From 265ef3459b143af46e9e9ee5a9ef275a3fc86198 Mon Sep 17 00:00:00 2001 From: FinnRoters Date: Wed, 26 Jun 2024 10:13:41 +0200 Subject: [PATCH 1/4] Create a new branch with F01 & F02 Handler The F02 handler is currently kept simple. In the next few days I would like to do another pull and upload a programme that is more specific for the FarmBot. --- farmbot-arduino-firmware-main-with-F01&F02.zip | Bin 0 -> 118570 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 farmbot-arduino-firmware-main-with-F01&F02.zip diff --git a/farmbot-arduino-firmware-main-with-F01&F02.zip b/farmbot-arduino-firmware-main-with-F01&F02.zip new file mode 100644 index 0000000000000000000000000000000000000000..ea201c76b5277ba324980582c9eec5676085ad88 GIT binary patch literal 118570 zcmbrG1CV6fmiNo(vTfV8ZQHi(>auNiRhMmcvCFn?+x6AGGxO%%_r=706LTU?p3D<@ zcI@2ixBhEwrMwg{2r|GQ2X+mM+MjR!^M(BDYHHwUV`%40W8i4)Vqt4XV`|}O<7VJ! zLStiKVM|AAWZ`IJZDM3WC;y+NK>S$>p}1ZQ7%%`pEffF%>l8LB#Ssu7HJgfue3FT^%Tj?s|R{_!?9^eV4sOu=B{QyG$X zD#z>3e%)MLZJ9`eJeaQem6qV(-N#IqxB%S0bL`0Q004Wd&=P1NP!s162||Df_j+7F z01REvzRzWt8Kz_WBE@E+L$nAHwZj3^P%nf($Xh~V6jq{BK9{;cC>Jk22=v%yW^oiK zkkJLLk-CZ+G&Ir=h8hX`PQp4Y0AOl75cx^ggVF5hp+PRWUItcG?R3vhZ5ezcjusUM 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F01 & F02 Handler in src --- src/Command.cpp | 27 +++++++++++++++ src/Command.h | 2 ++ src/F01Handler.cpp | 45 ++++++++++++++++++++++++ src/F01Handler.h | 28 +++++++++++++++ src/F02Handler.cpp | 78 ++++++++++++++++++++++++++++++++++++++++++ src/F02Handler.h | 31 +++++++++++++++++ src/F21Handler.cpp | 2 +- src/GCodeProcessor.cpp | 12 +++++++ src/GCodeProcessor.h | 3 ++ src/src.ino | 6 ++-- 10 files changed, 230 insertions(+), 4 deletions(-) create mode 100644 src/F01Handler.cpp create mode 100644 src/F01Handler.h create mode 100644 src/F02Handler.cpp create mode 100644 src/F02Handler.h diff --git a/src/Command.cpp b/src/Command.cpp index 57ad675..fe3692c 100644 --- a/src/Command.cpp +++ b/src/Command.cpp @@ -9,6 +9,7 @@ const char parameterValue2Code = 'W'; const char elementCode = 'E'; const char timeCode = 'T'; const char modeCode = 'M'; +const char numberCode = 'N'; // Edited by Finn const char msgQueueCode = 'Q'; CommandCodeEnum commandCodeEnum = CODE_UNDEFINED; @@ -61,6 +62,18 @@ CommandCodeEnum Command::getGCodeEnum(char *code) // return F03; //} + // Finn: F01 + if (strcmp(code, "F01") == 0 || strcmp(code, "F1") == 0) + { + return F01; + } + + // Finn: F02 + if (strcmp(code, "F02") == 0 || strcmp(code, "F2") == 0) + { + return F02; + } + if (strcmp(code, "F09") == 0 || strcmp(code, "F9") == 0) { return F09; @@ -230,6 +243,13 @@ void Command::getParameter(char *charPointer) time = atof(charPointer + 1); } + // Edited by Finn + if (charPointer[0] == numberCode) { + number = atof(charPointer + 1); + // Serial.print("Set number to: "); + // Serial.println(number); + } + if (charPointer[0] == modeCode) { mode = atof(charPointer + 1); @@ -267,6 +287,8 @@ void Command::print() Serial.print(element); Serial.print(", M: "); Serial.print(mode); + Serial.print(", N: "); + Serial.print(number); Serial.print(", A: "); Serial.print(axisSpeedValue[0]); @@ -346,6 +368,11 @@ long Command::getM() return mode; } +long Command::getN() // Edited by Finn +{ + return number; +} + long Command::getQ() { //msgQueue = 9876; diff --git a/src/Command.h b/src/Command.h index b889c32..cf3cd92 100644 --- a/src/Command.h +++ b/src/Command.h @@ -60,6 +60,7 @@ class Command long getT(); long getE(); long getM(); + long getN(); // Edited by Finn long getQ(); void printQAndNewLine(); @@ -77,6 +78,7 @@ class Command long element = 0; long time = 0; long mode = 0; + long number = 0; // Edited by Finn long msgQueue = 0; }; diff --git a/src/F01Handler.cpp b/src/F01Handler.cpp new file mode 100644 index 0000000..8992903 --- /dev/null +++ b/src/F01Handler.cpp @@ -0,0 +1,45 @@ +/* + * F01Handler.cpp + * + * Created on: 12 june 2024 + * Author: Finn Roters + */ + +#include "F01Handler.h" + +static F01Handler *instance; // defines a static pointer to an "F01Handler" instance (ensures that there is only one instance of the class). + + +// Check whether instance points to nullptr (i.e. no valid memory area) (if yes, a new instance of F01Handler is created). +F01Handler *F01Handler::getInstance() +{ + if (!instance) + { + instance = new F01Handler(); + }; + return instance; +}; + +// Constructor of the F01Handler class (empty, because no special initialisations are necessary). +F01Handler::F01Handler() +{ +} + + +int F01Handler::execute(Command *command) +{ + //int duration = command->getT(); + int valvePin = 10; // Pin for the water valve. + Serial.println("F01 command has started"); + // Open the water valve + PinControl::getInstance()->writeValue(valvePin, 1, 0); // Set the pin of the water valve to high (0 = digital). + + // Wait for the specified duration + //delay(duration); + delay(command->getT()); + + // Close the water valve + PinControl::getInstance()->writeValue(valvePin, 0, 0); // Set the pin of the water valve to low (0 = digital). + Serial.println("F01 command is done"); + return 0; +} diff --git a/src/F01Handler.h b/src/F01Handler.h new file mode 100644 index 0000000..afd3393 --- /dev/null +++ b/src/F01Handler.h @@ -0,0 +1,28 @@ +/* + * F01Handler.h + * + * Created on: 12 june 2024 + * Author: Finn Roters + */ + +#ifndef F01HANDLER_H_ +#define F01HANDLER_H_ +#include "GCodeHandler.h" +#include "Config.h" +#include "CurrentState.h" +#include "pins.h" +#include "PinControl.h" + +class F01Handler : public GCodeHandler // Class F01Handler is defined, which inherits from GCodeHandler. +{ +public: // can be called from outside. + static F01Handler *getInstance(); // static method that returns an instance of the "F01Handler" class. + int execute(Command *); // method is used to execute the G- and F-code. + +private: // only accessible within the "F01Handler" class + F01Handler(); // private constructor of the class (prevents objects of the class from being created directly). + F01Handler(F01Handler const &); // private copy constructor (This prevents the class from being copied). + void operator=(F01Handler const &); // private assignment operator (This prevents objects from being assigned to the class). +}; + +#endif /* F01HANDLER_H_ */ diff --git a/src/F02Handler.cpp b/src/F02Handler.cpp new file mode 100644 index 0000000..5fb6bf8 --- /dev/null +++ b/src/F02Handler.cpp @@ -0,0 +1,78 @@ +/* + * F02Handler.cpp + * + * Created on: 13 june 2024 + * Author: Finn Roters + */ + +#include "F02Handler.h" + +static F02Handler *instance; // defines a static pointer to an "F02Handler" instance (ensures that there is only one instance of the class). + +unsigned int F02Handler::pulsePerSecond; +unsigned int F02Handler::pulse; + +// Check whether instance points to nullptr (i.e. no valid memory area) (if yes, a new instance of F02Handler is created). +F02Handler *F02Handler::getInstance() +{ + if (!instance) + { + instance = new F02Handler(); + }; + return instance; +}; + +// Constructor of the F42Handler class (empty, because no special initialisations are necessary). +F02Handler::F02Handler() +{ +} + + +int F02Handler::execute(Command *command) +{ + unsigned int valvePin = 10; // Pin for the water valve. + unsigned int sensorPin = 2; // Pin 2 (Arduino Mega 2560) Interrupt capable + float calibrationFactor = 7.5; // According to the data sheet: 450 pulses / L -> Calibration Factor: 450 / 60 = 7.5 + pulsePerSecond = 0; + pulse = 0; + float flowRate = 0.0; + long flowMl = 0; + long totalMl = 0; + unsigned long oldTime = 0; + pinMode(sensorPin, INPUT); + attachInterrupt(digitalPinToInterrupt(sensorPin), F02Handler::pulseCount, RISING); + + Serial.println("F02 command has started"); + // Open the water valve + PinControl::getInstance()->writeValue(valvePin, 1, 0); // Set the pin of the water valve to high (0 = digital). + + Serial.print("command->getN(): "); + Serial.println(command->getN()); // Output of the value of command->getN() + + while(totalMl < command->getN()){ + if((millis() - oldTime) > 1000) { + detachInterrupt(sensorPin); // Deactivate interrupt for the calculations. + Serial.print("Pulse : "); + Serial.println(pulse); + flowRate = ((1000.0 / (millis() - oldTime))* pulsePerSecond) / calibrationFactor; + flowMl = (flowRate/60) * 1000; // Millilitre per second + totalMl += flowMl; // each second add the measured millilitre + Serial.print("Total Ml : "); + Serial.println(totalMl); + pulsePerSecond = 0; + oldTime = millis(); + attachInterrupt(sensorPin, F02Handler::pulseCount, RISING); + } + } + // Close the water valve + PinControl::getInstance()->writeValue(valvePin, 0, 0); // Set the pin of the water valve to low (0 = digital). + Serial.println("F02 is done"); + return 0; +} + +void F02Handler::pulseCount() { + // Increment the pulse counter + // Serial.println("INTERRUPT"); + pulsePerSecond++; + pulse++; +} diff --git a/src/F02Handler.h b/src/F02Handler.h new file mode 100644 index 0000000..367dcac --- /dev/null +++ b/src/F02Handler.h @@ -0,0 +1,31 @@ +/* + * F02Handler.h + * + * Created on: 13 june 2024 + * Author: Finn Roters + */ + +#ifndef F02HANDLER_H_ +#define F02HANDLER_H_ +#include "GCodeHandler.h" +#include "Config.h" +#include "CurrentState.h" +#include "pins.h" +#include "PinControl.h" + +class F02Handler : public GCodeHandler // Class F02Handler is defined, which inherits from GCodeHandler. +{ +public: // can be called from outside. + static F02Handler *getInstance(); // static method that returns an instance of the "F02Handler" class. + int execute(Command *); // method is used to execute the G- and F-code. + +private: // only accessible within the "F02Handler" class + F02Handler(); // private constructor of the class (prevents objects of the class from being created directly). + F02Handler(F02Handler const &); // private copy constructor (This prevents the class from being copied). + void operator=(F02Handler const &); // private assignment operator (This prevents objects from being assigned to the class). + static void pulseCount(); // Function pulseCount is declared statically in order to exist during the entire runtime of the programme and only be valid in this area. + static unsigned int pulsePerSecond; // Declare pulsePerSecond and pulse also staisch. + static unsigned int pulse; +}; + +#endif /* F02HANDLER_H_ */ diff --git a/src/F21Handler.cpp b/src/F21Handler.cpp index 5c03fb2..3428a25 100644 --- a/src/F21Handler.cpp +++ b/src/F21Handler.cpp @@ -24,7 +24,7 @@ F21Handler::F21Handler() int F21Handler::execute(Command *command) { - + ParameterList::getInstance()->readValue(command->getP()); return 0; diff --git a/src/GCodeProcessor.cpp b/src/GCodeProcessor.cpp index 876b727..899b858 100644 --- a/src/GCodeProcessor.cpp +++ b/src/GCodeProcessor.cpp @@ -232,6 +232,18 @@ GCodeHandler *GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) handler = G28Handler::getInstance(); } + // Edited by Finn: + if (codeEnum == F01) + { + handler = F01Handler::getInstance(); + } + + // Edited by Finn: + if (codeEnum == F02) + { + handler = F02Handler::getInstance(); + } + if (codeEnum == F09) { handler = F09Handler::getInstance(); diff --git a/src/GCodeProcessor.h b/src/GCodeProcessor.h index d8272a5..fc8a8f3 100644 --- a/src/GCodeProcessor.h +++ b/src/GCodeProcessor.h @@ -17,6 +17,9 @@ #include "G00Handler.h" #include "G28Handler.h" +#include "F01Handler.h" // Edited by Finn +#include "F02Handler.h" // Edited by Finn + #include "F09Handler.h" #include "F11Handler.h" diff --git a/src/src.ino b/src/src.ino index 2a7bbff..ca86767 100644 --- a/src/src.ino +++ b/src/src.ino @@ -3,7 +3,6 @@ Created: 11/14/2019 9:51:10 PM Author: Tim Evers */ - #include "TMC2130_Basics.h" #include "farmbot_arduino_controller.h" //#include @@ -14,7 +13,8 @@ // the setup function runs once when you press reset or power the board void setup() { - startSerial(); + Serial.begin(9600); + //startSerial(); setPinInputOutput(); readParameters(); @@ -56,5 +56,5 @@ void loop() checkEmergencyStop(); checkParamsChanged(); periodicChecksAndReport(); - + } From d3a668c485b1fc6c8e7cb46051bd52d2a71e9611 Mon Sep 17 00:00:00 2001 From: Finn Roters Date: Wed, 7 Aug 2024 13:23:09 +0200 Subject: [PATCH 4/4] Add F52Hander to read out icp10101 sensor --- src/Command.cpp | 32 ++----- src/Command.h | 3 +- src/F01Handler.cpp | 45 ---------- src/F01Handler.h | 28 ------ src/F02Handler.cpp | 78 ---------------- src/F02Handler.h | 31 ------- src/F21Handler.cpp | 2 +- src/F52Handler.cpp | 89 ++++++++++++++++++ src/F52Handler.h | 29 ++++++ src/GCodeProcessor.cpp | 17 ++-- src/GCodeProcessor.h | 5 +- src/icp101xx.cpp | 200 +++++++++++++++++++++++++++++++++++++++++ src/icp101xx.h | 52 +++++++++++ src/src.ino | 5 +- 14 files changed, 387 insertions(+), 229 deletions(-) delete mode 100644 src/F01Handler.cpp delete mode 100644 src/F01Handler.h delete mode 100644 src/F02Handler.cpp delete mode 100644 src/F02Handler.h create mode 100644 src/F52Handler.cpp create mode 100644 src/F52Handler.h create mode 100644 src/icp101xx.cpp create mode 100644 src/icp101xx.h diff --git a/src/Command.cpp b/src/Command.cpp index fe3692c..52a88ea 100644 --- a/src/Command.cpp +++ b/src/Command.cpp @@ -9,7 +9,6 @@ const char parameterValue2Code = 'W'; const char elementCode = 'E'; const char timeCode = 'T'; const char modeCode = 'M'; -const char numberCode = 'N'; // Edited by Finn const char msgQueueCode = 'Q'; CommandCodeEnum commandCodeEnum = CODE_UNDEFINED; @@ -62,18 +61,6 @@ CommandCodeEnum Command::getGCodeEnum(char *code) // return F03; //} - // Finn: F01 - if (strcmp(code, "F01") == 0 || strcmp(code, "F1") == 0) - { - return F01; - } - - // Finn: F02 - if (strcmp(code, "F02") == 0 || strcmp(code, "F2") == 0) - { - return F02; - } - if (strcmp(code, "F09") == 0 || strcmp(code, "F9") == 0) { return F09; @@ -143,6 +130,11 @@ CommandCodeEnum Command::getGCodeEnum(char *code) return F44; } + if (strcmp(code, "F52") == 0) + { + return F52; + } + if (strcmp(code, "F61") == 0) { return F61; @@ -243,13 +235,6 @@ void Command::getParameter(char *charPointer) time = atof(charPointer + 1); } - // Edited by Finn - if (charPointer[0] == numberCode) { - number = atof(charPointer + 1); - // Serial.print("Set number to: "); - // Serial.println(number); - } - if (charPointer[0] == modeCode) { mode = atof(charPointer + 1); @@ -287,8 +272,6 @@ void Command::print() Serial.print(element); Serial.print(", M: "); Serial.print(mode); - Serial.print(", N: "); - Serial.print(number); Serial.print(", A: "); Serial.print(axisSpeedValue[0]); @@ -368,11 +351,6 @@ long Command::getM() return mode; } -long Command::getN() // Edited by Finn -{ - return number; -} - long Command::getQ() { //msgQueue = 9876; diff --git a/src/Command.h b/src/Command.h index cf3cd92..bc6d10c 100644 --- a/src/Command.h +++ b/src/Command.h @@ -29,6 +29,7 @@ enum CommandCodeEnum F42 = 142, F43 = 143, F44 = 144, + F52 = 152, F61 = 161, F81 = 181, F82 = 182, @@ -60,7 +61,6 @@ class Command long getT(); long getE(); long getM(); - long getN(); // Edited by Finn long getQ(); void printQAndNewLine(); @@ -78,7 +78,6 @@ class Command long element = 0; long time = 0; long mode = 0; - long number = 0; // Edited by Finn long msgQueue = 0; }; diff --git a/src/F01Handler.cpp b/src/F01Handler.cpp deleted file mode 100644 index 8992903..0000000 --- a/src/F01Handler.cpp +++ /dev/null @@ -1,45 +0,0 @@ -/* - * F01Handler.cpp - * - * Created on: 12 june 2024 - * Author: Finn Roters - */ - -#include "F01Handler.h" - -static F01Handler *instance; // defines a static pointer to an "F01Handler" instance (ensures that there is only one instance of the class). - - -// Check whether instance points to nullptr (i.e. no valid memory area) (if yes, a new instance of F01Handler is created). -F01Handler *F01Handler::getInstance() -{ - if (!instance) - { - instance = new F01Handler(); - }; - return instance; -}; - -// Constructor of the F01Handler class (empty, because no special initialisations are necessary). -F01Handler::F01Handler() -{ -} - - -int F01Handler::execute(Command *command) -{ - //int duration = command->getT(); - int valvePin = 10; // Pin for the water valve. - Serial.println("F01 command has started"); - // Open the water valve - PinControl::getInstance()->writeValue(valvePin, 1, 0); // Set the pin of the water valve to high (0 = digital). - - // Wait for the specified duration - //delay(duration); - delay(command->getT()); - - // Close the water valve - PinControl::getInstance()->writeValue(valvePin, 0, 0); // Set the pin of the water valve to low (0 = digital). - Serial.println("F01 command is done"); - return 0; -} diff --git a/src/F01Handler.h b/src/F01Handler.h deleted file mode 100644 index afd3393..0000000 --- a/src/F01Handler.h +++ /dev/null @@ -1,28 +0,0 @@ -/* - * F01Handler.h - * - * Created on: 12 june 2024 - * Author: Finn Roters - */ - -#ifndef F01HANDLER_H_ -#define F01HANDLER_H_ -#include "GCodeHandler.h" -#include "Config.h" -#include "CurrentState.h" -#include "pins.h" -#include "PinControl.h" - -class F01Handler : public GCodeHandler // Class F01Handler is defined, which inherits from GCodeHandler. -{ -public: // can be called from outside. - static F01Handler *getInstance(); // static method that returns an instance of the "F01Handler" class. - int execute(Command *); // method is used to execute the G- and F-code. - -private: // only accessible within the "F01Handler" class - F01Handler(); // private constructor of the class (prevents objects of the class from being created directly). - F01Handler(F01Handler const &); // private copy constructor (This prevents the class from being copied). - void operator=(F01Handler const &); // private assignment operator (This prevents objects from being assigned to the class). -}; - -#endif /* F01HANDLER_H_ */ diff --git a/src/F02Handler.cpp b/src/F02Handler.cpp deleted file mode 100644 index 5fb6bf8..0000000 --- a/src/F02Handler.cpp +++ /dev/null @@ -1,78 +0,0 @@ -/* - * F02Handler.cpp - * - * Created on: 13 june 2024 - * Author: Finn Roters - */ - -#include "F02Handler.h" - -static F02Handler *instance; // defines a static pointer to an "F02Handler" instance (ensures that there is only one instance of the class). - -unsigned int F02Handler::pulsePerSecond; -unsigned int F02Handler::pulse; - -// Check whether instance points to nullptr (i.e. no valid memory area) (if yes, a new instance of F02Handler is created). -F02Handler *F02Handler::getInstance() -{ - if (!instance) - { - instance = new F02Handler(); - }; - return instance; -}; - -// Constructor of the F42Handler class (empty, because no special initialisations are necessary). -F02Handler::F02Handler() -{ -} - - -int F02Handler::execute(Command *command) -{ - unsigned int valvePin = 10; // Pin for the water valve. - unsigned int sensorPin = 2; // Pin 2 (Arduino Mega 2560) Interrupt capable - float calibrationFactor = 7.5; // According to the data sheet: 450 pulses / L -> Calibration Factor: 450 / 60 = 7.5 - pulsePerSecond = 0; - pulse = 0; - float flowRate = 0.0; - long flowMl = 0; - long totalMl = 0; - unsigned long oldTime = 0; - pinMode(sensorPin, INPUT); - attachInterrupt(digitalPinToInterrupt(sensorPin), F02Handler::pulseCount, RISING); - - Serial.println("F02 command has started"); - // Open the water valve - PinControl::getInstance()->writeValue(valvePin, 1, 0); // Set the pin of the water valve to high (0 = digital). - - Serial.print("command->getN(): "); - Serial.println(command->getN()); // Output of the value of command->getN() - - while(totalMl < command->getN()){ - if((millis() - oldTime) > 1000) { - detachInterrupt(sensorPin); // Deactivate interrupt for the calculations. - Serial.print("Pulse : "); - Serial.println(pulse); - flowRate = ((1000.0 / (millis() - oldTime))* pulsePerSecond) / calibrationFactor; - flowMl = (flowRate/60) * 1000; // Millilitre per second - totalMl += flowMl; // each second add the measured millilitre - Serial.print("Total Ml : "); - Serial.println(totalMl); - pulsePerSecond = 0; - oldTime = millis(); - attachInterrupt(sensorPin, F02Handler::pulseCount, RISING); - } - } - // Close the water valve - PinControl::getInstance()->writeValue(valvePin, 0, 0); // Set the pin of the water valve to low (0 = digital). - Serial.println("F02 is done"); - return 0; -} - -void F02Handler::pulseCount() { - // Increment the pulse counter - // Serial.println("INTERRUPT"); - pulsePerSecond++; - pulse++; -} diff --git a/src/F02Handler.h b/src/F02Handler.h deleted file mode 100644 index 367dcac..0000000 --- a/src/F02Handler.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * F02Handler.h - * - * Created on: 13 june 2024 - * Author: Finn Roters - */ - -#ifndef F02HANDLER_H_ -#define F02HANDLER_H_ -#include "GCodeHandler.h" -#include "Config.h" -#include "CurrentState.h" -#include "pins.h" -#include "PinControl.h" - -class F02Handler : public GCodeHandler // Class F02Handler is defined, which inherits from GCodeHandler. -{ -public: // can be called from outside. - static F02Handler *getInstance(); // static method that returns an instance of the "F02Handler" class. - int execute(Command *); // method is used to execute the G- and F-code. - -private: // only accessible within the "F02Handler" class - F02Handler(); // private constructor of the class (prevents objects of the class from being created directly). - F02Handler(F02Handler const &); // private copy constructor (This prevents the class from being copied). - void operator=(F02Handler const &); // private assignment operator (This prevents objects from being assigned to the class). - static void pulseCount(); // Function pulseCount is declared statically in order to exist during the entire runtime of the programme and only be valid in this area. - static unsigned int pulsePerSecond; // Declare pulsePerSecond and pulse also staisch. - static unsigned int pulse; -}; - -#endif /* F02HANDLER_H_ */ diff --git a/src/F21Handler.cpp b/src/F21Handler.cpp index 3428a25..5c03fb2 100644 --- a/src/F21Handler.cpp +++ b/src/F21Handler.cpp @@ -24,7 +24,7 @@ F21Handler::F21Handler() int F21Handler::execute(Command *command) { - + ParameterList::getInstance()->readValue(command->getP()); return 0; diff --git a/src/F52Handler.cpp b/src/F52Handler.cpp new file mode 100644 index 0000000..9db9ad7 --- /dev/null +++ b/src/F52Handler.cpp @@ -0,0 +1,89 @@ +/* + * F52Handler.cpp + * + * Created on: 1 august 2024 + * Author: Finn Roters + */ + +#include "F52Handler.h" +#include "icp101xx.h" + +ICP101xx tempSensor; + +static F52Handler *instance; // defines a static pointer to an "F52Handler" instance (ensures that there is only one instance of the class). + + +// Check whether instance points to nullptr (i.e. no valid memory area) (if yes, a new instance of F52Handler is created). +F52Handler *F52Handler::getInstance() +{ + if (!instance) + { + instance = new F52Handler(); + }; + return instance; +}; + +// Constructor of the F52Handler class (empty, because no special initialisations are necessary). +F52Handler::F52Handler() +{ +} + + +int F52Handler::execute(Command *command) +{ + Serial.println("F52 command has started"); + // variable to keep initial pressure as reference point + // float reference_pressure = 0.0; + Serial.print("command->getP(): "); + Serial.println(command->getP()); + // Initialize the sensor. + tempSensor.begin(); + // tempSensor.begin(&Wire1); + delay(2000); + // Connect the sensor and read the calibration data. + if (!tempSensor.begin()) { + Serial.println("The sensor did not respond! #1"); + delay(200); + } else { + Serial.println("The sensor did respond! #1"); + } + while(!tempSensor.isConnected()) { + Serial.println("Sensor is not responding! #2"); + delay(250); + } + // Check if sensor is responding. + if (!tempSensor.isConnected()) { + Serial.println("Sensor is not responding! #3"); + } else { + // Start measurement cycle, waiting until it is completed. + // Optional: Measurement mode + // sensor.FAST: ~3ms + // sensor.NORMAL: ~7ms (default) + // sensor.ACCURATE: ~24ms + // sensor.VERY_ACCURATE: ~95ms + tempSensor.measure(tempSensor.VERY_ACCURATE); + while (!tempSensor.dataReady()) { + Serial.println("The sensor is not ready yet."); + delay(50); + } + // the sensor is done, process the data + // Read and output measured temperature in Celsius and pressure in Pascal. + if (command->getP() == 1) { + Serial.print("Temperature: "); + Serial.print(tempSensor.getTemperatureC()); + Serial.print(" °C, "); + } else if (command->getP() == 2) { + Serial.print(tempSensor.getTemperatureF()); + Serial.println(" °F, "); + Serial.print("Pressure: "); + } else if (command->getP() == 3) { + Serial.println(tempSensor.getPressurePa()); + Serial.print(" Pa, "); + Serial.print(tempSensor.getPressurePa()/100); + Serial.println(" mbar"); + } + } + + Serial.println("F52 command is done"); + return 0; +} \ No newline at end of file diff --git a/src/F52Handler.h b/src/F52Handler.h new file mode 100644 index 0000000..4ff3a5c --- /dev/null +++ b/src/F52Handler.h @@ -0,0 +1,29 @@ +/* + * F52Handler.h + * + * Created on: 31 july 2024 + * Author: Finn Roters + */ + +#ifndef F52HANDLER_H_ +#define F52HANDLER_H_ +#include "GCodeHandler.h" +#include "Config.h" +#include "CurrentState.h" +#include "pins.h" +#include "PinControl.h" + +class F52Handler : public GCodeHandler // Class F52Handler is defined, which inherits from GCodeHandler. +{ +public: // can be called from outside. + static F52Handler *getInstance(); // static method that returns an instance of the "F52Handler" class. + int execute(Command *); // method is used to execute the G- and F-code. + +private: // only accessible within the "F22Handler" class + F52Handler(); // private constructor of the class (prevents objects of the class from being created directly). + F52Handler(F52Handler const &); // private copy constructor (This prevents the class from being copied). + void operator=(F52Handler const &); // private assignment operator (This prevents objects from being assigned to the class). +}; + +#endif /* F52HANDLER_H_ */ + diff --git a/src/GCodeProcessor.cpp b/src/GCodeProcessor.cpp index 899b858..5e92381 100644 --- a/src/GCodeProcessor.cpp +++ b/src/GCodeProcessor.cpp @@ -232,18 +232,6 @@ GCodeHandler *GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) handler = G28Handler::getInstance(); } - // Edited by Finn: - if (codeEnum == F01) - { - handler = F01Handler::getInstance(); - } - - // Edited by Finn: - if (codeEnum == F02) - { - handler = F02Handler::getInstance(); - } - if (codeEnum == F09) { handler = F09Handler::getInstance(); @@ -308,6 +296,11 @@ GCodeHandler *GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) handler = F44Handler::getInstance(); } + if (codeEnum == F52) + { + handler = F52Handler::getInstance(); + } + if (codeEnum == F61) { handler = F61Handler::getInstance(); diff --git a/src/GCodeProcessor.h b/src/GCodeProcessor.h index fc8a8f3..4b4807e 100644 --- a/src/GCodeProcessor.h +++ b/src/GCodeProcessor.h @@ -17,9 +17,6 @@ #include "G00Handler.h" #include "G28Handler.h" -#include "F01Handler.h" // Edited by Finn -#include "F02Handler.h" // Edited by Finn - #include "F09Handler.h" #include "F11Handler.h" @@ -42,6 +39,8 @@ #include "F43Handler.h" #include "F44Handler.h" +#include "F52Handler.h" + #include "F61Handler.h" #include "F81Handler.h" diff --git a/src/icp101xx.cpp b/src/icp101xx.cpp new file mode 100644 index 0000000..f52014c --- /dev/null +++ b/src/icp101xx.cpp @@ -0,0 +1,200 @@ +/****************************************************************** + Library for the TDK InvenSense ICP-101xx series of barometric + pressure sensors. These sensors communicate over I2C. + + Tested with ICP-10100, but likely to also work with ICP-10101, + ICP-10110 and ICP-10111. + + Written by Adrian Studer. + + BSD license, check license.txt for more information. + All text above must be included in any redistribution. +******************************************************************/ + +#include +#include +#include "icp101xx.h" + +#define ICP_I2C_ID 0x63 + +#define ICP_CMD_READ_ID 0xefc8 +#define ICP_CMD_SET_ADDR 0xc595 +#define ICP_CMD_READ_OTP 0xc7f7 +#define ICP_CMD_MEAS_LP 0x609c +#define ICP_CMD_MEAS_N 0x6825 +#define ICP_CMD_MEAS_LN 0x70df +#define ICP_CMD_MEAS_ULN 0x7866 + +// constants for presure calculation +const float _pcal[3] = { 45000.0, 80000.0, 105000.0 }; +const float _lut_lower = 3.5 * 0x100000; // 1<<20 +const float _lut_upper = 11.5 * 0x100000; // 1<<20 +const float _quadr_factor = 1 / 16777216.0; +const float _offst_factor = 2048.0; + +ICP101xx::ICP101xx() { + _i2c = NULL; + _pressure_Pa = 0.0; + _temperature_C = 0.0; + _meas_duration = 100; + _meas_start = millis(); + _data_ready = false; +} + +bool ICP101xx::begin(TwoWire* wire) { + // setup I2C object + if (wire) { + _i2c = wire; + } else { + _i2c = &Wire; + } + _i2c->begin(); + + // verify that the sensor is repsonding + if (!isConnected()) { + return false; + } + + // read sensor calibration data + uint8_t addr_otp_cmd[5] = { + (ICP_CMD_SET_ADDR >> 8) & 0xff, + ICP_CMD_SET_ADDR & 0xff, + 0x00, 0x66, 0x9c }; + uint8_t otp_buf[3]; + _sendCommand(addr_otp_cmd, 5); + for (int i=0; i<4; i++) { + _sendCommand(ICP_CMD_READ_OTP); + _readResponse(otp_buf, 3); + _scal[i] = (otp_buf[0] << 8) | otp_buf[1]; + } + return true; +} + +bool ICP101xx::isConnected(void) { + uint8_t id_buf[2]; + _sendCommand(ICP_CMD_READ_ID); + _readResponse(id_buf, 2); + uint16_t id = (id_buf[0] << 8) | id_buf[1]; + if ((id & 0x03f) == 0x08) { + return true; + } else { + return false; + } +} + +void ICP101xx::measure(ICP101xx::mmode mode) { + delay(measureStart(mode)); + while (!dataReady()); +} + +uint8_t ICP101xx::measureStart(ICP101xx::mmode mode) { + uint16_t cmd; + switch (mode) { + case ICP101xx::FAST: + cmd = ICP_CMD_MEAS_LP; + _meas_duration = 3; + break; + case ICP101xx::ACCURATE: + cmd = ICP_CMD_MEAS_LN; + _meas_duration = 24; + break; + case ICP101xx::VERY_ACCURATE: + cmd = ICP_CMD_MEAS_ULN; + _meas_duration = 95; + break; + case ICP101xx::NORMAL: + default: + cmd = ICP_CMD_MEAS_N; + _meas_duration = 7; + break; + } + _sendCommand(cmd); + _data_ready = false; + _meas_start = millis(); + return _meas_duration; +} + +bool ICP101xx::dataReady(void) { + if (_data_ready) + return true; + + if (millis() - _meas_start < _meas_duration) + return false; + + uint8_t res_buf[9]; + _readResponse(res_buf, 9); + _raw_t = (res_buf[0] << 8) | res_buf[1]; + uint32_t L_res_buf3 = res_buf[3]; // expand result bytes to 32bit to fix issues on 8-bit MCUs + uint32_t L_res_buf4 = res_buf[4]; + uint32_t L_res_buf6 = res_buf[6]; + _raw_p = (L_res_buf3 << 16) | (L_res_buf4 << 8) | L_res_buf6; + _calculate(); + + _data_ready = true; + + return true; +} + +float ICP101xx::getTemperatureC(void) { + return _temperature_C; +} + +float ICP101xx::getTemperatureF(void) { + return _temperature_C * 1.8 + 32; +} + +float ICP101xx::getPressurePa(void) { + return _pressure_Pa; +} + +void ICP101xx::_calculate(void) { + // calculate temperature + _temperature_C = -45.f + 175.f / 65536.f * _raw_t; + + // calculate pressure + float t = (float)(_raw_t - 32768); + float s1 = _lut_lower + (float)(_scal[0] * t * t) * _quadr_factor; + float s2 = _offst_factor * _scal[3] + (float)(_scal[1] * t * t) * _quadr_factor; + float s3 = _lut_upper + (float)(_scal[2] * t * t) * _quadr_factor; + float c = (s1 * s2 * (_pcal[0] - _pcal[1]) + + s2 * s3 * (_pcal[1] - _pcal[2]) + + s3 * s1 * (_pcal[2] - _pcal[0])) / + (s3 * (_pcal[0] - _pcal[1]) + + s1 * (_pcal[1] - _pcal[2]) + + s2 * (_pcal[2] - _pcal[0])); + float a = (_pcal[0] * s1 - _pcal[1] * s2 - (_pcal[1] - _pcal[0]) * c) / (s1 - s2); + float b = (_pcal[0] - a) * (s1 + c); + _pressure_Pa = a + b / (c + _raw_p); +} + +void ICP101xx::_sendCommand(uint16_t cmd) { + if (!_i2c) return; + + _i2c->beginTransmission(ICP_I2C_ID); + _i2c->write((cmd >> 8) & 0xff); + _i2c->write(cmd & 0xff); + _i2c->endTransmission(); +} + +void ICP101xx::_sendCommand(uint8_t *cmd_buf, uint8_t cmd_len) { + if (!_i2c) return; + + if (cmd_buf && cmd_len) { + _i2c->beginTransmission(ICP_I2C_ID); + for (int i=0; iwrite(cmd_buf[i]); + } + _i2c->endTransmission(); + } +} + +void ICP101xx::_readResponse(uint8_t *res_buf, uint8_t res_len) { + if (!_i2c) return; + + if (res_buf && res_len) { + _i2c->requestFrom(ICP_I2C_ID, res_len); + for (int i=0; iread(); + } + } +} \ No newline at end of file diff --git a/src/icp101xx.h b/src/icp101xx.h new file mode 100644 index 0000000..c14c4cb --- /dev/null +++ b/src/icp101xx.h @@ -0,0 +1,52 @@ +/****************************************************************** + Library for the TDK InvenSense ICP-101xx series of barometric + pressure sensors. These sensors communicate over I2C. + + Tested with ICP-10100, but likely to also work with ICP-10101, + ICP-10110 and ICP-10111. + + Written by Adrian Studer. + + BSD license, check license.txt for more information. + All text above must be included in any redistribution. + ******************************************************************/ + +#ifndef _icp101xx +#define _icp101xx + +#include +#include + +class ICP101xx +{ + public: + enum mmode { FAST, NORMAL, ACCURATE, VERY_ACCURATE }; + + ICP101xx(); + bool begin(TwoWire* wire = NULL); + bool isConnected(void); + void measure(ICP101xx::mmode mode = ICP101xx::NORMAL); + uint8_t measureStart(ICP101xx::mmode mode = ICP101xx::NORMAL); + bool dataReady(); + float getTemperatureC(void); + float getTemperatureF(void); + float getPressurePa(void); + + private: + void _calculate(void); + void _sendCommand(uint16_t cmd); + void _sendCommand(uint8_t *cmd_buf, uint8_t cmd_len); + void _readResponse(uint8_t *res_buf = NULL, uint8_t res_len = 0); + + TwoWire* _i2c; + float _scal[4]; + uint16_t _raw_t; + uint32_t _raw_p; + float _temperature_C; + float _pressure_Pa; + unsigned long _meas_start; + uint8_t _meas_duration; + bool _data_ready; +}; + +#endif \ No newline at end of file diff --git a/src/src.ino b/src/src.ino index ca86767..c85953a 100644 --- a/src/src.ino +++ b/src/src.ino @@ -3,6 +3,7 @@ Created: 11/14/2019 9:51:10 PM Author: Tim Evers */ + #include "TMC2130_Basics.h" #include "farmbot_arduino_controller.h" //#include @@ -13,8 +14,8 @@ // the setup function runs once when you press reset or power the board void setup() { + // startSerial(); Serial.begin(9600); - //startSerial(); setPinInputOutput(); readParameters(); @@ -56,5 +57,5 @@ void loop() checkEmergencyStop(); checkParamsChanged(); periodicChecksAndReport(); - + }