Merged i2c-helper in Main

2025-01-12 00:16:00 +01:00
parent f4792de050
commit b5c7e5b4c1
396 changed files with 182143 additions and 14 deletions
--- a/motor-control/core-xy-firmware/include/CoreXY.hpp
+++ b/motor-control/core-xy-firmware/include/CoreXY.hpp
@@ -0,0 +1,108 @@
+#pragma once
+#include <stdint.h>
+#include "tmc2209/tmc2209.hpp"
+#include "tmc2209/step.hpp"
+
+// LimitSwitch Pins
+#define LIMIT0_PIN 10
+#define LIMIT1_PIN 11
+#define LIMIT2_PIN 12
+#define LIMIT3_PIN 13
+
+// LimitSwich Physical Wiring
+// DONT TOUCH THIS
+#define LIMIT_X0 LIMIT1_PIN
+#define LIMIT_X1 LIMIT3_PIN
+#define LIMIT_Y0 LIMIT2_PIN
+#define LIMIT_Y1 LIMIT0_PIN
+
+// Motor Directions
+#define X_DIRECTION_TOP    0b01
+#define X_DIRECTION_BOTTOM 0b00
+#define Y_DIRECTION_LEFT   0b10
+#define Y_DIRECTION_RIGHT  0b00
+
+// Motor Mapping
+// DONT TOUCH THIS
+#define MOTOR_X 1
+#define MOTOR_Y 0
+
+// Homing Speeds
+#define HOME_SPEED_FAST 10000
+#define HOME_SPEED_SLOW 2000
+#define HOME_SPEED_VERY_SLOW 500
+#define OPERATING_SPEED 9000
+
+enum HOME_AXIS_DIRECTION {
+    TOP_LEFT     = X_DIRECTION_TOP | Y_DIRECTION_LEFT,
+    TOP_RIGHT    = X_DIRECTION_TOP | Y_DIRECTION_RIGHT,
+    BOTTOM_RIGHT = X_DIRECTION_BOTTOM | Y_DIRECTION_RIGHT,
+    BOTTOM_LEFT  = X_DIRECTION_BOTTOM | Y_DIRECTION_LEFT
+};
+
+struct MotorPosition {
+    int x;
+    int y;
+};
+
+struct BoardMessurements {
+    int x_padding;
+    int y_padding;
+
+    int x_num;
+    int y_num;
+    
+    int x_offset;
+    int y_offset;
+
+    int cell_x;
+    int cell_y;
+};
+
+BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y, MotorPosition offset);
+MotorPosition calcPosition(BoardMessurements * messurements, int x, int y, bool offset);
+
+void vTaskInitMotorHome(void *pvParameters);
+
+#define HOME_COUNT 20
+class CoreXYMaschine {
+private:
+    TMC2209_UART * uart_driver0;
+    TMC2209_UART * uart_driver1;
+    TMC2209_step_dual * step_driver;
+
+    bool enableMotors = false;
+    
+    bool posUnknow = true;
+    MotorPosition current_pos;
+
+    BoardMessurements boardMessurements;
+    SemaphoreHandle_t xMoveMutex;
+
+    enum HOME_AXIS_DIRECTION ORIGIN = TOP_LEFT;
+
+    int untilNextHome = HOME_COUNT;
+
+public:
+    CoreXYMaschine(TMC2209_UART * uart_driver0, TMC2209_UART * uart_driver1, TMC2209_step_dual * step_driver, uint core);
+    
+    void homeFast(MotorPosition * last_pos, bool ignoreMutex);
+    void home(MotorPosition * last_pos);
+
+    void initLimitSW();
+    void debugPrintSwitch(uint32_t switchPin);
+    void debugAllSwitchStates();
+
+    void setMotorEnabled(bool enabled);
+    bool getMotorEnabled();
+
+    void setBoardMessurements(BoardMessurements messurements);
+    void gotoPosition(int x, int y, bool offset);
+};
+
+void homeXY(TMC2209_step_dual * driver, HOME_AXIS_DIRECTION direction, unsigned int speed, unsigned int backupSpace, MotorPosition * last_pos);
+
+extern absolute_time_t debounce_cooldown_ticks;
+extern absolute_time_t limit_debounce_tick;
+void isr_LimitSwitch(unsigned int gpio, uint32_t event_mask);
+