Minor tidying.

Heat.cpp

@@ -24,7 +24,7 @@ Heat::Heat(Platform* p)
 {
   Serial.println("Heat constructor"); 
   platform = p;
-  time = platform->time();
+  lastTime = platform->time();
 }
 
 void Heat::spin()

Heat.h

@@ -42,7 +42,7 @@ class Heat
   private:
   
   Platform* platform;
-  unsigned long time;
+  unsigned long lastTime;
   
 };
 

Move.cpp

@@ -24,16 +24,22 @@ Move::Move(Platform* p)
 {
   Serial.println("Move constructor"); 
   platform = p;
-  time = platform->time();
+  lastTime = platform->time();
   platform->setDirection(X_AXIS, FORWARDS);
+  platform->setDirection(Y_AXIS, FORWARDS);
+  platform->setDirection(Z_AXIS, FORWARDS);
+  platform->setDirection(3, FORWARDS);
 }
 
 void Move::spin()
 {
    unsigned long t = platform->time();
-   if(t - time < 3000000)
+   if(t - lastTime < 300)
      return;
-   time = t;
+   lastTime = t;
-   Serial.println("tick");
+   //Serial.println("tick");
    platform->step(X_AXIS);
+   platform->step(Y_AXIS);
+   platform->step(Z_AXIS);
+   platform->step(3);
 }

Move.h

@@ -31,7 +31,7 @@ class Move
   private:
   
     Platform* platform;
-    unsigned long time;
+    unsigned long lastTime;
   
 };
 

Platform.cpp

@@ -36,28 +36,53 @@ void loop()
 
 //*************************************************************************************************
 
-Platform::Platform()
+Platform::Platform(RepRap* r)
 {
+  reprap = r;
+  init();
+}
+
+void Platform::init()
+{ 
+  uint8_t i;
+  
   Serial.begin(9600);
   Serial.println("Platform constructor");
   
-  if(loadFromStore())
+  if(!loadFromStore())
-    return;
+  {     
+  // DRIVES
   
-  uint8_t i;
+    stepPins = STEP_PINS;
+    directionPins = DIRECTION_PINS;
+    enablePins = ENABLE_PINS;
+    disableDrives = DISABLE_DRIVES;
+    maxFeedrates = MAX_FEEDRATES;
+    maxAccelerations = MAX_ACCELERATIONS;
+    driveStepsPerUnit = DRIVE_STEPS_PER_UNIT;
+    jerks = JERKS;
+    driveRelativeModes = DRIVE_RELATIVE_MODES;
     
-// DRIVES
+  // AXES
   
-  stepPins = STEP_PINS;
+    lowStopPins = LOW_STOP_PINS;
-  directionPins = DIRECTION_PINS;
+    highStopPins = HIGH_STOP_PINS;
-  enablePins = ENABLE_PINS;
+    axisLengths = AXIS_LENGTHS;
-  enableOn = ENABLE_ON;
+    fastHomeFeedrates = FAST_HOME_FEEDRATES;
-  disableDrives = DISABLE_DRIVES;
+   
-  maxFeedrates = MAX_FEEDRATES;
+  // HEATERS - Bed is assumed to be the first
-  maxAccelerations = MAX_ACCELERATIONS;
+  
-  driveStepsPerUnit = DRIVE_STEPS_PER_UNIT;
+    tempSensePins = TEMP_SENSE_PINS;
-  jerks = JERKS;
+    heatOnPins = HEAT_ON_PINS;
-  driveRelativeModes = DRIVE_RELATIVE_MODES;
+    thermistorBetas = THERMISTOR_BETAS;
+    thermistorSeriesRs = THERMISTOR_SERIES_RS;
+    thermistor25Rs = THERMISTOR_25_RS;
+    usePid = USE_PID;
+    pidKis = PID_KIS;
+    pidKds = PID_KDS;
+    pidKps = PID_KPS;
+    pidILimits = PID_I_LIMITS;
+  }
   
   for(i = 0; i < DRIVES; i++)
   {
@@ -66,17 +91,12 @@ Platform::Platform()
     if(directionPins[i] >= 0)  
       pinMode(directionPins[i], OUTPUT);
     if(enablePins[i] >= 0)
+    {  
       pinMode(enablePins[i], OUTPUT);
+      digitalWrite(enablePins[i], ENABLE);
+    }
   }
   
-// AXES
-
-  lowStopPins = LOW_STOP_PINS;
-  highStopPins = HIGH_STOP_PINS;
-  endstopsInverting = ENDSTOPS_INVERTING;
-  axisLengths = AXIS_LENGTHS;
-  fastHomeFeedrates = FAST_HOME_FEEDRATES;
-
   for(i = 0; i < AXES; i++)
   {
     if(lowStopPins[i] >= 0)
@@ -91,18 +111,6 @@ Platform::Platform()
     }
   }  
   
-// HEATERS - Bed is assumed to be the first
-
-  tempSensePins = TEMP_SENSE_PINS;
-  heatOnPins = HEAT_ON_PINS;
-  thermistorBetas = THERMISTOR_BETAS;
-  thermistorSeriesRs = THERMISTOR_SERIES_RS;
-  thermistor25Rs = THERMISTOR_25_RS;
-  usePid = USE_PID;
-  pidKis = PID_KIS;
-  pidKds = PID_KDS;
-  pidKps = PID_KPS;
-  pidILimits = PID_I_LIMITS;
   
   for(i = 0; i < HEATERS; i++)
   {
@@ -121,25 +129,7 @@ bool Platform::loadFromStore()
   return false;
 }
 
-void Platform::spin()
-{
 
-}
-
-unsigned long Platform::time()
-{
-  return micros();
-}
-
-void Platform::setDirection(uint8_t drive, bool direction)
-{
-  digitalWrite(directionPins[drive], direction);  
-}
-
-void Platform::step(uint8_t drive)
-{
-  digitalWrite(stepPins[drive], !digitalRead(stepPins[drive]));
-}
 
 
 //===========================================================================

Platform.h

@@ -57,10 +57,11 @@ Licence: GPL
 
 #define STEP_PINS {54, 60, 46, 26}
 #define DIRECTION_PINS {55, 61, 48, 28}
-#define FORWARDS 1
+#define FORWARDS 1     // What to send to go... 
-#define BACKWARDS 0
+#define BACKWARDS 0    // ...in each direction
-#define ENABLE_PINS {38, 38, 62, 38}
+#define ENABLE_PINS {38, -1, 62, -1}
-#define ENABLE_ON {0, 0, 0, 0} // For inverting stepper enable pins (active low) use 0, non inverting (active high) use 1.
+#define ENABLE 0       // What to send to enable... 
+#define DISABELE 1     // ...and disable a drive
 #define DISABLE_DRIVES {false, false, true, false} // Set true to disable a drive when it becomes idle
 #define MAX_FEEDRATES {300, 300, 3, 45}    // mm/sec   
 #define MAX_ACCELERATIONS {800, 800, 30, 250}    // mm/sec^2?? Maximum start speed for accelerated moves.
@@ -72,7 +73,7 @@ Licence: GPL
 
 #define LOW_STOP_PINS {3, 14, 17}
 #define HIGH_STOP_PINS {-1, -1, -1}
-#define ENDSTOPS_INVERTING {false, false, false} // set to true to invert the logic of the endstops; assumes LOW and HIGH behave the same 
+#define ENDSTOPS_INVERTING false // set to true to invert the logic of the endstops (i.e. 0 = hit)
 #define AXIS_LENGTHS {210, 210, 120} // mm
 #define FAST_HOME_FEEDRATES {50*60, 50*60, 1*60}  // mm/min
 
@@ -82,7 +83,7 @@ Licence: GPL
 
 // HEATERS - Bed is assumed to be the first
 
-#define TEMP_SENSE_PINS {10, 9}  // Analogue numbering
+#define TEMP_SENSE_PINS {10, 9}  // Analogue pin numbers
 #define HEAT_ON_PINS {8, 9}
 #define THERMISTOR_BETAS {3480.0, 3960.0} // Bed thermistor: RS 484-0149; EPCOS B57550G103J; Extruder thermistor: RS 198-961
 #define THERMISTOR_SERIES_RS {4700, 4700} // Ohms in series with the thermistors
@@ -109,11 +110,13 @@ Licence: GPL
 
 /****************************************************************************************************/
 
+class RepRap;
+
 class Platform
 {   
   public:
   
-  Platform();
+  Platform(RepRap* r);
   
 //-------------------------------------------------------------------------------------------------------------
 
@@ -128,6 +131,10 @@ class Platform
   
   unsigned long time(); // Returns elapsed microseconds since some arbitrary time
   
+  void setInterrupt(long t); // Set a regular interrupt going every t microseconds; if t is -ve turn interrupt off
+  
+  void interrupt(); // The function that the interrupt calls
+  
   // Communications and data storage; opening something unsupported returns -1.
   
   char* FileList(); // Returns a comma-separated?? list of all the files on local storage (for example on an SD card).
@@ -161,10 +168,13 @@ class Platform
   
   bool loadFromStore();
   
+  RepRap* reprap;
+  
+// DIRIVES
+
   int8_t stepPins[DRIVES];
   int8_t directionPins[DRIVES];
   int8_t enablePins[DRIVES];
-  int8_t enableOn[DRIVES];
   bool disableDrives[DRIVES];
   float maxFeedrates[DRIVES];  
   float maxAccelerations[DRIVES];
@@ -176,7 +186,6 @@ class Platform
 
   int8_t lowStopPins[AXES];
   int8_t highStopPins[AXES];
-  bool endstopsInverting[AXES];
   float axisLengths[AXES];
   float fastHomeFeedrates[AXES];
 
@@ -195,5 +204,35 @@ class Platform
   
 };
 
+inline unsigned long Platform::time()
+{
+  return micros();
+}
+
+inline void Platform::spin()
+{
+  
+}
+
+inline void Platform::setInterrupt(long t)
+{
+  
+}
+
+inline void Platform::interrupt()
+{
+  reprap->interrupt();  // Put nothing else in here
+}
+
+
+inline void Platform::setDirection(uint8_t drive, bool direction)
+{
+  digitalWrite(directionPins[drive], direction);  
+}
+
+inline void Platform::step(uint8_t drive)
+{
+  digitalWrite(stepPins[drive], !digitalRead(stepPins[drive]));
+}
 
 #endif

RepRapFirmware.h

@@ -27,10 +27,9 @@ Licence: GPL
 #define DATE "2012-11-18"
 #define LAST_AUTHOR "reprappro.com"
 
-#include "Configuration.h"
+class Platform;
-#include "Platform.h"
+class Move;
-#include "Move.h"
+class Heat;
-#include "Heat.h"
 
 class RepRap
 {    
@@ -39,6 +38,7 @@ class RepRap
     RepRap();
     void init();
     void spin();
+    void interrupt();
     
   private:
   
@@ -47,6 +47,11 @@ class RepRap
     Heat* heat;
 };
 
+#include "Configuration.h"
+#include "Platform.h"
+#include "Move.h"
+#include "Heat.h"
+
 // Do nothing in the constructor; put what you want in RepRap:init()
 
 inline RepRap::RepRap() {}

RepRapFirmware.ino

@@ -49,7 +49,7 @@ RepRap reprap;
 
 void RepRap::init()
 {
-  platform = new Platform();
+  platform = new Platform(this);
   move = new Move(platform);
   heat = new Heat(platform);
 }
@@ -61,6 +61,11 @@ void RepRap::spin()
   heat->spin();
 }
 
+void RepRap::interrupt()
+{
+  
+}
+