tschwery/reprapfirmware-dc42
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Code tidying.

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This commit is contained in:
Adrian Bowyer 2013-05-21 11:30:25 +01:00
parent 9ec28592e5
commit fb2bbc0504
8 changed files with 202 additions and 166 deletions
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15
Configuration.h
View file

@ -23,12 +23,10 @@ Licence: GPL
#ifndef CONFIGURATION_H
#define CONFIGURATION_H
class RepRap;
class Platform;
class Move;
class Heat;
class GCodes;
class Webserver;
#define NAME "RepRapFirmware"
#define VERSION "0.1"
#define DATE "2012-11-18"
#define LAST_AUTHOR "reprappro.com"
#define ABS_ZERO -273.15
@ -49,7 +47,6 @@ class Webserver;
#define CLIENT_CLOSE_DELAY 1000 // Microseconds to wait after serving a page
#define INDEX_PAGE "reprap.htm"
#define PRINT_PAGE "print.php"
#define MESSAGE_FILE "messages.txt"
@ -60,4 +57,8 @@ class Webserver;
#define POST_LENGTH 200
#define START_FEED_RATE 200
// The axes etc in a GCode
#define GCODE_LETTERS {'X', 'Y', 'Z', 'E', 'F' }
#endif

4
GCodes.h
View file

@ -22,6 +22,8 @@ Licence: GPL
#ifndef GCODES_H
#define GCODES_H
// Small class to hold an individual GCode
class GCodeBuffer
{
public:
@ -40,6 +42,8 @@ class GCodeBuffer
int readPointer;
};
// The GCode interpreter
class GCodes
{
public:

11
Move.ino
View file

@ -55,24 +55,25 @@ void Move::Spin()
void Move::Qmove()
{
char scratchString[STRING_LENGTH];
//char scratchString[STRING_LENGTH];
if(!gCodes->ReadMove(nextMove))
return;
platform->Message(HOST_MESSAGE, "Move - got a move:");
/* platform->Message(HOST_MESSAGE, "Move - got a move:");
for(char i = 0; i <= DRIVES; i++)
{
ftoa(scratchString, nextMove[i], 3);
platform->Message(HOST_MESSAGE, scratchString);
platform->Message(HOST_MESSAGE, ", ");
}
platform->Message(HOST_MESSAGE, "\n");
platform->Message(HOST_MESSAGE, "\n");*/
dda->Init(currentPosition, nextMove);
boolean work = dda->Init(currentPosition, nextMove);
for(char i = 0; i <= AXES; i++)
currentPosition[i] = nextMove[i];
dda->Start();
if(work)
dda->Start();
}
void Move::GetCurrentState(float m[])

113
Platform.h
View file

@ -73,8 +73,6 @@ Licence: GPL
#define DRIVE_STEPS_PER_UNIT {91.4286, 91.4286, 4000, 929}
#define JERKS {15.0, 15.0, 0.4, 15.0} // (mm/sec)
#define GCODE_LETTERS {'X', 'Y', 'Z', 'E', 'F' }
// AXES
@ -158,18 +156,16 @@ Licence: GPL
/****************************************************************************************************/
class RepRap;
//class RepRap;
void TC3_Handler();
class Platform
{
public:
friend class Move;
Platform(RepRap* r);
RepRap* GetRepRap();
//-------------------------------------------------------------------------------------------------------------
// These are the functions that form the interface between Platform and the rest of the firmware.
@ -191,7 +187,7 @@ class Platform
// Communications and data storage; opening something unsupported returns -1.
char* FileList(char* directory); // Returns a ;-separated list of all the files in the named directory (for example on an SD card).
char* FileList(char* directory); // Returns a ,-separated list of all the files in the named directory (for example on an SD card).
int OpenFile(char* fileName, boolean write); // Open a local file (for example on an SD card).
void GoToEnd(int file); // Position the file at the end (so you can write on the end).
boolean Read(int file, unsigned char& b); // Read a single byte from a file into b,
@ -199,7 +195,7 @@ class Platform
void WriteString(int file, char* s); // Write the string to a file.
void Write(int file, char b); // Write the byte b to a file.
unsigned long Length(int file); // File size in bytes
char* GetWebDir(); // Where the php/htm etc files are
char* GetWebDir(); // Where the htm etc files are
char* GetGcodeDir(); // Where the gcodes are
char* GetSysDir(); // Where the system files are
char* GetTempDir(); // Where temporary files are
@ -318,11 +314,6 @@ inline void Platform::Exit()
active = false;
}
inline RepRap* Platform::GetRepRap()
{
return reprap;
}
// Where the htm etc files are
inline char* Platform::GetWebDir()
@ -372,4 +363,98 @@ inline int Platform::GetRawTemperature(byte heater)
return analogRead(tempSensePins[heater]);
}
//*********************************************************************************************************
// Interrupts
void Platform::InitialiseInterrupts()
{
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t)TC3_IRQn);
TC_Configure(TC1, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK4);
TC1->TC_CHANNEL[0].TC_IER=TC_IER_CPCS;
TC1->TC_CHANNEL[0].TC_IDR=~TC_IER_CPCS;
NVIC_DisableIRQ(TC3_IRQn);
}
inline void Platform::SetInterrupt(long t)
{
if(t <= 0)
{
NVIC_DisableIRQ(TC3_IRQn);
return;
}
uint32_t rc = (uint32_t)(t*84)/128;
TC_SetRA(TC1, 0, rc/2); //50% high, 50% low
TC_SetRC(TC1, 0, rc);
TC_Start(TC1, 0);
NVIC_EnableIRQ(TC3_IRQn);
}
//***************************************************************************************
// Network connection
inline int Platform::ClientStatus()
{
return clientStatus;
}
inline void Platform::SendToClient(unsigned char b)
{
if(client)
{
client.write(b);
} else
Message(HOST_MESSAGE, "Attempt to send byte to disconnected client.");
}
inline unsigned char Platform::ClientRead()
{
if(client)
return client.read();
Message(HOST_MESSAGE, "Attempt to read from disconnected client.");
return '\n'; // good idea??
}
inline void Platform::ClientMonitor()
{
clientStatus = 0;
if(!client)
{
client = server->available();
if(!client)
return;
//else
//Serial.println("new client");
}
clientStatus |= CLIENT;
if(!client.connected())
return;
clientStatus |= CONNECTED;
if (!client.available())
return;
clientStatus |= AVAILABLE;
}
inline void Platform::DisconnectClient()
{
if (client)
{
client.stop();
//Serial.println("client disconnected");
} else
Message(HOST_MESSAGE, "Attempt to disconnect non-existent client.");
}
#endif

96
Platform.ino
View file

@ -52,6 +52,12 @@ void TC3_Handler()
reprap.GetPlatform()->Interrupt();
}
inline void Platform::Interrupt()
{
reprap->Interrupt(); // Put nothing else in this function
}
/*
void startTimer(Tc *tc, uint32_t channel, IRQn_Type irq, uint32_t frequency)
{
@ -69,97 +75,7 @@ void startTimer(Tc *tc, uint32_t channel, IRQn_Type irq, uint32_t frequency)
}
*/
void Platform::InitialiseInterrupts()
{
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t)TC3_IRQn);
TC_Configure(TC1, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK4);
TC1->TC_CHANNEL[0].TC_IER=TC_IER_CPCS;
TC1->TC_CHANNEL[0].TC_IDR=~TC_IER_CPCS;
NVIC_DisableIRQ(TC3_IRQn);
}
inline void Platform::SetInterrupt(long t)
{
if(t <= 0)
{
NVIC_DisableIRQ(TC3_IRQn);
return;
}
uint32_t rc = (uint32_t)(t*84)/128;
TC_SetRA(TC1, 0, rc/2); //50% high, 50% low
TC_SetRC(TC1, 0, rc);
TC_Start(TC1, 0);
NVIC_EnableIRQ(TC3_IRQn);
}
inline void Platform::Interrupt()
{
reprap->Interrupt(); // Put nothing else in this function
}
//***************************************************************************************
// Network connection
inline int Platform::ClientStatus()
{
return clientStatus;
}
inline void Platform::SendToClient(unsigned char b)
{
if(client)
{
client.write(b);
} else
Message(HOST_MESSAGE, "Attempt to send byte to disconnected client.");
}
inline unsigned char Platform::ClientRead()
{
if(client)
return client.read();
Message(HOST_MESSAGE, "Attempt to read from disconnected client.");
return '\n'; // good idea??
}
inline void Platform::ClientMonitor()
{
clientStatus = 0;
if(!client)
{
client = server->available();
if(!client)
return;
//else
//Serial.println("new client");
}
clientStatus |= CLIENT;
if(!client.connected())
return;
clientStatus |= CONNECTED;
if (!client.available())
return;
clientStatus |= AVAILABLE;
}
inline void Platform::DisconnectClient()
{
if (client)
{
client.stop();
//Serial.println("client disconnected");
} else
Message(HOST_MESSAGE, "Attempt to disconnect non-existent client.");
}
//*******************************************************************************************************************

59
RepRapFirmware.h
View file

@ -2,8 +2,8 @@
RepRapFirmware - Main Include
This defines versions etc, includes all the other include files in the right order and defines the
master RepRap class. No other definitions or information should be in here.
This includes all the other include files in the right order and defines some globals.
No other definitions or information should be in here.
-----------------------------------------------------------------------------------------------------
@ -22,50 +22,16 @@ Licence: GPL
#ifndef REPRAPFIRMWARE_H
#define REPRAPFIRMWARE_H
// Warn of what's to come, so we can use pointers to classes...
#define NAME "RepRapFirmware"
#define VERSION "0.1"
#define DATE "2012-11-18"
#define LAST_AUTHOR "reprappro.com"
class Platform;
class Webserver;
class GCodes;
class Move;
class Heat;
class RepRap;
#include "Configuration.h"
#include "Platform.h"
class RepRap
{
public:
RepRap();
void Init();
void Spin();
void Exit();
void Interrupt();
boolean debug();
void debug(boolean d);
Platform* GetPlatform();
Move* GetMove();
Heat* GetHeat();
GCodes* GetGCodes();
Webserver* GetWebserver();
private:
Platform* platform;
boolean active;
Move* move;
Heat* heat;
GCodes* gCodes;
Webserver* webserver;
boolean dbg;
};
inline Platform* RepRap::GetPlatform() { return platform; }
inline Move* RepRap::GetMove() { return move; }
inline Heat* RepRap::GetHeat() { return heat; }
inline GCodes* RepRap::GetGCodes() { return gCodes; }
inline Webserver* RepRap::GetWebserver() { return webserver; }
inline boolean RepRap::debug() { return dbg; }
inline void RepRap::debug(boolean d) { dbg = d; }
extern RepRap reprap;
// Functions and globals not part of any class
@ -75,12 +41,15 @@ boolean StringStartsWith(char* string, char* starting);
boolean StringEquals(char* s1, char* s2);
int StringContains(char* string, char* match);
#include "Configuration.h"
#include "Platform.h"
#include "Webserver.h"
#include "GCodes.h"
#include "Move.h"
#include "Heat.h"
#include "Reprap.h"
extern RepRap reprap;
#endif

7
RepRapFirmware.ino
View file

@ -52,6 +52,8 @@ RepRap reprap;
//*************************************************************************************************
// RepRap member functions.
// Do nothing more in the constructor; put what you want in RepRap:Init()
RepRap::RepRap()
@ -99,11 +101,6 @@ void RepRap::Spin()
}
void RepRap::Interrupt()
{
move->Interrupt();
}
//*************************************************************************************************
// Utilities and storage not part of any class

63
Reprap.h Normal file
View file

@ -0,0 +1,63 @@
/****************************************************************************************************
RepRapFirmware - Reprap
RepRap is a simple class that acts as a container for an instance of all the others.
-----------------------------------------------------------------------------------------------------
Version 0.1
21 May 2013
Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com
Licence: GPL
****************************************************************************************************/
#ifndef REPRAP_H
#define REPRAP_H
class RepRap
{
public:
RepRap();
void Init();
void Spin();
void Exit();
void Interrupt();
boolean debug();
void debug(boolean d);
Platform* GetPlatform();
Move* GetMove();
Heat* GetHeat();
GCodes* GetGCodes();
Webserver* GetWebserver();
private:
Platform* platform;
boolean active;
Move* move;
Heat* heat;
GCodes* gCodes;
Webserver* webserver;
boolean dbg;
};
inline Platform* RepRap::GetPlatform() { return platform; }
inline Move* RepRap::GetMove() { return move; }
inline Heat* RepRap::GetHeat() { return heat; }
inline GCodes* RepRap::GetGCodes() { return gCodes; }
inline Webserver* RepRap::GetWebserver() { return webserver; }
inline boolean RepRap::debug() { return dbg; }
inline void RepRap::debug(boolean d) { dbg = d; }
inline void RepRap::Interrupt() { move->Interrupt(); }
#endif