Fixed SE command - when you sent SE,1,0 it would go to 50% power. Now goes to 0% power like it should.

Also added SE power level to FIFO structure so that if we ever have FIFOs more than 1 long in the future, we won't get bit by using a global value for the SE power. (bad Brian)

EBB_firmware/app.X/nbproject/Makefile-genesis.properties

@@ -1,5 +1,5 @@
 #
-#Tue Aug 09 20:20:10 CDT 2016
+#Wed Aug 10 19:27:30 CDT 2016
 EBBv13_XC8_with_bootloader.com-microchip-mplab-nbide-toolchainXC8-XC8LanguageToolchain.md5=e74fb245f49e267d9211c2e0a3ef3961
 EBBv13_no_bootloader.languagetoolchain.version=3.47
 EBBv13_with_bootloader.languagetoolchain.version=3.47

EBB_firmware/app.X/nbproject/private/private.xml

@@ -6,6 +6,8 @@
         <group>
             <file>file:/D:/Projects/EggBot_GitHub/EBB_firmware/app.X/source/ebb.c</file>
             <file>file:/D:/Projects/EggBot_GitHub/EBB_firmware/app.X/source/ebb.h</file>
+            <file>file:/D:/Projects/EggBot_GitHub/EBB_firmware/app.X/source/UBW.c</file>
+            <file>file:/D:/Projects/EggBot_GitHub/EBB_firmware/app.X/nbproject/Makefile-EBBv13_with_bootloader.mk</file>
         </group>
     </open-files>
 </project-private>

EBB_firmware/app.X/source/UBW.c

@@ -152,7 +152,7 @@ const rom char st_LFCR[] = {"\r\n"};
 #elif defined(BOARD_EBB_V12)
 	const rom char st_version[] = {"EBBv12 EB Firmware Version 2.2.1\r\n"};
 #elif defined(BOARD_EBB_V13_AND_ABOVE)
-	const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 2.4.1\r\n"};
+	const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 2.4.2\r\n"};
 #elif defined(BOARD_UBW)
 	const rom char st_version[] = {"UBW EB Firmware Version 2.2.1\r\n"};
 #endif
@@ -2922,10 +2922,9 @@ void parse_CK_packet()
 // Look at the string pointed to by ptr
 // There should be a comma where ptr points to upon entry.
 // If not, throw a comma error.
-// If so, then look for up to three bytes after the
+// If so, then look for up to like a ton of bytes after the
 // comma for numbers, and put them all into one
-// byte (0-255). If the number is greater than 255, then
-// thow a range error.
+// unsigned long accumulator. 
 // Advance the pointer to the byte after the last number
 // and return.
 ExtractReturnType extract_number(

EBB_firmware/app.X/source/ebb.c

@@ -201,6 +201,9 @@
 // 2.4.1 08/08/16 - Added new form of SE command, with optional parameter that
 //                  puts SE in motion queue. (issue #51)
 //                  Fixed issue #52 (bug in parameter check in parse_SM_packet())
+// 2.4.2 08/10/16 - Fixed bug in SE command that would set engraver to 50% if
+//                  SE,1,0 was used. Also added engraver power to FIFO structure
+//                  for when third SE parameter is 1.
 
 #include <p18cxxx.h>
 #include <usart.h>
@@ -539,7 +542,7 @@ void high_ISR(void)
             if (CurrentCommand.SEState)
             {
                 // Set RB3 to StoredEngraverPower
-                CCPR1L = StoredEngraverPower >> 2;
+                CCPR1L = CurrentCommand.SEPower >> 2;
                 CCP1CON = (CCP1CON & 0b11001111) | ((StoredEngraverPower << 4) & 0b00110000);
             }
             else
@@ -571,6 +574,7 @@ void high_ISR(void)
                 CommandFIFO[0].ServoChannel = 0;
                 CommandFIFO[0].ServoRate = 0;
                 CommandFIFO[0].SEState = 0;
+                CommandFIFO[0].SEPower = 0;
 				FIFOEmpty = TRUE;
 			}
             else {
@@ -1895,9 +1899,9 @@ void parse_QC_packet(void)
 // Set Engraver
 // Usage: SE,<state>,<power>,<use_motion_queue><CR>
 // <state> is 0 for off and 1 for on (required)
-// <power> is 10 bit PWM power level (optional)
+// <power> is 10 bit PWM power level (optional). 0 = 0%, 1023 = 100%
 // <use_motion_queue> if 1 then put this command in motion queue (optional))
-// We boot up with <power> at 1023 (full on)
+// We boot up with <power> at 0
 // The engraver motor is always assumed to be on RB3
 // So our init routine will map ECCP1
 //
@@ -1912,10 +1916,11 @@ void parse_SE_packet(void)
 	UINT8 State = 0;
 	UINT16 Power = 0;
     UINT8 SEUseMotionQueue = FALSE;
+    ExtractReturnType PowerExtract;
 	
 	// Extract each of the values.
 	extract_number (kUCHAR, &State, kREQUIRED);
-	extract_number (kUINT, &Power, kOPTIONAL);
+	PowerExtract = extract_number (kUINT, &Power, kOPTIONAL);
     extract_number (kUCHAR, &SEUseMotionQueue, kOPTIONAL);
 
 	// Bail if we got a conversion error
@@ -1937,9 +1942,9 @@ void parse_SE_packet(void)
     {
         SEUseMotionQueue = 1;
     }
-
+    
     // Set to %50 if no Power parameter specified, otherwise use parameter
-    if (Power == 0 && State == 1)
+    if (State == 1 && PowerExtract == kEXTRACT_MISSING_PARAMETER)
     {
         StoredEngraverPower = 512;
     }
@@ -2002,6 +2007,7 @@ void parse_SE_packet(void)
         ;
         
         // Set up the motion queue command
+        CommandFIFO[0].SEPower = StoredEngraverPower;
     	CommandFIFO[0].DelayCounter = 0;
         CommandFIFO[0].SEState = State;
         CommandFIFO[0].Command = COMMAND_SE;

EBB_firmware/app.X/source/ebb.h

@@ -89,6 +89,7 @@ typedef struct
     UINT8           ServoChannel;
     UINT16          ServoRate;
     UINT8           SEState;
+    UINT16          SEPower;
 } MoveCommandType;
 
 // Define global things that depend on the board type

EBB_firmware/bootloader.X/dist/46J50/production/bootloader.X.production.map

@@ -1,5 +1,5 @@
 MPLINK 5.00, LINKER
-Linker Map File - Created Mon Aug 08 00:31:51 2016
+Linker Map File - Created Wed Aug 10 19:59:56 2016
 
                                  Section Info
                   Section       Type    Address   Location Size(Bytes)

EBB_firmware/bootloader.X/nbproject/Makefile-genesis.properties

@@ -1,5 +1,5 @@
 #
-#Tue Aug 09 20:20:11 CDT 2016
+#Wed Aug 10 19:27:32 CDT 2016
 46J50.languagetoolchain.version=3.47
 conf.ids=46J50,45J50
 45J50.com-microchip-mplab-nbide-toolchainC18-C18LanguageToolchain.md5=f040cf8645fa8ca680d9fc0f051bbb98