/**
* Get the range in millimeters from the ultrasonic sensor.
* @return double Range in millimeters of the target returned by the ultrasonic sensor.
* If there is no valid value yet, i.e. at least one measurement hasn't complted, then return 0.
*
* @param pingSlot The slot for the digital module for the ping connection
* @param pingChannel The channel on the digital module for the ping connection
* @param echoSlot The slot for the digital module for the echo connection
* @param echoChannel The channel on the digital module for the echo connection
*/
double GetUltrasonicMM(UINT32 pingSlot, UINT32 pingChannel, UINT32 echoSlot, UINT32 echoChannel)
{
Ultrasonic *us = USptr(pingSlot, pingChannel);
if (us != NULL)
return us->GetRangeMM();
else
return 0.0;
}
void loop()
{
Serial.print(ultrasonic.Ranging(CM)); // CM or INC
Serial.println(" cm" );
sum = ultrasonic.Ranging(CM) * 5;
digitalWrite(led, HIGH);
delay(sum);
digitalWrite(led, LOW);
delay(sum);
}
/**
* Background task that goes through the list of ultrasonic sensors and pings each one in turn. The counter
* is configured to read the timing of the returned echo pulse.
*
* DANGER WILL ROBINSON, DANGER WILL ROBINSON:
* This code runs as a task and assumes that none of the ultrasonic sensors will change while it's
* running. If one does, then this will certainly break. Make sure to disable automatic mode before changing
* anything with the sensors!!
*/
void Ultrasonic::UltrasonicChecker()
{
Ultrasonic *u = NULL;
while (m_automaticEnabled)
{
if (u == NULL) u = m_firstSensor;
if (u == NULL) return;
if (u->IsEnabled())
u->m_pingChannel->Pulse(kPingTime); // do the ping
u = u->m_nextSensor;
Wait(0.1); // wait for ping to return
}
}
void AutonomousPeriodic()
{
if((Auto==1)||(Auto==2))
{
while(gyro.GetAngle()<ang)
{
motorspeed=(1/90)*abs(gyro.GetAngle()-ang);
myRobot.TankDrive(motorspeed/2,motorspeed/-2);
}
}
if((Auto==3)||(Auto==4))
{
while(gyro.GetAngle()>ang)
{
motorspeed=(1/90)*abs(gyro.GetAngle()-ang);
myRobot.TankDrive(motorspeed/-2,motorspeed/2);
}
}
while(EncDist.GetDistance()<EncVal1)
{
myRobot.Drive(-0.5, 0.0);
}
ang = -ang;
if((Auto==1)||(Auto==2))
{
while(gyro.GetAngle()<ang)
{
motorspeed=(1/90)*abs(gyro.GetAngle()-ang);
myRobot.TankDrive(motorspeed/2,motorspeed/-2);
}
}
if((Auto==3)||(Auto==4))
{
while(gyro.GetAngle()>ang)
{
motorspeed=(1/90)*abs(gyro.GetAngle()-ang);
myRobot.TankDrive(motorspeed/-2,motorspeed/2);
}
}
launcher.Set(1.0);
sonic.SetAutomaticMode(true);
while(sonic.GetRangeInches()>DefToShot)
{
myRobot.Drive(-0.5,0.0);
}
myRobot.Drive(0.0,0.0);
intake.Set(1.0);
}
void app_start(int, char**) {
srand(time(NULL));
mbed_trace_init();
tr_info("Application start");
tr_info("Set I2C frequency");
i2c.frequency(400000);
tr_info("Initialize user interface module");
oled = new Adafruit_SSD1306_I2c(i2c, YOTTA_CFG_HARDWARE_PINS_D2);
mcp_keys = new MCP23008(i2c);
for(uint8_t i = 0; i < 4; ++i) {
mcp_keys->setup(i, MCP23008::IN);
mcp_keys->pullup(i, true);
}
tr_info("Initialize state object");
state = new State(i2c);
tr_info("First screen out");
state->startup_phase = State::STARTUP_CONF;
scr = new SplashScreen(*oled, *state);
scr->render();
tr_info("Load config");
state->config.load();
state->startup_phase = State::STARTUP_NM;
scr->render();
tr_info("Start NetworkManager");
wait_ms(100);
nm = new NetworkManager(PIN_ESP_TX, PIN_ESP_RX, 9600);
state->nm = nm;
state->startup_phase = State::STARTUP_FIN;
scr->render();
tr_info("Start ultrasonic measuring");
ultrasonic.start_measure();
tr_info("Hook up routine functions");
minar::Scheduler::postCallback(leave_splash).delay(minar::milliseconds(500));
minar::Scheduler::postCallback(poll_key).period(minar::milliseconds(50));
minar::Scheduler::postCallback(screen_render).period(minar::milliseconds(100));
minar::Scheduler::postCallback(read_distance).period(minar::milliseconds(300));
tr_info("Start process completed");
}
static void read_distance(void) {
float previous = state->distance;
float read = ultrasonic.get_distance();
if(read > state->config.can_height) {
read = state->config.can_height;
}
if(read < 0) return;
float delta = previous - read;
if(delta > 10 || delta < -10) {
if(state->distance_change++ == 5) {
state->distance_change = 0;
state->distance = read;
state->level = (state->config.can_height - read) / state->config.can_height * 100;
} else {
read = previous - (delta * state->distance_change / 5);
state->distance = read;
state->level = (state->config.can_height - read) / state->config.can_height * 100;
}
} else {
state->distance_change = 0;
state->distance = read;
state->level = (state->config.can_height - read) / state->config.can_height * 100;
}
}
/*----------------------------------------
*
* Start the massive Gcode processing loop
*-----------------------------------------
*/
void process_commands()
{
int result;
int motorChannel, motorPower;
unsigned long codenum;
char *starpos = NULL;
if(code_seen('G'))
{
switch((int)code_value())
{
case 0: // G0 -> G1
case 1: // G1
break;
case 2:
break;
case 3:
break;
case 4: // G4 dwell
//LCD_MESSAGEPGM(MSG_DWELL);
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
//codenum += millis(); // keep track of when we started waiting
previous_millis_cmd = 0;//millis();
while(++previous_millis_cmd < codenum ){
manage_inactivity();
_delay_ms(1);
}
break;
case 5: // G5 - Absolute command motor C<Channel> P<motor power -1000 to 1000>
if(!Stopped) {
if(code_seen('C')) {
motorChannel = code_value(); // motor channel 1,2
if(code_seen('P')) {
motorPower = code_value(); // motor power -1000,1000
fault = 0; // clear fault flag
motorControl->commandMotorPower(motorChannel, motorPower);
} // code P
} // code C
} // stopped
break;
case 28:
previous_millis_cmd = 0;
break;
case 90: // G90
break;
case 91: // G91
break;
case 92: // G92
break;
case 99: // G99 start watchdog timer. G99 T<time_in_millis> values are 15,30,60,120,250,500,1000,4000,8000 default 4000
if( code_seen('T') ) {
int time_val = code_value();
watchdog_timer = new WatchdogTimer();
watchdog_timer->watchdog_init(time_val);
}
break;
case 100: // G100 reset watchog timer before time interval is expired, otherwise a reset occurs
if( watchdog_timer != NULL )
watchdog_timer->watchdog_reset();
break;
} // switch
} // if code
/*-------------------------------------
* M Code processing
*--------------------------------------
*/
else if(code_seen('M'))
{
switch( (int)code_value() )
{
case 0: // M0 Set real time output off
realtime_output = 0;
break;
case 1: // M1 Set real time output on
realtime_output = 1;
break;
case 2: // M2 [C<channel> E<encoder pin>] set smart controller (default) with optional encoder pin per channel
motor_status = 0;
motorControl = &roboteqDevice;
if(code_seen('C')) {
channel = code_value();
if(code_seen('E')) {
pin_number = code_value();
motorControl->createEncoder(channel, pin_number);
}
}
break;
//Set PWM motor driver, map pin to channel, this will check to prevent free running motors during inactivity
//For a PWM motor control subsequent G5 commands are affected here.
case 3: // M3 P<pin> C<channel> D<direction pin> E<default dir> W<encoder pin> [T<timer mode 0-3>] [R<resolution 8,9,10 bits>] [X<prescale 0-7>]
motor_status = 1;
pin_number = -1;
encode_pin = 0;
motorControl = (AbstractMotorControl*)&hBridgeDriver;
((HBridgeDriver*)motorControl)->setMotors((PWM**)&ppwms);
((HBridgeDriver*)motorControl)->setDirectionPins((Digital**)&pdigitals);
if(code_seen('P'))
pin_number = code_value();
else
break;
if(code_seen('C')) {
channel = code_value();
if( code_seen('D'))
dir_pin = code_value();
else
break;
if( code_seen('E'))
dir_default = code_value();
else
break;
if( code_seen('W'))
encode_pin = code_value();
((HBridgeDriver*)motorControl)->createPWM(channel, pin_number, dir_pin, dir_default, timer_pre, timer_res);
if(encode_pin)
motorControl->createEncoder(channel, encode_pin);
} // code C
break;
case 4:
// BLDC motor
// BLDC: lo1,lo2,lo3,hi1,hi2,hi3,hall1,hall2,hall3,enable
// hall sensors hall1:bit0,hall2:bit1,hall2:bit2 of commu array offset
// BLDC3PhaseSensor* tmotor1 = new BLDC3PhaseSensor(29,31,33,8,9,10,64,65,66);
// tmotor2 = new BLDC3PhaseSensor(35,37,39,11,12,13,67,68,69,30);
// tmotor1->motor_init();
// tmotor2->Motor_init();
break;
case 11: // M11 C<channel> D<duration> Set maximum motor cycle duration for given channel.
if( code_seen('C') ) {
channel = code_value();
if( code_seen('D') )
motorControl->setDuration(channel, code_value());
}
break;
case 12: // M12 C<channel> P<offset> set amount to add to G5 for min motor power
if( code_seen('C') ) {
channel = code_value();
if( code_seen('P'))
motorControl->setMinMotorPower(channel, code_value());
}
break;
case 17:
break;
case 18: //M18
break;
case 31: //M31 take time since the start of the SD print or an M109 command
stoptime=0;//millis();
char time[30];
t =(stoptime-starttime)/1000;
int sec,min;
min=t/60;
sec=t%60;
sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
SERIAL_PGMLN(timeCntrlHdr);
SERIAL_PGM("1 ");
SERIAL_PORT.println(time);
SERIAL_PORT.flush();
//lcd_setstatus(time);
//autotempShutdown();
break;
case 33: // M33 P<ultrasonic pin> D<min. distance in cm> [E<direction 1- forward facing, 0 - reverse facing sensor>]
// link Motor controller to ultrasonic sensor, the sensor must exist via M301
motor_status = 1;
pin_number = 0;
if(code_seen('P')) {
pin_number = code_value();
if( code_seen('D'))
dist = code_value();
else
break;
dir_face = 1; // default forward
if( code_seen('E'))
dir_face = code_value(); // optional
motorControl->linkDistanceSensor((Ultrasonic**)psonics, pin_number, dist, dir_face);
} // code_seen = 'P'
break;
case 35: //M35 - Clear all digital pins
for(int i = 0; i < 10; i++) {
if(pdigitals[i]) {
unassignPin(pdigitals[i]->pin);
delete pdigitals[i];
pdigitals[i] = 0;
}
}
break;
case 36: //M36 - Clear all analog pins
for(int i = 0; i < 10; i++) {
if(panalogs[i]) {
unassignPin(panalogs[i]->pin);
delete panalogs[i];
panalogs[i] = 0;
}
}
break;
case 37: //M36 - Clear all PWM pins
for(int i = 0; i < 10; i++) {
if(ppwms[i]) {
unassignPin(ppwms[i]->pin);
delete ppwms[i];
ppwms[i] = 0;
}
}
break;
case 38: //M38 - Remove PWM pin P<pin>
pin_number = -1;
if (code_seen('P')) {
pin_number = code_value();
if(unassignPin(pin_number) ) {
for(int i = 0; i < 10; i++) {
if(ppwms[i] && ppwms[i]->pin == pin_number) {
delete ppwms[i];
ppwms[i] = 0;
} // pwms == pin_number
} // i iterate pwm array
} // unassign pin
} // code P
break;
case 39: //M39 - Remove Persistent Analog pin P<pin>
pin_number = -1;
if (code_seen('P')) {
pin_number = code_value();
if(unassignPin(pin_number) ) {
for(int i = 0; i < 10; i++) {
if(panalogs[i] && panalogs[i]->pin == pin_number) {
delete panalogs[i];
panalogs[i] = 0;
break;
}
}
}
}
break;
case 40: //M40 - Remove persistent digital pin P<pin>
pin_number = -1;
if (code_seen('P')) {
pin_number = code_value();
if(unassignPin(pin_number) ) {
for(int i = 0; i < 10; i++) {
if(pdigitals[i] && pdigitals[i] == pin_number) {
delete pdigitals[i];
pdigitals[i] = 0;
break;
}
}
}
}
break;
case 41: //M41 - Create persistent digital pin, Write digital pin HIGH P<pin> (this gives you a 5v source on pin)
pin_number = -1;
if (code_seen('P')) {
pin_number = code_value();
if( assignPin(pin_number) ) {
dpin = new Digital(pin_number);
dpin->setPin(pin_number);
dpin->pinMode(OUTPUT);
dpin->digitalWrite(HIGH);
for(int i = 0; i < 10; i++) {
if(!pdigitals[i]) {
pdigitals[i] = dpin;
break;
}
}
} else {
for(int i = 0; i < 10; i++) {
if(pdigitals[i] && pdigitals[i]->pin == pin_number) {
pdigitals[i]->setPin(pin_number);
pdigitals[i]->pinMode(OUTPUT);
pdigitals[i]->digitalWrite(HIGH);
break;
}
}
}
}
break;
case 42: //M42 - Create persistent digital pin, Write digital pin LOW P<pin> (This gives you a grounded pin)
pin_number = -1;
if (code_seen('P')) {
pin_number = code_value();
if( assignPin(pin_number) ) {
dpin = new Digital(pin_number);
dpin->pinMode(OUTPUT);
dpin->digitalWrite(LOW);
for(int i = 0; i < 10; i++) {
if(!pdigitals[i]) {
pdigitals[i] = dpin;
break;
}
}
} else {
for(int i = 0; i < 10; i++) {
if(pdigitals[i] && pdigitals[i]->pin == pin_number) {
pdigitals[i]->setPin(pin_number);
pdigitals[i]->pinMode(OUTPUT);
pdigitals[i]->digitalWrite(LOW);
break;
}
}
}
}
break;
case 43: // M43 Read from digital pin P<pin>
pin_number = -1;
if (code_seen('P'))
pin_number = code_value();
if( assignPin(pin_number) ) {
dpin = new Digital(pin_number);
dpin->pinMode(INPUT);
int res = dpin->digitalRead();
delete &dpin;
unassignPin(pin_number); // reset it since this is a one-shot
SERIAL_PGMLN(digitalPinHdr);
SERIAL_PGM("1 ");
SERIAL_PORT.println(pin_number);
SERIAL_PGM("2 ");
SERIAL_PORT.println(res);
SERIAL_PORT.println();
SERIAL_PORT.flush();
}
break;
case 44: // M44 -Read digital pin with pullup P<pin>
pin_number = -1;
if (code_seen('P'))
pin_number = code_value();
if( assignPin(pin_number) ) {
dpin = new Digital(pin_number);
dpin->pinMode(INPUT_PULLUP);
int res = dpin->digitalRead();
delete &dpin;
unassignPin(pin_number); // reset it since this is a one-shot
SERIAL_PGMLN(digitalPinHdr);
SERIAL_PGM("1 ");
SERIAL_PORT.println(pin_number);
SERIAL_PGM("2 ");
SERIAL_PORT.println(res);
SERIAL_PORT.flush();
}
break;
// PWM value between 0 and 255, default timer mode is 2; clear on match, default resolution is 8 bits, default prescale is 1
// Prescale: 1,2,4,6,7,8,9 = none, 8, 64, 256, 1024, external falling, external rising
// Use M445 to disable pin permanently or use timer more 0 to stop pulse without removing pin assignment
case 45: // M45 - set up PWM P<pin> S<power val 0-255> [T<timer mode 0-3>] [R<resolution 8,9,10 bits>] [X<prescale 0-7>]
pin_number = -1;
if(code_seen('P') )
pin_number = code_value();
else
break;
if (code_seen('S')) {
int pin_status = code_value();
int timer_mode = 2;
int timer_res = 8;
int timer_pre = 1;
if( pin_status < 0 || pin_status > 255)
pin_status = 0;
// this is a semi-permanent pin assignment so dont add if its already assigned
if( assignPin(pin_number) ) {
// timer mode 0-3: 0 stop, 1 toggle on compare match, 2 clear on match, 3 set on match (see HardwareTimer)
if( code_seen('T') ) {
timer_mode = code_value();
if( timer_mode < 0 || timer_mode > 3 )
timer_mode = 0;
}
// timer bit resolution 8,9, or 10 bits
if( code_seen('R')) {
timer_res = code_value();
if( timer_res < 8 || timer_res > 10 )
timer_res = 8;
}
// X - prescale 0-7 for power of 2
if( code_seen('X') ) {
timer_pre = code_value();
if( timer_pre < 0 || timer_pre > 7 )
timer_pre = 0;
}
for(int i = 0; i < 10; i++) {
if(ppwms[i] == NULL) {
ppin = new PWM(pin_number);
ppin->init(pin_number);
ppin->setPWMPrescale(timer_pre);
ppin->setPWMResolution(timer_res);
ppin->pwmWrite(pin_status,timer_mode); // default is 2, clear on match. to turn off, use 0
ppwms[i] = ppin;
break;
}
}
} else { // reassign pin with new mode and value
for(int i = 0; i < 10; i++) {
if(ppwms[i] && ppwms[i]->pin == pin_number) {
// timer mode 0-3: 0 stop, 1 toggle on compare match, 2 clear on match, 3 set on match (see HardwareTimer)
if( code_seen('T') ) {
timer_mode = code_value();
if( timer_mode < 0 || timer_mode > 3 )
timer_mode = 2; // mess up the code get clear on match default
}
//ppwms[i]->init();
ppwms[i]->pwmWrite(pin_status, timer_mode);
break;
}
}
}
}
break;
case 46: // M46 -Read analog pin P<pin>
pin_number = -1;
if (code_seen('P'))
pin_number = code_value();
if( assignPin(pin_number) ) {
apin = new Analog(pin_number);
int res = apin->analogRead();
res = apin->analogRead(); // de-jitter
delete &apin;
unassignPin(pin_number);
SERIAL_PGMLN(analogPinHdr);
SERIAL_PGM("1 ");
SERIAL_PORT.println(pin_number);
SERIAL_PGM("2 ");
SERIAL_PORT.println(res);
SERIAL_PORT.flush();
}
break;
case 80: // M80 - Turn on Power Supply
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, PS_ON_AWAKE);
// If you have a switch on suicide pin, this is useful
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
#endif
break;
case 81: // M81 - Turn off Power
if( motorControl->isConnected())
motorControl->commandEmergencyStop();
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
suicide();
#elif defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
_delay_ms(1000); // Wait 1 sec before switch off
break;
case 82:
break;
case 83:
break;
case 84: // M84
break;
case 85: // M85
break;
case 92: // M92
break;
case 104: // M104
break;
case 105 : // M105
SERIAL_PORT.println();
break;
case 106: //M106
break;
case 107: //M107
break;
case 109: // M109
break;
case 115: // M115
SERIAL_PGMLN(MSG_M115_REPORT);
break;
case 117:
break;
case 114: // M114
break;
case 120: // M120
break;
case 121: // M121
break;
case 119: // M119
break;
case 140: // M140
break;
case 150: // M150 - set an RGB value
byte red;
byte grn;
byte blu;
if(code_seen('R')) red = code_value();
if(code_seen('U')) grn = code_value();
if(code_seen('B')) blu = code_value();
//SendColors(red,grn,blu);
break;
case 190: // M190
break;
case 200:
break;
case 201: // M201
//reset_acceleration_rates();
break;
case 202: // M202
break;
case 203:
break;
case 204: // M204 acceleration T
if(code_seen('T')) ;//max_acceleration = code_value();
break;
case 205: //M205 advanced settings: maximum travel speed T=travel
if(code_seen('T')) ;//maxtravelspeed = code_value();
break;
case 206:
break;
case 207:
break;
case 208:
break;
case 209:
break;
case 218:
break;
case 220:
if(code_seen('S'))
{
}
break;
case 221:
if(code_seen('S'))
{
}
break;
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required, default is opposite current state
if(code_seen('P')) {
int pin_number = code_value(); // pin number
int pin_state = -1; // required pin state - default is inverted
if(code_seen('S'))
pin_state = code_value(); // required pin state
if( assignPin(pin_number) ) {
Digital pn = new Digital(pin_number);
pn.pinMode(INPUT);
int target;
switch(pin_state){
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
default:
target = !pn.digitalRead(); // opposite of current state
break;
} // switch
while(pn.digitalRead() != target) {
manage_inactivity();
} // while
delete &pn;
unassignPin(pin_number);
} // if pin_number
} // code seen p
break;
case 227: // M227 P<pin number> S<pin state>- INPUT_PULLUP Wait until the specified pin reaches the state required, default is opposite current state
if(code_seen('P')) {
int pin_number = code_value(); // pin number
int pin_state = -1; // required pin state - default is inverted
if(code_seen('S'))
pin_state = code_value(); // required pin state
if( assignPin(pin_number) ) {
Digital pn = new Digital(pin_number);
pn.pinMode(INPUT_PULLUP);
int target;
switch(pin_state){
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
default:
target = !pn.digitalRead(); // opposite of current state
break;
} // switch
while(pn.digitalRead() != target) {
manage_inactivity();
} // while
delete &pn;
unassignPin(pin_number);
} // if pin_number
} // code seen p
break;
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
/*
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
const uint8_t NUM_PULSES=16;
const float PULSE_LENGTH=0.01524;
for(int i=0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
delay(7.33);
for(int i=0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
#endif
*/
break;
case 250:
break;
case 280:
break;
case 300: // M300 - emit ultrasonic pulse on given pin and return duration P<pin number>
uspin = code_seen('P') ? code_value() : 0;
if (uspin > 0) {
Ultrasonic* upin = new Ultrasonic(uspin);
pin_number = upin->getPin();
SERIAL_PGMLN(sonicCntrlHdr);
SERIAL_PGM("1 "); // pin
SERIAL_PORT.println(pin_number);
SERIAL_PGM("2 "); // sequence
SERIAL_PORT.println(upin->getRange()); // range
delete upin;
}
break;
case 301: // M301 - toggle ultrasonic during inactivity P<pin>
// wont assign pin 0 as its sensitive
uspin = code_seen('P') ? code_value() : 0;
// this is a permanent pin assignment so dont add if its already assigned
if( assignPin(uspin) ) {
for(int i = 0; i < 10; i++) {
if(!psonics[i]) {
psonics[i] = new Ultrasonic(uspin);
break;
}
}
}
break;
case 302: // M302 - disable ultrasonic during inactivity P<pin>
uspin = code_seen('P') ? code_value() : 0;
unassignPin(uspin);
for(int i = 0; i < 10; i++) {
if(psonics[i] && psonics[i] == uspin) {
delete psonics[i];
psonics[i] = 0;
break;
}
}
break;
case 303: // M303 - toggle analog read during inactivity P<pin> with exclusion range 0-1024 via L<min> H<max> if present
// wont assign pin 0 as its sensitive
// if optional L and H values exclude readings in that range
uspin = code_seen('P') ? code_value() : 0;
// this is a permanent pin assignment so dont add if its already assigned
if( assignPin(uspin) ) {
for(int i = 0; i < 10; i++) {
if(!panalogs[i]) {
analogRanges[0][i] = code_seen('L') ? code_value() : 0;
analogRanges[1][i] = code_seen('H') ? code_value() : 0;
panalogs[i] = new Analog(uspin);
panalogs[i]->pinMode(INPUT);
break;
}
}
} else { // reassign values for assigned pin
for(int i = 0; i < 10; i++) {
if(panalogs[i] && panalogs[i]->pin == uspin) {
analogRanges[0][i] = code_seen('L') ? code_value() : 0;
analogRanges[1][i] = code_seen('H') ? code_value() : 0;
break;
}
}
}
break;
case 304:// M304 - toggle analog read INPUT_PULLUP during inactivity P<pin> with exclusion range 0-1024 via L<min> H<max> if present
// if optional L and H values exclude readings in that range
uspin = code_seen('P') ? code_value() : 0;
// this is a permanent pin assignment so dont add if its already assigned
if( assignPin(uspin) ) {
for(int i = 0; i < 10; i++) {
if(!panalogs[i]) {
analogRanges[0][i] = code_seen('L') ? code_value() : 0;
analogRanges[1][i] = code_seen('H') ? code_value() : 0;
panalogs[i] = new Analog(uspin);
panalogs[i]->pinMode(INPUT_PULLUP);
break;
}
}
} else { // reassign values for assigned pin
for(int i = 0; i < 10; i++) {
if(panalogs[i] && panalogs[i]->pin == uspin) {
analogRanges[0][i] = code_seen('L') ? code_value() : 0;
analogRanges[1][i] = code_seen('H') ? code_value() : 0;
break;
}
}
}
break;
case 305: // M305 - toggle digital read during inactivity M305 P<pin> T<target> 0 or 1 for target value, default 0
// wont assign pin 0 as its sensitive
// Looks for target value for pin during inactive, if so publish with <digitalpin> header and 1 - pin, 2 - value
uspin = code_seen('P') ? code_value() : 0;
digitarg = code_seen('T') ? code_value() : 0;
// this is a permanent pin assignment so dont add if its already assigned
if( assignPin(uspin) ) {
for(int i = 0; i < 10; i++) {
if(!pdigitals[i]) {
pdigitals[i] = new Digital(uspin);
pdigitals[i]->pinMode(INPUT);
digitalTarget[i] = digitarg;
break;
}
}
} else {
for(int i = 0; i < 10; i++) {
if(pdigitals[i] && pdigitals[i]->pin == uspin) {
digitalTarget[i] = digitarg;
break;
}
}
}
break;
case 306:// M306 - INPUT_PULLUP toggle digital read during inactivity M306 P<pin> T<target> 0 or 1 for target value, default 0
// Looks for target value for pin during inactive, if so publish with <digitalpin> header and 1 - pin 2 - value
uspin = code_seen('P') ? code_value() : 0;
digitarg = code_seen('T') ? code_value() : 0;
// this is a permanent pin assignment so dont add if its already assigned
if( assignPin(uspin) ) {
for(int i = 0; i < 10; i++) {
if(!pdigitals[i]) {
pdigitals[i] = new Digital(uspin);
pdigitals[i]->pinMode(INPUT_PULLUP);
digitalTarget[i] = digitarg;
break;
}
}
} else {
for(int i = 0; i < 10; i++) {
if(pdigitals[i] && pdigitals[i]->pin == uspin) {
digitalTarget[i] = digitarg;
break;
}
}
}
break;
case 349: // M349
/*
if(code_seen('P')) bedKp = code_value();
if(code_seen('I')) bedKi = scalePID_i(code_value());
if(code_seen('D')) bedKd = scalePID_d(code_value());
updatePID();
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(bedKp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(bedKi));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(bedKd));
SERIAL_PROTOCOLLN("");
*/
break;
case 350:
break;
case 351:
break;
case 400:
break;
case 401:
break;
case 402:
break;
case 444: // M444 - set battery warning threshold V<volts*10>!!!!!!!!!!!!!!!!!! REMEMBER ITS TIMES 10 !!!!!!!!!!!!!!!!!!
if(code_seen('V')) {
BatteryThreshold = code_value(); // times 10!!!
}
break;
case 445: // M445 - Turn off pulsed write pin - disable PWM P<pin>
pin_number = -1;
if (code_seen('P'))
pin_number = code_value();
unassignPin(pin_number);
for(int i = 0; i < 10; i++) {
if(ppwms[i] && ppwms[i] == pin_number) {
ppwms[i]->pwmWrite(0,0); // default is 2, clear on match. to turn off, use 0
delete ppwms[i];
ppwms[i] = 0;
break;
}
}
break;
case 500: // M500 Store settings in EEPROM
Config_StoreSettings();
break;
case 501: // M501 Read settings from EEPROM
Config_RetrieveSettings();
break;
case 502: // M502 Revert to default settings
Config_ResetDefault();
break;
case 503: // M503 print settings currently in memory
Config_PrintSettings();
break;
case 540:
//if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
break;
case 600:
break;
case 605:
break;
case 666:
break;
case 700: // return stats
// Check startup - does nothing if bootloader sets MCUSR to 0
mcu = MCUSR;
if(mcu & 1) SERIAL_PGMLN(MSG_POWERUP);
if(mcu & 2) SERIAL_PGMLN(MSG_EXTERNAL_RESET);
if(mcu & 4) SERIAL_PGMLN(MSG_BROWNOUT_RESET);
if(mcu & 8) SERIAL_PGMLN(MSG_WATCHDOG_RESET);
if(mcu & 32) SERIAL_PGMLN(MSG_SOFTWARE_RESET);
MCUSR=0;
SERIAL_PGM(VERSION_STRING);
#ifdef STRING_VERSION_CONFIG_H
#ifdef STRING_CONFIG_H_AUTHOR
SERIAL_PGM(MSG_CONFIGURATION_VER);
SERIAL_PGM(STRING_VERSION_CONFIG_H);
SERIAL_PGM(MSG_AUTHOR);
SERIAL_PGMLN(STRING_CONFIG_H_AUTHOR);
SERIAL_PGM("Compiled: ");
SERIAL_PGM(__DATE__);
#endif
#endif
SERIAL_PGM(MSG_FREE_MEMORY);
SERIAL_PORT.println(freeMemory());
SERIAL_PORT.flush();
break;
case 701: // Report digital pins in use
SERIAL_PGMLN("Digital Pins:");
for(int i = 0; i < 10; i++) {
if( pdigitals[i] ) {
SERIAL_PORT.print(pdigitals[i]->pin);
switch(pdigitals[i]->mode) {
case INPUT:
SERIAL_PGMLN(" INPUT");
break;
case INPUT_PULLUP:
SERIAL_PGMLN(" INPUT_PULLUP");
break;
case OUTPUT:
SERIAL_PGMLN(" OUTPUT");
break;
}
}
}
SERIAL_PORT.println();
SERIAL_PORT.flush();
break;
case 702: // Report analog pins in use
SERIAL_PGMLN("Analog Pins:");
for(int i = 0; i < 10; i++) {
if( panalogs[i] ) {
SERIAL_PORT.print(panalogs[i]->pin);
switch(panalogs[i]->mode) {
case INPUT:
SERIAL_PGMLN(" INPUT");
break;
case INPUT_PULLUP:
SERIAL_PGMLN(" INPUT_PULLUP");
break;
case OUTPUT:
SERIAL_PGMLN(" OUTPUT");
break;
}
}
}
SERIAL_PORT.println();
SERIAL_PORT.flush();
break;
case 703: // Report ultrasonic pins in use
SERIAL_PGMLN("Ultrasonic Pins:");
for(int i = 0; i < 10; i++) {
if( psonics[i] ) {
SERIAL_PGM("Pin:");
SERIAL_PORT.println(psonics[i]->getPin());
}
}
SERIAL_PORT.flush();
break;
case 704: // Report PWM pins in use
SERIAL_PGMLN("PWM Pins:");
for(int i = 0; i < 10; i++) {
if( ppwms[i] ) {
SERIAL_PGM("Pin:");
SERIAL_PORT.print(ppwms[i]->pin);
SERIAL_PGM(" Timer channel:");
SERIAL_PORT.print(ppwms[i]->channel);
switch(ppwms[i]->mode) {
case INPUT:
SERIAL_PGM(" INPUT");
break;
case INPUT_PULLUP:
SERIAL_PGM(" INPUT_PULLUP");
break;
case OUTPUT:
SERIAL_PGM(" OUTPUT");
break;
}
SERIAL_PORT.println();
}
SERIAL_PORT.flush();
}
break;
case 705:
// see if it has propulsion attributes declared with M3 as interrupt serviced
switch(motor_status) {
case 0:
SERIAL_PGMLN("Multi Channel Motor Controller:");
break;
case 1:
SERIAL_PGMLN("H-Bridge Brushed DC Motor Driver(s):");
break;
case 2:
SERIAL_PGMLN("Brushless DC Motor Driver(s):");
break;
}
for(int i = 0 ; i < motorControl->getChannels(); i++) { //per channel
SERIAL_PGM("Motor channel:");
SERIAL_PORT.print(i+1);
SERIAL_PGM(" Min Power:");
SERIAL_PORT.print(motorControl->getMinMotorPower(i+1));
SERIAL_PGM(" Speed:");
SERIAL_PORT.print(motorControl->getMotorSpeed(i+1));
SERIAL_PGM(" Curr. Dir:");
SERIAL_PORT.print(motorControl->getCurrentDirection(i+1));
SERIAL_PGM(" Default. Dir:");
SERIAL_PORT.println(motorControl->getDefaultDirection(i+1));
SERIAL_PGM(" Encoder Pin:");
if(motorControl->getWheelEncoder(i+1)) {
SERIAL_PORT.print(motorControl->getWheelEncoder(i+1)->pin);
SERIAL_PGM(" Count:");
SERIAL_PORT.print(motorControl->getEncoderCount(i+1));
SERIAL_PGM(" Duration:");
SERIAL_PORT.println(motorControl->getMaxMotorDuration(i+1));
} else {
SERIAL_PGMLN("None.");
}
}
SERIAL_PGM("Ultrasonic pins:");
if( motorControl->totalUltrasonics() ) {
SERIAL_PORT.println(motorControl->totalUltrasonics());
for(int j = 0; j < motorControl->totalUltrasonics(); j++) {
SERIAL_PGM("Pin:");
SERIAL_PORT.print(psonics[motorControl->getUltrasonicIndex(i+1)]->getPin());
SERIAL_PGM(" Facing:");
SERIAL_PORT.print(motorControl->getUltrasonicFacing(i+1));
SERIAL_PGM(" Shutdown cm:");
SERIAL_PORT.println(motorControl->getMinMotorDist(i+1));
}
} else {
SERIAL_PGMLN("None.");
}
SERIAL_PORT.flush();
break;
case 706: // Report all pins in use
for(int i = 0; i < 100; i++) {
if( pinAssignment(i) == PIN_ASSIGNED ) {
SERIAL_PORT.print(i);
SERIAL_PORT.print(',');
}
}
SERIAL_PORT.println();
SERIAL_PORT.flush();
break;
case 797:
break;
case 798: // Report controller status
//SERIAL_PGMLN(motorCntrlHdr);
if( motorControl->isConnected() ) {
for(int i = 0; i < motorControl->getChannels() ; i++ ) {
SERIAL_PGM("Motor Channel:");
SERIAL_PORT.println(i+1);
char* buf = motorControl->getDriverInfo(i+1);
while(*buf) {
SERIAL_PORT.print(*buf);
buf++;
}
}
}
SERIAL_PORT.println();
SERIAL_PORT.flush();
break;
case 799: // Reset Motor controller
motorControl->commandEmergencyStop();
break;
case 800:
break;
case 801: // IMU
prh = new PitchRollHeading();
orient = prh->getPitchRollHeading();
SERIAL_PGMLN(posCntrlHdr);
SERIAL_PGM("1 ");
SERIAL_PORT.println(orient.pitch);
SERIAL_PGM("2 ");
SERIAL_PORT.println(orient.roll);
SERIAL_PGM("3 ");
SERIAL_PORT.println(orient.heading);
break;
case 802: // Acquire analog pin data M802 Pnn Sxxx Mxxx P=Pin number, S=number readings, M=microseconds per reading. X - pullup.
// Publish <dataset> 1 - pin, 2 - reading
if( code_seen('P')) {
apin = new Analog((uint8_t)code_value());
if( code_seen('X') )
apin->pinMode(INPUT_PULLUP);
else
apin->pinMode(INPUT);
}
nread = 0;
if( code_seen('S') ) {
nread = code_value();
}
micros = 0;
if( code_seen('M')) {
micros = (uint32_t)code_value();
}
values = new int(nread);
for(int i = 0; i < nread; i++) {
*(values+i) = apin->analogRead();
for(int j = 0; j < micros; j++) _delay_us(1);
}
SERIAL_PGMLN(datasetHdr);
SERIAL_PORT.println();
for(int i = 0; i < nread; i++) {
SERIAL_PORT.print(i+1); // sequence
SERIAL_PORT.print(' ');
// 0 element is pin number
if( i == 0 )
SERIAL_PORT.println(apin->pin);
else
SERIAL_PORT.println(*(values+i)); // value
}
delete values;
SERIAL_PORT.println();
SERIAL_PORT.flush();
break;
case 803:
break;
case 907:
break;
case 908: // M908 Control digital trimpot directly.
uint8_t current;
if(code_seen('P')) channel=code_value();
if(code_seen('S')) current=code_value();
digitalPotWrite(channel, current);
break;
case 999: // M999: Reset
Stopped = false;
//lcd_reset_alert_level();
gcode_LastN = Stopped_gcode_LastN;
//FlushSerialRequestResend();
if( watchdog_timer != NULL )
delete watchdog_timer;
watchdog_timer = new WatchdogTimer();
watchdog_timer->watchdog_init(15); // 15 ms
} // switch m code
} else { // if M code
SERIAL_PGMLN(MSG_UNKNOWN_COMMAND);
//SERIAL_PORT.println(cmdbuffer[bufindr]);
}
}
