stepus53/EggbotWireless
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less magic numbers

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This commit is contained in:
Stepan Usatiuk
2019-07-23 18:27:05 +03:00
parent 9fbdbda4f1
commit 665bc4b63f
9 changed files with 56 additions and 51 deletions
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7
Firmware/EggbotWireless/include/Config.h
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@@ -1,6 +1,9 @@
#ifndef CONFIG_H #ifndef CONFIG_H
#define CONFIG_H #define CONFIG_H
constexpr int pin12v {5}; constexpr int pin12v{5};
constexpr int i2cTimeout{10}, i2cTimeoutTries{10};
constexpr int lastStsTTL{1};
constexpr unsigned long powerTimeout{20000}, powerStartupDelay{100};
#endif // CONFIG_H #endif // CONFIG_H

6
Firmware/EggbotWireless/include/ConfigManager.h Normal file
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@@ -0,0 +1,6 @@
#ifndef CONFIG_MANAGER_H
#define CONFIG_MANAGER_H
#endif // CONFIG_MANAGER_H

1
Firmware/EggbotWireless/include/Executor.h
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@@ -12,7 +12,6 @@ class Executor
private: private:
unsigned long lastStsTime; unsigned long lastStsTime;
I2CStatusMsg lastSts; I2CStatusMsg lastSts;
static constexpr int lastStsTTL = 1;
public: public:
Executor(/* args */); Executor(/* args */);
void execCommand(Command command); void execCommand(Command command);

0
Firmware/EggbotWireless/src/Config.cpp → Firmware/EggbotWireless/src/ConfigManager.cpp
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26
Firmware/EggbotWireless/src/Executor.cpp
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@@ -1,36 +1,36 @@
#include "Executor.h" #include "Executor.h"
#include "Config.h"
#include "common/Commands.h"
Executor executor; Executor executor;
Executor::Executor() {} Executor::Executor() {}
void Executor::execCommand(Command command) { void Executor::execCommand(Command command) {
if (command.type != CommandType::unk) { if (command.type == CommandType::unk) {
Wire.beginTransmission(8);
byte buffer[7][sizeof(float)];
command.toBytes(buffer[0]);
for (int i = 0; i < 7; i++) {
Wire.write(buffer[i], sizeof(float));
}
Wire.endTransmission();
} else {
Serial.println("OK"); Serial.println("OK");
return; return;
} }
Wire.beginTransmission(8);
byte buffer[i2cCmdBytes];
command.toBytes(buffer);
Wire.write(buffer, i2cCmdBytes);
Wire.endTransmission();
if (command.type == CommandType::G01 || command.type == CommandType::G00) { if (command.type == CommandType::G01 || command.type == CommandType::G00) {
return; return;
} }
if (command.type == CommandType::M99) { if (command.type == CommandType::M99) {
delay(10); delay(10);
Wire.requestFrom(8, 5 * sizeof(float)); Wire.requestFrom(8, 5 * i2cFloatSize);
float resp[5]; float resp[5];
byte buffer[sizeof(float)]; byte buffer[i2cFloatSize];
for (int i = 0; i < 5; i++) { for (int i = 0; i < 5; i++) {
for (unsigned int j = 0; j < sizeof(float); j++) { for (unsigned int j = 0; j < i2cFloatSize; j++) {
while (!Wire.available()) { while (!Wire.available()) {
} }
buffer[j] = Wire.read(); buffer[j] = Wire.read();
@@ -68,7 +68,7 @@ I2CStatusMsg Executor::status() {
Wire.requestFrom(8, 1); Wire.requestFrom(8, 1);
while (!Wire.available()) { while (!Wire.available()) {
if (millis() - reqTime > 10 && tries < 10) { if (millis() - reqTime > i2cTimeout && tries < i2cTimeoutTries) {
Wire.requestFrom(8, 1); Wire.requestFrom(8, 1);
tries++; tries++;
reqTime = millis(); reqTime = millis();

7
Firmware/EggbotWireless/src/Power.cpp
View File

@@ -1,10 +1,9 @@
#include "Power.h" #include "Power.h"
#include "Globals.h" #include "Globals.h"
#include "Config.h"
Power power; Power power;
constexpr unsigned long commandTimeout = 20000;
Power::Power() { Power::Power() {
pinMode(pin12v, OUTPUT); pinMode(pin12v, OUTPUT);
disable12v(); disable12v();
@@ -12,7 +11,7 @@ Power::Power() {
} }
void Power::tickerRoutine() { void Power::tickerRoutine() {
if (millis() - lastCmdTime > commandTimeout) { if (millis() - lastCmdTime > powerTimeout) {
disable12v(); disable12v();
} }
} }
@@ -33,6 +32,6 @@ void Power::commandHook() {
lastCmdTime = millis(); lastCmdTime = millis();
if (!isEnabled12v()) { if (!isEnabled12v()) {
enable12v(); enable12v();
delay(100); delay(powerStartupDelay);
} }
} }

27
Firmware/MotorControl/src/main.cpp
View File

@@ -41,39 +41,34 @@ Command command;
bool newCommand = false; bool newCommand = false;
bool executing = false; bool executing = false;
byte rxBuffer[7][sizeof(float)]; byte rxBuffer[i2cCmdBytes];
void receiveEvent(int howMany) { void receiveEvent(int howMany) {
static int curByte = 0; static int curByte = 0;
static int curFloat = 0;
while (Wire.available() > 0) { while (Wire.available() > 0) {
if (!newCommand) { if (!newCommand) {
char c = Wire.read(); char c = Wire.read();
rxBuffer[curFloat][curByte] = c; rxBuffer[curByte] = c;
curByte++; curByte++;
if (curByte == 4) { if (curByte == i2cCmdBytes) {
curByte = 0; curByte = 0;
curFloat++; command.fromBytes(rxBuffer);
}
if (curFloat == 7) {
curFloat = 0;
command.fromBytes(rxBuffer[0]);
newCommand = true; newCommand = true;
} }
} }
} }
} }
byte txBuffer[5][sizeof(float)]; byte txBuffer[5 * i2cFloatSize];
void requestEvent() { void requestEvent() {
if (command.type == CommandType::M99 && newCommand) { if (command.type == CommandType::M99 && newCommand) {
floatToBytes(txBuffer[0], servoStepper.getPos()); floatToBytes(&txBuffer[0 * i2cFloatSize], servoStepper.getPos());
floatToBytes(txBuffer[1], eggStepper.getPos()); floatToBytes(&txBuffer[1 * i2cFloatSize], eggStepper.getPos());
floatToBytes(txBuffer[2], servoStepper.getPosMm()); floatToBytes(&txBuffer[2 * i2cFloatSize], servoStepper.getPosMm());
floatToBytes(txBuffer[3], eggStepper.getPosMm()); floatToBytes(&txBuffer[3 * i2cFloatSize], eggStepper.getPosMm());
floatToBytes(txBuffer[4], (float)pen.getEngaged()); floatToBytes(&txBuffer[4 * i2cFloatSize], (float)pen.getEngaged());
Wire.write(txBuffer[0], 5 * sizeof(float)); Wire.write(txBuffer, 5 * i2cFloatSize);
newCommand = false; newCommand = false;
} else if (executing || newCommand) { } else if (executing || newCommand) {
Wire.write(static_cast<int>(I2CStatusMsg::WAIT)); Wire.write(static_cast<int>(I2CStatusMsg::WAIT));

11
Firmware/common/Commands.h
View File

@@ -1,6 +1,9 @@
#ifndef COMMANDS_H #ifndef COMMANDS_H
#define COMMANDS_H #define COMMANDS_H
constexpr int i2cFloatSize{4}, i2cCmdFloats{7},
i2cCmdBytes{i2cFloatSize * i2cCmdFloats};
enum bcAxis { enum bcAxis {
X = 1, X = 1,
Y = 2, Y = 2,
@@ -50,12 +53,12 @@ struct Command {
arg6(arg6){}; arg6(arg6){};
Command(float *floats); Command(float *floats);
int fromFloats(float *floats); void fromFloats(float *floats);
int toFloats(float *floats); void toFloats(float *floats);
Command(byte *bytes); Command(byte *bytes);
int fromBytes(byte *bytes); void fromBytes(byte *bytes);
int toBytes(byte *bytes); void toBytes(byte *bytes);
}; };
void bytesToFloat(float *target, byte *val); void bytesToFloat(float *target, byte *val);

22
Firmware/commonSrc/Commands.cpp
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@@ -4,7 +4,7 @@
Command::Command(float *floats) { fromFloats(floats); } Command::Command(float *floats) { fromFloats(floats); }
int Command::fromFloats(float *floats) { void Command::fromFloats(float *floats) {
type = static_cast<CommandType>(floats[0]); type = static_cast<CommandType>(floats[0]);
arg1 = floats[1]; arg1 = floats[1];
arg2 = floats[2]; arg2 = floats[2];
@@ -14,7 +14,7 @@ int Command::fromFloats(float *floats) {
arg6 = floats[6]; arg6 = floats[6];
} }
int Command::toFloats(float *floats) { void Command::toFloats(float *floats) {
floats[0] = static_cast<float>(type); floats[0] = static_cast<float>(type);
floats[1] = arg1; floats[1] = arg1;
floats[2] = arg2; floats[2] = arg2;
@@ -26,28 +26,28 @@ int Command::toFloats(float *floats) {
Command::Command(byte *bytes) { fromBytes(bytes); } Command::Command(byte *bytes) { fromBytes(bytes); }
int Command::fromBytes(byte *bytes) { void Command::fromBytes(byte *bytes) {
float floats[7]; float floats[i2cCmdFloats];
for (int i = 0; i < 7; i++) { for (int i = 0; i < i2cCmdFloats; i++) {
bytesToFloat(&floats[i], &bytes[i * sizeof(float)]); bytesToFloat(&floats[i], &bytes[i * i2cFloatSize]);
} }
fromFloats(floats); fromFloats(floats);
} }
int Command::toBytes(byte *bytes) { void Command::toBytes(byte *bytes) {
float floats[7]; float floats[i2cCmdFloats];
toFloats(floats); toFloats(floats);
for (int i = 0; i < 7; i++) { for (int i = 0; i < 7; i++) {
floatToBytes(&bytes[i * sizeof(float)], floats[i]); floatToBytes(&bytes[i * i2cFloatSize], floats[i]);
} }
} }
void bytesToFloat(float *target, byte *val) { void bytesToFloat(float *target, byte *val) {
memcpy(target, val, sizeof(float)); memcpy(target, val, i2cFloatSize);
return; return;
} }
void floatToBytes(byte *target, float val) { void floatToBytes(byte *target, float val) {
memcpy(target, &val, sizeof(float)); memcpy(target, &val, i2cFloatSize);
return; return;
} }