Trikarus/firmware_smartstepper_trikarus/stepper_nano_zero/nzs_lcd.cpp
2020-07-20 22:21:36 +02:00

601 lines
10 KiB
C++

/*
* nzs_lcd.cpp
*
* Created on: Dec 8, 2016
* Author: trampas
*
Copyright (C) 2018 MisfitTech, All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Written by Trampas Stern for MisfitTech.
Misfit Tech invests time and resources providing this open source code,
please support MisfitTech and open-source hardware by purchasing
products from MisfitTech, www.misifittech.net!
*********************************************************************/
#include "nzs_lcd.h"
#include <string.h>
#include <stdio.h>
#include <Wire.h>
#ifndef DISABLE_LCD
void LCD::begin(StepperCtrl *ptrsCtrl)
{
#ifndef MECHADUINO_HARDWARE
pinMode(PIN_SW1, INPUT_PULLUP);
pinMode(PIN_SW3, INPUT_PULLUP);
pinMode(PIN_SW4, INPUT_PULLUP);
#endif
buttonState=0;
//we need access to the stepper controller
ptrStepperCtrl=ptrsCtrl; //save a pointer to the stepper controller
ptrMenu=NULL;
menuIndex=0;
menuActive=false;
optionIndex=0;
ptrOptions=NULL;
displayEnabled=true;
//check that the SCL and SDA are pulled high
pinMode(PIN_SDA, INPUT);
pinMode(PIN_SCL, INPUT);
if (digitalRead(PIN_SDA)==0)
{
//pin is not pulled up
displayEnabled=false;
}
if (digitalRead(PIN_SCL)==0)
{
//pin is not pulled up
displayEnabled=false;
}
if (displayEnabled)
{
displayEnabled=display.begin(SSD1306_SWITCHCAPVCC, 0x3C);
}else
{
WARNING("SCL/SDA not pulled up");
}
if (false == displayEnabled)
{
WARNING("NO display found, LCD will not be used");
}
Wire.setClock(800000);
//showSplash();
}
void __attribute__ ((optimize("Ofast"))) LCD::lcdShow(const char *line1, const char *line2,const char *line3)
{
if (false == displayEnabled)
{
return;
}
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
display.setCursor(0,0);
display.println(line1);
display.setCursor(0,20);
display.println(line2);
display.setCursor(0,40);
display.println(line3);
display.display();
}
void LCD::showSplash(void)
{
if (false == displayEnabled)
{
return;
}
#ifdef A5995_DRIVER
lcdShow("MisfitTech","NEMA 23", VERSION);
#else
lcdShow("MisfitTech","NEMA 17", VERSION);
#endif
}
void LCD::setMenu(menuItem_t *pMenu)
{
if (false == displayEnabled)
{
return;
}
ptrMenu=pMenu;
menuIndex=0;
}
void LCD::showOptions(void)
{
int32_t i,j;
char str[3][26]={0};
if (false == displayEnabled)
{
return;
}
i=optionIndex;
j=0;
while(strlen(ptrOptions[i].str)>0 && j<3)
{
if (i == optionIndex)
{
sprintf(str[j],"*%s",ptrOptions[i].str);
}else
{
sprintf(str[j]," %s",ptrOptions[i].str);
}
j++;
i++;
}
lcdShow(str[0], str[1], str[2]);
return;
}
void __attribute__ ((optimize("Ofast"))) LCD::showMenu(void)
{
int32_t i,j;
char str[3][26]={0};
if (false == displayEnabled)
{
return;
}
i=menuIndex;
j=0;
while(ptrMenu[i].func!=NULL && j<3)
{
if (i == menuIndex)
{
sprintf(str[j],"*%s",ptrMenu[i].str);
}else
{
sprintf(str[j]," %s",ptrMenu[i].str);
}
j++;
i++;
}
//show exit if there is room
if (j<3)
{
if (j==0)
{
sprintf(str[j],"*Exit");
}else
{
sprintf(str[j]," Exit");
}
}
lcdShow(str[0], str[1], str[2]);
return;
}
void __attribute__ ((optimize("Ofast"))) LCD::updateMenu(void)
{
if (false == displayEnabled)
{
return;
}
if (ptrOptions != NULL)
{
showOptions();
}else
{
showMenu();
}
//handle push buttons
if (digitalRead(PIN_SW3)==0 && (buttonState & 0x02)==0)
{
buttonState |= 0x02;
LOG("SW3 pressed");
if (ptrMenu[menuIndex].func == NULL)
{
//exit pressed
menuIndex=0; //reset menu index
menuActive=false;
return;
}
if (ptrMenu[menuIndex].func != NULL)
{
LOG("Calling function for %s",ptrMenu[menuIndex].str);
if (ptrOptions != NULL)
{
char *ptrArgV[1];
char str[25]={0};
ptrArgV[0]=str;
sprintf(str,"%d",optionIndex);
LOG("Calling function for %s %s",ptrMenu[menuIndex].str,str);
ptrMenu[menuIndex].func(1,ptrArgV);
ptrOptions=NULL;
optionIndex=0;
}else
{
int i;
i=ptrMenu[menuIndex].func(0,NULL);
if (ptrMenu[menuIndex].ptrOptions != NULL)
{
LOG("displaying options for %s %d",ptrMenu[menuIndex].str,i);
ptrOptions=ptrMenu[menuIndex].ptrOptions;
optionIndex=i;
}
}
return;
}
}
if (digitalRead(PIN_SW1)==0 && (buttonState & 0x01)==0)
{
buttonState |= 0x01;
LOG("SW1 pressed");
if (ptrOptions != NULL)
{
optionIndex++;
if (strlen(ptrOptions[optionIndex].str) == 0)
{
optionIndex=0;
}
} else
{
if (ptrMenu[menuIndex].func != NULL)
{
menuIndex++;
} else
{
menuIndex=0;
}
}
}
if (digitalRead(PIN_SW1))
{
buttonState &= ~0x01;
}
if (digitalRead(PIN_SW3))
{
buttonState &= ~0x02;
}
}
void LCD::forceMenuActive(void)
{
menuActive=true;
}
void __attribute__((optimize("Ofast")))LCD::process(void)
{
if (false == displayEnabled)
{
return;
}
if (false == menuActive || ptrMenu==NULL)
{
updateLCD();
}else
{
updateMenu();
}
if (digitalRead(PIN_SW4)==0 && (buttonState & 0x04)==0)
{
buttonState |= 0x04;
menuActive=!menuActive;
}
if (digitalRead(PIN_SW4))
{
buttonState &= ~0x04;
}
}
#endif
/*
//does the LCD menu system
void StepperCtrl::menu(void)
{
bool done=false;
int menuItem=0;
char str[100];
int sw1State=0;
int sw3State=0;
pinMode(PIN_SW1, INPUT_PULLUP);
pinMode(PIN_SW3, INPUT_PULLUP);
pinMode(PIN_SW4, INPUT_PULLUP);
while (!done)
{
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
if (menuItem==0)
{
sprintf(str,"*Run Cal");
display.setCursor(0,0);
display.println(str);
}else
{
sprintf(str," Run Cal");
display.setCursor(0,0);
display.println(str);
}
if (menuItem==1)
{
sprintf(str,"*Check Cal");
display.setCursor(0,20);
display.println(str);
}else
{
sprintf(str," Check Cal");
display.setCursor(0,20);
display.println(str);
}
if (menuItem==2)
{
sprintf(str,"*Exit");
display.setCursor(0,40);
display.println(str);
}else
{
sprintf(str," Exit");
display.setCursor(0,40);
display.println(str);
}
display.display();
if (sw1State==1)
{
while (digitalRead(PIN_SW1)==0);
sw1State=0;
}
if (digitalRead(PIN_SW1)==0)
{
sw1State=1;
menuItem=(menuItem+1)%3;
}
if (sw3State==1)
{
while (digitalRead(PIN_SW3)==0);
sw3State=0;
}
if (digitalRead(PIN_SW3)==0)
{
sw3State=1;
switch(menuItem)
{
case 0:
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
display.setCursor(0,0);
display.println("Running");
display.setCursor(0,20);
display.println("Cal");
display.display();
calibrateEncoder();
break;
case 1:
{
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
display.setCursor(0,0);
display.println("Testing");
display.setCursor(0,20);
display.println("Cal");
display.display();
int32_t error,x,y,m;
error=maxCalibrationError();
x=(error*100 *360)/ANGLE_STEPS;
m=x/100;
y=abs(x-(m*100));
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(WHITE);
display.setCursor(0,0);
display.println("Error");
sprintf(str, "%02d.%02d deg",m,y);
display.setCursor(0,20);
display.println(str);
display.display();
while (digitalRead(PIN_SW3));
break;
}
case 2:
return;
break;
}
}
}
}
*/
void LCD::updateLCD(void)
{
if (false == displayEnabled)
{
return;
}
char str[3][25];
static int highRPM=0;
int32_t y,z,err;
static int64_t lastAngle,deg;
static int32_t RPM=0;
static int32_t lasttime=0;
bool state;
static int32_t dt=40;
static uint32_t t0=0;
static bool rpmDone=false;
if ((millis()-t0)>500)
{
int32_t x,d;
//do first half of RPM measurement
if (!rpmDone)
{
//LOG("loop time is %dus",ptrStepperCtrl->getLoopTime());
lastAngle=ptrStepperCtrl->getCurrentAngle();
lasttime=millis();
rpmDone=true;
return;
}
//do the second half of rpm measurement and update LCD.
if (rpmDone && (millis()-lasttime)>(dt))
{
rpmDone=false;
deg=ptrStepperCtrl->getCurrentAngle();
y=millis()-lasttime;
err=ptrStepperCtrl->getLoopError();
t0=millis();
d=(int64_t)(lastAngle-deg);
d=abs(d);
x=0;
if (d>0)
{
x=((int64_t)d*(60*1000UL))/((int64_t)y * ANGLE_STEPS);
}
lastAngle=deg;
RPM=(int32_t)x; //(7*RPM+x)/8; //average RPMs
if (RPM>500)
{
dt=10;
}
if (RPM<100)
{
dt=100;
}
str[0][0]='\0';
//LOG("RPMs is %d, %d, %d",(int32_t)x,(int32_t)d,(int32_t)y);
switch(ptrStepperCtrl->getControlMode())
{
case CTRL_SIMPLE:
sprintf(str[0], "%dRPM simp",RPM);
break;
case CTRL_TORQUE:
sprintf(str[0], "%dRPM torque",RPM);
break;
case CTRL_POS_PID:
sprintf(str[0], "%dRPM pPID",RPM);
break;
case CTRL_POS_VELOCITY_PID:
sprintf(str[0], "%dRPM vPID",RPM);
break;
case CTRL_OPEN:
sprintf(str[0], "%dRPM open",RPM);
break;
case CTRL_OFF:
sprintf(str[0], "%dRPM off",RPM);
break;
default:
sprintf(str[0], "error %u",ptrStepperCtrl->getControlMode());
break;
}
err=(err*360*100)/(int32_t)ANGLE_STEPS;
//LOG("error is %d %d %d",err,(int32_t)ptrStepperCtrl->getCurrentLocation(),(int32_t)ptrStepperCtrl->getDesiredLocation());
z=(err)/100;
y=abs(err-(z*100));
sprintf(str[1],"%01d.%02d err", z,y);
deg=ptrStepperCtrl->getDesiredAngle();
#ifndef NZS_LCD_ABSOULTE_ANGLE
deg=deg & ANGLE_MAX; //limit to 360 degrees
#endif
deg=(deg*360*10)/(int32_t)ANGLE_STEPS;
int K=0;
if (abs(deg)>9999)
{
K=1;
deg=deg/1000;
}
x=(deg)/10;
y=abs(deg-(x*10));
if (K==1)
{
sprintf(str[2],"%03d.%01uKdeg", x,y);
}else
{
sprintf(str[2],"%03d.%01udeg", x,y);
}
str[0][10]='\0';
str[1][10]='\0';
str[2][10]='\0';
lcdShow(str[0],str[1],str[2]);
}
}
}