Merge pull request #12 from ponoor/develop

Develop
ponoor · Jan 24, 2022 · a42a1e7 · a42a1e7
2 parents 6fd709c + 639ecd6
commit a42a1e7
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Showing 6 changed files with 12 additions and 12 deletions.
diff --git a/STEP800_firmware/STEP800_firmware.ino b/STEP800_firmware/STEP800_firmware.ino
@@ -33,10 +33,10 @@ const char *firmwareName = "STEP800_PROTO_BLACK";
 #else
 const char *firmwareName = "STEP800_R1";
 #endif
-const uint8_t firmwareVersion[3] = {1,0,2};
+const uint8_t firmwareVersion[3] = {1,0,3};
 const uint8_t applicableConfigVersion[2] = {1,2};
 
-// L6470vh
+// L6470
 #ifdef PROTOTYPE_BLACK
 SPIClass L6470SPI(&sercom1, L6470_MISO, L6470_SCK, L6470_MOSI, SPI_PAD_0_SCK_1, SERCOM_RX_PAD_3);// MISO/SCK/MOSI pins
 #else
@@ -260,7 +260,8 @@ void checkStatus() {
             if (reportUVLO[i]) sendTwoData("/uvlo", i + MOTOR_ID_FIRST, uvloStatus[i]);
         }
         // TH_STATUS
-        t = (status & (STATUS_TH_WRN|STATUS_TH_SD)) >> 9;
+        t = (status & (STATUS_TH_WRN|STATUS_TH_SD)) >> 10;
+        t = (~t)&0x0003U;
         if (thermalStatus[i] != t) {
             thermalStatus[i] = t;
             if (reportThermalStatus[i]) sendTwoData("/thermalStatus", i + MOTOR_ID_FIRST, thermalStatus[i]);

diff --git a/STEP800_firmware/oscListeners.cpp b/STEP800_firmware/oscListeners.cpp
@@ -489,7 +489,7 @@ void getHomeSw(uint8_t motorId) {
 //     }
 // }
 // void getLimitSw(uint8_t motorId) {
-//     sendThreeInt("limitSw", motorId + MOTOR_ID_FIRST, limitSwState[motorId], dir[motorId]);
+//     sendThreeInt("/limitSw", motorId + MOTOR_ID_FIRST, limitSwState[motorId], dir[motorId]);
 // }
 
 void getBusy(OSCMessage& msg, int addrOffset) {
@@ -812,7 +812,7 @@ void getLowSpeedOptimizeThreshold(uint8_t motorId) {
     bool optimizationEnabled = (stepper[motorId].getParam(MIN_SPEED) & (1 << 12)) > 0;
     OSCMessage newMes("/lowSpeedOptimizeThreshold");
     newMes.add((int32_t)motorId + MOTOR_ID_FIRST);
-    newMes.add(lowSpeedOptimizeEnable[motorId]);
+    newMes.add(lowSpeedOptimizeThreshold[motorId]);
     newMes.add(optimizationEnabled);
     Udp.beginPacket(destIp, outPort);
     newMes.send(Udp);

diff --git a/STEP800_firmware/utils.h b/STEP800_firmware/utils.h
@@ -30,7 +30,6 @@ bool getBool(OSCMessage &msg, uint8_t offset);
 void setBrake(uint8_t motorId, bool state);
 bool isBrakeDisEngaged(uint8_t motorId);
 bool checkMotionStartConditions(uint8_t motorId, bool dir);
-
 void sendCommandError(uint8_t motorID, uint8_t errorNum);
 
 template <class T>

diff --git a/firmware-platformIO/STEP800_firmware/src/main.cpp b/firmware-platformIO/STEP800_firmware/src/main.cpp
@@ -33,10 +33,10 @@ const char *firmwareName = "STEP800_PROTO_BLACK";
 #else
 const char *firmwareName = "STEP800_R1";
 #endif
-const uint8_t firmwareVersion[3] = {1,0,2};
+const uint8_t firmwareVersion[3] = {1,0,3};
 const uint8_t applicableConfigVersion[2] = {1,2};
 
-// L6470vh
+// L6470
 #ifdef PROTOTYPE_BLACK
 SPIClass L6470SPI(&sercom1, L6470_MISO, L6470_SCK, L6470_MOSI, SPI_PAD_0_SCK_1, SERCOM_RX_PAD_3);// MISO/SCK/MOSI pins
 #else
@@ -260,7 +260,8 @@ void checkStatus() {
             if (reportUVLO[i]) sendTwoData("/uvlo", i + MOTOR_ID_FIRST, uvloStatus[i]);
         }
         // TH_STATUS
-        t = (status & (STATUS_TH_WRN|STATUS_TH_SD)) >> 9;
+        t = (status & (STATUS_TH_WRN|STATUS_TH_SD)) >> 10;
+        t = (~t)&0x0003U;
         if (thermalStatus[i] != t) {
             thermalStatus[i] = t;
             if (reportThermalStatus[i]) sendTwoData("/thermalStatus", i + MOTOR_ID_FIRST, thermalStatus[i]);

diff --git a/firmware-platformIO/STEP800_firmware/src/oscListeners.cpp b/firmware-platformIO/STEP800_firmware/src/oscListeners.cpp
@@ -489,7 +489,7 @@ void getHomeSw(uint8_t motorId) {
 //     }
 // }
 // void getLimitSw(uint8_t motorId) {
-//     sendThreeInt("limitSw", motorId + MOTOR_ID_FIRST, limitSwState[motorId], dir[motorId]);
+//     sendThreeInt("/limitSw", motorId + MOTOR_ID_FIRST, limitSwState[motorId], dir[motorId]);
 // }
 
 void getBusy(OSCMessage& msg, int addrOffset) {
@@ -812,7 +812,7 @@ void getLowSpeedOptimizeThreshold(uint8_t motorId) {
     bool optimizationEnabled = (stepper[motorId].getParam(MIN_SPEED) & (1 << 12)) > 0;
     OSCMessage newMes("/lowSpeedOptimizeThreshold");
     newMes.add((int32_t)motorId + MOTOR_ID_FIRST);
-    newMes.add(lowSpeedOptimizeEnable[motorId]);
+    newMes.add(lowSpeedOptimizeThreshold[motorId]);
     newMes.add(optimizationEnabled);
     Udp.beginPacket(destIp, outPort);
     newMes.send(Udp);

diff --git a/firmware-platformIO/STEP800_firmware/src/utils.h b/firmware-platformIO/STEP800_firmware/src/utils.h
@@ -30,7 +30,6 @@ bool getBool(OSCMessage &msg, uint8_t offset);
 void setBrake(uint8_t motorId, bool state);
 bool isBrakeDisEngaged(uint8_t motorId);
 bool checkMotionStartConditions(uint8_t motorId, bool dir);
-
 void sendCommandError(uint8_t motorID, uint8_t errorNum);
 
 template <class T>