Merge pull request #196 from clholgat/clholgat/garter_carriage

Systemic changes to support garter carriage on the full bed

src/ayab/beeper.cpp

@@ -77,6 +77,12 @@ void Beeper::endWork() {
   }
 }
 
+void Beeper::error() {
+  if (m_enabled) {
+    beep(BEEP_NUM_ERROR);
+  }
+}
+
 /*!
  * Beep handler scheduled from main loop
  */

src/ayab/beeper.h

@@ -33,6 +33,7 @@ constexpr unsigned int BEEP_DELAY = 50U; // ms
 constexpr uint8_t BEEP_NUM_READY = 5U;
 constexpr uint8_t BEEP_NUM_FINISHEDLINE = 3U;
 constexpr uint8_t BEEP_NUM_ENDWORK = 10U;
+constexpr uint8_t BEEP_NUM_ERROR = 15U;
 
 constexpr uint8_t BEEP_ON_DUTY = 0U;
 constexpr uint8_t BEEP_OFF_DUTY = 20U;
@@ -49,6 +50,7 @@ class BeeperInterface {
   virtual void ready() = 0;
   virtual void finishedLine() = 0;
   virtual void endWork() = 0;
+  virtual void error() = 0;
   virtual void schedule() = 0;
 };
 
@@ -72,6 +74,7 @@ class GlobalBeeper final {
   static void ready();
   static void finishedLine();
   static void endWork();
+  static void error();
   static void schedule();
 };
 
@@ -86,6 +89,7 @@ class Beeper : public BeeperInterface {
   void ready() final;
   void finishedLine() final;
   void endWork() final;
+  void error() final;
   void schedule() final;
 
 private:

src/ayab/encoders.cpp

@@ -75,6 +75,8 @@ void Encoders::init(Machine_t machineType) {
   m_beltShift = BeltShift::Unknown;
   m_carriage = Carriage_t::NoCarriage;
   m_oldState = false;
+  m_passedLeft = false;
+  m_passedRight = false;
 }
 
 /*!
@@ -133,20 +135,13 @@ void Encoders::encA_rising() {
   m_direction = digitalRead(ENC_PIN_B) != 0 ? Direction_t::Right : Direction_t::Left;
 
   // Update carriage position
-  if ((Direction_t::Right == m_direction) && (m_position < END_RIGHT[static_cast<uint8_t>(m_machineType)])) {
-    m_position = m_position + 1;
-  }
-
-  // The garter carriage has a second set of magnets that are going to
-  // pass the sensor and will reset state incorrectly if allowed to
-  // continue.
-  if (m_carriage == Carriage_t::Garter) {
-    return;
-  }
+  if (Direction_t::Right == m_direction) {
+    m_position = m_position + (uint8_t) 1;
 
-  // If the carriage is already set, ignore the rest.
-  if ((m_carriage == Carriage_t::Knit) && (m_machineType == Machine_t::Kh270)) {
-    return;
+    // Reset carriage passed state when we know all magnets have cleared the turn mark.
+    if (m_position > ALL_MAGNETS_CLEARED_LEFT[static_cast<uint8_t>(m_machineType)]) {
+      m_passedLeft = false;
+    }
   }
 
   // In front of Left Hall Sensor?
@@ -155,6 +150,38 @@ void Encoders::encA_rising() {
       (hallValue > FILTER_L_MAX[static_cast<uint8_t>(m_machineType)])) {
     m_hallActive = Direction_t::Left;
 
+    // Only set the belt shift the first time a magnet passes the turn mark.
+    // Headed to the right.
+    if (!m_passedLeft && Direction_t::Right == m_direction) {
+      // Belt shift signal only decided in front of hall sensor
+      m_beltShift = digitalRead(ENC_PIN_C) != 0 ? BeltShift::Shifted : BeltShift::Regular;
+      m_passedLeft = true;
+
+      if (Carriage_t::Garter == m_carriage) {
+        // This has to be the first magnet and the belt shift needs to be swapped
+        // But only for the G-carriage
+        if (m_position < 30) {
+          if (BeltShift::Regular == m_beltShift) {
+            m_beltShift = BeltShift::Shifted;
+          } else {
+            m_beltShift = BeltShift::Regular;
+          }
+        }
+      }
+    }
+
+    // The garter carriage has a second set of magnets that are going to
+    // pass the sensor and will reset state incorrectly if allowed to
+    // continue.
+    if (Carriage_t::Garter == m_carriage) {
+      return;
+    }
+
+    // If the carriage is already set, ignore the rest.
+    if ((Carriage_t::Knit == m_carriage) && (Machine_t::Kh270 == m_machineType)) {
+      return;
+    }
+
     Carriage detected_carriage = Carriage_t::NoCarriage;
     uint8_t start_position = END_LEFT_PLUS_OFFSET[static_cast<uint8_t>(m_machineType)];
 
@@ -176,16 +203,25 @@ void Encoders::encA_rising() {
     } else if (m_carriage != detected_carriage && m_position > start_position) {
       m_carriage = Carriage_t::Garter;
 
+      // We swap the belt shift for the g-carriage because the point of work for 
+      // the g-carraige is 13 needles behind the first magnet which puts it in a different
+      // belt shift.
+      // And we need to know the belt shift when the point of work is at needle 0.
+      // Conveniently, the magnet distance on the K and L carraiges puts the point of
+      // work within the same belt shift.
+      if (BeltShift::Regular == m_beltShift) {
+        m_beltShift = BeltShift::Shifted;
+      } else {
+        m_beltShift = BeltShift::Regular;
+      }
+
       // Belt shift and start position were set when the first magnet passed
       // the sensor and we assumed we were working with a standard carriage.
       return;
     } else {
       m_carriage = detected_carriage;
     }
 
-    // Belt shift signal only decided in front of hall sensor
-    m_beltShift = digitalRead(ENC_PIN_C) != 0 ? BeltShift::Regular : BeltShift::Shifted;
-
     // Known position of the carriage -> overwrite position
     m_position = start_position;
   }
@@ -203,8 +239,13 @@ void Encoders::encA_falling() {
   m_direction = digitalRead(ENC_PIN_B) ? Direction_t::Left : Direction_t::Right;
 
   // Update carriage position
-  if ((Direction_t::Left == m_direction) && (m_position > END_LEFT[static_cast<uint8_t>(m_machineType)])) {
-    m_position = m_position - 1;
+  if (Direction_t::Left == m_direction) {
+    m_position = m_position - (uint8_t) 1;
+
+    // Reset carriage passed state when we know all magnets have cleared the turn mark.
+    if (m_position < ALL_MAGNETS_CLEARED_RIGHT[static_cast<uint8_t>(m_machineType)]) {
+      m_passedRight = false;
+    }
   }
 
   // In front of Right Hall Sensor?
@@ -219,15 +260,26 @@ void Encoders::encA_falling() {
   if (hallValueSmall || hallValue > FILTER_R_MAX[static_cast<uint8_t>(m_machineType)]) {
     m_hallActive = Direction_t::Right;
 
-    // The garter carriage has a second set of magnets that are going to
+    // Only set the belt shift when the first magnet passes the turn mark.
+    // Headed to the left.
+    if (!m_passedRight && Direction_t::Left == m_direction) {
+      // Belt shift signal only decided in front of hall sensor
+      m_beltShift = digitalRead(ENC_PIN_C) != 0 ? BeltShift::Regular : BeltShift::Shifted;
+      m_passedRight = true;
+
+      // Shift doens't need to be swapped for the g-carriage in this direction.
+    }
+
+    // The garter carriage has extra magnets that are going to
     // pass the sensor and will reset state incorrectly if allowed to
     // continue.
-    if (hallValueSmall && (m_carriage != Carriage_t::Garter)) {
-      m_carriage = Carriage_t::Knit;
+    if (m_carriage == Carriage_t::Garter) {
+      return;
     }
 
-    // Belt shift signal only decided in front of hall sensor
-    m_beltShift = digitalRead(ENC_PIN_C) != 0 ? BeltShift::Shifted : BeltShift::Regular;
+    if (hallValueSmall) {
+      m_carriage = Carriage_t::Knit;
+    }
 
     // Known position of the carriage -> overwrite position
     m_position = END_RIGHT_MINUS_OFFSET[static_cast<uint8_t>(m_machineType)];

src/ayab/encoders.h

@@ -74,6 +74,9 @@ constexpr uint8_t END_OFFSET[NUM_MACHINES] = {28U, 28U, 5U};
 constexpr uint8_t END_LEFT_PLUS_OFFSET[NUM_MACHINES] = {28U, 28U, 5U};
 constexpr uint8_t END_RIGHT_MINUS_OFFSET[NUM_MACHINES] = {227U, 227U, 135U};
 
+constexpr uint8_t ALL_MAGNETS_CLEARED_LEFT[NUM_MACHINES] = {56U, 56U, 10U};
+constexpr uint8_t ALL_MAGNETS_CLEARED_RIGHT[NUM_MACHINES] = {199U, 199U, 130U};
+
 // The garter slop is needed to determine whether or not we have a garter carriage.
 // If we didn't have it, we'd decide which carriage we had when the first magnet passed the sensor.
 // For the garter carriage we need to see both magnets.
@@ -83,14 +86,14 @@ constexpr uint8_t START_OFFSET[NUM_MACHINES][NUM_DIRECTIONS][NUM_CARRIAGES] = {
     // KH910
     {
         // K,   L,   G
-        {40U, 40U, 32U}, // Left
-        {16U, 16U, 56U} // Right
+        {42U, 32U, 32U}, // Left
+        {16U, 32U, 50U} // Right
     },
     // KH930
     {
         // K,   L,   G
-        {40U, 40U, 32U}, // Left
-        {16U, 16U, 56U} // Right
+        {42U, 32U, 32U}, // Left
+        {16U, 32U, 50U} // Right
     },
     // KH270
     {
@@ -181,6 +184,8 @@ class Encoders : public EncodersInterface {
   volatile Direction_t m_hallActive;
   volatile uint8_t m_position;
   volatile bool m_oldState;
+  volatile bool m_passedLeft;
+  volatile bool m_passedRight;
 
   void encA_rising();
   void encA_falling();

src/ayab/global_beeper.cpp

@@ -47,6 +47,10 @@ void GlobalBeeper::endWork() {
   m_instance->endWork();
 }
 
+void GlobalBeeper::error() {
+  m_instance->error();
+}
+
 void GlobalBeeper::schedule() {
   m_instance->schedule();
 }

src/ayab/knitter.cpp

@@ -268,7 +268,8 @@ void Knitter::knit() {
   }
 
   if (!calculatePixelAndSolenoid()) {
-    // no valid/useful position calculated
+    // This will only happen if there's an error
+    GlobalBeeper::error();
     return;
   }
 
@@ -386,7 +387,8 @@ void Knitter::reqLine(uint8_t lineNumber) {
  */
 bool Knitter::calculatePixelAndSolenoid() {
   uint8_t startOffset = 0;
-  uint8_t laceOffset = 0;
+
+  bool beltShift = BeltShift_t::Shifted == m_beltShift;
 
   switch (m_direction) {
   // calculate the solenoid and pixel to be set
@@ -395,51 +397,29 @@ bool Knitter::calculatePixelAndSolenoid() {
   case Direction_t::Right:
     startOffset = getStartOffset(Direction_t::Left);
 
-    // We have to start setting pixels earlier when the lace carriage is selected because we shift
-    // the lace pixel selection up HALF_SOLENOIDS_NUM in this direction. Doesn't matter going back 
-    // the other way.
+    // The Lace carriage is special
+    // See page 7 of the 930 service manual https://mkmanuals.com/downloadable/download/sample/sample_id/27/
     if (Carriage_t::Lace == m_carriage) {
-      laceOffset = HALF_SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)];
+      beltShift = !beltShift;
     }
 
-    if (m_position >= startOffset - laceOffset) {
-      m_pixelToSet = m_position - startOffset;
-
-      if ((BeltShift::Regular == m_beltShift) || (m_machineType == Machine_t::Kh270)) {
-        m_solenoidToSet = m_position % SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)];
-      } else if (BeltShift::Shifted == m_beltShift) {
-        m_solenoidToSet = (m_position - HALF_SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)]) % SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)];
-      }
-      if (Carriage_t::Lace == m_carriage) {
-        m_pixelToSet = m_pixelToSet + HALF_SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)];
-      }
-    } else {
-      return false;
-    }
     break;
-
   case Direction_t::Left:
     startOffset = getStartOffset(Direction_t::Right);
-    if (m_position <= (END_RIGHT[static_cast<uint8_t>(m_machineType)] - startOffset)) {
-      m_pixelToSet = m_position - startOffset;
-
-      if ((BeltShift::Regular == m_beltShift) || (m_machineType == Machine_t::Kh270)) {
-        m_solenoidToSet = (m_position + HALF_SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)]) % SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)];
-      } else if (BeltShift::Shifted == m_beltShift) {
-        m_solenoidToSet = m_position % SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)];
-      }
-      if (Carriage_t::Lace == m_carriage) {
-        m_pixelToSet = m_pixelToSet - SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)];
-      }
-    } else {
-      return false;
-    }
-    break;
 
+    break;
   default:
     return false;
   }
 
+  m_pixelToSet = m_position - startOffset;
+
+  if (!beltShift) {
+    m_solenoidToSet = m_pixelToSet % SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)];
+  } else {
+    m_solenoidToSet = (m_pixelToSet + HALF_SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)]) % SOLENOIDS_NUM[static_cast<uint8_t>(m_machineType)];
+  }
+
   // The 270 has 12 solenoids but they get shifted over 3 bits
   if (m_machineType == Machine_t::Kh270) {
     m_solenoidToSet = m_solenoidToSet + 3;

test/mocks/beeper_mock.cpp

@@ -63,6 +63,11 @@ void Beeper::finishedLine() {
   gBeeperMock->finishedLine();
 }
 
+void Beeper::error() {
+  assert(gBeeperMock != nullptr);
+  gBeeperMock->error();
+}
+
 void Beeper::endWork() {
   assert(gBeeperMock != nullptr);
   gBeeperMock->endWork();

test/mocks/beeper_mock.h

@@ -35,6 +35,7 @@ class BeeperMock : public BeeperInterface {
   MOCK_METHOD0(getState, BeepState());
   MOCK_METHOD0(ready, void());
   MOCK_METHOD0(finishedLine, void());
+  MOCK_METHOD0(error, void());
   MOCK_METHOD0(endWork, void());
   MOCK_METHOD0(schedule, void());
 };