fixed compiling errors for Mechaduino. Added sanity checks for different hardware boards (AK)

Author: coolio986

firmware/stepper_nano_zero/board.h

@@ -1,3 +1,4 @@
+/**********************************************************************
 /**********************************************************************
 	Copyright (C) 2018  MisfitTech LLC,  All rights reserved.
 
@@ -56,6 +57,10 @@
 // comment out this next line if using the older hardware
 #define NEMA17_SMART_STEPPER_3_21_2017
 
+#if defined(MECHADUINO_HARDWARE) && defined(NEMA17_SMART_STEPPER_3_21_2017)
+#error "Cannot have both MECHADUINO_HARDWARE and NEMA17_SMART_STEPPER_3_21_2017 defined in board.h"
+#endif
+
 //The MKS Servo42 uses the A1333_Encoder
 // Please uncomment this line and make sure the NEMA17_SMART_STEPPER_3_21_2017 is
 // uncommented for the Servo42
@@ -82,7 +87,7 @@
 //#define ENABLE_PHASE_PREDICTION //this enables prediction of phase at high velocity to increase motor speed
 //as of FW0.11 it is considered development only
 
-#define VERSION "FW: 0.39" //this is what prints on LCD during splash screen
+#define VERSION "FW: 0.40" //this is what prints on LCD during splash screen
 
 //Define this to allow command out serial port, else hardware serial is debug log
 //#define CMD_SERIAL_PORT
@@ -91,8 +96,11 @@
 
 //This section is for using the step and dir pins as serial port
 // when the enable pin is inactive.
+#ifndef MECHADUINO_HARDWARE
 #define USE_STEP_DIR_SERIAL
 #define STEP_DIR_BAUD (19200) //this is the baud rate we will use
+#endif
+
 
 // These are used as an attempt to use TC4 to count steps
 //  currently this is not working.
@@ -188,6 +196,7 @@
  *  0.38 - fixed bug in the velocity feedback mode.
  *  0.39 - changed step count to TCC2, improved the dir pin setup/hold times
  *  	 - added support for the MKS Servo42 (A1333 encoder)
+ *  0.40 - fixed compiling errors for Mechaduino. Added sanity checks for different hardware boards (AK)
  */
 
 
@@ -552,4 +561,3 @@ static inline void DelayMs(uint32_t ms)
 }
 
 #endif//__BOARD_H__
-

firmware/stepper_nano_zero/commands.cpp

@@ -1077,9 +1077,11 @@ static int move_cmd(sCmdUart *ptrUart,int argc, char * argv[])
 		y=pos;
 		if (y>f) a=-a;
 
+#ifndef MECHADUINO_HARDWARE
 		SerialUSB.println(f);
 		SerialUSB.println(y);
 		SerialUSB.println(a);
+#endif
 
 		while (abs(y-f)>(2*abs(a)))
 		{
@@ -1499,7 +1501,7 @@ static int testcal_cmd(sCmdUart *ptrUart,int argc, char * argv[])
 }
 
 
-
+#ifndef MECHADUINO_HARDWARE
 
 uint8_t kbhit(void)
 {
@@ -1515,7 +1517,7 @@ uint8_t putch(char data)
 	return SerialUSB.write((uint8_t)data);
 }
 
-
+#endif
 uint8_t kbhit_hw(void)
 {
 	return Serial5.available();
@@ -1549,8 +1551,13 @@ uint8_t putch_step_dir(char data)
 
 void commandsInit(void)
 {
-	CommandInit(&UsbUart, kbhit, getChar, putch ,NULL); //set up the UART structure
-
+	
+#ifndef MECHADUINO_HARDWARE
+  CommandInit(&UsbUart, kbhit, getChar, putch ,NULL); //set up the UART structure
+  SerialUSB.print("\n\rPower Up\n\r");
+  SerialUSB.print(COMMANDS_PROMPT);
+#endif
+	
 	CommandInit(&HostUart, kbhit_step_dir, getChar_step_dir, putch_step_dir ,NULL); //set up the UART structure for step and dir pins
 
 #ifdef CMD_SERIAL_PORT
@@ -1559,8 +1566,6 @@ void commandsInit(void)
 	Serial5.print(COMMANDS_PROMPT);
 #endif
 
-	SerialUSB.print("\n\rPower Up\n\r");
-	SerialUSB.print(COMMANDS_PROMPT);
 }
 
 int commandsProcess(void)
@@ -1579,5 +1584,11 @@ int commandsProcess(void)
 #ifdef CMD_SERIAL_PORT
 	CommandProcess(&SerialUart,Cmds,' ',COMMANDS_PROMPT);
 #endif
-	return CommandProcess(&UsbUart,Cmds,' ',COMMANDS_PROMPT);
+
+#ifndef MECHADUINO_HARDWARE
+if (SerialUSB.dtr())
+  {
+    return CommandProcess(&UsbUart,Cmds,' ',COMMANDS_PROMPT);
+  }
+#endif
 }

firmware/stepper_nano_zero/nzs.cpp

@@ -631,7 +631,9 @@ void NZS::begin(void)
 
 	//start up the USB serial interface
 	//TODO check for power on USB before doing this...
+#ifndef MECHADUINO_HARDWARE
 	SerialUSB.begin(SERIAL_BAUD);
+#endif
 
 	//setup the serial port for syslog
 	Serial5.begin(SERIAL_BAUD);
@@ -648,7 +650,7 @@ void NZS::begin(void)
 	LOG("Power up!");
 	pinMode(PIN_USB_PWR, INPUT);
 
-
+#ifndef MECHADUINO_HARDWARE
 	if (digitalRead(PIN_USB_PWR))
 	{
 		//wait for USB serial port to come alive
@@ -665,6 +667,7 @@ void NZS::begin(void)
 	{
 		WARNING("USB Not connected");
 	}
+#endif
 
 	validateAndInitNVMParams();
 
@@ -701,9 +704,13 @@ void NZS::begin(void)
 		//todo we need to handle error on LCD and through command line
 		if (STEPCTRL_NO_POWER == stepCtrlError)
 		{
-
+#ifndef MECHADUINO_HARDWARE
 			SerialUSB.println("Appears that there is no Motor Power");
 			SerialUSB.println("Connect motor power!");
+#else
+      Serial5.println("Appears that there is no Motor Power");
+      Serial5.println("Connect motor power!");
+#endif
 #ifndef DISABLE_LCD
 			Lcd.lcdShow("Waiting", "MOTOR", "POWER");
 #endif
@@ -716,7 +723,11 @@ void NZS::begin(void)
 
 		if (STEPCTRL_NO_CAL == stepCtrlError)
 		{
+#ifndef MECHADUINO_HARDWARE
 			SerialUSB.println("You need to Calibrate");
+#else
+      Serial5.println("You need to Calibrate");
+#endif
 #ifndef DISABLE_LCD
 			Lcd.lcdShow("   NOT ", "Calibrated", " ");
 			delay(1000);
@@ -742,9 +753,15 @@ void NZS::begin(void)
 
 		if (STEPCTRL_NO_ENCODER == stepCtrlError)
 		{
+#ifndef MECHADUINO_HARDWARE
 			SerialUSB.println("AS5047D not working");
 			SerialUSB.println(" try disconnecting power from board for 15+mins");
 			SerialUSB.println(" you might have to short out power pins to ground");
+#else
+      Serial5.println("AS5047D not working");
+      Serial5.println(" try disconnecting power from board for 15+mins");
+      Serial5.println(" you might have to short out power pins to ground");
+#endif
 #ifndef DISABLE_LCD
 			Lcd.lcdShow("Encoder", " Error!", " REBOOT");
 #endif
@@ -814,7 +831,9 @@ void printLocation(void)
 		n=stepperCtrl.getLocation(&loc);
 		i++;
 	}
+#ifndef MECHADUINO_HARDWARE
 	SerialUSB.write(buf,len);
+#endif
 
 	//hex write
 	// hex write is 29 bytes per tick, @ 6khz this 174000 baud

firmware/stepper_nano_zero/planner.cpp

@@ -162,8 +162,12 @@ bool Planner::moveConstantVelocity(float finalAngle, float rpm)
 	//first determine if operation is in progress
 	if (PLANNER_NONE != currentMode)
 	{
+#ifndef MECHADUINO_HARDWARE
 		//we are in operation return false
 		SerialUSB.println("planner operational");
+#else
+    Serial5.println("planner operational");
+#endif
 		exitTC3CriticalSection(state);
 		return false;
 	}
@@ -185,7 +189,9 @@ bool Planner::moveConstantVelocity(float finalAngle, float rpm)
 
 	if (startAngle>endAngle)
 	{
+#ifndef MECHADUINO_HARDWARE
 		SerialUSB.println("reverse");
+#endif
 		tickIncrement=-tickIncrement;
 	}
 

firmware/stepper_nano_zero/stepper_controller.cpp

@@ -736,8 +736,11 @@ Angle StepperCtrl::sampleMeanEncoder(int32_t numSamples)
 		x=(((int32_t)encoder.readEncoderAngle())*4);
 		if (encoder.getError())
 		{
-
+#ifndef MECHADUINO_HARDWARE
 			SerialUSB.println("AS5047 Error");
+#else
+      Serial5.print("AS5047 Error");
+#endif
 			delay(1000);
 			return 0;
 		}
@@ -986,7 +989,9 @@ void StepperCtrl::PrintData(void)
 	char s[128];
 	bool state=enterCriticalSection();
 	sprintf(s, "%u,%u,%u", (uint32_t)numSteps,(uint32_t)getDesiredAngle(),(uint32_t)getCurrentAngle());
+#ifndef MECHADUINO_HARDWARE
 	SerialUSB.println(s);
+#endif
 	exitCriticalSection(state);
 }
 //this is the velocity PID feedback loop

firmware/stepper_nano_zero/syslog.cpp

@@ -46,7 +46,7 @@
 
 #define NEW_LINE "\n\r"
 
-Uart *ptrSerial=NULL;
+Stream *ptrSerial=NULL;
 eLogLevel SyslogLevelToWrite;
 
 bool DebugUART=false;
@@ -93,14 +93,16 @@ void SysLogPuts(const char *ptrStr)
 	{
 		ptrSerial->write(ptrStr);
 	}
+#ifndef MECHADUINO_HARDWARE 
 	if (DebugUART)
 	{
 		SerialUSB.write(ptrStr);
 	}
+#endif
 }
 
 int SysLogInitDone=0;
-void SysLogInit(Uart *ptrSerialObj, eLogLevel LevelToWrite)
+void SysLogInit(Stream *ptrSerialObj, eLogLevel LevelToWrite)
 {
 	ptrSerial=ptrSerialObj;
 	SyslogLevelToWrite=LevelToWrite;
@@ -239,4 +241,3 @@ void SysLog(eLogLevel priorty, const char *fmt, ...)
     SysLog_Enabled=previousState;
     return;
 }
-

firmware/stepper_nano_zero/syslog.h

@@ -196,7 +196,7 @@ static inline const char * __file__( const char *filename ) {
 #endif
 
 
-void SysLogInit(Uart *ptrSerialObj, eLogLevel LevelToWrite);
+void SysLogInit(Stream *ptrSerialObj, eLogLevel LevelToWrite);
 int SysLogDisable(void);
 int SysLogEnable(void);
 int SysLogIsEnabled(void);