From c6ec8cf012270c3100d076b37931a02da7752fe7 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Thu, 18 Nov 2021 11:04:41 -0500
Subject: [PATCH] new bus-drop code
---
firmware/stepper-drop/src/main.cpp | 3 --
firmware/stepper-drop/src/osape-d51 | 2 +-
firmware/stepper-drop/src/syserror.cpp | 69 +++++++++++++++++++-------
firmware/stepper-drop/src/syserror.h | 5 ++
4 files changed, 58 insertions(+), 21 deletions(-)
diff --git a/firmware/stepper-drop/src/main.cpp b/firmware/stepper-drop/src/main.cpp
index 77804e1..ee450ca 100644
--- a/firmware/stepper-drop/src/main.cpp
+++ b/firmware/stepper-drop/src/main.cpp
@@ -151,7 +151,6 @@ void setup() {
ERRLIGHT_SETUP;
CLKLIGHT_SETUP;
DEBUG1PIN_SETUP;
-
// limit switch
//limitSetup();
// osap
@@ -183,14 +182,12 @@ uint8_t testRx[256];
void loop() {
osapLoop();
stepper_hw->dacRefresh();
- /*
// still not sure: this registers as "made" on init (?)
if(limitIsMade()){
ERRLIGHT_ON;
} else {
ERRLIGHT_OFF;
}
- */
} // end loop
diff --git a/firmware/stepper-drop/src/osape-d51 b/firmware/stepper-drop/src/osape-d51
index eeabe1a..50426e4 160000
--- a/firmware/stepper-drop/src/osape-d51
+++ b/firmware/stepper-drop/src/osape-d51
@@ -1 +1 @@
-Subproject commit eeabe1a173dc1c7270b0099a7a1a0e0e7735e1be
+Subproject commit 50426e4ff771eeb2c94180e59a05258d2daf24ff
diff --git a/firmware/stepper-drop/src/syserror.cpp b/firmware/stepper-drop/src/syserror.cpp
index 6ec72cb..a650704 100644
--- a/firmware/stepper-drop/src/syserror.cpp
+++ b/firmware/stepper-drop/src/syserror.cpp
@@ -1,28 +1,55 @@
#include "syserror.h"
+#include "indicators.h"
#include "osape-d51/osape/osap/ts.h"
#include "osape-d51/vertices/ucBusDrop.h"
#include "osape-d51/osape/utils/cobs.h"
#include "config.h"
-#include "indicators.h"
+
uint8_t errBuf[1028];
uint8_t errEncoded[1028];
-/*
-boolean writeString(unsigned char* dest, uint16_t* dptr, String msg){
- uint16_t len = msg.length();
- dest[(*dptr) ++] = TS_STRING_KEY;
- writeLenBytes(dest, dptr, len);
- msg.getBytes(dest, len + 1);
- return true;
+volatile unsigned long errLightLastOn = 0;
+volatile unsigned long errLightOnTime = 0;
+volatile boolean errLightBlink = true;
+volatile boolean errLightOn = false;
+
+void sysErrLightFlash(uint8_t level){
+ ERRLIGHT_ON;
+ errLightOn = true;
+ errLightLastOn = millis();
+ switch(level){
+ case 0:
+ errLightBlink = false;
+ break;
+ case 1:
+ errLightOnTime = 5000;
+ break;
+ case 2:
+ errLightOnTime = 1000;
+ break;
+ case 3:
+ errLightOnTime = 250;
+ break;
+ }
+}
+
+void sysErrLightCheck(void){
+ if(errLightOn && errLightBlink){
+ if(errLightLastOn + errLightOnTime < millis()){
+ ERRLIGHT_OFF;
+ errLightOn = false;
+ }
+ }
}
-boolean writeLenBytes(unsigned char* dest, uint16_t* dptr, uint16_t len){
- dest[(*dptr) ++] = len;
- dest[(*dptr) ++] = (len >> 8) & 255;
- return true;
+#ifdef UCBUS_IS_DROP
+
+void sysError(String msg){
+ // noop
}
-*/
+
+#else
// config-your-own-ll-escape-hatch
void sysError(String msg){
@@ -38,11 +65,18 @@ void sysError(String msg){
errBuf[6] = (len >> 24) & 255;
msg.getBytes(&(errBuf[7]), len + 1);
size_t ecl = cobsEncode(errBuf, len + 7, errEncoded);
- errEncoded[ecl] = 0; // add delimiter
- // escape:
- Serial.write(errEncoded, ecl + 1);
+ errEncoded[ecl] = 0;
+ // direct escape
+ //if(Serial.availableForWrite() > (int64_t)ecl){
+ Serial.write(errEncoded, ecl + 1);
+ //Serial.flush();
+ //} else {
+ // ERRLIGHT_ON;
+ //}
}
+#endif
+
void logPacket(uint8_t* pck, uint16_t len){
String errmsg;
errmsg.reserve(1024);
@@ -53,4 +87,5 @@ void logPacket(uint8_t* pck, uint16_t len){
errmsg += ", ";
}
sysError(errmsg);
-}
\ No newline at end of file
+}
+
diff --git a/firmware/stepper-drop/src/syserror.h b/firmware/stepper-drop/src/syserror.h
index 3645dbc..489173a 100644
--- a/firmware/stepper-drop/src/syserror.h
+++ b/firmware/stepper-drop/src/syserror.h
@@ -7,4 +7,9 @@ void sysError(String msg);
void logPacket(uint8_t* pck, uint16_t len);
//void sysError(uint8_t* bytes, uint16_t len);
+void sysErrLightFlash(uint8_t level);
+void sysErrLightCheck(void);
+
+#define ERROR(level, msg) sysErrLightFlash(level); sysError(msg)
+
#endif
--
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