ULN2003 mostly done

IOFunctions.cpp

@@ -74,20 +74,22 @@ void processSerialInput() {
     }
   }
   if (newSerialData == true) {
-    Serial.print(F("Received serial input: "));
-    Serial.println(serialInputChars);
     newSerialData = false;
     char * strtokIndex;
     strtokIndex = strtok(serialInputChars," ");
     char command = strtokIndex[0];     // first parameter is activity
     strtokIndex = strtok(NULL," ");     // space separator
     long steps;
     if (command == 'M') {
-      steps = atoi(strtokIndex);
+      steps = atol(strtokIndex);
       strtokIndex = strtok(NULL," ");
       testActivity = atoi(strtokIndex);
     }
     switch (command) {
+      case 'C':
+        serialCommandC();
+        break;
+
       case 'D':
         serialCommandD();
         break;
@@ -96,6 +98,10 @@ void processSerialInput() {
         serialCommandE();
         break;
 
+      case 'H':
+        serialCommandH();
+        break;
+
       case 'M':
         serialCommandM(steps);
         break;
@@ -118,6 +124,17 @@ void processSerialInput() {
   }
 }
 
+// C command to initiate calibration
+void serialCommandC() {
+  if (stepper.isRunning()) {
+    Serial.println(F("Stepper is running, ignoring <C>"));
+    return;
+  }
+  if (!calibrating || homed == 2) {
+    initiateCalibration();
+  }
+}
+
 // D command to enable debug output
 void serialCommandD() {
   if (debug) {
@@ -131,6 +148,10 @@ void serialCommandD() {
 
 // E command to erase EEPROM
 void serialCommandE() {
+  if (stepper.isRunning()) {
+    Serial.println(F("Stepper is running, ignoring <E>"));
+    return;
+  }
   Serial.println(F("Erasing full step count from EEPROM"));
   clearEEPROM();
 #ifndef FULL_STEP_COUNT
@@ -139,10 +160,27 @@ void serialCommandE() {
 #endif
 }
 
+// H command to initiate homing
+void serialCommandH() {
+  if (stepper.isRunning()) {
+    Serial.println(F("Stepper is running, ignoring <H>"));
+    return;
+  }
+  if (!calibrating || homed == 2) {
+    initiateHoming();
+  }
+}
+
 // M command to move
 void serialCommandM(long steps) {
+  if (stepper.isRunning()) {
+    Serial.println(F("Stepper is running, ignoring <M>"));
+    return;
+  }
   if (steps < 0) {
     Serial.println(F("Cannot provide a negative step count"));
+  } else if (steps > 32767) {
+    Serial.println(F("Step count too large, refer to the documentation for large step counts > 32767"));
   } else {
     Serial.print(F("Test move "));
     Serial.print(steps);
@@ -162,6 +200,10 @@ void serialCommandR() {
 
 // T command to perform sensor testing
 void serialCommandT() {
+  if (stepper.isRunning()) {
+    Serial.println(F("Stepper is running, ignoring <T>"));
+    return;
+  }
   if (sensorTesting) {
     Serial.println(F("Disabling sensor testing mode, reboot required"));
     sensorTesting = false;
@@ -226,6 +268,16 @@ void displayTTEXConfig() {
   Serial.println(F("Rotating SHORTEST DIRECTION"));
 #endif
 
+#if defined(INVERT_DIRECTION)
+  Serial.println(F("INVERT_DIRECTION enabled"));
+#endif
+#if defined(INVERT_STEP)
+  Serial.println(F("INVERT_STEP enabled"));
+#endif
+#if defined(INVERT_ENABLE)
+  Serial.println(F("INVERT_ENABLE enabled"));
+#endif
+
   // If in sensor testing mode, display this, don't enable stepper or I2C
   if (sensorTesting) {
     Serial.println(F("SENSOR TESTING ENABLED, EX-Turntable operations disabled"));
@@ -263,19 +315,25 @@ void receiveEvent(int received) {
       receivedStepsLSB = Wire.read();
       activity = Wire.read();
     }
-    if (debug) {
-      Serial.print(F("DEBUG: receivedStepsMSB:"));
-      Serial.print(receivedStepsMSB);
-      Serial.print(F(", receivedStepsLSB:"));
-      Serial.print(receivedStepsLSB);
-      Serial.print(F(", activity:"));
-      Serial.println(activity);
-    }
     receivedSteps = (receivedStepsMSB << 8) + receivedStepsLSB;
     if (gearingFactor > 10) {
       gearingFactor = 10;
     }
     steps = receivedSteps * gearingFactor;
+    if (debug) {
+      Serial.print(F("DEBUG: receivedStepsMSB|receivedStepsLSB|activity: "));
+      Serial.print(receivedStepsMSB);
+      Serial.print(F("|"));
+      Serial.print(receivedStepsLSB);
+      Serial.print(F("|"));
+      Serial.println(activity);
+      Serial.print(F("DEBUG: gearingFactor|receivedSteps|steps: "));
+      Serial.print(gearingFactor);
+      Serial.print(F("|"));
+      Serial.print(receivedSteps);
+      Serial.print(F("|"));
+      Serial.println(steps);
+    }
     if (steps <= fullTurnSteps && activity < 2 && !stepper.isRunning() && !calibrating) {
       // Activities 0/1 require turning and setting phase, process only if stepper is not running.
       if (debug) {

IOFunctions.h

@@ -36,8 +36,10 @@ extern bool sensorTesting;
 
 void setupWire();
 void processSerialInput();
+void serialCommandC();
 void serialCommandD();
 void serialCommandE();
+void serialCommandH();
 void serialCommandM(long steps);
 void serialCommandR();
 void serialCommandT();

TurntableFunctions.cpp

@@ -42,7 +42,7 @@ long fullTurnSteps;                                 // Assign our defined full t
 long halfTurnSteps;                                 // Defines a half turn to enable moving the least distance.
 long phaseSwitchStartSteps;                         // Defines the step count at which phase should automatically invert.
 long phaseSwitchStopSteps;                          // Defines the step count at which phase should automatically revert.
-long lastTarget = sanitySteps;                      // Holds the last step target (prevents continuous rotatins if homing fails).
+long lastTarget = sanitySteps;                      // Holds the last step target (prevents continuous rotation if homing fails).
 uint8_t ledState = 7;                               // Flag for the LED state: 4 on, 5 slow, 6 fast, 7 off.
 bool ledOutput = LOW;                               // Boolean for the actual state of the output LED pin.
 unsigned long ledMillis = 0;                        // Required for non blocking LED blink rate timing.
@@ -60,10 +60,10 @@ bool invertDirection = true;
 #else
 bool invertDirection = false;
 #endif
-#ifdef INVERT_STEPS
-bool invertSteps = true;
+#ifdef INVERT_STEP
+bool invertStep = true;
 #else
-bool invertSteps = false;
+bool invertStep = false;
 #endif
 #ifdef INVERT_ENABLE
 bool invertEnable = true;
@@ -77,9 +77,7 @@ AccelStepper stepper = STEPPER_DEFINITION;
 void startupConfiguration() {
 #if SELECTED_DRIVER == A4988_DRIVER
   stepper.setEnablePin(A2);
-  stepper.setPinsInverted(invertDirection, invertSteps, invertEnable);
-#else
-  stepper.setPinsInverted(invertDirection, invertDirection, invertDirection, invertDirection, invertEnable);
+  stepper.setPinsInverted(invertDirection, invertStep, invertEnable);
 #endif
 #if HOME_SENSOR_ACTIVE_STATE == LOW
   pinMode(homeSensorPin, INPUT_PULLUP);

config.example.h

@@ -89,21 +89,22 @@
 //  in those instances, no custom configuration would be required.
 // 
 
-#define STEPPER_DRIVER ULN2003_HALF
+// #define STEPPER_DRIVER ULN2003_HALF
 // #define STEPPER_DRIVER ULN2003_FULL
-// #define STEPPER_DRIVER A4988
+#define STEPPER_DRIVER A4988
 // 
 // If you need to invert the direction of the stepper, uncomment this line. This is likely
-// required when using a TMC2208. It may also be required to change the rotation from
-// counter clockwise to clockwise when using the ULN2003.
+// required when using a TMC2208. On two wire drivers such as A4988, DRV8825, and TMC2208,
+// this inverts the DIR pin. On ULN2003, this alters the pin order to reverse direction.
 // #define INVERT_DIRECTION
 // 
 // When using a two wire driver (eg. A4988, DRV8825, TMC2208), it may be necessary to invert
-// the step pin. If so, uncomment this line.
-// #define INVERT_STEPS
+// the step pin. If so, uncomment this line. This has no effect on ULN2003.
+// #define INVERT_STEP
 // 
 // When using a two wire driver (eg. A4988, DRV8825, TMC2208), it may be necessary to invert
 // the enable pin behaviour if you wish to have the stepper driver disabled when not moving.
+// This has no effect on ULN2003.
 // #define INVERT_ENABLE
 
 /////////////////////////////////////////////////////////////////////////////////////

standard_steppers.h

@@ -14,8 +14,12 @@
 
 #define FULLSTEPS 4096
 
-#if STEPPER_DRIVER == ULN2003_HALF
+#if STEPPER_DRIVER == ULN2003_HALF && defined(INVERT_DIRECTION)
+#define STEPPER_DEFINITION AccelStepper(AccelStepper::HALF4WIRE, A3, A1, A2, A0)
+#elif STEPPER_DRIVER == ULN2003_HALF
 #define STEPPER_DEFINITION AccelStepper(AccelStepper::HALF4WIRE, A0, A2, A1, A3)
+#elif STEPPER_DRIVER == ULN2003_FULL && defined(INVERT_DIRECTION)
+#define STEPPER_DEFINITION AccelStepper(AccelStepper::FULL4WIRE, A3, A1, A2, A0)
 #elif STEPPER_DRIVER == ULN2003_FULL
 #define STEPPER_DEFINITION AccelStepper(AccelStepper::FULL4WIRE, A0, A2, A1, A3)
 #elif STEPPER_DRIVER == A4988