Add TCode Support

PlatformIO ESP32 code/OSSM_ESP32/src/OSSMTCode.cpp

@@ -0,0 +1,84 @@
+#include "OSSMTCode.h"
+
+#include <ESP_FlexyStepper.h> // Current Motion Control
+#include <WiFiUdp.h>
+
+#include "OSSM_Config.h"
+#include "TCode.cpp"
+
+#define FIRMWARE_ID "OSSMTCode.cpp" // Device and firmware version
+#define TCODE_VER "TCode v0.3"      // Current version of TCode
+
+#define TCODE_PORT 6969
+
+OSSMTCode::OSSMTCode(ESP_FlexyStepper &stepper, float maxStrokeLengthMm) : stepper(stepper), tcode(FIRMWARE_ID, TCODE_VER)
+{
+    tcode.RegisterAxis("L0", "Up");
+    this->maxStrokeLengthMm = maxStrokeLengthMm;
+
+    // Acceleration calculation/motion planning is supposed to be handled by the TCode generator.
+    stepper.setAccelerationInMillimetersPerSecondPerSecond(maxSpeedMmPerSecond * 100.0);
+    stepper.setDecelerationInMillimetersPerSecondPerSecond(maxSpeedMmPerSecond * 100.0);
+    stepper.setSpeedInMillimetersPerSecond(maxSpeedMmPerSecond);
+    wifiUdp.begin(TCODE_PORT);
+
+    xTaskCreatePinnedToCore(OSSMTCode::inputTask,    /* Task function. */
+                            "TCodeInputTask",        /* String with name of task (by default max 16 characters long) */
+                            2000,                    /* Stack size in bytes. */
+                            this,                    /* Parameter passed as input of the task */
+                            1,                       /* Priority of the task, 1 seems to work just fine for us */
+                            &this->xInputTaskHandle, /* Task handle. */
+                            0);
+};
+
+#define TCODE_PRECISION 4
+#define TCODE_KEEPOUT 5
+
+void OSSMTCode::loop()
+{
+    while ((stepper.getDistanceToTargetSigned() != 0))
+    {
+        vTaskDelay(5);
+        LogDebugFormatted("%d,%f,%ld,%f,%f,wait\n", xLin, stepper.getCurrentPositionInMillimeters(),
+                          stepper.getDistanceToTargetSigned(), stepper.getTargetPositionInMillimeters(),
+                          stepper.getCurrentVelocityInMillimetersPerSecond());
+    }
+
+    xLin = tcode.AxisRead("L0");
+    auto targetMm = map(xLin, 0, 9999, (0 + TCODE_KEEPOUT) * TCODE_PRECISION,
+                        (maxStrokeLengthMm - TCODE_KEEPOUT) * TCODE_PRECISION) /
+                    float(TCODE_PRECISION);
+    stepper.setTargetPositionInMillimeters(targetMm);
+    LogDebugFormatted("%d,%f,%ld,%f,%f,command\n", xLin, stepper.getCurrentPositionInMillimeters(),
+                      stepper.getDistanceToTargetSigned(), stepper.getTargetPositionInMillimeters(),
+                      stepper.getCurrentVelocityInMillimetersPerSecond());
+};
+
+void OSSMTCode::inputTask(void *parameter)
+{
+    char packetBuffer[255];
+    OSSMTCode *tRef = static_cast<OSSMTCode *>(parameter);
+    for (;;)
+    {
+        int packetSize = tRef->wifiUdp.parsePacket();
+        if (packetSize)
+        {
+            int len = tRef->wifiUdp.read(packetBuffer, 255);
+            if (len > 0)
+            {
+                packetBuffer[len] = 0;
+            }
+            for (int i = 0; i < len; i++)
+            {
+                tRef->tcode.ByteInput(packetBuffer[i]);
+            }
+        }
+        // Read serial and send to tcode class
+        while (Serial.available() > 0)
+        {
+            // Send the serial bytes to the t-code object
+            tRef->tcode.ByteInput(Serial.read());
+        }
+        vTaskDelay(100);
+    }
+}

PlatformIO ESP32 code/OSSM_ESP32/src/OSSMTCode.h

@@ -0,0 +1,29 @@
+#pragma once
+#include <Arduino.h>
+#include <ESP_FlexyStepper.h> // Current Motion Control
+#include <WiFiUdp.h>
+
+#include "OSSM_Config.h"
+#include "TCode.cpp"
+
+class OSSMTCode
+{
+    int xLin;
+    ESP_FlexyStepper& stepper;
+    TCode tcode;
+
+    float maxSpeedMmPerSecond = hardcode_maxSpeedMmPerSecond;
+    float maxStrokeLengthMm = hardcode_maxStrokeLengthMm;
+
+    WiFiUDP wifiUdp;
+    bool udpInitialized = false;
+
+    TaskHandle_t xInputTaskHandle = NULL;
+
+   public:
+    OSSMTCode(ESP_FlexyStepper& stepper, float maxStrokeLengthMm);
+    void loop();
+
+   private:
+    void static inputTask(void* parameter);
+};

PlatformIO ESP32 code/OSSM_ESP32/src/OSSM_Config.h

@@ -14,7 +14,8 @@
 
 #define SW_VERSION "0.21"
 #define HW_VERSION 21 //divide by 10 for real hw version
-#define EEPROM_SIZE 200
+// EEPROM layout is 28 bytes of ossm config and 320 bytes of TCode axis config
+#define EEPROM_SIZE 28+320
 
 //#define INITIAL_SETUP //should only be defined at initial burn to configure HW version
 

PlatformIO ESP32 code/OSSM_ESP32/src/OSSM_Main.ino

@@ -261,6 +261,10 @@ void motionCommandTask(void *pvParameters)
             case ossm.strokeEngineMode:
                 ossm.runStrokeEngine();
                 break;
+
+            case ossm.tCodeMode:
+                ossm.runTCode();
+                break;
         }
     }
 }