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Merge pull request 'firmware_deploy' (#3) from firmware_deploy into master

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Reviewed-on: #3
This commit is contained in:
André Fiedler
2026-03-13 10:05:59 +00:00
parent a0cdc5a0e0 5a389975b2
commit ad39e86a9d
45 changed files with 137894 additions and 1849 deletions
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72
.gitea/workflows/deploy-ftp.yml Normal file
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name: Deploy firmware via FTP (main)
on:
push:
branches:
- main
concurrency:
group: deploy-main
cancel-in-progress: true
jobs:
deploy:
name: Build and FTP Sync
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
- name: Setup Python
uses: actions/setup-python@v5
with:
python-version: '3.x'
- name: Install PlatformIO
run: |
python -m pip install --upgrade pip
python -m pip install platformio
- name: Build firmware bundle
run: pio run -e uno
- name: Install lftp client
run: |
if command -v lftp >/dev/null 2>&1; then
echo 'lftp is already available on this runner image'
exit 0
fi
if command -v sudo >/dev/null 2>&1; then
sudo apt-get update
sudo apt-get install -y lftp
exit 0
fi
apt-get update
apt-get install -y lftp
- name: Upload firmware bundle via lftp
env:
FTP_SERVER: ${{ secrets.FTP_SERVER }}
FTP_USERNAME: ${{ secrets.FTP_USERNAME }}
FTP_PASSWORD: ${{ secrets.FTP_PASSWORD }}
FTP_SERVER_DIR: ${{ secrets.FTP_SERVER_DIR }}
run: |
lftp <<EOF
set cmd:fail-exit true
set net:timeout 120
set net:max-retries 2
set net:reconnect-interval-base 5
set ftp:passive-mode true
set ftp:prefer-epsv false
set ftp:ssl-force true
set ftp:ssl-protect-data true
set ftp:ssl-auth TLS
set ssl:verify-certificate no
open -u "$FTP_USERNAME","$FTP_PASSWORD" -p 21 "$FTP_SERVER"
mirror -R --verbose --delete \
--exclude-glob .DS_Store \
firmware/ "$FTP_SERVER_DIR"
quit
EOF

3
.gitignore vendored
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@@ -15,6 +15,8 @@ local.properties
.classpath
.settings/
.loadpath
.vscode
.pio
# External tool builders
.externalToolBuilders/
@@ -213,3 +215,4 @@ pip-log.txt
#Mr Developer
.mr.developer.cfg
src/credentials.h

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AGENTS.md Normal file
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# AGENTS.md
## Purpose
This repository contains EggDuino firmware (EggBot protocol emulation) for an ESP32 build target using PlatformIO.
Use this file as the working contract for code agents in this repo.
## Repository Map
- `src/main.cpp`: firmware entrypoint (`setup`/`loop`), serial command processing, optional button/test toggles.
- `src/Functions.cpp`: EggBot command handlers (`SM`, `SP`, `EM`, `SC`, `QP`, etc.) and command registration.
- `src/Helper_Functions.cpp`: hardware init, motor/servo control, move preparation, ACK/error responses.
- `src/Config_Web.cpp`: optional Wi-Fi web UI and JSON config persistence via SPIFFS.
- `src/Logging.cpp`: ring-buffer log collection and `/api/logs` JSON serialization.
- `include/EggDuino.h`: global declarations, pin/microstep constants, cross-file API.
- `lib/SerialCommand/src/*`: local serial command parser implementation.
- `platformio.ini`: single build environment (`[env:uno]`) that actually targets `esp32dev`.
## Build, Flash, Monitor
- Build: `~/.platformio/penv/bin/pio run -e uno`
- Upload: `~/.platformio/penv/bin/pio run -e uno -t upload`
- Serial monitor: `~/.platformio/penv/bin/pio device monitor -b 115200`
Notes:
- `platformio.ini` currently pins `upload_port = /dev/tty.usbserial-110`; treat this as machine-local and change only when required.
- There are no unit tests in this repository; a successful PlatformIO build is the minimum validation.
## Local Config And Secrets
- Wi-Fi config is provided by `src/credentials.h`.
- Keep `src/credentials.h` local-only; `.gitignore` already excludes it.
- For default behavior (no Wi-Fi web server), keep:
- `const char *kWifiSsid = 0;`
- `const char *kWifiPassword = 0;`
## Agent Rules For Code Changes
1. Preserve EggBot serial protocol behavior.
- Commands are wired in `makeComInterface()`.
- ACK/error responses are protocol-significant (`"OK\\r\\n"` and `"unknown CMD\\r\\n"`).
2. Keep movement math semantics intact.
- `prepareMove()` handles microstep correction and step error accumulation (`g_iRotStepError`, `g_iPenStepError`).
- Do not replace this with naive float-heavy logic unless explicitly requested.
3. Respect real-time loop constraints.
- `loop()` must remain non-blocking except for protocol-required waits.
- Avoid adding expensive dynamic allocation in high-frequency paths.
4. Keep hardware mapping centralized.
- Pin and microstep constants belong in `include/EggDuino.h`.
- If changing pinouts, update only there and keep ESP32/non-ESP32 guards coherent.
5. Do not hand-edit generated IDE metadata.
- `.vscode/c_cpp_properties.json` and `.vscode/launch.json` are generated by PlatformIO.
- Prefer edits in `platformio.ini` instead.
6. Keep edits minimal and targeted.
- Match existing style (global `g_*` variables, Arduino types, simple free functions).
- Avoid broad refactors unless explicitly requested.
## When Adding Config Parameters To Web UI
`Config_Web.cpp` currently has an empty `configParameters[]` array. To add persisted parameters:
1. Add the backing global variable (typically in existing global state).
2. Add a `ConfigParameter` entry to `configParameters[]` with key, pointer, description, default.
3. Ensure defaults are safe in `applyDefaults()` flow.
4. Rebuild and verify `GET/POST /api/config` still round-trips.
## Definition Of Done For Agents
Before finishing, run:
1. `~/.platformio/penv/bin/pio run -e uno`
2. Summarize changed files and any behavior-impacting protocol/hardware implications.

633
AccelStepper.cpp
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// AccelStepper.cpp
//
// Copyright (C) 2009-2013 Mike McCauley
// $Id: AccelStepper.cpp,v 1.19 2014/10/31 06:05:27 mikem Exp mikem $
#include "AccelStepper.h"
#if 0
// Some debugging assistance
void dump(uint8_t* p, int l)
{
int i;
for (i = 0; i < l; i++)
{
Serial.print(p[i], HEX);
Serial.print(" ");
}
Serial.println("");
}
#endif
void AccelStepper::moveTo(long absolute)
{
if (_targetPos != absolute)
{
_targetPos = absolute;
computeNewSpeed();
// compute new n?
}
}
void AccelStepper::move(long relative)
{
moveTo(_currentPos + relative);
}
// Implements steps according to the current step interval
// You must call this at least once per step
// returns true if a step occurred
boolean AccelStepper::runSpeed()
{
// Dont do anything unless we actually have a step interval
if (!_stepInterval)
return false;
unsigned long time = micros();
unsigned long nextStepTime = _lastStepTime + _stepInterval;
// Gymnastics to detect wrapping of either the nextStepTime and/or the current time
if ( ((nextStepTime >= _lastStepTime) && ((time >= nextStepTime) || (time < _lastStepTime)))
|| ((nextStepTime < _lastStepTime) && ((time >= nextStepTime) && (time < _lastStepTime))))
{
if (_direction == DIRECTION_CW)
{
// Clockwise
_currentPos += 1;
}
else
{
// Anticlockwise
_currentPos -= 1;
}
step(_currentPos);
_lastStepTime = time;
return true;
}
else
{
return false;
}
}
long AccelStepper::distanceToGo()
{
return _targetPos - _currentPos;
}
long AccelStepper::targetPosition()
{
return _targetPos;
}
long AccelStepper::currentPosition()
{
return _currentPos;
}
// Useful during initialisations or after initial positioning
// Sets speed to 0
void AccelStepper::setCurrentPosition(long position)
{
_targetPos = _currentPos = position;
_n = 0;
_stepInterval = 0;
}
void AccelStepper::computeNewSpeed()
{
long distanceTo = distanceToGo(); // +ve is clockwise from curent location
long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
if (distanceTo == 0 && stepsToStop <= 1)
{
// We are at the target and its time to stop
_stepInterval = 0;
_speed = 0.0;
_n = 0;
return;
}
if (distanceTo > 0)
{
// We are anticlockwise from the target
// Need to go clockwise from here, maybe decelerate now
if (_n > 0)
{
// Currently accelerating, need to decel now? Or maybe going the wrong way?
if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW)
_n = -stepsToStop; // Start deceleration
}
else if (_n < 0)
{
// Currently decelerating, need to accel again?
if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW)
_n = -_n; // Start accceleration
}
}
else if (distanceTo < 0)
{
// We are clockwise from the target
// Need to go anticlockwise from here, maybe decelerate
if (_n > 0)
{
// Currently accelerating, need to decel now? Or maybe going the wrong way?
if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW)
_n = -stepsToStop; // Start deceleration
}
else if (_n < 0)
{
// Currently decelerating, need to accel again?
if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW)
_n = -_n; // Start accceleration
}
}
// Need to accelerate or decelerate
if (_n == 0)
{
// First step from stopped
_cn = _c0;
_direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW;
}
else
{
// Subsequent step. Works for accel (n is +_ve) and decel (n is -ve).
_cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
_cn = max(_cn, _cmin);
}
_n++;
_stepInterval = _cn;
_speed = 1000000.0 / _cn;
if (_direction == DIRECTION_CCW)
_speed = -_speed;
#if 0
Serial.println(_speed);
Serial.println(_acceleration);
Serial.println(_cn);
Serial.println(_c0);
Serial.println(_n);
Serial.println(_stepInterval);
Serial.println(distanceTo);
Serial.println(stepsToStop);
Serial.println("-----");
#endif
}
// Run the motor to implement speed and acceleration in order to proceed to the target position
// You must call this at least once per step, preferably in your main loop
// If the motor is in the desired position, the cost is very small
// returns true if the motor is still running to the target position.
boolean AccelStepper::run()
{
if (runSpeed())
computeNewSpeed();
return _speed != 0.0 || distanceToGo() != 0;
}
AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
{
_interface = interface;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = 0xff;
_lastStepTime = 0;
_pin[0] = pin1;
_pin[1] = pin2;
_pin[2] = pin3;
_pin[3] = pin4;
// NEW
_n = 0;
_c0 = 0.0;
_cn = 0.0;
_cmin = 1.0;
_direction = DIRECTION_CCW;
int i;
for (i = 0; i < 4; i++)
_pinInverted[i] = 0;
if (enable)
enableOutputs();
// Some reasonable default
setAcceleration(1);
}
AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
{
_interface = 0;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = 0xff;
_lastStepTime = 0;
_pin[0] = 0;
_pin[1] = 0;
_pin[2] = 0;
_pin[3] = 0;
_forward = forward;
_backward = backward;
// NEW
_n = 0;
_c0 = 0.0;
_cn = 0.0;
_cmin = 1.0;
_direction = DIRECTION_CCW;
int i;
for (i = 0; i < 4; i++)
_pinInverted[i] = 0;
// Some reasonable default
setAcceleration(1);
}
void AccelStepper::setMaxSpeed(float speed)
{
if (_maxSpeed != speed)
{
_maxSpeed = speed;
_cmin = 1000000.0 / speed;
// Recompute _n from current speed and adjust speed if accelerating or cruising
if (_n > 0)
{
_n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
computeNewSpeed();
}
}
}
void AccelStepper::setAcceleration(float acceleration)
{
if (acceleration == 0.0)
return;
if (_acceleration != acceleration)
{
// Recompute _n per Equation 17
_n = _n * (_acceleration / acceleration);
// New c0 per Equation 7, with correction per Equation 15
_c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
_acceleration = acceleration;
computeNewSpeed();
}
}
void AccelStepper::setSpeed(float speed)
{
if (speed == _speed)
return;
speed = constrain(speed, -_maxSpeed, _maxSpeed);
if (speed == 0.0)
_stepInterval = 0;
else
{
_stepInterval = fabs(1000000.0 / speed);
_direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;
}
_speed = speed;
}
float AccelStepper::speed()
{
return _speed;
}
// Subclasses can override
void AccelStepper::step(long step)
{
switch (_interface)
{
case FUNCTION:
step0(step);
break;
case DRIVER:
step1(step);
break;
case FULL2WIRE:
step2(step);
break;
case FULL3WIRE:
step3(step);
break;
case FULL4WIRE:
step4(step);
break;
case HALF3WIRE:
step6(step);
break;
case HALF4WIRE:
step8(step);
break;
}
}
// You might want to override this to implement eg serial output
// bit 0 of the mask corresponds to _pin[0]
// bit 1 of the mask corresponds to _pin[1]
// ....
void AccelStepper::setOutputPins(uint8_t mask)
{
uint8_t numpins = 2;
if (_interface == FULL4WIRE || _interface == HALF4WIRE)
numpins = 4;
else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
numpins = 3;
uint8_t i;
for (i = 0; i < numpins; i++)
digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
}
// 0 pin step function (ie for functional usage)
void AccelStepper::step0(long step)
{
if (_speed > 0)
_forward();
else
_backward();
}
// 1 pin step function (ie for stepper drivers)
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step1(long step)
{
// _pin[0] is step, _pin[1] is direction
setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses
setOutputPins(_direction ? 0b11 : 0b01); // step HIGH
// Caution 200ns setup time
// Delay the minimum allowed pulse width
delayMicroseconds(_minPulseWidth);
setOutputPins(_direction ? 0b10 : 0b00); // step LOW
}
// 2 pin step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step2(long step)
{
switch (step & 0x3)
{
case 0: /* 01 */
setOutputPins(0b10);
break;
case 1: /* 11 */
setOutputPins(0b11);
break;
case 2: /* 10 */
setOutputPins(0b01);
break;
case 3: /* 00 */
setOutputPins(0b00);
break;
}
}
// 3 pin step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step3(long step)
{
switch (step % 3)
{
case 0: // 100
setOutputPins(0b100);
break;
case 1: // 001
setOutputPins(0b001);
break;
case 2: //010
setOutputPins(0b010);
break;
}
}
// 4 pin step function for half stepper
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step4(long step)
{
switch (step & 0x3)
{
case 0: // 1010
setOutputPins(0b0101);
break;
case 1: // 0110
setOutputPins(0b0110);
break;
case 2: //0101
setOutputPins(0b1010);
break;
case 3: //1001
setOutputPins(0b1001);
break;
}
}
// 3 pin half step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step6(long step)
{
switch (step % 6)
{
case 0: // 100
setOutputPins(0b100);
break;
case 1: // 101
setOutputPins(0b101);
break;
case 2: // 001
setOutputPins(0b001);
break;
case 3: // 011
setOutputPins(0b011);
break;
case 4: // 010
setOutputPins(0b010);
break;
case 5: // 011
setOutputPins(0b110);
break;
}
}
// 4 pin half step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step8(long step)
{
switch (step & 0x7)
{
case 0: // 1000
setOutputPins(0b0001);
break;
case 1: // 1010
setOutputPins(0b0101);
break;
case 2: // 0010
setOutputPins(0b0100);
break;
case 3: // 0110
setOutputPins(0b0110);
break;
case 4: // 0100
setOutputPins(0b0010);
break;
case 5: //0101
setOutputPins(0b1010);
break;
case 6: // 0001
setOutputPins(0b1000);
break;
case 7: //1001
setOutputPins(0b1001);
break;
}
}
// Prevents power consumption on the outputs
void AccelStepper::disableOutputs()
{
if (! _interface) return;
setOutputPins(0); // Handles inversion automatically
if (_enablePin != 0xff)
digitalWrite(_enablePin, LOW ^ _enableInverted);
}
void AccelStepper::enableOutputs()
{
if (! _interface)
return;
pinMode(_pin[0], OUTPUT);
pinMode(_pin[1], OUTPUT);
if (_interface == FULL4WIRE || _interface == HALF4WIRE)
{
pinMode(_pin[2], OUTPUT);
pinMode(_pin[3], OUTPUT);
}
else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
{
pinMode(_pin[2], OUTPUT);
}
if (_enablePin != 0xff)
{
pinMode(_enablePin, OUTPUT);
digitalWrite(_enablePin, HIGH ^ _enableInverted);
}
}
void AccelStepper::setMinPulseWidth(unsigned int minWidth)
{
_minPulseWidth = minWidth;
}
void AccelStepper::setEnablePin(uint8_t enablePin)
{
_enablePin = enablePin;
// This happens after construction, so init pin now.
if (_enablePin != 0xff)
{
pinMode(_enablePin, OUTPUT);
digitalWrite(_enablePin, HIGH ^ _enableInverted);
}
}
void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert)
{
_pinInverted[0] = stepInvert;
_pinInverted[1] = directionInvert;
_enableInverted = enableInvert;
}
void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
{
_pinInverted[0] = pin1Invert;
_pinInverted[1] = pin2Invert;
_pinInverted[2] = pin3Invert;
_pinInverted[3] = pin4Invert;
_enableInverted = enableInvert;
}
// Blocks until the target position is reached and stopped
void AccelStepper::runToPosition()
{
while (run())
;
}
boolean AccelStepper::runSpeedToPosition()
{
if (_targetPos == _currentPos)
return false;
if (_targetPos >_currentPos)
_direction = DIRECTION_CW;
else
_direction = DIRECTION_CCW;
return runSpeed();
}
// Blocks until the new target position is reached
void AccelStepper::runToNewPosition(long position)
{
moveTo(position);
runToPosition();
}
void AccelStepper::stop()
{
if (_speed != 0.0)
{
long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding)
if (_speed > 0)
move(stepsToStop);
else
move(-stepsToStop);
}
}

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AccelStepper.h
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// AccelStepper.h
//
/// \mainpage AccelStepper library for Arduino
///
/// This is the Arduino AccelStepper library.
/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors.
///
/// The standard Arduino IDE includes the Stepper library
/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is
/// perfectly adequate for simple, single motor applications.
///
/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:
/// \li Supports acceleration and deceleration
/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
/// \li API functions never delay() or block
/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)
/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
/// \li Very slow speeds are supported
/// \li Extensive API
/// \li Subclass support
///
/// The latest version of this documentation can be downloaded from
/// http://www.airspayce.com/mikem/arduino/AccelStepper
/// The version of the package that this documentation refers to can be downloaded
/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.zip
///
/// Example Arduino programs are included to show the main modes of use.
///
/// You can also find online help and discussion at http://groups.google.com/group/accelstepper
/// Please use that group for all questions and discussions on this topic.
/// Do not contact the author directly, unless it is to discuss commercial licensing.
/// Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html
///
/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021
/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with
/// teensyduino addon 1.18 and later.
///
/// \par Installation
///
/// Install in the usual way: unzip the distribution zip file to the libraries
/// sub-folder of your sketchbook.
///
/// \par Theory
///
/// This code uses speed calculations as described in
/// "Generate stepper-motor speed profiles in real time" by David Austin
/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
/// with the exception that AccelStepper uses steps per second rather than radians per second
/// (because we dont know the step angle of the motor)
/// An initial step interval is calculated for the first step, based on the desired acceleration
/// On subsequent steps, shorter step intervals are calculated based
/// on the previous step until max speed is achieved.
///
/// \par Donations
///
/// This library is offered under a free GPL license for those who want to use it that way.
/// We try hard to keep it up to date, fix bugs
/// and to provide free support. If this library has helped you save time or money, please consider donating at
/// http://www.airspayce.com or here:
///
/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
///
/// \par Trademarks
///
/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
/// international trade, and is used only in relation to motor control hardware and software.
/// It is not to be confused with any other similar marks covering other goods and services.
///
/// \par Copyright
///
/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
/// conditions. The main licensing options available are GPL V2 or Commercial:
///
/// \par Open Source Licensing GPL V2
/// This is the appropriate option if you want to share the source code of your
/// application with everyone you distribute it to, and you also want to give them
/// the right to share who uses it. If you wish to use this software under Open
/// Source Licensing, you must contribute all your source code to the open source
/// community in accordance with the GPL Version 2 when your application is
/// distributed. See http://www.gnu.org/copyleft/gpl.html
///
/// \par Commercial Licensing
/// This is the appropriate option if you are creating proprietary applications
/// and you are not prepared to distribute and share the source code of your
/// application. Contact info@airspayce.com for details.
///
/// \par Revision History
/// \version 1.0 Initial release
///
/// \version 1.1 Added speed() function to get the current speed.
/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.
/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1
/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.
/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements
/// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.
/// Added checks for already running at max speed and skip further calcs if so.
/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang.
/// Reported by Sandy Noble.
/// Removed redundant _lastRunTime member.
/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected.
/// Reported by Peter Linhart.
/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon
/// \version 1.9 setCurrentPosition() now also sets motor speed to 0.
/// \version 1.10 Builds on Arduino 1.0
/// \version 1.11 Improvments from Michael Ellison:
/// Added optional enable line support for stepper drivers
/// Added inversion for step/direction/enable lines for stepper drivers
/// \version 1.12 Announce Google Group
/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case,
/// and more or less constant in all cases. This should result in slightly beter high speed performance, and
/// reduce anomalous speed glitches when other steppers are accelerating.
/// However, its hard to see how to replace the sqrt() required at the very first step from 0 speed.
/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan
/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle
/// running backwards to a smaller target position. Added examples
/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs().
/// \version 1.17 Added example ProportionalControl
/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps
/// without counting. reported by Friedrich, Klappenbach.
/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use
/// for the motor interface. Updated examples to suit.
/// Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4].
/// _pins member changed to _interface.
/// Added _pinInverted array to simplify pin inversion operations.
/// Added new function setOutputPins() which sets the motor output pins.
/// It can be overridden in order to provide, say, serial output instead of parallel output
/// Some refactoring and code size reduction.
/// \version 1.20 Improved documentation and examples to show need for correctly
/// specifying AccelStepper::FULL4WIRE and friends.
/// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration
/// when _speed was small but non-zero. Reported by Brian Schmalz.
/// Precompute sqrt_twoa to improve performance and max possible stepping speed
/// \version 1.22 Added Bounce.pde example
/// Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more
/// frequently than the step time, even
/// with the same values, would interfere with speed calcs. Now a new speed is computed
/// only if there was a change in the set value. Reported by Brian Schmalz.
/// \version 1.23 Rewrite of the speed algorithms in line with
/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
/// Now expect smoother and more linear accelerations and decelerations. The desiredSpeed()
/// function was removed.
/// \version 1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned
/// \version 1.25 Now ignore attempts to set acceleration to 0.0
/// \version 1.26 Fixed a problem where certina combinations of speed and accelration could cause
/// oscillation about the target position.
/// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters.
/// Also added new Quickstop example showing its use.
/// \version 1.28 Fixed another problem where certain combinations of speed and accelration could cause
/// oscillation about the target position.
/// Added support for 3 wire full and half steppers such as Hard Disk Drive spindle.
/// Contributed by Yuri Ivatchkovitch.
/// \version 1.29 Fixed a problem that could cause a DRIVER stepper to continually step
/// with some sketches. Reported by Vadim.
/// \version 1.30 Fixed a problem that could cause stepper to back up a few steps at the end of
/// accelerated travel with certain speeds. Reported and patched by jolo.
/// \version 1.31 Updated author and distribution location details to airspayce.com
/// \version 1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that
/// prevented the enable pin changing stae correctly. Reported by Duane Bishop.
/// \version 1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed();
/// Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE.
/// Unfortunately this meant changing the signature for all step*() functions.
/// Added example MotorShield, showing how to use AdaFruit Motor Shield to control
/// a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library.
/// \version 1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
/// to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg.
/// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with
/// setPinsInverted(bool, bool, bool). Reported by Mac Mac.
/// \version 1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden.
/// Added new optional argument 'enable' to constructor, which allows you toi disable the
/// automatic enabling of outputs at construction time. Suggested by Guido.
/// \version 1.37 Fixed a problem with step1 that could cause a rogue step in the
/// wrong direction (or not,
/// depending on the setup-time requirements of the connected hardware).
/// Reported by Mark Tillotson.
/// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true
/// if the motor is still running to the target position.
/// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill.
/// \version 1.40 Updated documentation, including testing on Teensy 3.1
/// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
/// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
/// contribution but did not make it into production.<br>
/// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the
/// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br>
/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
/// was missing from the distribution.<br>
/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default
/// acceleration. Reported by Michael Newman.<br>
/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
/// \version 1.46 Fixed error in documentation for runToPosition().
/// Reinstated time calculations in runSpeed() since new version is reported
/// not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
///
/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
// Copyright (C) 2009-2013 Mike McCauley
// $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $
#ifndef AccelStepper_h
#define AccelStepper_h
#include <stdlib.h>
#if ARDUINO >= 100
#include <Arduino.h>
#else
#include <WProgram.h>
#include <wiring.h>
#endif
// These defs cause trouble on some versions of Arduino
#undef round
/////////////////////////////////////////////////////////////////////
/// \class AccelStepper AccelStepper.h <AccelStepper.h>
/// \brief Support for stepper motors with acceleration etc.
///
/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional
/// acceleration, deceleration, absolute positioning commands etc. Multiple
/// simultaneous steppers are supported, all moving
/// at different speeds and accelerations.
///
/// \par Operation
/// This module operates by computing a step time in microseconds. The step
/// time is recomputed after each step and after speed and acceleration
/// parameters are changed by the caller. The time of each step is recorded in
/// microseconds. The run() function steps the motor once if a new step is due.
/// The run() function must be called frequently until the motor is in the
/// desired position, after which time run() will do nothing.
///
/// \par Positioning
/// Positions are specified by a signed long integer. At
/// construction time, the current position of the motor is consider to be 0. Positive
/// positions are clockwise from the initial position; negative positions are
/// anticlockwise. The current position can be altered for instance after
/// initialization positioning.
///
/// \par Caveats
/// This is an open loop controller: If the motor stalls or is oversped,
/// AccelStepper will not have a correct
/// idea of where the motor really is (since there is no feedback of the motor's
/// real position. We only know where we _think_ it is, relative to the
/// initial starting point).
///
/// \par Performance
/// The fastest motor speed that can be reliably supported is about 4000 steps per
/// second at a clock frequency of 16 MHz on Arduino such as Uno etc.
/// Faster processors can support faster stepping speeds.
/// However, any speed less than that
/// down to very slow speeds (much less than one per second) are also supported,
/// provided the run() function is called frequently enough to step the motor
/// whenever required for the speed set.
/// Calling setAcceleration() is expensive,
/// since it requires a square root to be calculated.
class AccelStepper
{
public:
/// \brief Symbolic names for number of pins.
/// Use this in the pins argument the AccelStepper constructor to
/// provide a symbolic name for the number of pins
/// to use.
typedef enum
{
FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
DRIVER = 1, ///< Stepper Driver, 2 driver pins required
FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required
HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required
} MotorInterfaceType;
/// Constructor. You can have multiple simultaneous steppers, all moving
/// at different speeds and accelerations, provided you call their run()
/// functions at frequent enough intervals. Current Position is set to 0, target
/// position is set to 0. MaxSpeed and Acceleration default to 1.0.
/// The motor pins will be initialised to OUTPUT mode during the
/// constructor by a call to enableOutputs().
/// \param[in] interface Number of pins to interface to. 1, 2, 4 or 8 are
/// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names.
/// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins).
/// If an enable line is also needed, call setEnablePin() after construction.
/// You may also invert the pins using setPinsInverted().
/// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required).
/// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required).
/// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required).
/// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required)
/// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
/// Defaults to AccelStepper::FULL4WIRE (4) pins.
/// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
/// to pin 2. For a AccelStepper::DRIVER (interface==1),
/// this is the Step input to the driver. Low to high transition means to step)
/// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
/// to pin 3. For a AccelStepper::DRIVER (interface==1),
/// this is the Direction input the driver. High means forward.
/// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
/// to pin 4.
/// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
/// to pin 5.
/// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
/// the output pins at construction time.
AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
/// Alternate Constructor which will call your own functions for forward and backward steps.
/// You can have multiple simultaneous steppers, all moving
/// at different speeds and accelerations, provided you call their run()
/// functions at frequent enough intervals. Current Position is set to 0, target
/// position is set to 0. MaxSpeed and Acceleration default to 1.0.
/// Any motor initialization should happen before hand, no pins are used or initialized.
/// \param[in] forward void-returning procedure that will make a forward step
/// \param[in] backward void-returning procedure that will make a backward step
AccelStepper(void (*forward)(), void (*backward)());
/// Set the target position. The run() function will try to move the motor (at most one step per call)
/// from the current position to the target position set by the most
/// recent call to this function. Caution: moveTo() also recalculates the speed for the next step.
/// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().
/// \param[in] absolute The desired absolute position. Negative is
/// anticlockwise from the 0 position.
void moveTo(long absolute);
/// Set the target position relative to the current position
/// \param[in] relative The desired position relative to the current position. Negative is
/// anticlockwise from the current position.
void move(long relative);
/// Poll the motor and step it if a step is due, implementing
/// accelerations and decelerations to acheive the target position. You must call this as
/// frequently as possible, but at least once per minimum step time interval,
/// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due,
/// based on the current speed and the time since the last step.
/// \return true if the motor is still running to the target position.
boolean run();
/// Poll the motor and step it if a step is due, implementing a constant
/// speed as set by the most recent call to setSpeed(). You must call this as
/// frequently as possible, but at least once per step interval,
/// \return true if the motor was stepped.
boolean runSpeed();
/// Sets the maximum permitted speed. The run() function will accelerate
/// up to the speed set by this function.
/// Caution: the maximum speed achievable depends on your processor and clock speed.
/// \param[in] speed The desired maximum speed in steps per second. Must
/// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
/// Result in non-linear accelerations and decelerations.
void setMaxSpeed(float speed);
/// Sets the acceleration/deceleration rate.
/// \param[in] acceleration The desired acceleration in steps per second
/// per second. Must be > 0.0. This is an expensive call since it requires a square
/// root to be calculated. Dont call more ofthen than needed
void setAcceleration(float acceleration);
/// Sets the desired constant speed for use with runSpeed().
/// \param[in] speed The desired constant speed in steps per
/// second. Positive is clockwise. Speeds of more than 1000 steps per
/// second are unreliable. Very slow speeds may be set (eg 0.00027777 for
/// once per hour, approximately. Speed accuracy depends on the Arduino
/// crystal. Jitter depends on how frequently you call the runSpeed() function.
void setSpeed(float speed);
/// The most recently set speed
/// \return the most recent speed in steps per second
float speed();
/// The distance from the current position to the target position.
/// \return the distance from the current position to the target position
/// in steps. Positive is clockwise from the current position.
long distanceToGo();
/// The most recently set target position.
/// \return the target position
/// in steps. Positive is clockwise from the 0 position.
long targetPosition();
/// The currently motor position.
/// \return the current motor position
/// in steps. Positive is clockwise from the 0 position.
long currentPosition();
/// Resets the current position of the motor, so that wherever the motor
/// happens to be right now is considered to be the new 0 position. Useful
/// for setting a zero position on a stepper after an initial hardware
/// positioning move.
/// Has the side effect of setting the current motor speed to 0.
/// \param[in] position The position in steps of wherever the motor
/// happens to be right now.
void setCurrentPosition(long position);
/// Moves the motor (with acceleration/deceleration)
/// to the target position and blocks until it is at
/// position. Dont use this in event loops, since it blocks.
void runToPosition();
/// Runs at the currently selected speed until the target position is reached
/// Does not implement accelerations.
/// \return true if it stepped
boolean runSpeedToPosition();
/// Moves the motor (with acceleration/deceleration)
/// to the new target position and blocks until it is at
/// position. Dont use this in event loops, since it blocks.
/// \param[in] position The new target position.
void runToNewPosition(long position);
/// Sets a new target position that causes the stepper
/// to stop as quickly as possible, using the current speed and acceleration parameters.
void stop();
/// Disable motor pin outputs by setting them all LOW
/// Depending on the design of your electronics this may turn off
/// the power to the motor coils, saving power.
/// This is useful to support Arduino low power modes: disable the outputs
/// during sleep and then reenable with enableOutputs() before stepping
/// again.
virtual void disableOutputs();
/// Enable motor pin outputs by setting the motor pins to OUTPUT
/// mode. Called automatically by the constructor.
virtual void enableOutputs();
/// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is
/// approximately 20 microseconds. Times less than 20 microseconds
/// will usually result in 20 microseconds or so.
/// \param[in] minWidth The minimum pulse width in microseconds.
void setMinPulseWidth(unsigned int minWidth);
/// Sets the enable pin number for stepper drivers.
/// 0xFF indicates unused (default).
/// Otherwise, if a pin is set, the pin will be turned on when
/// enableOutputs() is called and switched off when disableOutputs()
/// is called.
/// \param[in] enablePin Arduino digital pin number for motor enable
/// \sa setPinsInverted
void setEnablePin(uint8_t enablePin = 0xff);
/// Sets the inversion for stepper driver pins
/// \param[in] directionInvert True for inverted direction pin, false for non-inverted
/// \param[in] stepInvert True for inverted step pin, false for non-inverted
/// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false);
/// Sets the inversion for 2, 3 and 4 wire stepper pins
/// \param[in] pin1Invert True for inverted pin1, false for non-inverted
/// \param[in] pin2Invert True for inverted pin2, false for non-inverted
/// \param[in] pin3Invert True for inverted pin3, false for non-inverted
/// \param[in] pin4Invert True for inverted pin4, false for non-inverted
/// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
protected:
/// \brief Direction indicator
/// Symbolic names for the direction the motor is turning
typedef enum
{
DIRECTION_CCW = 0, ///< Clockwise
DIRECTION_CW = 1 ///< Counter-Clockwise
} Direction;
/// Forces the library to compute a new instantaneous speed and set that as
/// the current speed. It is called by
/// the library:
/// \li after each step
/// \li after change to maxSpeed through setMaxSpeed()
/// \li after change to acceleration through setAcceleration()
/// \li after change to target position (relative or absolute) through
/// move() or moveTo()
void computeNewSpeed();
/// Low level function to set the motor output pins
/// bit 0 of the mask corresponds to _pin[0]
/// bit 1 of the mask corresponds to _pin[1]
/// You can override this to impment, for example serial chip output insted of using the
/// output pins directly
virtual void setOutputPins(uint8_t mask);
/// Called to execute a step. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default calls step1(), step2(), step4() or step8() depending on the
/// number of pins defined for the stepper.
/// \param[in] step The current step phase number (0 to 7)
virtual void step(long step);
/// Called to execute a step using stepper functions (pins = 0) Only called when a new step is
/// required. Calls _forward() or _backward() to perform the step
/// \param[in] step The current step phase number (0 to 7)
virtual void step0(long step);
/// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of Step pin1 to step,
/// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond
/// which is the minimum STEP pulse width for the 3967 driver.
/// \param[in] step The current step phase number (0 to 7)
virtual void step1(long step);
/// Called to execute a step on a 2 pin motor. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1 and pin2
/// \param[in] step The current step phase number (0 to 7)
virtual void step2(long step);
/// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1, pin2,
/// pin3
/// \param[in] step The current step phase number (0 to 7)
virtual void step3(long step);
/// Called to execute a step on a 4 pin motor. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1, pin2,
/// pin3, pin4.
/// \param[in] step The current step phase number (0 to 7)
virtual void step4(long step);
/// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1, pin2,
/// pin3
/// \param[in] step The current step phase number (0 to 7)
virtual void step6(long step);
/// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1, pin2,
/// pin3, pin4.
/// \param[in] step The current step phase number (0 to 7)
virtual void step8(long step);
private:
/// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
/// bipolar, and 4 pins is a unipolar.
uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType
/// Arduino pin number assignments for the 2 or 4 pins required to interface to the
/// stepper motor or driver
uint8_t _pin[4];
/// Whether the _pins is inverted or not
uint8_t _pinInverted[4];
/// The current absolution position in steps.
long _currentPos; // Steps
/// The target position in steps. The AccelStepper library will move the
/// motor from the _currentPos to the _targetPos, taking into account the
/// max speed, acceleration and deceleration
long _targetPos; // Steps
/// The current motos speed in steps per second
/// Positive is clockwise
float _speed; // Steps per second
/// The maximum permitted speed in steps per second. Must be > 0.
float _maxSpeed;
/// The acceleration to use to accelerate or decelerate the motor in steps
/// per second per second. Must be > 0
float _acceleration;
float _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
/// The current interval between steps in microseconds.
/// 0 means the motor is currently stopped with _speed == 0
unsigned long _stepInterval;
/// The last step time in microseconds
unsigned long _lastStepTime;
/// The minimum allowed pulse width in microseconds
unsigned int _minPulseWidth;
/// Is the direction pin inverted?
///bool _dirInverted; /// Moved to _pinInverted[1]
/// Is the step pin inverted?
///bool _stepInverted; /// Moved to _pinInverted[0]
/// Is the enable pin inverted?
bool _enableInverted;
/// Enable pin for stepper driver, or 0xFF if unused.
uint8_t _enablePin;
/// The pointer to a forward-step procedure
void (*_forward)();
/// The pointer to a backward-step procedure
void (*_backward)();
/// The step counter for speed calculations
long _n;
/// Initial step size in microseconds
float _c0;
/// Last step size in microseconds
float _cn;
/// Min step size in microseconds based on maxSpeed
float _cmin; // at max speed
/// Current direction motor is spinning in
boolean _direction; // 1 == CW
};
/// @example Random.pde
/// Make a single stepper perform random changes in speed, position and acceleration
/// @example Overshoot.pde
/// Check overshoot handling
/// which sets a new target position and then waits until the stepper has
/// achieved it. This is used for testing the handling of overshoots
/// @example MultiStepper.pde
/// Shows how to multiple simultaneous steppers
/// Runs one stepper forwards and backwards, accelerating and decelerating
/// at the limits. Runs other steppers at the same time
/// @example ConstantSpeed.pde
/// Shows how to run AccelStepper in the simplest,
/// fixed speed mode with no accelerations
/// @example Blocking.pde
/// Shows how to use the blocking call runToNewPosition
/// Which sets a new target position and then waits until the stepper has
/// achieved it.
/// @example AFMotor_MultiStepper.pde
/// Control both Stepper motors at the same time with different speeds
/// and accelerations.
/// @example AFMotor_ConstantSpeed.pde
/// Shows how to run AccelStepper in the simplest,
/// fixed speed mode with no accelerations
/// @example ProportionalControl.pde
/// Make a single stepper follow the analog value read from a pot or whatever
/// The stepper will move at a constant speed to each newly set posiiton,
/// depending on the value of the pot.
/// @example Bounce.pde
/// Make a single stepper bounce from one limit to another, observing
/// accelrations at each end of travel
/// @example Quickstop.pde
/// Check stop handling.
/// Calls stop() while the stepper is travelling at full speed, causing
/// the stepper to stop as quickly as possible, within the constraints of the
/// current acceleration.
/// @example MotorShield.pde
/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
/// @example DualMotorShield.pde
/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the
/// Itead Studio Arduino Dual Stepper Motor Driver Shield
/// model IM120417015
#endif

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/* Eggduino-Firmware by Joachim Cerny, 2014
Thanks for the nice libs ACCELSTEPPER and SERIALCOMMAND, which made this project much easier.
Thanks to the Eggbot-Team for such a funny and enjoable concept!
Thanks to my wife and my daughter for their patience. :-)
*/
// implemented Eggbot-Protocol-Version v13
// EBB-Command-Reference, I sourced from: http://www.schmalzhaus.com/EBB/EBBCommands.html
// no homing sequence, switch-on position of pen will be taken as reference point.
// No collision-detection!!
// Supported Servos: I do not know, I use Arduino Servo Lib with TG9e- standard servo.
// Note: Maximum-Speed in Inkscape is 1000 Steps/s. You could enter more, but then Pythonscript sends nonsense.
// EBB-Coordinates are coming in for 16th-Microstepmode. The Coordinate-Transforms are done in weired integer-math. Be careful, when you diecide to modify settings.
/* TODOs:
1 collision control via penMin/penMax
2 implement homing sequence via microswitch or optical device
*/
#include "AccelStepper.h" // nice lib from http://www.airspayce.com/mikem/arduino/AccelStepper/
#include <Servo.h>
#include "SerialCommand.h" //nice lib from Stefan Rado, https://github.com/kroimon/Arduino-SerialCommand
#include <avr/eeprom.h>
#include "button.h"
#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a"
//Rotational Stepper:
#define step1 11
#define dir1 10
#define enableRotMotor 9
#define rotMicrostep 16 //MicrostepMode, only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
//Pen Stepper:
#define step2 8
#define dir2 7
#define enablePenMotor 6
#define penMicrostep 16 //MicrostepMode, only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
#define servoPin 3 //Servo
// EXTRAFEATURES - UNCOMMENT TO USE THEM -------------------------------------------------------------------
// #define prgButton 2 // PRG button
// #define penToggleButton 12 // pen up/down button
// #define motorsButton 4 // motors enable button
//-----------------------------------------------------------------------------------------------------------
#define penUpPosEEAddress ((uint16_t *)0)
#define penDownPosEEAddress ((uint16_t *)2)
//make Objects
AccelStepper rotMotor(1, step1, dir1);
AccelStepper penMotor(1, step2, dir2);
Servo penServo;
SerialCommand SCmd;
//create Buttons
#ifdef prgButton
Button prgButtonToggle(prgButton, setprgButtonState);
#endif
#ifdef penToggleButton
Button penToggle(penToggleButton, doTogglePen);
#endif
#ifdef motorsButton
Button motorsToggle(motorsButton, toggleMotors);
#endif
// Variables... be careful, by messing around here, everything has a reason and crossrelations...
int penMin=0;
int penMax=0;
int penUpPos=5; //can be overwritten from EBB-Command SC
int penDownPos=20; //can be overwritten from EBB-Command SC
int servoRateUp=0; //from EBB-Protocol not implemented on machine-side
int servoRateDown=0; //from EBB-Protocol not implemented on machine-side
long rotStepError=0;
long penStepError=0;
int penState=penUpPos;
uint32_t nodeCount=0;
unsigned int layer=0;
boolean prgButtonState=0;
uint8_t rotStepCorrection = 16/rotMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
uint8_t penStepCorrection = 16/penMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
float rotSpeed=0;
float penSpeed=0; // these are local variables for Function SteppermotorMove-Command, but for performance-reasons it will be initialized here
boolean motorsEnabled = 0;
void setup() {
Serial.begin(9600);
makeComInterface();
initHardware();
}
void loop() {
moveOneStep();
SCmd.readSerial();
#ifdef penToggleButton
penToggle.check();
#endif
#ifdef motorsButton
motorsToggle.check();
#endif
#ifdef prgButton
prgButtonToggle.check();
#endif
}

264
Functions.ino
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@@ -1,264 +0,0 @@
void makeComInterface(){
SCmd.addCommand("v",sendVersion);
SCmd.addCommand("EM",enableMotors);
SCmd.addCommand("SC",stepperModeConfigure);
SCmd.addCommand("SP",setPen);
SCmd.addCommand("SM",stepperMove);
SCmd.addCommand("SE",ignore);
SCmd.addCommand("TP",togglePen);
SCmd.addCommand("PO",ignore); //Engraver command, not implemented, gives fake answer
SCmd.addCommand("NI",nodeCountIncrement);
SCmd.addCommand("ND",nodeCountDecrement);
SCmd.addCommand("SN",setNodeCount);
SCmd.addCommand("QN",queryNodeCount);
SCmd.addCommand("SL",setLayer);
SCmd.addCommand("QL",queryLayer);
SCmd.addCommand("QP",queryPen);
SCmd.addCommand("QB",queryButton); //"PRG" Button,
SCmd.setDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
}
void queryPen() {
char state;
if (penState==penUpPos)
state='1';
else
state='0';
Serial.print(String(state)+"\r\n");
sendAck();
}
void queryButton() {
Serial.print(String(prgButtonState) +"\r\n");
sendAck();
prgButtonState = 0;
}
void queryLayer() {
Serial.print(String(layer) +"\r\n");
sendAck();
}
void setLayer() {
uint32_t value=0;
char *arg1;
arg1 = SCmd.next();
if (arg1 != NULL) {
value = atoi(arg1);
layer=value;
sendAck();
}
else
sendError();
}
void queryNodeCount() {
Serial.print(String(nodeCount) +"\r\n");
sendAck();
}
void setNodeCount() {
uint32_t value=0;
char *arg1;
arg1 = SCmd.next();
if (arg1 != NULL) {
value = atoi(arg1);
nodeCount=value;
sendAck();
}
else
sendError();
}
void nodeCountIncrement() {
nodeCount=nodeCount++;
sendAck();
}
void nodeCountDecrement() {
nodeCount=nodeCount--;
sendAck();
}
void stepperMove() {
uint16_t duration=0; //in ms
int penStepsEBB=0; //Pen
int rotStepsEBB=0; //Rot
moveToDestination();
if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
sendError();
return;
}
sendAck();
if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
delay(duration);
return;
}
prepareMove(duration, penStepsEBB, rotStepsEBB);
}
void setPen(){
int cmd;
int value;
char *arg;
moveToDestination();
arg = SCmd.next();
if (arg != NULL) {
cmd = atoi(arg);
switch (cmd) {
case 0:
penServo.write(penUpPos);
penState=penUpPos;
break;
case 1:
penServo.write(penDownPos);
penState=penDownPos;
break;
default:
sendError();
}
}
char *val;
val = SCmd.next();
if (val != NULL) {
value = atoi(val);
sendAck();
delay(value);
}
if (val==NULL && arg !=NULL) {
sendAck();
delay(500);
}
// Serial.println("delay");
if (val==NULL && arg ==NULL)
sendError();
}
void togglePen(){
int value;
char *arg;
moveToDestination();
arg = SCmd.next();
if (arg != NULL)
value = atoi(arg);
else
value = 500;
doTogglePen();
sendAck();
delay(value);
}
void doTogglePen() {
if (penState==penUpPos) {
penServo.write(penDownPos);
penState=penDownPos;
} else {
penServo.write(penUpPos);
penState=penUpPos;
}
}
void enableMotors(){
int cmd;
int value;
char *arg;
char *val;
arg = SCmd.next();
if (arg != NULL)
cmd = atoi(arg);
val = SCmd.next();
if (val != NULL)
value = atoi(val);
//values parsed
if ((arg != NULL) && (val == NULL)){
switch (cmd) {
case 0: motorsOff();
sendAck();
break;
case 1: motorsOn();
sendAck();
break;
default:
sendError();
}
}
//the following implementaion is a little bit cheated, because i did not know, how to implement different values for first and second argument.
if ((arg != NULL) && (val != NULL)){
switch (value) {
case 0: motorsOff();
sendAck();
break;
case 1: motorsOn();
sendAck();
break;
default:
sendError();
}
}
}
void stepperModeConfigure(){
int cmd;
int value;
char *arg;
arg = SCmd.next();
if (arg != NULL)
cmd = atoi(arg);
char *val;
val = SCmd.next();
if (val != NULL)
value = atoi(val);
if ((arg != NULL) && (val != NULL)){
switch (cmd) {
case 4: penDownPos= (int) ((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
storePenDownPosInEE();
sendAck();
break;
case 5: penUpPos= (int)((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
storePenUpPosInEE();
sendAck();
break;
case 6: //rotMin=value; ignored
sendAck();
break;
case 7: //rotMax=value; ignored
sendAck();
break;
case 11: servoRateUp=value;
sendAck();
break;
case 12: servoRateDown=value;
sendAck();
break;
default:
sendError();
}
}
}
void sendVersion(){
Serial.print(initSting);
Serial.print("\r\n");
}
void unrecognized(const char *command){
sendError();
}
void ignore(){
sendAck();
}

135
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void initHardware(){
// enable eeprom wait in avr/eeprom.h functions
SPMCSR &= ~SELFPRGEN;
loadPenPosFromEE();
pinMode(enableRotMotor, OUTPUT);
pinMode(enablePenMotor, OUTPUT);
rotMotor.setMaxSpeed(2000.0);
rotMotor.setAcceleration(10000.0);
penMotor.setMaxSpeed(2000.0);
penMotor.setAcceleration(10000.0);
motorsOff();
penServo.attach(servoPin);
penServo.write(penState);
}
inline void loadPenPosFromEE() {
penUpPos = eeprom_read_word(penUpPosEEAddress);
penDownPos = eeprom_read_word(penDownPosEEAddress);
penState = penUpPos;
}
inline void storePenUpPosInEE() {
eeprom_update_word(penUpPosEEAddress, penUpPos);
}
inline void storePenDownPosInEE() {
eeprom_update_word(penDownPosEEAddress, penDownPos);
}
inline void sendAck(){
Serial.print("OK\r\n");
}
inline void sendError(){
Serial.print("unknown CMD\r\n");
}
void motorsOff() {
digitalWrite(enableRotMotor, HIGH);
digitalWrite(enablePenMotor, HIGH);
motorsEnabled = 0;
}
void motorsOn() {
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
motorsEnabled = 1;
}
void toggleMotors() {
if (motorsEnabled) {
motorsOff();
} else {
motorsOn();
}
}
bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB) {
char *arg1;
char *arg2;
char *arg3;
arg1 = SCmd.next();
if (arg1 != NULL) {
*duration = atoi(arg1);
arg2 = SCmd.next();
}
if (arg2 != NULL) {
*penStepsEBB = atoi(arg2);
arg3 = SCmd.next();
}
if (arg3 != NULL) {
*rotStepsEBB = atoi(arg3);
return true;
}
return false;
}
void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
if (!motorsEnabled) {
motorsOn();
}
if( (1 == rotStepCorrection) && (1 == penStepCorrection) ){ // if coordinatessystems are identical
//set Coordinates and Speed
rotMotor.move(rotStepsEBB);
rotMotor.setSpeed( abs( (float)rotStepsEBB * (float)1000 / (float)duration ) );
penMotor.move(penStepsEBB);
penMotor.setSpeed( abs( (float)penStepsEBB * (float)1000 / (float)duration ) );
} else {
//incoming EBB-Steps will be multiplied by 16, then Integer-maths is done, result will be divided by 16
// This make thinks here really complicated, but floating point-math kills performance and memory, believe me... I tried...
long rotSteps = ( (long)rotStepsEBB * 16 / rotStepCorrection) + (long)rotStepError; //correct incoming EBB-Steps to our microstep-Setting and multiply by 16 to avoid floatingpoint...
long penSteps = ( (long)penStepsEBB * 16 / penStepCorrection) + (long)penStepError;
int rotStepsToGo = (int) (rotSteps/16); //Calc Steps to go, which are possible on our machine
int penStepsToGo = (int) (penSteps/16);
rotStepError = (long)rotSteps - ((long) rotStepsToGo * (long)16); // calc Position-Error, if there is one
penStepError = (long)penSteps - ((long) penStepsToGo * (long)16);
long temp_rotSpeed = ((long)rotStepsToGo * (long)1000 / (long)duration ); // calc Speed in Integer Math
long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration ) ;
float rotSpeed= (float) abs(temp_rotSpeed); // type cast
float penSpeed= (float) abs(temp_penSpeed);
//set Coordinates and Speed
rotMotor.move(rotStepsToGo); // finally, let us set the target position...
rotMotor.setSpeed(rotSpeed); // and the Speed!
penMotor.move(penStepsToGo);
penMotor.setSpeed( penSpeed );
}
}
void moveOneStep() {
if ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
penMotor.runSpeedToPosition(); // Moving.... moving... moving....
rotMotor.runSpeedToPosition();
}
}
void moveToDestination() {
while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
penMotor.runSpeedToPosition(); // Moving.... moving... moving....
rotMotor.runSpeedToPosition();
}
}
void setprgButtonState(){
prgButtonState = 1;
}

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@@ -44,3 +44,15 @@ http://wiki.evilmadscientist.com/Installing_software
# return serialPort
- In my version lines 1355-1360
## Setup
Add credentials.h file with content like this:
const char *kWifiSsid = "MySSID";
const char *kWifiPassword = "MySecret";
To disable Wifi:
const char *kWifiSsid = 0;
const char *kWifiPassword = 0;

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# EggBot BLE Serial Protocol
## Scope
This transport exposes the same EggBot command protocol as serial, but over BLE GATT.
- Protocol commands and responses are unchanged.
- Framing is unchanged (`\r` command terminator, `\r\n` response lines).
## BLE GATT Profile
- Device name: `EggDuino`
- Service UUID: `6e400001-b5a3-f393-e0a9-e50e24dcca9e`
- RX characteristic (host -> EggDuino): `6e400002-b5a3-f393-e0a9-e50e24dcca9e`
- Properties: `Write`, `Write Without Response`
- TX characteristic (EggDuino -> host): `6e400003-b5a3-f393-e0a9-e50e24dcca9e`
- Properties: `Notify`, `Read`
## Data Model
- Host writes plain ASCII command bytes to RX.
- Firmware parses bytes with the same EggBot command parser used for USB serial.
- Firmware sends responses via TX notifications.
- Long responses are segmented into BLE-sized notification chunks; host must reassemble by bytes and parse lines by `\r\n`.
## Compatibility Rules
- A BLE client must send commands exactly as serial hosts do.
- Each command must end with `\r`.
- Data-returning commands (`QP`, `QB`, `QN`, `QL`) return a value line before final status (`OK\r\n`).
- Unknown/invalid command format returns `unknown CMD\r\n`.
## Example BLE Transactions
Version query:
- Write RX: `v\r`
- Notify TX: `EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a\r\n`
Move command:
- Write RX: `SM,100,0,200\r`
- Notify TX: `OK\r\n`
Query node count:
- Write RX: `QN\r`
- Notify TX: `<number>\r\n`
- Notify TX: `OK\r\n`
## Operational Notes
- BLE receive bytes are queued and parsed in the main firmware loop.
- If the BLE RX queue overruns, excess bytes are dropped and a log entry is generated.
- BLE and USB serial can coexist; each command response is routed to the transport that received that command.

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# EggBot Serial Protocol (USB/UART)
## Scope
This firmware emulates the EggBot/EBB command protocol over serial transport.
- Transport: USB CDC/UART (`115200 8N1`)
- Command separator: `,`
- Command terminator: carriage return (`\r`, ASCII 0x0D)
- Response terminator: carriage return + newline (`\r\n`)
## Handshake and Generic Responses
- Version query: `v\r`
- Version response: `EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a\r\n`
- Success response: `OK\r\n`
- Error response: `unknown CMD\r\n`
## Implemented Commands
All commands are case-sensitive and comma-delimited.
- `EM,<mode>[,<ignored>]`
- `SC,<id>,<value>`
- `SP,<penState>[,<delayMs>]`
- `SM,<durationMs>,<penSteps>,<rotSteps>`
- `SE` (ack-only placeholder)
- `TP[,<delayMs>]`
- `PO` (ack-only placeholder)
- `NI`
- `ND`
- `SN,<nodeCount>`
- `QN`
- `SL,<layer>`
- `QL`
- `QP`
- `QB`
## Command Behavior Notes
- `SM`: firmware blocks until previous move completes, sends `OK`, then runs the requested move.
- `SP` and `TP`: support optional delay argument in milliseconds.
- `QP`: returns pen state line (`1` for pen up, `0` for pen down), then `OK`.
- `QB`: returns button state (`0` or `1`), then `OK`; internal button latch is reset after query.
- `QN`, `QL`: return numeric line first, then `OK`.
- `SC` supports these IDs:
- `4`: set pen-down servo position (EBB value to servo-mapped value)
- `5`: set pen-up servo position
- `6`, `7`: accepted, ignored, and acknowledged
- `11`: set servo rate up
- `12`: set servo rate down
## Timing/Parsing Requirements for Hosts
- Always terminate each command with `\r`.
- Do not rely on `\n` as a command terminator.
- Read until `OK\r\n` (or `unknown CMD\r\n`) to complete command transactions.
- For commands that return data (`QP`, `QB`, `QN`, `QL`), read one data line plus the final status line.

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# EggBot WiFi Serial Protocol
## Scope
This transport exposes the same EggBot command protocol as serial, but over WiFi/WebSocket.
- Protocol commands and responses are unchanged.
- Framing is unchanged (`\r` command terminator, `\r\n` response lines).
## Transport Profile
- Protocol endpoint: `ws://<eggs-esp32-ip>:1337/`
- WebSocket message type: text or binary frames accepted
- Payload: ASCII command bytes
## Data Model
- Host writes command bytes to the WebSocket.
- Firmware parses incoming bytes with the same EggBot parser used for USB serial and BLE.
- Firmware sends responses as WebSocket text messages.
- Hosts must treat inbound data as a stream and parse lines by `\r\n`.
## Compatibility Rules
- A WiFi client must send commands exactly as serial hosts do.
- Each command must end with `\r`.
- Data-returning commands (`QP`, `QB`, `QN`, `QL`) return a value line before final status (`OK\r\n`).
- Unknown/invalid command format returns `unknown CMD\r\n`.
## Example WiFi Transactions
Version query:
- Send: `v\r`
- Receive: `EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a\r\n`
Move command:
- Send: `SM,100,0,200\r`
- Receive: `OK\r\n`
Query layer:
- Send: `QL\r`
- Receive: `<layer>\r\n`
- Receive: `OK\r\n`
## Operational Notes
- The WiFi protocol endpoint is started only when ESP32 station WiFi is connected.
- Incoming WiFi bytes are queued and parsed in the main loop.
- If the WiFi RX queue overruns, excess bytes are dropped and a log entry is generated.
- WiFi transport is single active client: first connected sender is accepted until disconnect.
- USB serial, BLE, and WiFi can coexist; responses are routed to the transport that received each command.

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const SERVICE_UUID = '6e400001-b5a3-f393-e0a9-e50e24dcca9e';
const RX_UUID = '6e400002-b5a3-f393-e0a9-e50e24dcca9e';
const TX_UUID = '6e400003-b5a3-f393-e0a9-e50e24dcca9e';
const encoder = new TextEncoder();
const decoder = new TextDecoder();
let device = null;
let server = null;
let rxCharacteristic = null;
let txCharacteristic = null;
let lineBuffer = '';
let commandQueue = Promise.resolve();
const lineListeners = new Set();
function emitLine(line) {
for (const listener of lineListeners) {
listener(line);
}
}
function handleNotification(event) {
const dataView = event.target.value;
const chunk = decoder.decode(dataView, { stream: true });
lineBuffer += chunk;
while (true) {
const delimiterIndex = lineBuffer.indexOf('\r\n');
if (delimiterIndex < 0) {
break;
}
const line = lineBuffer.slice(0, delimiterIndex);
lineBuffer = lineBuffer.slice(delimiterIndex + 2);
emitLine(line);
}
}
function handleDisconnected() {
server = null;
rxCharacteristic = null;
if (txCharacteristic) {
txCharacteristic.removeEventListener('characteristicvaluechanged', handleNotification);
}
txCharacteristic = null;
}
async function writeToRxCharacteristic(payloadBytes) {
if (!rxCharacteristic) {
throw new Error('EggDuino is not connected');
}
if (typeof rxCharacteristic.writeValueWithoutResponse === 'function') {
await rxCharacteristic.writeValueWithoutResponse(payloadBytes);
return;
}
if (typeof rxCharacteristic.writeValueWithResponse === 'function') {
await rxCharacteristic.writeValueWithResponse(payloadBytes);
return;
}
await rxCharacteristic.writeValue(payloadBytes);
}
function normalizeCommand(command) {
return command.endsWith('\r') ? command : `${command}\r`;
}
function enqueueCommand(fn) {
const run = commandQueue.then(fn, fn);
commandQueue = run.catch(() => {});
return run;
}
export async function connectEggDuino() {
if (server?.connected && rxCharacteristic && txCharacteristic) {
return;
}
try {
device = await navigator.bluetooth.requestDevice({
filters: [{ services: [SERVICE_UUID] }],
optionalServices: [SERVICE_UUID],
});
} catch (error) {
throw new Error(`BLE request failed: ${error.message}`);
}
device.addEventListener('gattserverdisconnected', handleDisconnected);
try {
server = await device.gatt.connect();
} catch (error) {
throw new Error(`BLE gatt connect failed: ${error.message}`);
}
let service;
try {
service = await server.getPrimaryService(SERVICE_UUID);
} catch (error) {
throw new Error(`BLE service lookup failed: ${error.message}`);
}
try {
rxCharacteristic = await service.getCharacteristic(RX_UUID);
txCharacteristic = await service.getCharacteristic(TX_UUID);
} catch (error) {
throw new Error(`BLE characteristic lookup failed: ${error.message}`);
}
try {
await txCharacteristic.startNotifications();
txCharacteristic.addEventListener('characteristicvaluechanged', handleNotification);
} catch (error) {
throw new Error(`BLE notifications setup failed: ${error.message}`);
}
}
export function disconnectEggDuino() {
if (!device) {
return;
}
if (txCharacteristic) {
txCharacteristic.removeEventListener('characteristicvaluechanged', handleNotification);
}
if (device.gatt?.connected) {
device.gatt.disconnect();
}
handleDisconnected();
}
export async function sendEggBotCommand(command) {
const normalized = normalizeCommand(command);
await writeToRxCharacteristic(encoder.encode(normalized));
}
export async function sendEggBotCommandExpectOk(command, timeoutMs = 2000) {
return enqueueCommand(() => new Promise(async (resolve, reject) => {
const collectedLines = [];
const timeout = setTimeout(() => {
lineListeners.delete(onResponseLine);
reject(new Error('EggBot response timeout'));
}, timeoutMs);
const onResponseLine = (line) => {
collectedLines.push(line);
if (line === 'OK') {
clearTimeout(timeout);
lineListeners.delete(onResponseLine);
resolve(collectedLines.slice(0, -1));
}
if (line === 'unknown CMD') {
clearTimeout(timeout);
lineListeners.delete(onResponseLine);
reject(new Error(`EggBot error: ${collectedLines.join(' | ')}`));
}
};
lineListeners.add(onResponseLine);
try {
await sendEggBotCommand(command);
} catch (error) {
clearTimeout(timeout);
lineListeners.delete(onResponseLine);
reject(error);
}
}));
}
export function onLine(callback) {
lineListeners.add(callback);
}
export function offLine(callback) {
lineListeners.delete(callback);
}

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const decoder = new TextDecoder();
let socket = null;
let lineBuffer = '';
let commandQueue = Promise.resolve();
const lineListeners = new Set();
function emitLine(line) {
for (const listener of lineListeners) {
listener(line);
}
}
function parseIncomingChunk(chunk) {
lineBuffer += chunk;
while (true) {
const delimiterIndex = lineBuffer.indexOf('\r\n');
if (delimiterIndex < 0) {
break;
}
const line = lineBuffer.slice(0, delimiterIndex);
lineBuffer = lineBuffer.slice(delimiterIndex + 2);
emitLine(line);
}
}
function handleSocketMessage(event) {
if (typeof event.data === 'string') {
parseIncomingChunk(event.data);
return;
}
if (event.data instanceof ArrayBuffer) {
parseIncomingChunk(decoder.decode(event.data));
}
}
function normalizeCommand(command) {
return command.endsWith('\r') ? command : `${command}\r`;
}
function enqueueCommand(fn) {
const run = commandQueue.then(fn, fn);
commandQueue = run.catch(() => {});
return run;
}
function ensureSocketReady() {
if (!socket || socket.readyState !== WebSocket.OPEN) {
throw new Error('EggDuino WiFi socket is not connected');
}
}
function buildSocketUrl(options) {
if (options.url) {
return options.url;
}
const host = options.host;
if (!host) {
throw new Error('Missing EggDuino host');
}
const secure = options.secure === true;
const protocol = secure ? 'wss' : 'ws';
const port = Number(options.port ?? 1337);
const path = options.path ?? '/';
return `${protocol}://${host}:${port}${path}`;
}
export async function connectEggDuinoWifi(options = {}) {
if (socket && socket.readyState === WebSocket.OPEN) {
return;
}
if (socket && socket.readyState === WebSocket.CONNECTING) {
await new Promise((resolve, reject) => {
const onOpen = () => {
socket.removeEventListener('error', onError);
resolve();
};
const onError = () => {
socket.removeEventListener('open', onOpen);
reject(new Error('EggDuino WiFi socket failed while connecting'));
};
socket.addEventListener('open', onOpen, { once: true });
socket.addEventListener('error', onError, { once: true });
});
return;
}
const url = buildSocketUrl(options);
socket = new WebSocket(url);
socket.binaryType = 'arraybuffer';
socket.addEventListener('message', handleSocketMessage);
socket.addEventListener('close', () => {
socket = null;
});
await new Promise((resolve, reject) => {
const onOpen = () => {
socket.removeEventListener('error', onError);
resolve();
};
const onError = () => {
socket.removeEventListener('open', onOpen);
socket?.close();
socket = null;
reject(new Error(`EggDuino WiFi socket connection failed: ${url}`));
};
socket.addEventListener('open', onOpen, { once: true });
socket.addEventListener('error', onError, { once: true });
});
}
export function disconnectEggDuinoWifi() {
if (!socket) {
return;
}
socket.removeEventListener('message', handleSocketMessage);
if (socket.readyState === WebSocket.OPEN || socket.readyState === WebSocket.CONNECTING) {
socket.close();
}
socket = null;
}
export async function sendEggBotCommand(command) {
ensureSocketReady();
socket.send(normalizeCommand(command));
}
export async function sendEggBotCommandExpectOk(command, timeoutMs = 2000) {
return enqueueCommand(() => new Promise(async (resolve, reject) => {
const collectedLines = [];
const timeout = setTimeout(() => {
lineListeners.delete(onResponseLine);
reject(new Error('EggBot response timeout'));
}, timeoutMs);
const onResponseLine = (line) => {
collectedLines.push(line);
if (line === 'OK') {
clearTimeout(timeout);
lineListeners.delete(onResponseLine);
resolve(collectedLines.slice(0, -1));
}
if (line === 'unknown CMD') {
clearTimeout(timeout);
lineListeners.delete(onResponseLine);
reject(new Error(`EggBot error: ${collectedLines.join(' | ')}`));
}
};
lineListeners.add(onResponseLine);
try {
await sendEggBotCommand(command);
} catch (error) {
clearTimeout(timeout);
lineListeners.delete(onResponseLine);
reject(error);
}
}));
}
export function onLine(callback) {
lineListeners.add(callback);
}
export function offLine(callback) {
lineListeners.delete(callback);
}

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firmware/manifest.json Normal file
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{
"name": "EggDuino ESP32 Firmware",
"version": "1.6a",
"new_install_prompt_erase": true,
"builds": [
{
"chipFamily": "ESP32",
"parts": [
{
"path": "bootloader.bin",
"offset": 4096
},
{
"path": "partitions.bin",
"offset": 32768
},
{
"path": "boot_app0.bin",
"offset": 57344
},
{
"path": "firmware.bin",
"offset": 65536
}
]
}
]
}

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include/EggDuino.h Normal file
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#ifndef EGGDUINO_H
#define EGGDUINO_H
#include <Arduino.h>
#define SUPPRESS_HPP_WARNING
#include <ServoEasing.h>
#ifdef ESP32
#include <WiFi.h>
#include <WebServer.h>
#include <SPIFFS.h>
#endif
#include <FastAccelStepper.h>
#include "SerialCommand.h"
#include "button.h"
// implemented Eggbot-Protocol-Version v13
#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a"
#ifdef ESP32
// Rotational Stepper
static const int kDefaultRotDirPin = 16;
static const int kDefaultRotEnablePin = 12;
static const int kDefaultRotStepPin = 26;
#define rotMicrostep 32
static const int kDefaultRotMicrostep = rotMicrostep;
// Pen Stepper
static const int kDefaultPenStepPin = 25;
static const int kDefaultPenDirPin = 27;
static const int kDefaultPenEnablePin = 12;
#define penMicrostep 32
static const int kDefaultPenMicrostep = penMicrostep;
static const int kDefaultServoPin = 17;
#else
// Rotational Stepper
static const int kDefaultRotStepPin = 2;
static const int kDefaultRotDirPin = 5;
static const int kDefaultRotEnablePin = 8;
#define rotMicrostep 16
static const int kDefaultRotMicrostep = rotMicrostep;
// Pen Stepper
static const int kDefaultPenStepPin = 3;
static const int kDefaultPenDirPin = 6;
static const int kDefaultPenEnablePin = 8;
#define penMicrostep 16
static const int kDefaultPenMicrostep = penMicrostep;
static const int kDefaultServoPin = 4;
#endif
struct ConfigParameter {
const char *type;
const char *key;
void *value;
String description;
int defaultValue;
const char *defaultText;
bool secret;
};
extern FastAccelStepperEngine g_stepEngine;
extern FastAccelStepper *g_pStepperRotate;
extern FastAccelStepper *g_pStepperPen;
extern ServoEasing penServo;
extern SerialCommand SCmd;
#ifdef ESP32
extern SerialCommand g_BLECmd;
extern SerialCommand g_WifiCmd;
#endif
extern int g_iPenUpPos;
extern int g_iPenDownPos;
extern int g_iServoRateUp;
extern int g_iServoRateDown;
extern long g_iRotStepError;
extern long g_iPenStepError;
extern int g_iPenState;
extern uint32_t g_uiNodeCount;
extern unsigned int g_uiLayer;
extern boolean g_bPrgButtonState;
extern float fROT_STEP_CORRECTION;
extern float fPEN_STEP_CORRECTION;
extern boolean g_bMotorsEnabled;
extern int g_iRotDirPin;
extern int g_iRotEnablePin;
extern int g_iRotStepPin;
extern int g_iPenStepPin;
extern int g_iPenDirPin;
extern int g_iPenEnablePin;
extern int g_iServoPin;
extern int g_iRotMicrostep;
extern int g_iPenMicrostep;
extern int g_iMaxAcclSpeed;
extern String g_sHostname;
extern String g_sWifiSsid;
extern String g_sWifiPassword;
enum ProtocolTransport {
PROTOCOL_TRANSPORT_SERIAL = 0,
PROTOCOL_TRANSPORT_BLE = 1,
PROTOCOL_TRANSPORT_WIFI = 2,
};
extern ConfigParameter configParameters[];
extern const size_t configParameterCount;
void makeComInterface();
void setActiveProtocolContext(SerialCommand *parser, ProtocolTransport transport);
char *nextCommandArg();
void protocolWrite(const char *message);
void protocolWrite(const String &message);
void initHardware();
void moveOneStep();
void moveToDestination();
void sendAck();
void sendError();
void motorsOff();
void motorsOn();
void toggleMotors();
void doTogglePen();
void setprgButtonState();
bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB);
void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB);
void storePenUpPosInEE();
void storePenDownPosInEE();
void updateStepCorrectionFactors();
void movePenServoTo(int targetPos);
bool initConfigStore();
bool loadConfigFromFile();
bool saveConfigToFile();
String buildConfigJson();
bool applyConfigJson(const String &payload, String &errorMessage);
void startWebInterface();
void handleWebInterface();
#ifdef ESP32
void startBleInterface();
void handleBleInterface();
bool bleProtocolWrite(const char *message);
void buildDeviceName(char *nameBuffer, size_t bufferSize);
void startWifiProtocolInterface();
void handleWifiProtocolInterface();
bool wifiProtocolWrite(const char *message);
#else
inline void startBleInterface() {}
inline void handleBleInterface() {}
inline bool bleProtocolWrite(const char *message)
{
(void)message;
return false;
}
inline void buildDeviceName(char *nameBuffer, size_t bufferSize)
{
(void)nameBuffer;
(void)bufferSize;
}
inline void startWifiProtocolInterface() {}
inline void handleWifiProtocolInterface() {}
inline bool wifiProtocolWrite(const char *message)
{
(void)message;
return false;
}
#endif
void Log(const String &message);
void Log(const char *message);
String buildLogsJson(uint32_t sinceSeq);
void captureIncomingPrintLine(const char *line, ProtocolTransport transport);
String buildIncomingPrintLogText();
void clearIncomingPrintLog();
#endif

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#include <Arduino.h>
#include <FastAccelStepper.h>
class XYMotionPlanner {
public:
XYMotionPlanner(FastAccelStepper* stepperX, FastAccelStepper* stepperY);
// Basisparameter der "dominanten" Achse
void setBaseLimits(uint32_t maxSpeedHz, uint32_t maxAccelStepsPerS2);
// Minimale Werte vermeiden, dass eine kurze Achse mit 0 endet
void setMinimums(uint32_t minSpeedHz, uint32_t minAccelStepsPerS2);
// Aktuelle Positionen der Planner-Sicht setzen, z.B. nach Homing
void setCurrentPosition(int32_t x, int32_t y);
int32_t currentX() const;
int32_t currentY() const;
bool isRunning() const;
// Optional blockierend warten
void waitUntilFinished();
// Startet eine koordinierte lineare P2P-Bewegung
// Rückgabe false = nichts zu tun oder ungültig
bool moveTo(int32_t targetX, int32_t targetY);
// Convenience: relative Bewegung
bool moveBy(int32_t deltaX, int32_t deltaY);
// Muss regelmäßig aufgerufen werden, wenn du die Planner-Position
// nach abgeschlossener Bewegung sauber nachführen willst
void update();
private:
FastAccelStepper* m_x = nullptr;
FastAccelStepper* m_y = nullptr;
int32_t m_currentX = 0;
int32_t m_currentY = 0;
int32_t m_targetX = 0;
int32_t m_targetY = 0;
uint32_t m_baseSpeedHz = 2000;
uint32_t m_baseAccel = 4000;
uint32_t m_minSpeedHz = 1;
uint32_t m_minAccel = 1;
static uint32_t scaledValue(uint32_t base, float scale, uint32_t distance);
};

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# coding=utf-8
'''
ebb_serial.py
Serial connection utilities for EiBotBoard
https://github.com/evil-mad/plotink
Intended to provide some common interfaces that can be used by
EggBot, WaterColorBot, AxiDraw, and similar machines.
See below for version information
Thanks to Shel Michaels for bug fixes and helpful suggestions.
The MIT License (MIT)
Copyright (c) 2022 Windell H. Oskay, Evil Mad Scientist Laboratories
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
'''
import logging
from packaging.version import parse
from .plot_utils_import import from_dependency_import
inkex = from_dependency_import('ink_extensions.inkex')
serial = from_dependency_import('serial')
from serial.tools.list_ports import comports \
#pylint: disable=wrong-import-position, wrong-import-order
logger = logging.getLogger(__name__)
def version():
'''Version number for this document'''
return "0.19" # Dated 2022-10-05
def findPort():
'''
Find first available EiBotBoard by searching USB ports. Return serial port object.
'''
try:
com_ports_list = list(comports())
except TypeError:
return None
ebb_port = None
for port in com_ports_list:
if port[0].startswith("/dev/ttyUSB"):
ebb_port = port[0] # Success; EBB found by name match.
break # stop searching-- we are done.
for port in com_ports_list:
if port[1].startswith("EiBotBoard"):
ebb_port = port[0] # Success; EBB found by name match.
break # stop searching-- we are done.
if ebb_port is None:
for port in com_ports_list:
if port[2].startswith("USB VID:PID=04D8:FD92"):
ebb_port = port[0] # Success; EBB found by VID/PID match.
break # stop searching-- we are done.
return ebb_port
def find_named_ebb(port_name):
'''
Find a specific EiBotBoard identified by a string giving either:
The enumerated serial port, or
An EBB "Name tag"
Names should be 3-16 characters long. Comparisons are not case sensitive.
(Name tags may assigned with the ST command on firmware 2.5.5 and later.)
If found: Return serial port name (enumeration)
If not found, Return None
'''
if port_name is not None:
needle = 'SER=' + port_name # pyserial 3
needle2 = 'SNR=' + port_name # pyserial 2.7
needle3 = '(' + port_name + ')' # e.g., "(COM4)"
needle = needle.lower()
needle2 = needle2.lower()
needle3 = needle3.lower()
plower = port_name.lower()
try:
com_ports_list = list(comports())
except TypeError:
return None
for port in com_ports_list:
p_0 = port[0].lower()
p_1 = port[1].lower()
p_2 = port[2].lower()
if needle in p_2:
return port[0] # Success; EBB found by name match.
if needle2 in p_2:
return port[0] # Success; EBB found by name match.
if needle3 in p_1:
return port[0] # Success; EBB found by port match.
p_1 = p_1[11:]
if p_1.startswith(plower):
return port[0] # Success; EBB found by name match.
if p_0.startswith(plower):
return port[0] # Success; EBB found by port match.
needle.replace(" ", "_") # SN on Windows has underscores, not spaces.
if needle in p_2:
return port[0] # Success; EBB found by port match.
needle2.replace(" ", "_") # SN on Windows has underscores, not spaces.
if needle2 in p_2:
return port[0] # Success; EBB found by port match.
return None
def query_nickname(port_name, verbose=True):
'''
Query the EBB nickname and report it.
If verbose is True or omitted, the result will be human readable.
A short version is returned if verbose is False.
Requires firmware version 2.5.5 or newer. http://evil-mad.github.io/EggBot/ebb.html#QT
'''
if port_name is not None:
version_status = min_version(port_name, "2.5.5")
if version_status:
raw_string = (query(port_name, 'QT\r'))
if raw_string.isspace():
if verbose:
return "This AxiDraw does not have a nickname assigned."
return None
if verbose:
return "AxiDraw nickname: " + raw_string
return str(raw_string).strip()
if version_status is False:
if verbose:
return "AxiDraw naming requires firmware version 2.5.5 or higher."
return None
def write_nickname(port_name, nickname):
'''
Write the EBB nickname.
Requires firmware version 2.5.5 or newer. http://evil-mad.github.io/EggBot/ebb.html#ST
'''
if port_name is not None:
version_status = min_version(port_name, "2.5.5")
if version_status:
try:
cmd = 'ST,' + nickname + '\r'
command(port_name,cmd)
return True
except:
return False
return None
def reboot(port_name):
'''
Reboot the EBB, as though it were just powered on.
Requires firmware version 2.5.5 or newer. http://evil-mad.github.io/EggBot/ebb.html#RB
'''
if port_name is not None:
version_status = min_version(port_name, "2.5.5")
if version_status:
try:
command(port_name,'RB\r')
except:
pass
def list_port_info():
'''Find and return a list of all USB devices and their information.'''
try:
com_ports_list = list(comports())
except TypeError:
return None
port_info_list = []
for port in com_ports_list:
port_info_list.append(port[0]) # port name
port_info_list.append(port[1]) # Identifier
port_info_list.append(port[2]) # VID/PID
if port_info_list:
return port_info_list
return None
def listEBBports():
'''Find and return a list of all EiBotBoard units connected via USB port.'''
try:
com_ports_list = list(comports())
except TypeError:
return None
ebb_ports_list = []
for port in com_ports_list:
port_has_ebb = False
if port[0].startswith("/dev/ttyUSB"):
port_has_ebb = True
elif port[1].startswith("EiBotBoard"):
port_has_ebb = True
elif port[2].startswith("USB VID:PID=04D8:FD92"):
port_has_ebb = True
if port_has_ebb:
ebb_ports_list.append(port)
if ebb_ports_list:
return ebb_ports_list
return None
def list_named_ebbs():
'''Return descriptive list of all EiBotBoard units'''
ebb_ports_list = listEBBports()
if not ebb_ports_list:
return None
ebb_names_list = []
for port in ebb_ports_list:
name_found = False
p_0 = port[0]
p_1 = port[1]
p_2 = port[2]
if p_1.startswith("EiBotBoard"):
temp_string = p_1[11:]
if temp_string:
if temp_string is not None:
ebb_names_list.append(temp_string)
name_found = True
if not name_found:
# Look for "SER=XXXX LOCAT" pattern,
# typical of Pyserial 3 on Windows.
if 'SER=' in p_2 and ' LOCAT' in p_2:
index1 = p_2.find('SER=') + len('SER=')
index2 = p_2.find(' LOCAT', index1)
temp_string = p_2[index1:index2]
if len(temp_string) < 3:
temp_string = None
if temp_string is not None:
ebb_names_list.append(temp_string)
name_found = True
if not name_found:
# Look for "...SNR=XXXX" pattern,
# typical of Pyserial 2.7 on Windows
if 'SNR=' in p_2:
index1 = p_2.find('SNR=') + len('SNR=')
index2 = len(p_2)
temp_string = p_2[index1:index2]
if len(temp_string) < 3:
temp_string = None
if temp_string is not None:
ebb_names_list.append(temp_string)
name_found = True
if not name_found:
ebb_names_list.append(p_0)
return ebb_names_list
def testPort(port_name):
"""
Open a given serial port, verify that it is an EiBotBoard,
and return a SerialPort object that we can reference later.
This routine only opens the port; it will need to be closed as well,
for example with closePort( port_name ).
You, who open the port, are responsible for closing it as well.
"""
if port_name is not None:
try:
serial_port = serial.Serial(port_name, timeout=1.0, baudrate=115200) # 1 second timeout!
serial_port.flushInput() # deprecated function name;
# use serial_port.reset_input_buffer()
# if we can be sure that we have pySerial 3+.
serial_port.write('v\r'.encode('ascii'))
str_version = serial_port.readline()
if str_version and str_version.startswith("EBB".encode('ascii')):
return serial_port
serial_port.write('v\r'.encode('ascii'))
str_version = serial_port.readline()
if str_version and str_version.startswith("EBB".encode('ascii')):
return serial_port
serial_port.close()
except serial.SerialException as err:
logger.error("Error testing serial port `{}` connection".format(port_name))
logger.info("Error context:", exc_info=err)
return None
def openPort():
'''
Find and open a port to a single attached EiBotBoard.
The first port located will be used.
'''
found_port = findPort()
serial_port = testPort(found_port)
if serial_port:
return serial_port
return None
def open_named_port(port_name):
'''
Find and open a port to a single attached EiBotBoard, indicated by name.
The first port located will be used.
'''
found_port = find_named_ebb(port_name)
serial_port = testPort(found_port)
if serial_port:
return serial_port
return None
def closePort(port_name):
'''Close the given serial port.'''
if port_name is not None:
try:
port_name.close()
except serial.SerialException:
pass
def query(port_name, cmd, verbose=True):
'''General command to send a query to the EiBotBoard'''
if port_name is not None and cmd is not None:
response = ''
try:
port_name.write(cmd.encode('ascii'))
response = port_name.readline().decode('ascii')
n_retry_count = 0
while len(response) == 0 and n_retry_count < 100:
# get new response to replace null response if necessary
response = port_name.readline()
n_retry_count += 1
if cmd.split(",")[0].strip().lower() not in ["a", "i", "mr", "pi", "qm", "qg", "v"]:
# Most queries return an "OK" after the data requested.
# We skip this for those few queries that do not return an extra line.
unused_response = port_name.readline() # read in extra blank/OK line
n_retry_count = 0
while len(unused_response) == 0 and n_retry_count < 100:
# get new response to replace null response if necessary
unused_response = port_name.readline()
n_retry_count += 1
except (serial.SerialException, IOError, RuntimeError, OSError) as err:
if verbose:
logger.error("Error reading serial data")
else:
logger.info("Error reading serial data")
logger.info("Error context:", exc_info=err)
if 'Err:' in response:
error_msg = '\n'.join(('Unexpected response from EBB.',
' Command: {0}'.format(cmd.strip()),
' Response: {0}'.format(response.strip())))
if verbose:
logger.error(error_msg)
else:
logger.info(error_msg)
return response
return None
def command(port_name, cmd, verbose=True):
'''General command to send a command to the EiBotBoard'''
if port_name is not None and cmd is not None:
try:
port_name.write(cmd.encode('ascii'))
response = port_name.readline().decode('ascii')
n_retry_count = 0
while len(response) == 0 and n_retry_count < 100:
# get new response to replace null response if necessary
response = port_name.readline().decode('ascii')
n_retry_count += 1
if response.strip().startswith("OK"):
# Debug option: indicate which command:
# inkex.errormsg( 'OK after command: ' + cmd )
pass
else:
if response:
error_msg = '\n'.join(('Unexpected response from EBB.',
' Command: {0}'.format(cmd.strip()),
' Response: {0}'.format(response.strip())))
else:
error_msg = 'EBB Serial Timeout after command: {0}'.format(cmd)
if verbose:
logger.error(error_msg)
else:
logger.info(error_msg)
except (serial.SerialException, IOError, RuntimeError, OSError) as err:
if cmd.strip().lower() not in ["rb"]: # Ignore error on reboot (RB) command
if verbose:
logger.error('Failed after command: {0}'.format(cmd))
else:
logger.info('Failed after command: {0}'.format(cmd))
logger.info("Error context:", exc_info=err)
def bootload(port_name):
'''Enter bootloader mode. Do not try to read back data.'''
if port_name is not None:
try:
port_name.write('BL\r'.encode('ascii'))
return True
except:
return False
return None
def min_version(port_name, version_string):
'''
Query the EBB firmware version for the EBB located at port_name.
Return True if the EBB firmware version is at least version_string.
Return False if the EBB firmware version is below version_string.
Return None if we are unable to determine True or False.
'''
if port_name is not None:
ebb_version_string = queryVersion(port_name) # Full string, human readable
ebb_version_string = ebb_version_string.split("Firmware Version ", 1)
if len(ebb_version_string) > 1:
ebb_version_string = ebb_version_string[1]
else:
return None # We haven't received a reasonable version number response.
ebb_version_string = ebb_version_string.strip() # Stripped copy, for number comparisons
if parse(ebb_version_string) >= parse(version_string):
return True
return False
return None
def queryVersion(port_name):
'''Query EBB Version String'''
return query(port_name, 'V\r', True)

1181
inkscape/linux/patch/eggbot.py Executable file
View File

File diff suppressed because it is too large Load Diff

6
inkscape/linux/readme.md Normal file
View File

@@ -0,0 +1,6 @@
# Inkscape Plugin
This directory contains the plugin that fits to the EggBot firmware.
Use the ebb_serial.py file to patch the plugin so that all /dev/ttyUSBx devices can be used.
Currently only the first found tty USB device will be used.
If plugin doesn't work because of missing python dependencies, just install them with apt or similar system tool.

26
SerialCommand.cpp → lib/SerialCommand/src/SerialCommand.cpp
View File

@@ -30,6 +30,7 @@ SerialCommand::SerialCommand()
: commandList(NULL),
commandCount(0),
defaultHandler(NULL),
lineHandler(NULL),
term('\r'), // default terminator for commands, newline character
last(NULL)
{
@@ -64,6 +65,10 @@ void SerialCommand::setDefaultHandler(void (*function)(const char *)) {
defaultHandler = function;
}
void SerialCommand::setLineHandler(LineHandler function) {
lineHandler = function;
}
/**
* This checks the Serial stream for characters, and assembles them into a buffer.
@@ -71,8 +76,17 @@ void SerialCommand::setDefaultHandler(void (*function)(const char *)) {
* buffer for a prefix command, and calls handlers setup by addCommand() member
*/
void SerialCommand::readSerial() {
while (Serial.available() > 0) {
char inChar = Serial.read(); // Read single available character, there may be more waiting
readSerial(Serial);
}
void SerialCommand::readSerial(Stream &stream) {
while (stream.available() > 0) {
char inChar = stream.read(); // Read single available character, there may be more waiting
readChar(inChar);
}
}
void SerialCommand::readChar(char inChar) {
#ifdef SERIALCOMMAND_DEBUG
Serial.print(inChar); // Echo back to serial stream
#endif
@@ -83,6 +97,10 @@ void SerialCommand::readSerial() {
Serial.println(buffer);
#endif
if ((lineHandler != NULL) && (bufPos > 0)) {
(*lineHandler)(buffer);
}
char *command = strtok_r(buffer, delim, &last); // Search for command at start of buffer
if (command != NULL) {
boolean matched = false;
@@ -113,8 +131,7 @@ void SerialCommand::readSerial() {
}
}
clearBuffer();
}
else if (isprint(inChar)) { // Only printable characters into the buffer
} else if (isprint(inChar)) { // Only printable characters into the buffer
if (bufPos < SERIALCOMMAND_BUFFER) {
buffer[bufPos++] = inChar; // Put character into buffer
buffer[bufPos] = '\0'; // Null terminate
@@ -124,7 +141,6 @@ void SerialCommand::readSerial() {
#endif
}
}
}
}
/*

6
SerialCommand.h → lib/SerialCommand/src/SerialCommand.h
View File

@@ -44,11 +44,16 @@
class SerialCommand {
public:
typedef void (*LineHandler)(const char *);
SerialCommand(); // Constructor
void addCommand(const char *command, void(*function)()); // Add a command to the processing dictionary.
void setDefaultHandler(void (*function)(const char *)); // A handler to call when no valid command received.
void setLineHandler(LineHandler function); // Optional handler called with each completed input line.
void readSerial(); // Main entry point.
void readSerial(Stream &stream); // Reads commands from any Stream-compatible transport.
void readChar(char inChar); // Feeds one incoming character into the parser.
void clearBuffer(); // Clears the input buffer.
char *next(); // Returns pointer to next token found in command buffer (for getting arguments to commands).
@@ -63,6 +68,7 @@ class SerialCommand {
// Pointer to the default handler function
void (*defaultHandler)(const char *);
LineHandler lineHandler;
char delim[2]; // null-terminated list of character to be used as delimeters for tokenizing (default " ")
char term; // Character that signals end of command (default '\n')

41
platformio.ini Normal file
View File

@@ -0,0 +1,41 @@
; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:uno]
platform = platformio/espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
upload_speed = 576000
upload_port = /dev/ttyUSB*
extra_scripts = post:scripts/package_firmware.py
lib_deps =
arminjo/ServoEasing
madhephaestus/ESP32Servo@^3.0.6
bblanchon/ArduinoJson@^6.21.5
gin66/FastAccelStepper@^0.33.13
h2zero/NimBLE-Arduino@^2.3.6
links2004/WebSockets@^2.6.1
[env:uno_macos]
platform = platformio/espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
monitor_port = /dev/cu.usb*
upload_port = /dev/cu.usb*
extra_scripts = post:scripts/package_firmware.py
lib_deps =
arminjo/ServoEasing
madhephaestus/ESP32Servo@^3.0.6
bblanchon/ArduinoJson@^6.21.5
gin66/FastAccelStepper@^0.33.13
h2zero/NimBLE-Arduino@^2.3.6
links2004/WebSockets@^2.6.1

12
scripts/check_config_web_stack_usage.sh Executable file
View File

@@ -0,0 +1,12 @@
#!/usr/bin/env bash
set -euo pipefail
cd "$(dirname "$0")/.."
if rg -n '^[[:space:]]+StaticJsonDocument<kConfigJsonCapacity>[[:space:]]+[A-Za-z_][A-Za-z0-9_]*;' src/Config_Web.cpp; then
echo "Config_Web.cpp still allocates kConfigJsonCapacity-sized StaticJsonDocument on the stack" >&2
exit 1
fi
echo "Config_Web.cpp avoids stack-local kConfigJsonCapacity StaticJsonDocument allocations"

101
scripts/package_firmware.py Normal file
View File

@@ -0,0 +1,101 @@
#!/usr/bin/env python3
import json
import re
import shutil
from pathlib import Path
BUILD_ARTIFACTS = (
"bootloader.bin",
"partitions.bin",
"firmware.bin",
"firmware.elf",
"firmware.map",
)
MANIFEST_PARTS = (
{"path": "bootloader.bin", "offset": 4096},
{"path": "partitions.bin", "offset": 32768},
{"path": "boot_app0.bin", "offset": 57344},
{"path": "firmware.bin", "offset": 65536},
)
VERSION_PATTERN = re.compile(r'Eggduino-Firmware V([^"\\]+)')
def extract_firmware_version(header_text: str) -> str:
match = VERSION_PATTERN.search(header_text)
if not match:
raise ValueError("Could not extract firmware version from include/EggDuino.h")
return match.group(1).strip()
def build_manifest(version: str) -> dict:
return {
"name": "EggDuino ESP32 Firmware",
"version": version,
"new_install_prompt_erase": True,
"builds": [
{
"chipFamily": "ESP32",
"parts": list(MANIFEST_PARTS),
}
],
}
def package_bundle(build_dir: Path, boot_app0_path: Path, header_path: Path, output_dir: Path) -> None:
build_dir = Path(build_dir)
boot_app0_path = Path(boot_app0_path)
header_path = Path(header_path)
output_dir = Path(output_dir)
if output_dir.exists():
shutil.rmtree(output_dir)
output_dir.mkdir(parents=True, exist_ok=True)
for artifact_name in BUILD_ARTIFACTS:
artifact_path = build_dir / artifact_name
if not artifact_path.is_file():
raise FileNotFoundError(f"Missing build artifact: {artifact_path}")
shutil.copy2(artifact_path, output_dir / artifact_name)
if not boot_app0_path.is_file():
raise FileNotFoundError(f"Missing boot_app0.bin: {boot_app0_path}")
shutil.copy2(boot_app0_path, output_dir / "boot_app0.bin")
version = extract_firmware_version(header_path.read_text(encoding="utf-8"))
manifest_path = output_dir / "manifest.json"
manifest_path.write_text(
json.dumps(build_manifest(version), indent=4) + "\n",
encoding="utf-8",
)
def _get_boot_app0_path(env) -> Path:
framework_dir = env.PioPlatform().get_package_dir("framework-arduinoespressif32")
if not framework_dir:
raise FileNotFoundError("PlatformIO framework-arduinoespressif32 package is not installed")
boot_app0_path = Path(framework_dir) / "tools" / "partitions" / "boot_app0.bin"
if not boot_app0_path.is_file():
raise FileNotFoundError(f"Could not find boot_app0.bin in {boot_app0_path.parent}")
return boot_app0_path
def _package_platformio_bundle(target, source, env) -> None:
del target, source
project_dir = Path(env.subst("$PROJECT_DIR"))
package_bundle(
build_dir=Path(env.subst("$BUILD_DIR")),
boot_app0_path=_get_boot_app0_path(env),
header_path=project_dir / "include" / "EggDuino.h",
output_dir=project_dir / "firmware",
)
print(f"Packaged firmware bundle to {project_dir / 'firmware'}")
if "Import" in globals():
Import("env")
env.AddPostAction("$BUILD_DIR/${PROGNAME}.bin", _package_platformio_bundle)

231
src/BLE_Interface.cpp Normal file
View File

@@ -0,0 +1,231 @@
#include "EggDuino.h"
#ifdef ESP32
#include <NimBLEDevice.h>
#include <string.h>
namespace
{
constexpr char kBleDeviceNamePrefix[] = "EggBot_";
constexpr char kBleServiceUuid[] = "6e400001-b5a3-f393-e0a9-e50e24dcca9e";
constexpr char kBleRxCharUuid[] = "6e400002-b5a3-f393-e0a9-e50e24dcca9e";
constexpr char kBleTxCharUuid[] = "6e400003-b5a3-f393-e0a9-e50e24dcca9e";
constexpr size_t kBleRxQueueSize = 512;
constexpr size_t kBleNotifyChunkSize = 20;
NimBLEServer *g_pBleServer = NULL;
NimBLECharacteristic *g_pBleTxCharacteristic = NULL;
uint8_t g_bleRxQueue[kBleRxQueueSize];
size_t g_bleRxHead = 0;
size_t g_bleRxTail = 0;
bool g_bleRxQueueOverflow = false;
bool g_bleClientConnected = false;
portMUX_TYPE g_bleQueueMux = portMUX_INITIALIZER_UNLOCKED;
void logBleDiag(const String &message)
{
Log(message);
}
bool queueBleByte(uint8_t value)
{
bool queued = false;
portENTER_CRITICAL(&g_bleQueueMux);
const size_t nextHead = (g_bleRxHead + 1) % kBleRxQueueSize;
if (nextHead == g_bleRxTail)
{
g_bleRxQueueOverflow = true;
}
else
{
g_bleRxQueue[g_bleRxHead] = value;
g_bleRxHead = nextHead;
queued = true;
}
portEXIT_CRITICAL(&g_bleQueueMux);
return queued;
}
bool dequeueBleByte(uint8_t *value)
{
bool hasData = false;
portENTER_CRITICAL(&g_bleQueueMux);
if (g_bleRxHead != g_bleRxTail)
{
*value = g_bleRxQueue[g_bleRxTail];
g_bleRxTail = (g_bleRxTail + 1) % kBleRxQueueSize;
hasData = true;
}
portEXIT_CRITICAL(&g_bleQueueMux);
return hasData;
}
class EggDuinoBleServerCallbacks : public NimBLEServerCallbacks
{
void onConnect(NimBLEServer *pServer, NimBLEConnInfo &connInfo)
{
(void)pServer;
(void)connInfo;
g_bleClientConnected = true;
Log("BLE client connected");
}
void onDisconnect(NimBLEServer *pServer, NimBLEConnInfo &connInfo, int reason)
{
(void)connInfo;
(void)reason;
g_bleClientConnected = false;
const bool restartedAdvertising = pServer->startAdvertising();
logBleDiag(String("BLE client disconnected; advertising restart: ") + (restartedAdvertising ? "ok" : "failed"));
}
};
class EggDuinoBleRxCallbacks : public NimBLECharacteristicCallbacks
{
void onWrite(NimBLECharacteristic *pCharacteristic, NimBLEConnInfo &connInfo)
{
(void)connInfo;
const std::string value = pCharacteristic->getValue();
for (size_t i = 0; i < value.size(); ++i)
{
queueBleByte(static_cast<uint8_t>(value[i]));
}
}
};
} // namespace
void startBleInterface()
{
char bleDeviceName[32] = {0};
buildDeviceName(bleDeviceName, sizeof(bleDeviceName));
if (bleDeviceName[0] == '\0')
{
snprintf(bleDeviceName, sizeof(bleDeviceName), "%sUNKNOWN", kBleDeviceNamePrefix);
}
logBleDiag("BLE init begin");
logBleDiag(String("BLE device name: ") + bleDeviceName);
logBleDiag(String("BLE service UUID: ") + kBleServiceUuid);
logBleDiag(String("BLE RX UUID: ") + kBleRxCharUuid);
logBleDiag(String("BLE TX UUID: ") + kBleTxCharUuid);
NimBLEDevice::init(bleDeviceName);
const bool blePowerSet = NimBLEDevice::setPower(ESP_PWR_LVL_P6);
const std::string bleAddress = NimBLEDevice::getAddress().toString();
logBleDiag(String("BLE radio address: ") + bleAddress.c_str());
logBleDiag(String("BLE TX power set: ") + (blePowerSet ? "ok" : "failed"));
g_pBleServer = NimBLEDevice::createServer();
if (g_pBleServer == NULL)
{
logBleDiag("BLE init failed: createServer returned null");
return;
}
g_pBleServer->setCallbacks(new EggDuinoBleServerCallbacks());
logBleDiag("BLE server created");
NimBLEService *pService = g_pBleServer->createService(kBleServiceUuid);
if (pService == NULL)
{
logBleDiag("BLE init failed: createService returned null");
return;
}
g_pBleTxCharacteristic = pService->createCharacteristic(
kBleTxCharUuid,
NIMBLE_PROPERTY::NOTIFY | NIMBLE_PROPERTY::READ);
if (g_pBleTxCharacteristic == NULL)
{
logBleDiag("BLE init failed: TX characteristic creation failed");
return;
}
NimBLECharacteristic *pRxCharacteristic = pService->createCharacteristic(
kBleRxCharUuid,
NIMBLE_PROPERTY::WRITE | NIMBLE_PROPERTY::WRITE_NR);
if (pRxCharacteristic == NULL)
{
logBleDiag("BLE init failed: RX characteristic creation failed");
return;
}
pRxCharacteristic->setCallbacks(new EggDuinoBleRxCallbacks());
logBleDiag("BLE characteristics created");
const bool serviceStarted = pService->start();
logBleDiag(String("BLE service start: ") + (serviceStarted ? "ok" : "failed"));
if (!serviceStarted)
{
return;
}
NimBLEAdvertising *pAdvertising = NimBLEDevice::getAdvertising();
if (pAdvertising == NULL)
{
logBleDiag("BLE init failed: getAdvertising returned null");
return;
}
pAdvertising->enableScanResponse(true);
const bool localNameSet = pAdvertising->setName(bleDeviceName);
const bool serviceUuidAdded = pAdvertising->addServiceUUID(kBleServiceUuid);
const bool advertisingStarted = pAdvertising->start();
logBleDiag(String("BLE advertising set local name: ") + (localNameSet ? "ok" : "failed"));
logBleDiag(String("BLE advertising add service UUID: ") + (serviceUuidAdded ? "ok" : "failed"));
logBleDiag(String("BLE advertising start: ") + (advertisingStarted ? "ok" : "failed"));
if (serviceUuidAdded && advertisingStarted)
{
logBleDiag("BLE service started");
}
}
void handleBleInterface()
{
if (g_bleRxQueueOverflow)
{
g_bleRxQueueOverflow = false;
Log("BLE RX queue overflow");
}
uint8_t value = 0;
while (dequeueBleByte(&value))
{
setActiveProtocolContext(&g_BLECmd, PROTOCOL_TRANSPORT_BLE);
g_BLECmd.readChar(static_cast<char>(value));
}
}
bool bleProtocolWrite(const char *message)
{
if ((message == NULL) || !g_bleClientConnected || (g_pBleTxCharacteristic == NULL))
{
return false;
}
const uint8_t *payload = reinterpret_cast<const uint8_t *>(message);
size_t remaining = strlen(message);
if (remaining == 0)
{
return true;
}
while (remaining > 0)
{
size_t chunkLen = remaining;
if (chunkLen > kBleNotifyChunkSize)
{
chunkLen = kBleNotifyChunkSize;
}
g_pBleTxCharacteristic->setValue(payload, chunkLen);
g_pBleTxCharacteristic->notify();
payload += chunkLen;
remaining -= chunkLen;
delay(3);
}
return true;
}
#endif

655
src/Config_Web.cpp Normal file
View File

@@ -0,0 +1,655 @@
#include "EggDuino.h"
#include <ArduinoJson.h>
#include <DNSServer.h>
#include <string.h>
namespace
{
const char *kConfigPath = "/config.json";
const size_t kConfigJsonCapacity = 4096;
const byte kDnsPort = 53;
const unsigned long kWifiReconnectIntervalMs = 10000;
using ConfigJsonDocument = StaticJsonDocument<kConfigJsonCapacity>;
WebServer server(80);
DNSServer dnsServer;
bool configStoreReady = false;
bool apModeActive = false;
bool staReconnectEnabled = false;
bool staConnectionKnown = false;
unsigned long lastStaReconnectAttemptMs = 0;
ConfigJsonDocument g_configJsonScratch;
ConfigJsonDocument &configJsonScratch()
{
// Keep the large config JSON buffer off ESP32 Arduino's 8 KB loopTask stack.
g_configJsonScratch.clear();
return g_configJsonScratch;
}
void redirectToRoot()
{
server.sendHeader("Location", String("http://") + WiFi.softAPIP().toString() + "/", true);
server.send(302, "text/plain", "");
}
bool isIntType(const ConfigParameter &param)
{
return strcmp(param.type, "int") == 0;
}
int *asIntPtr(ConfigParameter &param)
{
return static_cast<int *>(param.value);
}
String *asStringPtr(ConfigParameter &param)
{
return static_cast<String *>(param.value);
}
ConfigParameter *findParameter(const String &key)
{
for (size_t i = 0; i < configParameterCount; ++i)
{
if (key.equals(configParameters[i].key))
{
return &configParameters[i];
}
}
return nullptr;
}
void applyDefaults()
{
for (size_t i = 0; i < configParameterCount; ++i)
{
if (isIntType(configParameters[i]))
{
*asIntPtr(configParameters[i]) = configParameters[i].defaultValue;
}
else
{
const char *fallback = configParameters[i].defaultText == nullptr ? "" : configParameters[i].defaultText;
*asStringPtr(configParameters[i]) = String(fallback);
}
}
}
void handleRoot()
{
static const char kPage[] PROGMEM = R"HTML(
<!doctype html>
<html lang="de">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>EggDuino Konfiguration</title>
<style>
body { font-family: "Segoe UI", sans-serif; margin: 20px; background: #f3f6fb; color: #1a1a1a; }
main { max-width: 760px; margin: 0 auto; background: #fff; border-radius: 12px; padding: 20px; box-shadow: 0 8px 24px rgba(0,0,0,0.08); }
h1 { margin-top: 0; font-size: 1.35rem; }
label { display: block; margin: 14px 0 6px; font-weight: 600; }
input[type='number'], input[type='text'], input[type='password'] { width: 100%; padding: 10px; border: 1px solid #c7d2e5; border-radius: 8px; box-sizing: border-box; }
button { margin-top: 18px; border: 0; background: #0b5ed7; color: white; padding: 10px 14px; border-radius: 8px; cursor: pointer; }
#status { margin-top: 12px; min-height: 1.2em; }
#log { margin-top: 20px; border: 1px solid #d6dfef; border-radius: 8px; background: #0f172a; color: #d2e3ff; padding: 10px; height: 220px; overflow-y: auto; white-space: pre-wrap; font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, monospace; font-size: 0.9rem; }
#logTitle { margin-top: 24px; margin-bottom: 8px; font-weight: 700; }
#downloadPrintLog { display: inline-block; margin-top: 8px; color: #0b5ed7; text-decoration: none; font-weight: 600; }
</style>
</head>
<body>
<main>
<h1>EggDuino Parameter</h1>
<form id="cfgForm"></form>
<button id="saveBtn" type="button">Speichern</button>
<div id="status"></div>
<div id="logTitle">Logs</div>
<a id="downloadPrintLog" href="/api/print-log.txt" download="incoming-print-log.txt">Incoming print log herunterladen</a>
<div id="log"></div>
</main>
<script>
let lastSeq = 0;
async function loadConfig() {
const resp = await fetch('/api/config', { cache: 'no-store' });
if (!resp.ok) throw new Error('Konfiguration konnte nicht geladen werden');
return resp.json();
}
function renderForm(config) {
const form = document.getElementById('cfgForm');
form.innerHTML = '';
(config.parameters || []).forEach(p => {
const label = document.createElement('label');
label.textContent = p.description || p.key;
const input = document.createElement('input');
const paramType = p.type || 'int';
input.type = paramType === 'int' ? 'number' : paramType;
if (paramType === 'password') {
input.value = '';
if (p.hasValue) {
input.placeholder = '(gespeichert)';
}
} else {
input.value = p.value ?? '';
}
input.dataset.key = p.key;
input.dataset.ptype = paramType;
input.dataset.secret = p.secret ? '1' : '0';
input.dataset.touched = '0';
input.addEventListener('input', () => {
input.dataset.touched = '1';
});
form.appendChild(label);
form.appendChild(input);
});
}
async function saveConfig() {
const status = document.getElementById('status');
const inputs = [...document.querySelectorAll('input[data-key]')];
const payload = {
parameters: inputs
.map(i => {
const type = i.dataset.ptype || 'int';
const secret = i.dataset.secret === '1';
if (type === 'int') {
return { key: i.dataset.key, value: Number(i.value) };
}
if (secret && i.dataset.touched !== '1') {
return null;
}
return { key: i.dataset.key, value: i.value };
})
.filter(Boolean)
};
const resp = await fetch('/api/config', {
method: 'POST',
headers: { 'Content-Type': 'application/json' },
body: JSON.stringify(payload)
});
if (!resp.ok) {
const text = await resp.text();
throw new Error(text || 'Speichern fehlgeschlagen');
}
const saved = await resp.json();
renderForm(saved);
status.textContent = 'Gespeichert';
}
async function pollLogs() {
const box = document.getElementById('log');
const resp = await fetch('/api/logs?since=' + lastSeq);
if (!resp.ok) {
return;
}
const payload = await resp.json();
(payload.logs || []).forEach(entry => {
box.textContent += entry.text + '\n';
});
if (typeof payload.lastSeq === 'number') {
lastSeq = payload.lastSeq;
}
box.scrollTop = box.scrollHeight;
}
(async function init() {
const status = document.getElementById('status');
try {
const cfg = await loadConfig();
renderForm(cfg);
status.textContent = 'Bereit';
} catch (e) {
status.textContent = e.message;
}
document.getElementById('saveBtn').addEventListener('click', async () => {
try {
await saveConfig();
} catch (e) {
status.textContent = e.message;
}
});
pollLogs();
setInterval(pollLogs, 800);
})();
</script>
</body>
</html>
)HTML";
server.send(200, "text/html", kPage);
}
void handleGetConfig()
{
if (!configStoreReady && !initConfigStore())
{
server.send(500, "text/plain", "Config storage not available");
return;
}
server.sendHeader("Cache-Control", "no-store, no-cache, must-revalidate");
server.sendHeader("Pragma", "no-cache");
server.sendHeader("Expires", "0");
server.send(200, "application/json", buildConfigJson());
}
void handlePostConfig()
{
if (!configStoreReady && !initConfigStore())
{
server.send(500, "text/plain", "Config storage not available");
return;
}
if (!server.hasArg("plain"))
{
server.send(400, "text/plain", "Missing JSON body");
return;
}
String error;
if (!applyConfigJson(server.arg("plain"), error))
{
Log(String("Config JSON fehlerhaft: ") + error);
server.send(400, "text/plain", error);
return;
}
if (!saveConfigToFile())
{
Log("Config konnte nicht gespeichert werden");
server.send(500, "text/plain", "Could not save config");
return;
}
server.send(200, "application/json", buildConfigJson());
}
void handleGetLogs()
{
uint32_t since = 0;
if (server.hasArg("since"))
{
since = static_cast<uint32_t>(server.arg("since").toInt());
}
server.send(200, "application/json", buildLogsJson(since));
}
void handleDownloadPrintLog()
{
server.sendHeader("Cache-Control", "no-store, no-cache, must-revalidate");
server.sendHeader("Pragma", "no-cache");
server.sendHeader("Expires", "0");
server.sendHeader("Content-Disposition", "attachment; filename=\"incoming-print-log.txt\"");
server.send(200, "text/plain; charset=utf-8", buildIncomingPrintLogText());
}
void handleNotFound()
{
if (apModeActive)
{
redirectToRoot();
return;
}
if (server.uri().startsWith("/api/"))
{
server.send(404, "text/plain", "API endpoint not found");
return;
}
handleRoot();
}
void handleWifiReconnect()
{
if (!staReconnectEnabled || apModeActive)
{
return;
}
const wl_status_t wifiStatus = WiFi.status();
if (wifiStatus == WL_CONNECTED)
{
if (!staConnectionKnown)
{
staConnectionKnown = true;
Log(String("WLAN verbunden: ") + WiFi.localIP().toString());
}
return;
}
if (staConnectionKnown)
{
staConnectionKnown = false;
Log("WLAN Verbindung verloren");
}
const unsigned long now = millis();
if (now - lastStaReconnectAttemptMs < kWifiReconnectIntervalMs)
{
return;
}
lastStaReconnectAttemptMs = now;
if (!WiFi.reconnect())
{
WiFi.begin(g_sWifiSsid.c_str(), g_sWifiPassword.c_str());
}
Log("WLAN Reconnect versucht");
}
} // namespace
ConfigParameter configParameters[] = {
{"int", "penUpPos", &g_iPenUpPos, "Pen Up Position", 40, "", false},
{"int", "penDownPos", &g_iPenDownPos, "Pen Down Position", 10, "", false},
{"int", "rotStepPin", &g_iRotStepPin, "Rotational Stepper Step Pin", kDefaultRotStepPin, "", false},
{"int", "rotDirPin", &g_iRotDirPin, "Rotational Stepper Direction Pin", kDefaultRotDirPin, "", false},
{"int", "rotEnablePin", &g_iRotEnablePin, "Rotational Stepper Enable Pin", kDefaultRotEnablePin, "", false},
{"int", "penStepPin", &g_iPenStepPin, "Pen Stepper Step Pin", kDefaultPenStepPin, "", false},
{"int", "penDirPin", &g_iPenDirPin, "Pen Stepper Direction Pin", kDefaultPenDirPin, "", false},
{"int", "penEnablePin", &g_iPenEnablePin, "Pen Stepper Enable Pin", kDefaultPenEnablePin, "", false},
{"int", "rotMicrostep", &g_iRotMicrostep, "Rotational Stepper Microsteps", kDefaultRotMicrostep, "", false},
{"int", "penMicrostep", &g_iPenMicrostep, "Pen Stepper Microsteps", kDefaultPenMicrostep, "", false},
{"int", "iMaxAcclSpeed", &g_iMaxAcclSpeed, "max. Stepper acceleration speed", 10000, "", false},
{"int", "servoPin", &g_iServoPin, "Servo Pin", kDefaultServoPin, "", false},
{"text", "Name", &g_sHostname, "Name", 0, "EggDuino", false},
{"text", "wifiSsid", &g_sWifiSsid, "WLAN SSID", 0, "", false},
{"password", "wifiPassword", &g_sWifiPassword, "WLAN Passwort", 0, "", true},
};
const size_t configParameterCount = sizeof(configParameters) / sizeof(configParameters[0]);
bool initConfigStore()
{
if (!SPIFFS.begin(true))
{
configStoreReady = false;
return false;
}
configStoreReady = loadConfigFromFile();
return configStoreReady;
}
bool loadConfigFromFile()
{
applyDefaults();
File file = SPIFFS.open(kConfigPath, "r");
if (!file)
{
Log("config.json fehlt, defaults werden gespeichert");
return saveConfigToFile();
}
ConfigJsonDocument &doc = configJsonScratch();
DeserializationError err = deserializeJson(doc, file);
file.close();
if (err)
{
Log(String("config.json ist ungueltig (") + err.c_str() + "), defaults werden gespeichert");
return saveConfigToFile();
}
JsonArray params = doc["parameters"].as<JsonArray>();
for (JsonObject item : params)
{
const char *key = item["key"];
if (key == nullptr)
{
continue;
}
ConfigParameter *param = findParameter(String(key));
if (param == nullptr)
{
continue;
}
if (item.containsKey("value"))
{
if (isIntType(*param))
{
*asIntPtr(*param) = item["value"].as<int>();
}
else
{
*asStringPtr(*param) = item["value"].as<String>();
}
}
if (item.containsKey("description"))
{
param->description = item["description"].as<String>();
}
}
updateStepCorrectionFactors();
Log(String("Config geladen: penUpPos=") + g_iPenUpPos + ", penDownPos=" + g_iPenDownPos);
return true;
}
bool saveConfigToFile()
{
File file = SPIFFS.open(kConfigPath, "w");
if (!file)
{
Log("SPIFFS open write failed");
return false;
}
ConfigJsonDocument &doc = configJsonScratch();
JsonArray params = doc.createNestedArray("parameters");
for (size_t i = 0; i < configParameterCount; ++i)
{
JsonObject item = params.createNestedObject();
item["key"] = configParameters[i].key;
item["type"] = configParameters[i].type;
item["secret"] = configParameters[i].secret;
if (isIntType(configParameters[i]))
{
item["value"] = *asIntPtr(configParameters[i]);
}
else
{
item["value"] = *asStringPtr(configParameters[i]);
}
item["description"] = configParameters[i].description;
}
if (doc.overflowed())
{
Log("Config JSON Dokument zu klein beim Speichern");
file.close();
return false;
}
bool ok = serializeJsonPretty(doc, file) > 0;
file.flush();
file.close();
if (!ok)
{
Log("serializeJsonPretty failed");
}
return ok;
}
String buildConfigJson()
{
ConfigJsonDocument &doc = configJsonScratch();
JsonArray params = doc.createNestedArray("parameters");
for (size_t i = 0; i < configParameterCount; ++i)
{
JsonObject item = params.createNestedObject();
item["key"] = configParameters[i].key;
item["type"] = configParameters[i].type;
item["secret"] = configParameters[i].secret;
if (isIntType(configParameters[i]))
{
item["value"] = *asIntPtr(configParameters[i]);
}
else if (configParameters[i].secret)
{
item["value"] = "";
item["hasValue"] = !asStringPtr(configParameters[i])->isEmpty();
}
else
{
item["value"] = *asStringPtr(configParameters[i]);
}
item["description"] = configParameters[i].description;
}
if (doc.overflowed())
{
Log("Config JSON Dokument zu klein beim Lesen");
return String("{\"parameters\":[]}");
}
String output;
serializeJson(doc, output);
return output;
}
bool applyConfigJson(const String &payload, String &errorMessage)
{
ConfigJsonDocument &doc = configJsonScratch();
DeserializationError err = deserializeJson(doc, payload);
if (err)
{
errorMessage = "Invalid JSON payload";
return false;
}
JsonArray params = doc["parameters"].as<JsonArray>();
if (params.isNull())
{
errorMessage = "JSON must contain 'parameters' array";
return false;
}
for (JsonObject item : params)
{
const char *key = item["key"];
if (key == nullptr)
{
continue;
}
ConfigParameter *param = findParameter(String(key));
if (param == nullptr)
{
continue;
}
if (!item.containsKey("value"))
{
continue;
}
if (isIntType(*param))
{
*asIntPtr(*param) = item["value"].as<int>();
}
else
{
*asStringPtr(*param) = item["value"].as<String>();
}
if (item.containsKey("description"))
{
param->description = item["description"].as<String>();
}
}
updateStepCorrectionFactors();
return true;
}
void startWebInterface()
{
initConfigStore();
bool staConnected = false;
apModeActive = false;
staReconnectEnabled = !g_sWifiSsid.isEmpty();
staConnectionKnown = false;
lastStaReconnectAttemptMs = millis();
dnsServer.stop();
char deviceName[32] = {0};
buildDeviceName(deviceName, sizeof(deviceName));
String hostName = String(deviceName);
if (hostName.isEmpty())
{
hostName = "EggBot_UNKNOWN";
}
g_sHostname = hostName;
if (!g_sWifiSsid.isEmpty())
{
WiFi.mode(WIFI_STA);
WiFi.setAutoReconnect(true);
WiFi.setHostname(hostName.c_str());
WiFi.begin(g_sWifiSsid.c_str(), g_sWifiPassword.c_str());
const unsigned long connectStart = millis();
const unsigned long connectTimeoutMs = 20000;
Serial.println(String("Trying to connect to Wifi: ") + g_sWifiSsid.c_str() + g_sWifiPassword.c_str());
while (WiFi.status() != WL_CONNECTED && millis() - connectStart < connectTimeoutMs)
{
delay(250);
}
staConnected = (WiFi.status() == WL_CONNECTED);
staConnectionKnown = staConnected;
if (staConnected)
{
Serial.println(String("Connected: http://") + WiFi.localIP().toString());
}
else
{
Serial.println("WLAN Verbindung fehlgeschlagen");
}
server.on("/", HTTP_GET, handleRoot);
server.on("/api/config", HTTP_GET, handleGetConfig);
server.on("/api/config", HTTP_POST, handlePostConfig);
server.on("/api/logs", HTTP_GET, handleGetLogs);
server.on("/api/print-log.txt", HTTP_GET, handleDownloadPrintLog);
server.onNotFound(handleNotFound);
server.begin();
startWifiProtocolInterface();
}
if (!staConnected)
{
WiFi.mode(WIFI_AP);
#ifdef ESP32
WiFi.softAPsetHostname(hostName.c_str());
#endif
if (WiFi.softAP(hostName.c_str()))
{
apModeActive = true;
dnsServer.start(kDnsPort, "*", WiFi.softAPIP());
Serial.println(String("AP aktiv: ") + hostName + " / http://" + WiFi.softAPIP().toString() + " (Name: " + hostName + ")");
}
else
{
Serial.println("AP konnte nicht gestartet werden");
}
}
server.on("/", HTTP_GET, handleRoot);
server.on("/api/config", HTTP_GET, handleGetConfig);
server.on("/api/config", HTTP_POST, handlePostConfig);
server.on("/api/logs", HTTP_GET, handleGetLogs);
server.on("/api/print-log.txt", HTTP_GET, handleDownloadPrintLog);
server.on("/generate_204", HTTP_GET, redirectToRoot);
server.on("/gen_204", HTTP_GET, redirectToRoot);
server.on("/hotspot-detect.html", HTTP_GET, redirectToRoot);
server.on("/connecttest.txt", HTTP_GET, redirectToRoot);
server.on("/ncsi.txt", HTTP_GET, redirectToRoot);
server.on("/fwlink", HTTP_GET, redirectToRoot);
server.onNotFound(handleNotFound);
server.begin();
}
void handleWebInterface()
{
handleWifiReconnect();
if (apModeActive)
{
dnsServer.processNextRequest();
}
server.handleClient();
}

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src/Functions.cpp Normal file
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#include "EggDuino.h"
namespace
{
bool g_bPrintSessionActive = false;
void captureSerialProtocolLine(const char *line)
{
captureIncomingPrintLine(line, PROTOCOL_TRANSPORT_SERIAL);
}
#ifdef ESP32
void captureBleProtocolLine(const char *line)
{
captureIncomingPrintLine(line, PROTOCOL_TRANSPORT_BLE);
}
void captureWifiProtocolLine(const char *line)
{
captureIncomingPrintLine(line, PROTOCOL_TRANSPORT_WIFI);
}
#endif
void startPrintSessionIfNeeded()
{
if (!g_bPrintSessionActive)
{
clearIncomingPrintLog();
g_bPrintSessionActive = true;
}
}
void stopPrintSession()
{
g_bPrintSessionActive = false;
}
}
void queryPen()
{
Log(__FUNCTION__);
char state;
if (g_iPenState == g_iPenUpPos)
state = '1';
else
state = '0';
protocolWrite(String(state) + "\r\n");
sendAck();
}
void queryButton()
{
protocolWrite(String(g_bPrgButtonState) + "\r\n");
sendAck();
g_bPrgButtonState = 0;
}
void queryLayer()
{
Log(__FUNCTION__);
protocolWrite(String(g_uiLayer) + "\r\n");
sendAck();
}
void setLayer()
{
Log(__FUNCTION__);
uint32_t value = 0;
char *arg1;
arg1 = nextCommandArg();
if (arg1 != NULL)
{
value = atoi(arg1);
g_uiLayer = value;
sendAck();
}
else
sendError();
}
void queryNodeCount()
{
protocolWrite(String(g_uiNodeCount) + "\r\n");
sendAck();
}
void setNodeCount()
{
Log(__FUNCTION__);
uint32_t value = 0;
char *arg1;
arg1 = nextCommandArg();
if (arg1 != NULL)
{
value = atoi(arg1);
g_uiNodeCount = value;
sendAck();
}
else
sendError();
}
void nodeCountIncrement()
{
g_uiNodeCount++;
sendAck();
}
void nodeCountDecrement()
{
g_uiNodeCount--;
sendAck();
}
void stepperMove()
{
Log(__FUNCTION__);
uint16_t duration = 0; // in ms
int penStepsEBB = 0; // Pen
int rotStepsEBB = 0; // Rot
if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB))
{
sendError();
return;
}
if ((penStepsEBB == 0) && (rotStepsEBB == 0))
{
// delay(duration);
sendAck();
return;
}
startPrintSessionIfNeeded();
prepareMove(duration, penStepsEBB, rotStepsEBB);
moveToDestination();
sendAck();
}
void setPen()
{
Log(__FUNCTION__);
int cmd;
int value;
char *arg;
char cstrMsg[20];
// moveToDestination();
arg = nextCommandArg();
if (arg != NULL)
{
cmd = atoi(arg);
switch (cmd)
{
case 0:
movePenServoTo(g_iPenUpPos);
break;
case 1:
movePenServoTo(g_iPenDownPos);
break;
default:
sendError();
}
}
char *val;
val = nextCommandArg();
if (val != NULL)
{
value = atoi(val);
sendAck();
// delay(value);
}
if (val == NULL && arg != NULL)
{
sendAck();
// delay(500);
}
// Serial.println("delay");
if (val == NULL && arg == NULL)
sendError();
}
void togglePen()
{
Log(__FUNCTION__);
char *arg;
arg = nextCommandArg();
doTogglePen();
sendAck();
}
void doTogglePen()
{
Log(__FUNCTION__);
if (g_iPenState == g_iPenUpPos)
{
movePenServoTo(g_iPenDownPos);
}
else
{
movePenServoTo(g_iPenUpPos);
}
}
void enableMotors()
{
Log(__FUNCTION__);
int cmd;
int value;
char *arg;
char *val;
arg = nextCommandArg();
if (arg != NULL)
cmd = atoi(arg);
val = nextCommandArg();
if (val != NULL)
value = atoi(val);
// values parsed
if ((arg != NULL) && (val == NULL))
{
switch (cmd)
{
case 0:
stopPrintSession();
motorsOff();
sendAck();
break;
case 1:
startPrintSessionIfNeeded();
motorsOn();
sendAck();
break;
default:
sendError();
}
}
// the following implementaion is a little bit cheated, because i did not know, how to implement different values for first and second argument.
if ((arg != NULL) && (val != NULL))
{
switch (value)
{
case 0:
stopPrintSession();
motorsOff();
sendAck();
break;
case 1:
startPrintSessionIfNeeded();
motorsOn();
sendAck();
break;
default:
sendError();
}
}
}
void stepperModeConfigure()
{
Log(__FUNCTION__);
int cmd;
int value;
int iTmpPenPos;
char *arg;
arg = nextCommandArg();
if (arg != NULL)
cmd = atoi(arg);
char *val;
val = nextCommandArg();
if (val != NULL)
value = atoi(val);
if ((arg != NULL) && (val != NULL))
{
switch (cmd)
{
case 4:
iTmpPenPos = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo
if (g_iPenDownPos != iTmpPenPos)
{
g_iPenDownPos = iTmpPenPos;
storePenDownPosInEE();
}
sendAck();
break;
case 5:
iTmpPenPos = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo
if (g_iPenUpPos != iTmpPenPos)
{
g_iPenUpPos = iTmpPenPos;
storePenUpPosInEE();
}
sendAck();
break;
case 6: // rotMin=value; ignored
sendAck();
break;
case 7: // rotMax=value; ignored
sendAck();
break;
case 11:
g_iServoRateUp = value;
sendAck();
break;
case 12:
g_iServoRateDown = value;
sendAck();
break;
default:
sendError();
}
}
}
void sendVersion()
{
Log(__FUNCTION__);
protocolWrite(initSting);
protocolWrite("\r\n");
}
void unrecognized(const char *command)
{
Log(__FUNCTION__);
sendError();
}
void ignore()
{
Log(__FUNCTION__);
sendAck();
}
void makeComInterface()
{
auto registerCommands = [](SerialCommand &cmd) {
cmd.addCommand("v", sendVersion);
cmd.addCommand("EM", enableMotors);
cmd.addCommand("SC", stepperModeConfigure);
cmd.addCommand("SP", setPen);
cmd.addCommand("SM", stepperMove);
cmd.addCommand("SE", ignore);
cmd.addCommand("TP", togglePen);
cmd.addCommand("PO", ignore); // Engraver command, not implemented, gives fake answer
cmd.addCommand("NI", nodeCountIncrement);
cmd.addCommand("ND", nodeCountDecrement);
cmd.addCommand("SN", setNodeCount);
cmd.addCommand("QN", queryNodeCount);
cmd.addCommand("SL", setLayer);
cmd.addCommand("QL", queryLayer);
cmd.addCommand("QP", queryPen);
cmd.addCommand("QB", queryButton); //"PRG" Button,
cmd.setDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
};
registerCommands(SCmd);
SCmd.setLineHandler(captureSerialProtocolLine);
#ifdef ESP32
registerCommands(g_BLECmd);
g_BLECmd.setLineHandler(captureBleProtocolLine);
registerCommands(g_WifiCmd);
g_WifiCmd.setLineHandler(captureWifiProtocolLine);
#endif
}

250
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#include "EggDuino.h"
#include "motion_planner.h"
namespace
{
#ifdef ESP32
constexpr char kDeviceNamePrefix[] = "EggBot_";
#endif
int clampServoAngle(int angle)
{
if (angle < 0)
{
return 0;
}
if (angle > 180)
{
return 180;
}
return angle;
}
uint_fast16_t servoSpeedFromRate(int rate)
{
// EBB rate values are implementation-specific. We map them to ServoEasing degrees/second.
// Higher rate means faster movement.
if (rate <= 0)
{
return 70;
}
int speed = 20 + (rate / 2);
if (speed < 10)
{
speed = 10;
}
if (speed > 360)
{
speed = 360;
}
return (uint_fast16_t)speed;
}
}
#ifdef ESP32
void buildDeviceName(char *nameBuffer, size_t bufferSize)
{
if ((nameBuffer == NULL) || (bufferSize == 0))
{
return;
}
// Tasmota-style chip ID uses the lower 24 bits of the ESP32 efuse MAC.
const uint32_t chipId = static_cast<uint32_t>(ESP.getEfuseMac() & 0xFFFFFFULL);
snprintf(nameBuffer, bufferSize, "%s%06X", kDeviceNamePrefix, chipId);
}
#endif
void updateStepCorrectionFactors()
{
if (g_iRotMicrostep <= 0)
{
g_iRotMicrostep = kDefaultRotMicrostep;
}
if (g_iPenMicrostep <= 0)
{
g_iPenMicrostep = kDefaultPenMicrostep;
}
fROT_STEP_CORRECTION = 16.0f / (float)g_iRotMicrostep;
fPEN_STEP_CORRECTION = 16.0f / (float)g_iPenMicrostep;
}
XYMotionPlanner *g_pPlanner = nullptr;
void initHardware()
{
if (!initConfigStore())
{
g_iPenUpPos = 5;
g_iPenDownPos = 20;
}
updateStepCorrectionFactors();
g_iPenState = g_iPenDownPos;
g_stepEngine.init();
g_pStepperRotate = g_stepEngine.stepperConnectToPin(g_iRotStepPin);
if (g_pStepperRotate)
{
// rotMotor.setMaxSpeed(2000.0);
// rotMotor.setAcceleration(10000.0);
g_pStepperRotate->setDirectionPin(g_iRotDirPin);
g_pStepperRotate->setEnablePin(g_iRotEnablePin);
g_pStepperRotate->setAcceleration(g_iMaxAcclSpeed);
g_pStepperRotate->setAutoEnable(false);
}
// Stepper pen init
g_pStepperPen = g_stepEngine.stepperConnectToPin(g_iPenStepPin);
if (g_pStepperPen)
{
// penMotor.setMaxSpeed(2000.0);
// penMotor.setAcceleration(10000.0);
g_pStepperPen->setDirectionPin(g_iPenDirPin);
g_pStepperPen->setEnablePin(g_iPenEnablePin);
g_pStepperPen->setAcceleration(g_iMaxAcclSpeed);
g_pStepperPen->setAutoEnable(false);
}
motorsOff();
g_pPlanner = new XYMotionPlanner(g_pStepperPen, g_pStepperRotate);
g_pPlanner->setBaseLimits(4000, g_iMaxAcclSpeed);
g_pPlanner->setMinimums(50, 100);
g_pPlanner->setCurrentPosition(0, 0);
g_iPenState = clampServoAngle(g_iPenState);
penServo.attach(g_iServoPin, g_iPenState);
penServo.setEasingType(EASE_QUADRATIC_IN_OUT);
}
void movePenServoTo(int targetPos)
{
targetPos = clampServoAngle(targetPos);
int currentPos = clampServoAngle(g_iPenState);
if (currentPos == targetPos)
{
return;
}
uint_fast16_t speed = 0;
speed = servoSpeedFromRate(g_iServoRateDown);
penServo.easeTo(targetPos, speed);
g_iPenState = targetPos;
}
void storePenUpPosInEE()
{
saveConfigToFile();
}
void storePenDownPosInEE()
{
saveConfigToFile();
}
void sendAck()
{
Log(__FUNCTION__);
protocolWrite("OK\r\n");
}
void sendError()
{
Log(__FUNCTION__);
protocolWrite("unknown CMD\r\n");
}
void motorsOff()
{
Log(__FUNCTION__);
g_pStepperPen->disableOutputs();
g_pStepperRotate->disableOutputs();
g_bMotorsEnabled = 0;
}
void motorsOn()
{
Log(__FUNCTION__);
g_pStepperPen->enableOutputs();
g_pStepperRotate->enableOutputs();
g_bMotorsEnabled = 1;
}
void toggleMotors()
{
Log(__FUNCTION__);
if (g_bMotorsEnabled)
{
motorsOff();
}
else
{
motorsOn();
}
}
bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB)
{
char *arg1 = NULL;
char *arg2 = NULL;
char *arg3 = NULL;
arg1 = nextCommandArg();
if (arg1 != NULL)
{
*duration = atoi(arg1);
arg2 = nextCommandArg();
}
if (arg2 != NULL)
{
*penStepsEBB = atoi(arg2);
arg3 = nextCommandArg();
}
if (arg3 != NULL)
{
*rotStepsEBB = atoi(arg3);
return true;
}
return false;
}
void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB)
{
if (!g_bMotorsEnabled)
{
motorsOn();
}
g_pPlanner->moveBy(penStepsEBB / fPEN_STEP_CORRECTION, rotStepsEBB / fROT_STEP_CORRECTION);
}
void moveOneStep()
{
Log("moveOneStep");
while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning() || g_pPlanner->isRunning())
{
g_pPlanner->update();
}
g_pPlanner->update();
Log("done");
}
void moveToDestination()
{
Log("moveToDestination");
while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning() || g_pPlanner->isRunning())
{
g_pPlanner->update();
}
g_pPlanner->update();
Log("done");
}
void setprgButtonState()
{
g_bPrgButtonState = 1;
}

152
src/Logging.cpp Normal file
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#include "EggDuino.h"
namespace {
constexpr size_t kLogCapacity = 80;
constexpr size_t kLogLineLength = 160;
constexpr size_t kIncomingLogCapacity = 128;
constexpr size_t kIncomingLogLineLength = SERIALCOMMAND_BUFFER + 24;
char g_logLines[kLogCapacity][kLogLineLength];
uint32_t g_logSeq[kLogCapacity];
size_t g_logWritePos = 0;
uint32_t g_nextLogSeq = 1;
char g_incomingLogLines[kIncomingLogCapacity][kIncomingLogLineLength];
uint32_t g_incomingLogSeq[kIncomingLogCapacity];
size_t g_incomingLogWritePos = 0;
uint32_t g_nextIncomingLogSeq = 1;
void appendJsonEscaped(String &out, const char *text) {
out += "\"";
for (size_t i = 0; text[i] != '\0'; ++i) {
const char c = text[i];
switch (c) {
case '\\':
out += "\\\\";
break;
case '"':
out += "\\\"";
break;
case '\n':
out += "\\n";
break;
case '\r':
out += "\\r";
break;
case '\t':
out += "\\t";
break;
default:
if (static_cast<unsigned char>(c) < 0x20) {
out += '?';
} else {
out += c;
}
break;
}
}
out += "\"";
}
const char *transportLabel(ProtocolTransport transport) {
switch (transport) {
case PROTOCOL_TRANSPORT_BLE:
return "BLE";
case PROTOCOL_TRANSPORT_WIFI:
return "WIFI";
case PROTOCOL_TRANSPORT_SERIAL:
default:
return "SERIAL";
}
}
} // namespace
void Log(const String &message) {
snprintf(
g_logLines[g_logWritePos],
kLogLineLength,
"[%010lu] %s",
static_cast<unsigned long>(millis()),
message.c_str()
);
g_logSeq[g_logWritePos] = g_nextLogSeq++;
g_logWritePos = (g_logWritePos + 1) % kLogCapacity;
}
void Log(const char *message) {
Log(String(message));
}
String buildLogsJson(uint32_t sinceSeq) {
String output;
output.reserve(2048);
output += "{\"logs\":[";
uint32_t lastSeq = sinceSeq;
bool first = true;
for (size_t i = 0; i < kLogCapacity; ++i) {
const size_t idx = (g_logWritePos + i) % kLogCapacity;
const uint32_t seq = g_logSeq[idx];
if (seq == 0 || seq <= sinceSeq) {
continue;
}
if (!first) {
output += ",";
}
first = false;
output += "{\"seq\":";
output += String(seq);
output += ",\"text\":";
appendJsonEscaped(output, g_logLines[idx]);
output += "}";
lastSeq = seq;
}
output += "],\"lastSeq\":";
output += String(lastSeq);
output += "}";
return output;
}
void captureIncomingPrintLine(const char *line, ProtocolTransport transport) {
if ((line == NULL) || (line[0] == '\0')) {
return;
}
snprintf(
g_incomingLogLines[g_incomingLogWritePos],
kIncomingLogLineLength,
"[%010lu] %s %s",
static_cast<unsigned long>(millis()),
transportLabel(transport),
line
);
g_incomingLogSeq[g_incomingLogWritePos] = g_nextIncomingLogSeq++;
g_incomingLogWritePos = (g_incomingLogWritePos + 1) % kIncomingLogCapacity;
}
String buildIncomingPrintLogText() {
String output;
output.reserve(4096);
for (size_t i = 0; i < kIncomingLogCapacity; ++i) {
const size_t idx = (g_incomingLogWritePos + i) % kIncomingLogCapacity;
if (g_incomingLogSeq[idx] == 0) {
continue;
}
output += g_incomingLogLines[idx];
output += "\n";
}
return output;
}
void clearIncomingPrintLog() {
for (size_t i = 0; i < kIncomingLogCapacity; ++i) {
g_incomingLogSeq[i] = 0;
g_incomingLogLines[i][0] = '\0';
}
g_incomingLogWritePos = 0;
g_nextIncomingLogSeq = 1;
}

156
src/WiFi_Protocol.cpp Normal file
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#include "EggDuino.h"
#ifdef ESP32
#include <WebSocketsServer.h>
namespace
{
constexpr uint16_t kWifiProtocolPort = 1337;
constexpr uint8_t kInvalidWifiClientId = 0xFF;
constexpr size_t kWifiRxQueueSize = 1024;
struct WifiRxByte
{
uint8_t value;
};
WebSocketsServer g_wifiProtocolSocket(kWifiProtocolPort);
WifiRxByte g_wifiRxQueue[kWifiRxQueueSize];
size_t g_wifiRxHead = 0;
size_t g_wifiRxTail = 0;
bool g_wifiRxOverflow = false;
bool g_wifiProtocolStarted = false;
uint8_t g_wifiProtocolClientId = kInvalidWifiClientId;
bool queueWifiByte(uint8_t value)
{
const size_t nextHead = (g_wifiRxHead + 1) % kWifiRxQueueSize;
if (nextHead == g_wifiRxTail)
{
g_wifiRxOverflow = true;
return false;
}
g_wifiRxQueue[g_wifiRxHead].value = value;
g_wifiRxHead = nextHead;
return true;
}
bool dequeueWifiByte(WifiRxByte *byte)
{
if ((byte == NULL) || (g_wifiRxHead == g_wifiRxTail))
{
return false;
}
*byte = g_wifiRxQueue[g_wifiRxTail];
g_wifiRxTail = (g_wifiRxTail + 1) % kWifiRxQueueSize;
return true;
}
void handleWifiSocketEvent(uint8_t clientId, WStype_t type, uint8_t *payload, size_t length)
{
(void)payload;
switch (type)
{
case WStype_CONNECTED:
if (g_wifiProtocolClientId == kInvalidWifiClientId)
{
g_wifiProtocolClientId = clientId;
}
Log(String("WiFi protocol client connected: ") + clientId);
break;
case WStype_DISCONNECTED:
if (g_wifiProtocolClientId == clientId)
{
g_wifiProtocolClientId = kInvalidWifiClientId;
}
Log(String("WiFi protocol client disconnected: ") + clientId);
break;
case WStype_TEXT:
case WStype_BIN:
if (g_wifiProtocolClientId == kInvalidWifiClientId)
{
g_wifiProtocolClientId = clientId;
}
if (clientId != g_wifiProtocolClientId)
{
break;
}
for (size_t i = 0; i < length; ++i)
{
queueWifiByte(payload[i]);
}
break;
default:
break;
}
}
} // namespace
void startWifiProtocolInterface()
{
if (g_wifiProtocolStarted)
{
return;
}
if (WiFi.status() != WL_CONNECTED)
{
return;
}
g_wifiProtocolSocket.begin();
g_wifiProtocolSocket.onEvent(handleWifiSocketEvent);
g_wifiProtocolStarted = true;
Log(String("WiFi EggBot protocol ws://") + WiFi.localIP().toString() + ":" + kWifiProtocolPort);
}
void handleWifiProtocolInterface()
{
if (!g_wifiProtocolStarted)
{
if (WiFi.status() == WL_CONNECTED)
{
startWifiProtocolInterface();
}
return;
}
g_wifiProtocolSocket.loop();
if (g_wifiRxOverflow)
{
g_wifiRxOverflow = false;
Log("WiFi protocol RX queue overflow");
}
WifiRxByte byte = {0};
while (dequeueWifiByte(&byte))
{
setActiveProtocolContext(&g_WifiCmd, PROTOCOL_TRANSPORT_WIFI);
g_WifiCmd.readChar(static_cast<char>(byte.value));
}
}
bool wifiProtocolWrite(const char *message)
{
if (!g_wifiProtocolStarted || (message == NULL))
{
return false;
}
if ((g_wifiProtocolClientId == kInvalidWifiClientId) || !g_wifiProtocolSocket.clientIsConnected(g_wifiProtocolClientId))
{
return false;
}
return g_wifiProtocolSocket.sendTXT(g_wifiProtocolClientId, message);
}
#endif

225
src/main.cpp Normal file
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/* Eggduino-Firmware by Joachim Cerny, 2014
Thanks for the nice libs ACCELSTEPPER and SERIALCOMMAND, which made this project much easier.
Thanks to the Eggbot-Team for such a funny and enjoable concept!
Thanks to my wife and my daughter for their patience. :-)
*/
// implemented Eggbot-Protocol-Version v13
// EBB-Command-Reference, I sourced from: http://www.schmalzhaus.com/EBB/EBBCommands.html
// no homing sequence, switch-on position of pen will be taken as reference point.
// No collision-detection!!
// Supported Servos: I do not know, I use Arduino Servo Lib with TG9e- standard servo.
// Note: Maximum-Speed in Inkscape is 1000 Steps/s. You could enter more, but then Pythonscript sends nonsense.
// EBB-Coordinates are coming in for 16th-Microstepmode. The Coordinate-Transforms are done in weired integer-math. Be careful, when you diecide to modify settings.
/* TODOs:
1 collision control via penMin/penMax
2 implement homing sequence via microswitch or optical device
*/
#include "EggDuino.h"
#include <ServoEasing.hpp>
// EXTRAFEATURES - UNCOMMENT TO USE THEM -------------------------------------------------------------------
// #define prgButton 2 // PRG button
// #define penToggleButton 12 // pen up/down button
// #define motorsButton 4 // motors enable button
//-----------------------------------------------------------------------------------------------------------
FastAccelStepperEngine g_stepEngine = FastAccelStepperEngine();
FastAccelStepper *g_pStepperRotate = NULL;
FastAccelStepper *g_pStepperPen = NULL;
// make Objects
ServoEasing penServo;
SerialCommand SCmd;
#ifdef ESP32
SerialCommand g_BLECmd;
SerialCommand g_WifiCmd;
#endif
namespace
{
SerialCommand *g_pActiveParser = &SCmd;
ProtocolTransport g_activeTransport = PROTOCOL_TRANSPORT_SERIAL;
}
// create Buttons
#ifdef prgButton
Button prgButtonToggle(prgButton, setprgButtonState);
#endif
#ifdef penToggleButton
Button penToggle(penToggleButton, doTogglePen);
#endif
#ifdef motorsButton
Button motorsToggle(motorsButton, toggleMotors);
#endif
// Variables... be careful, by messing around here, everything has a reason and crossrelations...
int g_iPenUpPos = 5; // can be overwritten from EBB-Command SC
int g_iPenDownPos = 20; // can be overwritten from EBB-Command SC
int g_iServoRateUp = 0; // from EBB-Protocol, mapped to ServoEasing speed (up movement)
int g_iServoRateDown = 0; // from EBB-Protocol, mapped to ServoEasing speed (down movement)
long g_iRotStepError = 0;
long g_iPenStepError = 0;
int g_iPenState = g_iPenUpPos;
uint32_t g_uiNodeCount = 0;
unsigned int g_uiLayer = 0;
boolean g_bPrgButtonState = 0;
boolean g_bMotorsEnabled = 0;
int g_iRotDirPin = kDefaultRotDirPin;
int g_iRotEnablePin = kDefaultRotEnablePin;
int g_iRotStepPin = kDefaultRotStepPin;
int g_iPenStepPin = kDefaultPenStepPin;
int g_iPenDirPin = kDefaultPenDirPin;
int g_iPenEnablePin = kDefaultPenEnablePin;
int g_iServoPin = kDefaultServoPin;
int g_iRotMicrostep = kDefaultRotMicrostep;
int g_iPenMicrostep = kDefaultPenMicrostep;
float fROT_STEP_CORRECTION = 16.0 / kDefaultRotMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
float fPEN_STEP_CORRECTION = 16.0 / kDefaultPenMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
int g_iMaxAcclSpeed = 10000;
String g_sHostname = "EggDuino";
String g_sWifiSsid = "";
String g_sWifiPassword = "";
void setActiveProtocolContext(SerialCommand *parser, ProtocolTransport transport)
{
if (parser != NULL)
{
g_pActiveParser = parser;
}
g_activeTransport = transport;
}
char *nextCommandArg()
{
return g_pActiveParser->next();
}
void protocolWrite(const char *message)
{
if (message == NULL)
{
return;
}
#ifdef ESP32
if (g_activeTransport == PROTOCOL_TRANSPORT_BLE)
{
if (bleProtocolWrite(message))
{
return;
}
}
if (g_activeTransport == PROTOCOL_TRANSPORT_WIFI)
{
if (wifiProtocolWrite(message))
{
return;
}
}
#endif
Serial.print(message);
}
void protocolWrite(const String &message)
{
protocolWrite(message.c_str());
}
// Stepper Test
#ifdef TEST
// #define dirPinStepper 16
// #define enablePinStepper 12
// #define stepPinStepper 26
#endif
void setup()
{
Serial.begin(115200);
Serial.println("Starting...");
startWebInterface();
makeComInterface();
initHardware();
startBleInterface();
}
uint8_t g_uiState = 0;
unsigned long g_uiLastTim = millis();
void loop()
{
#ifdef TEST
unsigned long uiNow = millis();
motorsOn();
if (uiNow - g_uiLastTim > 5000)
{
g_uiLastTim = uiNow;
switch (g_uiState)
{
case 0:
Log(String(g_uiState));
g_pStepperRotate->setSpeedInUs(10); // the parameter is us/step !!!
g_pStepperRotate->setAcceleration(10000);
g_pStepperRotate->move(1000);
g_uiState++;
break;
case 1:
Log(String(g_uiState));
g_pStepperRotate->setSpeedInUs(10); // the parameter is us/step !!!
g_pStepperRotate->setAcceleration(10000);
g_pStepperRotate->move(-1000);
g_uiState++;
break;
case 2:
Log(String(g_uiState));
g_pStepperPen->setSpeedInUs(10); // the parameter is us/step !!!
g_pStepperPen->setAcceleration(10000);
g_pStepperPen->move(1000);
g_uiState++;
break;
case 3:
Log(String(g_uiState));
g_pStepperPen->setSpeedInUs(10); // the parameter is us/step !!!
g_pStepperPen->setAcceleration(10000);
g_pStepperPen->move(-1000);
g_uiState = 0;
break;
default:
break;
}
Log("Alive");
}
#else
// moveOneStep();
setActiveProtocolContext(&SCmd, PROTOCOL_TRANSPORT_SERIAL);
SCmd.readSerial();
handleBleInterface();
handleWebInterface();
handleWifiProtocolInterface();
#endif
#ifdef penToggleButton
penToggle.check();
#endif
#ifdef motorsButton
motorsToggle.check();
#endif
#ifdef prgButton
prgButtonToggle.check();
#endif
}

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#include "motion_planner.h"
XYMotionPlanner::XYMotionPlanner(FastAccelStepper* stepperX, FastAccelStepper* stepperY)
: m_x(stepperX), m_y(stepperY) {}
void XYMotionPlanner::setBaseLimits(uint32_t maxSpeedHz, uint32_t maxAccelStepsPerS2) {
m_baseSpeedHz = max<uint32_t>(1, maxSpeedHz);
m_baseAccel = max<uint32_t>(1, maxAccelStepsPerS2);
}
void XYMotionPlanner::setMinimums(uint32_t minSpeedHz, uint32_t minAccelStepsPerS2) {
m_minSpeedHz = minSpeedHz;
m_minAccel = minAccelStepsPerS2;
}
void XYMotionPlanner::setCurrentPosition(int32_t x, int32_t y) {
m_currentX = x;
m_currentY = y;
m_targetX = x;
m_targetY = y;
if (m_x) {
m_x->setCurrentPosition(x);
}
if (m_y) {
m_y->setCurrentPosition(y);
}
}
int32_t XYMotionPlanner::currentX() const { return m_currentX; }
int32_t XYMotionPlanner::currentY() const { return m_currentY; }
bool XYMotionPlanner::isRunning() const {
bool rx = m_x ? m_x->isRunning() : false;
bool ry = m_y ? m_y->isRunning() : false;
return rx || ry;
}
void XYMotionPlanner::waitUntilFinished() {
while (isRunning()) {
delay(1);
}
m_currentX = m_targetX;
m_currentY = m_targetY;
}
bool XYMotionPlanner::moveTo(int32_t targetX, int32_t targetY) {
if ((m_x == nullptr) || (m_y == nullptr)) {
return false;
}
// Keep planner state in sync when the previous move already ended,
// but update() has not been called by the caller yet.
update();
m_targetX = targetX;
m_targetY = targetY;
int32_t dxSigned = m_targetX - m_currentX;
int32_t dySigned = m_targetY - m_currentY;
uint32_t dx = (dxSigned >= 0) ? dxSigned : -dxSigned;
uint32_t dy = (dySigned >= 0) ? dySigned : -dySigned;
if ((dx == 0) && (dy == 0)) {
return false;
}
uint32_t dmax = max(dx, dy);
// Skalierungsfaktoren relativ zur dominanten Achse
float sx = (float)dx / (float)dmax;
float sy = (float)dy / (float)dmax;
// Dominante Achse bekommt die Basiswerte
uint32_t speedX = scaledValue(m_baseSpeedHz, sx, dx);
uint32_t speedY = scaledValue(m_baseSpeedHz, sy, dy);
uint32_t accelX = scaledValue(m_baseAccel, sx, dx);
uint32_t accelY = scaledValue(m_baseAccel, sy, dy);
// Kurze Achsen mit Bewegung sollen nicht auf 0 fallen
if (dx > 0) {
speedX = max(speedX, m_minSpeedHz);
accelX = max(accelX, m_minAccel);
}
if (dy > 0) {
speedY = max(speedY, m_minSpeedHz);
accelY = max(accelY, m_minAccel);
}
// FastAccelStepper: speed in steps/s, accel in steps/s²
if (dx > 0) {
m_x->setSpeedInHz(speedX);
m_x->setAcceleration(accelX);
}
if (dy > 0) {
m_y->setSpeedInHz(speedY);
m_y->setAcceleration(accelY);
}
// Bewegungen anstoßen
// Reihenfolge ist hier meist ausreichend.
// Für "noch synchroner" müsste man tiefer in die Queue-API gehen.
if (dx > 0) {
m_x->moveTo(m_targetX);
}
if (dy > 0) {
m_y->moveTo(m_targetY);
}
return true;
}
bool XYMotionPlanner::moveBy(int32_t deltaX, int32_t deltaY) {
update();
// Chain relative moves reliably:
// - if running, append relative to the current planned target
// - if idle, use the current position
const int32_t baseX = isRunning() ? m_targetX : m_currentX;
const int32_t baseY = isRunning() ? m_targetY : m_currentY;
return moveTo(baseX + deltaX, baseY + deltaY);
}
void XYMotionPlanner::update() {
if (!isRunning()) {
m_currentX = m_targetX;
m_currentY = m_targetY;
}
}
uint32_t XYMotionPlanner::scaledValue(uint32_t base, float scale, uint32_t distance) {
if (distance == 0) {
return 0;
}
float v = (float)base * scale;
if (v < 1.0f) {
v = 1.0f;
}
return (uint32_t)(v + 0.5f);
}

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svg/holger.svg Normal file
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<cc:Agent>
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<rdf:li>sorbian</rdf:li>
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tests/test_package_firmware.py Normal file
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import json
import tempfile
import unittest
from pathlib import Path
from scripts.package_firmware import build_manifest, extract_firmware_version, package_bundle
class PackageFirmwareTests(unittest.TestCase):
def test_extract_firmware_version_reads_init_string(self):
header_text = '#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a"\n'
self.assertEqual(extract_firmware_version(header_text), "1.6a")
def test_build_manifest_matches_expected_esp32_offsets(self):
manifest = build_manifest("1.6a")
self.assertEqual(manifest["name"], "EggDuino ESP32 Firmware")
self.assertEqual(manifest["version"], "1.6a")
self.assertTrue(manifest["new_install_prompt_erase"])
self.assertEqual(manifest["builds"][0]["chipFamily"], "ESP32")
self.assertEqual(
manifest["builds"][0]["parts"],
[
{"path": "bootloader.bin", "offset": 4096},
{"path": "partitions.bin", "offset": 32768},
{"path": "boot_app0.bin", "offset": 57344},
{"path": "firmware.bin", "offset": 65536},
],
)
def test_package_bundle_copies_outputs_and_removes_stale_files(self):
with tempfile.TemporaryDirectory() as temp_dir:
temp_path = Path(temp_dir)
build_dir = temp_path / "build"
build_dir.mkdir()
header_path = temp_path / "EggDuino.h"
output_dir = temp_path / "firmware"
output_dir.mkdir()
boot_app0_path = temp_path / "boot_app0.bin"
build_artifacts = {
"bootloader.bin": "bootloader",
"partitions.bin": "partitions",
"firmware.bin": "firmware-bin",
"firmware.elf": "firmware-elf",
"firmware.map": "firmware-map",
}
for file_name, contents in build_artifacts.items():
(build_dir / file_name).write_text(contents, encoding="utf-8")
header_path.write_text(
'#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6b"\n',
encoding="utf-8",
)
boot_app0_path.write_text("boot-app0", encoding="utf-8")
(output_dir / "stale.txt").write_text("old", encoding="utf-8")
package_bundle(
build_dir=build_dir,
boot_app0_path=boot_app0_path,
header_path=header_path,
output_dir=output_dir,
)
self.assertFalse((output_dir / "stale.txt").exists())
expected_files = {
"bootloader.bin": "bootloader",
"partitions.bin": "partitions",
"firmware.bin": "firmware-bin",
"firmware.elf": "firmware-elf",
"firmware.map": "firmware-map",
"boot_app0.bin": "boot-app0",
}
for file_name, contents in expected_files.items():
self.assertEqual((output_dir / file_name).read_text(encoding="utf-8"), contents)
manifest = json.loads((output_dir / "manifest.json").read_text(encoding="utf-8"))
self.assertEqual(manifest["version"], "1.6b")
if __name__ == "__main__":
unittest.main()