canon_ble #82

Merged
mattmcw merged 149 commits from canon_ble into main 2023-08-01 03:38:52 +00:00
6 changed files with 412 additions and 0 deletions
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#include "IteadDualStepperShield.h"
IteadDualStepperShield::IteadDualStepperShield () {}
void IteadDualStepperShield::setup () {
pinMode(_directionA, OUTPUT);
pinMode(_directionB, OUTPUT);
pinMode(_stepA, OUTPUT);
pinMode(_stepB, OUTPUT);
setDir(0, 1);
setDir(1, 1);
}
void IteadDualStepperShield::setDir (uint8_t motor, uint8_t dir) {
if (motor == 0) {
directionA = dir;
digitalWrite(_directionA, directionA > 0 ? HIGH : LOW);
} else if (motor == 1) {
directionB = dir;
digitalWrite(_directionB, directionB > 0 ? HIGH : LOW);
}
}
void IteadDualStepperShield::setSpeed (uint8_t motor, uint16_t rpm) {
uint32_t usPerStep = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm);
if (motor == 0) {
_usStepA = usPerStep;
} else if (motor == 1) {
_usStepB = usPerStep;
}
}
void IteadDualStepperShield::_micro (uint8_t motor) {
uint8_t stepPin = motor == 0 ? _stepA : _stepB;
uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
digitalWrite(stepPin, HIGH);
delayMicroseconds(usStep);
digitalWrite(stepPin, LOW);
delayMicroseconds(usStep);
}
//full
void IteadDualStepperShield::_single (uint8_t motor) {
uint8_t stepPin = motor == 0 ? _stepA : _stepB;
uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
for (uint8_t i = 0; i < _microsteps; i++) {
digitalWrite(stepPin, HIGH);
delayMicroseconds(usStep);
digitalWrite(stepPin, LOW);
delayMicroseconds(usStep);
}
}
void IteadDualStepperShield::_both () {
for (uint8_t i = 0; i < _microsteps; i++) {
digitalWrite(_stepA, HIGH);
digitalWrite(_stepB, HIGH);
delayMicroseconds(_usStepA);
digitalWrite(_stepA, LOW);
digitalWrite(_stepB, LOW);
delayMicroseconds(_usStepA);
}
}
void IteadDualStepperShield::step (uint8_t motor, uint16_t steps, uint8_t dir) {
uint8_t stepPin = motor == 0 ? _stepA : _stepB;
setDir(motor, dir);
for (int i = 0; i < steps; i++) {
_single(stepPin);
}
}
void IteadDualStepperShield::onestep (uint8_t motor, uint8_t dir) {
uint8_t stepPin = motor == 0 ? _stepA : _stepB;
setDir(motor, dir);
_single(stepPin);
}
void IteadDualStepperShield::stepBoth (uint16_t steps) {
for (int i = 0; i < steps; i++) {
_both();
}
}

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#ifndef IteadDualStepperShield_h
#define IteadDualStepperShield_h
#include <Arduino.h>
class IteadDualStepperShield {
private:
const uint8_t _microsteps = 8; //8 or 16
const uint8_t _directionA = 3;
const uint8_t _directionB = 7;
const uint8_t _stepA = 2;
const uint8_t _stepB = 6;
void _single(uint8_t motor);
void _micro(uint8_t motor);
void _both();
uint32_t _usStepA = 300;
uint32_t _usStepB = 300;
public:
IteadDualStepperShield();
uint16_t revsteps = 200; // # steps per revolution
volatile uint8_t directionA = 1;
volatile uint8_t directionB = 1;
void setup();
void setDir(uint8_t motor, uint8_t dir);
void setSpeed(uint8_t motor, uint16_t speed);
//full
void step(uint8_t motor, uint16_t steps, uint8_t dir);
void stepBoth(uint16_t steps);
void onestep(uint8_t motor, uint8_t dir);
void release();
};
#endif

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/// mcopy Serial Library
#include "McopySerial.h"
McopySerial::McopySerial () {}
void McopySerial::begin (char identity) {
id = identity;
Serial.begin(baud);
Serial.flush();
Serial.setTimeout(serialDelay);
}
char McopySerial::loop () {
if (Serial.available()) {
cmdChar = (char) Serial.read();
_internal();
} else {
cmdChar = 'z';
}
return cmdChar;
}
void McopySerial::_internal () {
if (cmdChar == DEBUG) {
debug(!debugOn);
} else if (cmdChar == CONNECT) {
_connect();
} else if (cmdChar == MCOPY_IDENTIFIER) {
_identify();
}
}
void McopySerial::_connect () {
connected = true;
Serial.println(CONNECT);
log("connect()");
}
void McopySerial::_identify () {
identified = true;
Serial.println(id);
log("identify()");
}
void McopySerial::debug (bool state) {
debugOn = state;
log("debug()");
}
void McopySerial::confirm (char cmd) {
Serial.println(cmd);
}
void McopySerial::log (String message) {
if (debugOn) {
Serial.println(message);
}
}
String McopySerial::getString () {
while (Serial.available() == 0) {
//Wait for value string
}
return Serial.readString();
}
void McopySerial::print (String message) {
Serial.println(message);
}

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#ifndef MCOPY_SERIAL
#define MCOPY_SERIAL
#include <Arduino.h>
class McopySerial {
private:
const uint16_t serialDelay = 5;
const uint16_t baud = 57600;
volatile bool debugOn = false;
volatile char cmdChar = 'z';
volatile char id;
void _internal ();
void _connect ();
void _identify ();
public:
volatile bool connected = false;
volatile bool identified = false;
/* CMD FLAGS */
const char BLACK = 'b';
const char CAMERA = 'c';
const char CAMERA_BACKWARD = 'f';
const char CAMERA_CAPPER_IDENTIFIER = '8';
const char CAMERA_CAPPER_PROJECTOR_IDENTIFIER = '9';
const char CAMERA_CAPPER_PROJECTORS_IDENTIFIER = '0';
const char CAMERA_EXPOSURE = 'G';
const char CAMERA_FORWARD = 'e';
const char CAMERA_IDENTIFIER = 'k';
const char CAMERA_PROJECTORS_IDENTIFIER = '5';
const char CAMERA_SECOND = '3';
const char CAMERA_SECOND_BACKWARD = '2';
const char CAMERA_SECOND_FORWARD = '1';
const char CAMERA_SECOND_IDENTIFIER = 'y';
const char CAMERA_TIMED = 'n';
const char CAMERAS = '4';
const char CAMERAS_IDENTIFIER = 'a';
const char CAMERAS_PROJECTOR_IDENTIFIER = '6';
const char CAMERAS_PROJECTORS_IDENTIFIER = '7';
const char CAPPER_IDENTIFIER = 'C';
const char CAPPER_OFF = 'B';
const char CAPPER_ON = 'A';
const char CONNECT = 'i';
const char DEBUG = 'd';
const char ERROR = 'E';
const char LIGHT = 'l';
const char LIGHT_IDENTIFIER = 'o';
const char MCOPY_IDENTIFIER = 'm';
const char PROJECTOR = 'p';
const char PROJECTOR_BACKWARD = 'h';
const char PROJECTOR_CAMERA_IDENTIFIER = 's';
const char PROJECTOR_CAMERA_LIGHT_IDENTIFIER = 'r';
const char PROJECTOR_FORWARD = 'g';
const char PROJECTOR_IDENTIFIER = 'j';
const char PROJECTOR_LIGHT_IDENTIFIER = 'q';
const char PROJECTOR_SECOND = 'w';
const char PROJECTOR_SECOND_BACKWARD = 'v';
const char PROJECTOR_SECOND_FORWARD = 'u';
const char PROJECTOR_SECOND_IDENTIFIER = 't';
const char PROJECTORS = 'x';
const char PROJECTORS_IDENTIFIER = 'd';
const char STATE = 'H';
const char TAKEUP_BACKWARD = 'F';
const char TAKEUP_FORWARD = 'D';
/* END CMD FLAGS */
McopySerial();
void begin(char identity);
char loop();
void confirm(char cmd);
String getString();
void print(String message);
void debug (bool state);
void log (String message);
};
#endif

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/*
JK-compatible projector element
Hardware
Arduino Uno
Itead Dual Stepper Shield
2x NEMA17 Stepper Motors
Wiring
(Will vary from motor to motor)
X01A - Green
X01B - Black
X02A - Blue
X02B - Red
Y01A - Green
Y01B - Black
Y02A - Blue
Y02B - Red
*/
#include "McopySerial.h"
#include "IteadDualStepperShield.h"
//CAMERA CONSTANTS
const int BUTTON = 7;
const int LED_FWD = 8;
const int LED_BWD = 9;
const int PROJECTOR_MOMENT = 240;
const int PROJECTOR_STEPS = 25;
//VARIABLES
volatile int projectorFrame = -1;
volatile char cmdChar = 'z';
volatile long now;
volatile bool direction = true;
volatile long start;
McopySerial mcopy;
IteadDualStepperShield steppers;
void setup () {
steppers.setup();
steppers.setSpeed(0, 2000);
steppers.setSpeed(1, 2000);
pins();
digitalWrite(LED_FWD, HIGH);
digitalWrite(LED_BWD, HIGH);
mcopy.begin(mcopy.PROJECTOR_IDENTIFIER);
delay(42);
digitalWrite(LED_FWD, LOW);
digitalWrite(LED_BWD, LOW);
}
void loop () {
now = millis();
cmdChar = mcopy.loop();
cmd(cmdChar);
if (digitalRead(BUTTON) == LOW) {
projector();
}
}
void pins () {
pinMode(LED_FWD, OUTPUT);
pinMode(LED_BWD, OUTPUT);
pinMode(BUTTON, INPUT_PULLUP);
digitalWrite(LED_FWD, LOW);
digitalWrite(LED_BWD, LOW);
}
void cmd (char val) {
if (val == mcopy.CAMERA_FORWARD) {
projector_direction(true);
} else if (val == mcopy.CAMERA_BACKWARD) {
projector_direction(false);
} else if (val == mcopy.PROJECTOR) {
projector();
} else if (val == mcopy.STATE) {
state();
}
}
void projector_direction (boolean state) {
direction = state;
if (state) {
mcopy.confirm(mcopy.PROJECTOR_FORWARD);
mcopy.log("projector_direction(true)");
steppers.setDir(0, 1);
steppers.setDir(1, 1);
} else {
mcopy.confirm(mcopy.PROJECTOR_BACKWARD);
mcopy.log("projector_direction(false)");
steppers.setDir(0, 0);
steppers.setDir(1, 0);
}
}
void projector_timing_start () {
start = millis();
}
void projector_timing_end () {
long end = millis();
if (projectorFrame == -1) {
projectorFrame = (end - start);
} else {
//rolling mean
projectorFrame = (projectorFrame + (end - start) / 2);
}
}
void projector () {
int LED = direction ? LED_FWD : LED_BWD;
digitalWrite(LED, HIGH);
steppers.stepBoth(PROJECTOR_STEPS);
mcopy.confirm(mcopy.PROJECTOR);
digitalWrite(LED, LOW);
}
void state () {
String stateString = String(mcopy.CAMERA_EXPOSURE);
stateString += String(cameraFrame);
stateString += String(mcopy.STATE);
mcopy.print(stateString);
}

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@ -22,6 +22,7 @@ SKETCHES=(
mcopy_cam_relay mcopy_cam_relay
mcopy_JKMM100 mcopy_JKMM100
components/mcopy_light components/mcopy_light
mcopy_projector_firmware
) )
for sketch in "${SKETCHES[@]}"; do for sketch in "${SKETCHES[@]}"; do