From 6fa375d4523cb8430173fda6c6aa9c94a8c148b3 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Wed, 19 May 2021 14:28:32 -0400
Subject: [PATCH] add option for og module on stepper, and add homing query
state for home-completion promises
---
.../osape-smoothieroll-drop-stepper/src/config.h | 2 ++
.../osape-smoothieroll-drop-stepper/src/main.cpp | 14 +++++++++++++-
2 files changed, 15 insertions(+), 1 deletion(-)
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/config.h b/firmware/osape-smoothieroll-drop-stepper/src/config.h
index 3f537ba..93d31e3 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/config.h
+++ b/firmware/osape-smoothieroll-drop-stepper/src/config.h
@@ -4,4 +4,6 @@
//#define UCBUS_IS_HEAD
#define UCBUS_IS_DROP
+#define IS_OG_MODULE
+
#endif
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
index 04ca517..3658779 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
+++ b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
@@ -104,6 +104,17 @@ boolean onHomeData(uint8_t* data, uint16_t len){
vertex_t* homeEp = osapBuildEndpoint("Home", onHomeData, nullptr);
+// -------------------------------------------------------- HOME STATE
+
+boolean beforeHomeStateQuery(void);
+
+vertex_t* homeStateEp = osapBuildEndpoint("HomeState", nullptr, beforeHomeStateQuery);
+
+boolean beforeHomeStateQuery(void){
+ homeStateEp->ep->data[0] = homing;
+ homeStateEp->ep->dataLen = 1;
+}
+
// -------------------------------------------------------- LIMIT SETUP
#define LIMIT_PORT PORT->Group[0]
@@ -148,6 +159,7 @@ void setup() {
osapAddVertex(cScaleEp); // 5
// homing
osapAddVertex(homeEp); // 6
+ osapAddVertex(homeStateEp); // 7
// stepper init
stepper_hw->init(false, c_scale);
}
@@ -289,7 +301,7 @@ void ucBusDrop_onRxISR(void){
}
return;
}
-
+ // normal step operation
//DEBUG2PIN_TOGGLE;
move_counter += vel;
boolean move_check = (move_counter > 1.0F);
--
GitLab