Update 2020-03-23

Author: HuttonGe

README.md

@@ -1,18 +1,10 @@
-# Swift Pro Firmware V4.5.0 (Base on [Grbl v0.9j](https://github.com/grbl/grbl) )
+# Swift Pro Firmware V4.5.1 (Base on [Grbl v0.9j](https://github.com/grbl/grbl) )
 
 ----------
-## Update Summary for v4.5.0
-
-* Fix beep bug
-* Fix effector motor control bug
-* Add multi motor control interface
-* Fix motor angle read bug
-* Fix G2204 bug
-* Fix M2201 update position bug
-* Add M2220/M2221 interface
-* Add S1000 start/stop motion interface
-* Add S1100 clear current motion interface
-* Add uart3 communication interface
+## Update Summary for v4.5.1
+
+* Compatible with version 3.0 air pump control
+
 
 ## Caution
 #### The current firmware is not perfect and will be updated periodically

hex/uArmPro_V4.5.0_release_20190924.hex

@@ -15,7 +15,7 @@
 //#define EEPROM_ADDR_ANGLE_REFER		 	3072U
 
 //#define UARM_MINI
-#define UARM_2500
+//#define UARM_2500
 
 
 #define EEPROM_ADDR_ANGLE_REFER		 				820U

src/uarm_common.h

@@ -5,6 +5,7 @@
 /*	end-effector driver
  *
  */
+ 
 /*************** servo mode ****************/
 float duty_ms = 1.51;
 static void servo_init(void){
@@ -500,23 +501,107 @@ static int getAnalogPinValue(unsigned int pin)
 /*	pump
  *		
  */
+#define VALVE_ON_TIMES_MAX	10
+
+pump_state_t pump_state = PUMP_STATE_OFF;
+
+void pump_set_state(pump_state_t state)
+{
+	if (state >= PUMP_STATE_COUNT)
+		return;
+	
+	pump_state = state;
+}
+pump_state_t pump_get_state()
+{	
+	return pump_state;
+}
+
+
 void pump_on(void){
 	DDRG |= 0x10;		// PG4 PUMP_D5_N
 	DDRG |= 0x20;		// PG5 PUMP_D5
 
 	PORTG |= 0x10;
 	PORTG &= (~0x20); 	
+
+
+	pump_set_state(PUMP_STATE_ON);
 }
 
 void pump_off(void){
-	DDRG |= 0x10; 	// PG4 PUMP_D5_N
-	DDRG |= 0x20; 	// PG5 PUMP_D5
+	if (pump_get_state() == PUMP_STATE_ON)
+	{
+
+		DDRG |= 0x10;	// PG4 PUMP_D5_N
+		DDRG |= 0x20;	// PG5 PUMP_D5
+			
+		PORTG &= (~0x10);
+		PORTG |= 0x20;	
+
+
+		pump_set_state(PUMP_STATE_VALVE_ON);
+	}
+}
+void pump_tick(void)
+{
+	static uint8_t valve_on_times = 0;
+	#define HARD_MASK	 ( 1<<6 | 1<<5 | 1<<4 | 1<<3 )
+
+
+	switch (pump_state)
+	{
+	case PUMP_STATE_OFF:
+		valve_on_times = 0;
+		break;
+		
+	case PUMP_STATE_ON:
+		valve_on_times = 0;
+		break;
+	
+	case PUMP_STATE_VALVE_ON:
+		valve_on_times++;
+		PORTG |= 0x20; 
+
+		if ( (PINJ & HARD_MASK) >0x00)
+		{
+			if (valve_on_times >= VALVE_ON_TIMES_MAX*10)
+			{
+				valve_on_times = 0;
+				PORTG &= (~0x20); 
+				pump_state = PUMP_STATE_OFF;
+
+			}			
+		}
+		else
+		{
+			
+			delay_ms(50);
+			if (valve_on_times >= VALVE_ON_TIMES_MAX)
+			{
+				valve_on_times = 0;
+				pump_state = PUMP_STATE_OFF;
+			}
+			else
+			{		
+				pump_state = PUMP_STATE_VALVE_OFF;
+			}
+			
+		}
+		break;		
+		
+	case PUMP_STATE_VALVE_OFF:
+		PORTG &= (~0x20); 
+		delay_ms(50);
+		pump_state = PUMP_STATE_VALVE_ON;
+		
+		break;
 
-	PORTG &= (~0x10);
-	PORTG |= 0x20;	
 
+	}
 }
 
+
 uint8_t get_pump_status(void){
 	if( (PORTG & 0x10) == 0x00 ){ return 0; }
 	uint16_t value = analogRead(A9);

src/uarm_peripheral.c

@@ -6,6 +6,18 @@
 extern char hardware_version[8];
 extern char bt_mac_addr[13];
 
+typedef enum _pump_state_t
+{
+	PUMP_STATE_OFF,
+	PUMP_STATE_ON,
+	PUMP_STATE_VALVE_ON,
+	PUMP_STATE_VALVE_OFF,
+
+	
+	PUMP_STATE_COUNT
+} pump_state_t;
+#define VALVE_EN		4
+
 void end_effector_init(void);
 void end_effector_set_angle(float angle);
 void end_effector_deinit(void);
@@ -30,6 +42,8 @@ void read_hardware_version(void);
 
 void pump_on(void);
 void pump_off(void);
+void pump_tick(void);
+
 uint8_t get_pump_status(void);
 
 void gripper_relesae(void);
@@ -47,6 +61,7 @@ uint8_t get_power_status(void);
 
 void check_motor_positon(void);
 void update_motor_position(void);
+unsigned long millis_2(void);
 
 
 #endif

src/uarm_peripheral.h

@@ -30,13 +30,15 @@ void uarm_swift_init(void){
 	uart_printf( "soft ver : %s\r\n" , SOFTWARE_VERSION );
 	uart_printf( "api ver : %s\r\n", API_VERSION );
 	uart_printf( "work mode : %d\r\n", uarm.param.work_mode );
+	
 	printString( "@1\n" );
 
 }
 
 void uarm_swift_tick_run(void){
 //	swift_buzzer.tick();
 
+	pump_tick();
 }
 
 

src/uarm_swift.c

@@ -13,7 +13,7 @@
 #endif
 
 #define HARDWARE_VERSION			hardware_version
-#define SOFTWARE_VERSION			"V4.5.0"
+#define SOFTWARE_VERSION			"V4.5.1"
 #define API_VERSION						"V4.0.4"
 #define BLE_UUID							bt_mac_addr