Update Ada Drivers Library

Author: Fabien-Chouteau

stm32f4-disco_controller/drivers

@@ -47,26 +47,22 @@ package body Coms is
    -------------------------------
 
    procedure Initialize_GPIO_Port_Pins is
-      Configuration : GPIO_Port_Configuration;
       Points : constant GPIO_Points := Rx_Pin & Tx_Pin & CTS_Pin;
    begin
       Enable_Clock (Points);
 
-      Configuration.Mode := Mode_AF;
-      Configuration.Speed := Speed_50MHz;
-      Configuration.Output_Type := Push_Pull;
-      Configuration.Resistors := Pull_Up;
-
       Configure_IO
-        (Points, Configuration);
-
-      Configure_Alternate_Function
-        (Points, Transceiver_AF);
-
-      --  Manual RTS controll
-      Configuration.Mode := Mode_Out;
-      Configuration.Speed := Speed_50MHz;
-      RTS_Pin.Configure_IO (Configuration);
+        (Points, (Mode           => Mode_AF,
+                  Resistors      => Pull_Up,
+                  AF_Output_Type => Push_Pull,
+                  AF_Speed       => Speed_50MHz,
+                  AF             => Transceiver_AF));
+
+      --  Manual RTS control
+      RTS_Pin.Configure_IO ((Mode        => Mode_Out,
+                             Resistors   => Pull_Up,
+                             Output_Type => Push_Pull,
+                             Speed       => Speed_50MHz));
       Ready_To_Receive (False);
    end Initialize_GPIO_Port_Pins;
 

stm32f4-disco_controller/src/coms.adb

@@ -45,15 +45,16 @@ package body Gcode_Controller is
       Configuration : GPIO_Port_Configuration;
    begin
       Enable_Clock (Demo_Mode_Button);
-      Configuration.Mode        := Mode_In;
-      Configuration.Output_Type := Push_Pull;
-      Configuration.Speed       := Speed_25MHz;
-      Configuration.Resistors   := Pull_Up;
+      Configuration := (Mode        => Mode_In,
+                        Resistors   => Pull_Up);
       Demo_Mode_Button.Configure_IO (Configuration);
 
       Enable_Clock (Demo_Mode_LED);
-      Configuration.Mode        := Mode_Out;
-      Configuration.Output_Type := Open_Drain;
+      Configuration := (Mode        => Mode_Out,
+                        Resistors   => Pull_Up,
+                        Output_Type => Open_Drain,
+                        Speed       => Speed_50MHz);
+
       Demo_Mode_LED.Configure_IO (Configuration);
       Demo_Mode_LED.Clear;
 
@@ -119,6 +120,10 @@ package body Gcode_Controller is
 
       Ada.Synchronous_Task_Control.Suspend_Until_True (Task_Sync);
 
+      for Str_Ptr of Make_With_Ada_Gcode.Gcode loop
+         Gcode_Controller.Execute (Str_Ptr.all);
+      end loop;
+
       if not Demo_Mode_Button.Set then
          loop
             Demo_Mode_LED.Set;

stm32f4-disco_controller/src/gcode_controller.adb

@@ -6,7 +6,7 @@ package Make_With_Ada_Gcode is
       new String'("#<pen_up> = -12"),
       new String'("#<pen_down> = -15"),
       new String'("M17 ; Enable motors"),
-      new String'("G28 ; Go home"),
+      --  new String'("G28 ; Go home"),
       new String'("(Start cutting path: Right Curly Bracket)"),
       new String'("G00 Z#<pen_up>"),
       new String'("G00 X34.492847 Y33.263329"),

stm32f4-disco_controller/src/make_with_ada_gcode.ads

@@ -21,16 +21,18 @@
 -------------------------------------------------------------------------------
 
 with Ada.Real_Time;
-with Gcode;
+with Gcode; use Gcode;
 
 package Settings is
 
+   Use_CoreXY_Motion : constant Boolean := True;
+
    Idle_Stepper_Frequency : constant Gcode.Frequency_Value := 100.0;
    --  Frequency of the stepper when the machine is idle (Hz)
    Dwell_Stepper_Frequency : constant Gcode.Frequency_Value := 100.0;
    --  Frequency of the stepper when executing a dwell command (Hz)
 
-   Step_Per_Millimeter : constant Gcode.Float_Position := (27.0, 27.0, 46.11);
+   Step_Per_Millimeter : constant Gcode.Float_Position := (80.0, 80.0, 46.11);
    --  Property of the stepper motor and leadscrew
 
    Max_Step_Per_Segment : constant Gcode.Steps := 25;
@@ -57,6 +59,22 @@ package Settings is
      Ada.Real_Time.Milliseconds (0);
    --  Minimum duration of step pulse
 
+   -----------------
+   -- Soft limits --
+   -----------------
+
+   Tool_Max_Limit_Cartesian : constant Gcode.Step_Position :=
+     (X_Axis => Integer (Step_Per_Millimeter (X_Axis)) * 40,
+      Y_Axis => Integer (Step_Per_Millimeter (Y_Axis)) * 40,
+      Z_Axis => Integer (Step_Per_Millimeter (Z_Axis)) * 40);
+   --  Tool max position in carstesian coordinate
+
+   Tool_Min_Limit_Cartesian : constant Gcode.Step_Position :=
+     (X_Axis => 0,
+      Y_Axis => 0,
+      Z_Axis => 0);
+   --  Tool min position in carstesian coordinate
+
    ------------
    -- Homing --
    ------------

stm32f4-disco_controller/src/settings.ads

@@ -49,10 +49,10 @@ package body Step_Control is
    procedure Initalize is
       Configuration : GPIO_Port_Configuration;
    begin
-      Configuration.Mode        := Mode_Out;
-      Configuration.Output_Type := Push_Pull;
-      Configuration.Speed       := Speed_100MHz;
-      Configuration.Resistors   := Pull_Down;
+      Configuration := (Mode        => Mode_Out,
+                        Resistors   => Pull_Up,
+                        Output_Type => Push_Pull,
+                        Speed       => Speed_50MHz);
 
       for Axis in Axis_Name loop
          Enable_Clock (Step_GPIO (Axis));
@@ -76,19 +76,20 @@ package body Step_Control is
       end loop;
 
       --  Home switches
-      Configuration.Mode        := Mode_In;
-      Configuration.Output_Type := Push_Pull;
-      Configuration.Speed       := Speed_100MHz;
-      Configuration.Resistors   := Pull_Up;
+      Configuration := (Mode        => Mode_In,
+                        Resistors   => Pull_Up);
 
       for Axis in Axis_Name loop
          Enable_Clock (Home_GPIO (Axis));
          Configure_IO (Home_GPIO (Axis), Configuration);
       end loop;
 
       Enable_Clock (Analysis_Point);
-      Configuration.Mode        := Mode_Out;
-      Configuration.Speed       := Speed_100MHz;
+      Configuration := (Mode        => Mode_Out,
+                        Resistors   => Pull_Up,
+                        Output_Type => Push_Pull,
+                        Speed       => Speed_100MHz);
+
       Configure_IO (Analysis_Point, Config => Configuration);
       Analysis_Point.Clear;
 
@@ -138,7 +139,7 @@ package body Step_Control is
 
    procedure Set_Stepper_Frequency (Freq_Hz : Frequency_Value) is
    begin
-      Task_Period := To_Time_Span (1.0 / Freq_Hz);
+      Task_Period := To_Time_Span (Duration (1.0 / Freq_Hz));
    end Set_Stepper_Frequency;
 
    ---------------