firmware updated with encoder support, and support for the f031.

code/firmware/src/main.cpp

@@ -0,0 +1,302 @@
+/*
+INDEX PNP
+Stephen Hawes 2021
+
+This firmware is intended to run on the Index PNP feeder main board. 
+It is meant to index component tape forward, while also intelligently peeling the film covering from said tape.
+When the feeder receives a signal from the host, it indexes a certain number of 'ticks' or 4mm spacings on the tape
+(also the distance between holes in the tape)
+
+*/
+#include "define.h"
+
+#ifdef UNIT_TEST
+  #include <ArduinoFake.h>
+#else
+  #include <Arduino.h>
+  #include <HardwareSerial.h>
+  #include <OneWire.h>
+  #include <DS2431.h>
+  #include <ArduinoUniqueID.h>
+#endif // UNIT_TEST
+
+#ifndef MOTOR_DEPS
+#define MOTOR_DEPS
+
+#include <RotaryEncoder.h>
+//#include <PID_v1.h>
+
+#endif 
+
+#include <IndexFeeder.h>
+#include <IndexFeederProtocol.h>
+#include <IndexNetworkLayer.h>
+
+#define BAUD_RATE 57600
+
+//
+//global variables
+//
+byte addr = 0;
+
+#ifdef UNIT_TEST
+StreamFake ser();
+#else
+HardwareSerial ser(PA10, PA9);
+#endif // ARDUINO
+
+// EEPROM
+OneWire oneWire(ONE_WIRE);
+DS2431 eeprom(oneWire);
+
+// Encoder
+RotaryEncoder encoder(DRIVE_ENC_A, DRIVE_ENC_B, RotaryEncoder::LatchMode::TWO03); 
+
+// PID
+double Setpoint, Input, Output;
+
+// Feeder Class Instances
+IndexFeeder *feeder;
+IndexFeederProtocol *protocol;
+IndexNetworkLayer *network;
+
+#define ALL_LEDS_OFF() byte_to_light(0x00)
+#define ALL_LEDS_ON() byte_to_light(0xff)
+
+//-------
+//FUNCTIONS
+//-------
+
+void checkPosition()
+{
+  encoder.tick(); // just call tick() to check the state.
+}
+
+void byte_to_light(byte num){
+  digitalWrite(LED1, !bitRead(num, 0));
+  digitalWrite(LED2, !bitRead(num, 1));
+  digitalWrite(LED3, !bitRead(num, 2));
+  digitalWrite(LED4, !bitRead(num, 3));
+  digitalWrite(LED5, !bitRead(num, 4));
+}
+
+byte read_floor_addr(){
+  if(!oneWire.reset())
+  {
+    //No DS2431 found on the 1-Wire bus
+    return 0xFF;
+  }
+  else{
+    byte data[128];
+    eeprom.read(0, data, sizeof(data));
+    return data[0];
+  }
+}
+
+byte write_floor_addr(){
+  //programs a feeder floor. 
+  //successful programming returns the address programmed
+  //failed program returns 0x00
+
+  byte newData[] = {0,0,0,0,0,0,0,0};
+
+  byte current_selection = addr;
+
+  ALL_LEDS_OFF();
+  while(!digitalRead(SW1) || !digitalRead(SW2)){
+    //do nothing
+  }
+  ALL_LEDS_ON();
+
+  while(true){
+    //we stay in here as long as both buttons aren't pressed
+    if(!digitalRead(SW1) && current_selection < 31){
+      delay(LONG_PRESS_DELAY);
+      if(!digitalRead(SW1) && !digitalRead(SW2)){
+        break;
+      }
+      current_selection = current_selection + 1;
+      while(!digitalRead(SW1)){
+        //do nothing
+      }
+    }
+    if(!digitalRead(SW2) && current_selection > 1){
+      delay(LONG_PRESS_DELAY);
+      if(!digitalRead(SW1) && !digitalRead(SW2)){
+        break;
+      }
+      current_selection = current_selection - 1;
+      while(!digitalRead(SW2)){
+        //do nothing
+      }
+    }
+
+    byte_to_light(current_selection);
+  }
+
+  byte_to_light(0x00);
+
+  newData[0] = current_selection;
+  word address = 0;
+  if (eeprom.write(address, newData, sizeof(newData))){
+    addr = current_selection;
+
+    while(!digitalRead(SW1) || !digitalRead(SW2)){
+      //do nothing
+    }
+
+    // If the network is configured, update the local address
+    // to the newly selected address.
+    if (network != NULL) {
+      network->setLocalAddress(addr);
+    }
+
+    for (int i = 0; i < 32; i++){
+      byte_to_light(i);
+      delay(40);
+    }
+
+    byte_to_light(0x00);
+
+    return newData[0];
+  }
+  else
+  {
+    return 0x00;
+  }
+}
+
+//-------
+//SETUP
+//-------
+
+void setup() {
+
+  #ifdef DEBUG
+    Serial.println("INFO - Feeder starting up...");
+  #endif
+
+  //setting pin modes
+  pinMode(DE, OUTPUT);
+  pinMode(_RE, OUTPUT);
+
+  pinMode(LED1, OUTPUT);
+  pinMode(LED2, OUTPUT);
+  pinMode(LED3, OUTPUT);
+  pinMode(LED4, OUTPUT);
+  pinMode(LED5, OUTPUT);
+  pinMode(SW1, INPUT_PULLUP);
+  pinMode(SW2, INPUT_PULLUP);
+  
+  //init led blink
+  ALL_LEDS_ON();
+  delay(100);
+  ALL_LEDS_OFF();
+  delay(100);
+  ALL_LEDS_ON();
+  delay(100);
+  ALL_LEDS_OFF();
+
+  //setting initial pin states
+  digitalWrite(DE, HIGH);
+  digitalWrite(_RE, HIGH);
+
+  // Reading Feeder Floor Address
+  byte floor_addr = read_floor_addr();
+
+  if(floor_addr == 0x00){ //floor 1 wire eeprom has not been programmed
+    //somehow prompt to program eeprom
+  }
+  else if(floor_addr == 0xFF){
+    //no eeprom chip detected
+  }
+  else{ //successfully read address from eeprom
+    addr = floor_addr;
+  }  
+
+  //Starting rs-485 serial
+  ser.begin(BAUD_RATE);
+
+  // attach interrupts for encoder pins
+  attachInterrupt(digitalPinToInterrupt(DRIVE_ENC_A), checkPosition, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(DRIVE_ENC_B), checkPosition, CHANGE);
+
+  // Setup Feeder
+  feeder = new IndexFeeder(DRIVE1, DRIVE2, PEEL1, PEEL2, &encoder);
+  protocol = new IndexFeederProtocol(feeder, UniqueID, UniqueIDsize);
+  network = new IndexNetworkLayer(&ser, DE, _RE, addr, protocol);
+  
+}
+
+//------
+//MAIN CONTROL LOOP
+//------
+// cppcheck-suppress unusedFunction
+void loop() {
+
+  // Checking SW1 status to go forward, or initiate settings mode
+  if(!digitalRead(SW1)){
+    delay(LONG_PRESS_DELAY);
+
+    if(!digitalRead(SW1)){
+
+      if(!digitalRead(SW2)){
+        //both are pressed, entering settings mode
+        write_floor_addr();
+      }
+      else{
+        //we've got a long press, lets go speedy
+        analogWrite(DRIVE1, 0);
+        analogWrite(DRIVE2, 255);
+        
+        while(!digitalRead(SW1)){
+          //do nothing
+        }
+      
+        analogWrite(DRIVE1, 0);
+        analogWrite(DRIVE2, 0);
+      }
+      
+    }
+    else{
+      feeder->feedDistance(40, true);
+      
+    }
+  }
+
+  // Checking SW2 status to go backward
+  if(!digitalRead(SW2)){
+    delay(LONG_PRESS_DELAY);
+
+    if(!digitalRead(SW2)){
+
+      if(!digitalRead(SW1)){
+        //both are pressed, entering settings mode
+        write_floor_addr();
+      }
+      else{
+        //we've got a long press, lets go speedy
+        analogWrite(DRIVE1, 255);
+        analogWrite(DRIVE2, 0);
+        
+        while(!digitalRead(SW2)){
+          //do nothing
+        }
+      
+        analogWrite(DRIVE1, 0);
+        analogWrite(DRIVE2, 0);
+      }
+      
+    }
+    else{
+      feeder->feedDistance(40, false);
+    }  
+  }
+
+  //listening on rs-485 for a command
+  if (network != NULL) {
+    network->tick();
+  }
+
+  // end main loop
+}