,28 @@ void updateMotorSettings(const String& readString){
if (encoderSteps != -1){
leftAxis.changeEncoderResolution(encoderSteps);
rightAxis.changeEncoderResolution(encoderSteps);
leftAxis.loadPositionFromMemory();
rightAxis.loadPositionFromMemory();
encoderStepsChanged = true;
}
if (zEncoderSteps != -1){
zAxis.changeEncoderResolution(zEncoderSteps);
zAxis.loadPositionFromMemory();
zEncoderStepsChanged = true;
}

rcvdMotorSettings = true;
finalizeMachineSettings();
Serial.println(F("Motor Settings Loaded"));
}

bool isSafeCommand(const String& readString){
bool ret = false;
String command = readString.substring(0, 3);
for(int i = 0; i < sizeof(safeCommands); i++){
if(safeCommands[i] == command){
ret = true;
break;
}
}
return ret;
}

void executeGcodeLine(const String& gcodeLine){
Expand All @@ -1052,6 +1096,11 @@ void executeGcodeLine(const String& gcodeLine){
*/

if (!machineReady() && !isSafeCommand(gcodeLine)){
Serial.println(F("Unable to execute command, machine settings not yet received"));
return;
}

//Handle B-codes

if(gcodeLine.substring(0, 3) == "B01"){
Expand Down Expand Up @@ -1273,8 +1322,12 @@ void interpretCommandString(const String& cmdString){

int firstG;
int secondG;

if (cmdString[0] == 'B'){ //If the command is a B command
String cmdStringTrim = cmdString;
cmdStringTrim.trim();
if (cmdStringTrim.length() <= 0){
// Nothing to process, likely a blank startup line
}
else if (cmdString[0] == 'B'){ //If the command is a B command
Serial.print(cmdString);
executeGcodeLine(cmdString);
}
Expand Down

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