- added some fake headers and symbols for compilation of firmware wit…

…h unit tests

- ignore clion ide files
- removed ServoTimer2 library

.gitignore

@@ -1 +1,2 @@
 .DS_Store
+Software/Firmware/.idea

Software/Firmware/CMakeLists.txt

@@ -7,25 +7,26 @@ if(CMAKE_COMPILER_IS_GNUCXX)
     add_definitions(-Wall -Wno-deprecated)
 endif()
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra -pedantic -pthread")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra -pthread")
 
 include_directories(
         ${PROJECT_SOURCE_DIR}
 )
 #-------------------
 # set common include folder for module
 #-------------------
-set(COMMON_INCLUDES ${PROJECT_SOURCE_DIR}/include)
+set(TEST_INCLUDES ${PROJECT_SOURCE_DIR}/test-include)
 set(EXT_PROJECTS_DIR ${PROJECT_SOURCE_DIR}/ext)
+set(PROJECT_TEST_DIR ${PROJECT_SOURCE_DIR}/test)
 
 #-------------------
 # Module source
 #-------------------
-#set(PROJECT_LIB_NAME ${PROJECT_NAME_STR}_impl)
+set(PROJECT_LIB_NAME ${PROJECT_NAME_STR}_impl)
 
 #include_directories(${COMMON_INCLUDES})
-#file(GLOB SRC_FILES ${PROJECT_SOURCE_DIR}/src/*.cpp)
-#add_library(${PROJECT_LIB_NAME} ${SRC_FILES})
+file(GLOB SRC_FILES ${PROJECT_SOURCE_DIR}/OpenExposer/*.cpp)
+add_library(${PROJECT_LIB_NAME} ${SRC_FILES})
 
 add_subdirectory(${EXT_PROJECTS_DIR}/gtest)
 
@@ -34,16 +35,15 @@ add_subdirectory(${EXT_PROJECTS_DIR}/gtest)
 #-------------------
 enable_testing()
 set(PROJECT_TEST_NAME ${PROJECT_NAME}_test)
-include_directories(${GTEST_INCLUDE_DIRS} ${COMMON_INCLUDES})
-set(TEST_SRC_FILES
-        test/TestLaserDriver.cpp
-        )
+include_directories(${GTEST_INCLUDE_DIRS} ${TEST_INCLUDES} ${PROJECT_TEST_DIR})
+set(TEST_SRC_FILES test/TestLaserDriver.cpp test/FakeSerial.cpp test/ArduinoSymbols.cpp)
 add_executable(${PROJECT_TEST_NAME} ${TEST_SRC_FILES})
 add_dependencies(${PROJECT_TEST_NAME} googletest)
 
 
 if(NOT WIN32)
     target_link_libraries(${PROJECT_TEST_NAME}
+            ${PROJECT_LIB_NAME}
             ${GTEST_LIBS_DIR}/libgtest.a
             ${GTEST_LIBS_DIR}/libgtest_main.a
             )

Software/Firmware/OpenExposer/AccelStepper.h

@@ -197,12 +197,7 @@
 #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

Software/Firmware/OpenExposer/LaserDriver.cpp

@@ -1,17 +1,17 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include "LaserDriver.h"
-#include "configuration.h"
 #include <util/delay.h>
 
 uint16_t offset = 2000ul;
 
-uint16_t laser_data[512];
+laser_buffer_type data;
+
 uint16_t begin_delay = 3800+offset;
 uint16_t end_delay = 47500ul;
 uint16_t sync_timeout_delay = 60000ul;
 
-int laser_data_position = 0;
+size_t laser_data_position = 0;
 
 static uint8_t laser_state;
 volatile uint8_t write_line_enable = 0;
@@ -49,7 +49,7 @@ ISR(TIMER1_CAPT_vect){
 
 void laser_write_line(){
 
-	uint16_t * data = laser_data;
+	uint16_t * timings = data.laser_timings;
 
 	//wait for OCR0A compare match (begin of line, laser off)
 	while((TIFR1 & (1<<OCF1A)) == 0);
@@ -62,7 +62,7 @@ void laser_write_line(){
 
 	while(1){
 
-		uint16_t tmp  = *data++;
+		uint16_t tmp  = *timings++;
 
 		if(tmp == 0){               //end mark?
 			break;                    //yes: end line
@@ -154,15 +154,13 @@ ISR(TIMER1_COMPB_vect){
 // fill data table with test pattern
 void create_test_pattern(){
 
-
-        for(laser_data_position=0;laser_data_position < 80; laser_data_position++){
-	    laser_data[laser_data_position] = 500-laser_data_position;
-        }
-
-       laser_data[81] = 0;
-
-       laser_data_position = 0;
+	for(laser_data_position=0;laser_data_position < 80; laser_data_position++){
+		data.laser_timings[laser_data_position] = 500-laser_data_position;
+	}
 
+	data.laser_timings[81] = 0;
+
+   laser_data_position = 0;
 }
 
 
@@ -188,26 +186,31 @@ void init_laser_driver(){
 
 	create_test_pattern();
 
-        SET_DDR(LASER);
+	SET_DDR(LASER);
 
-        SET_DDR(LASER_PWM);
+    SET_DDR(LASER_PWM);
 	OUTPUT_ON(LASER_PWM);
 
-        TCCR1B = 1; 
-
+    TCCR1B = 1;
 }
 
 void fill_laser_buffer(long distance){
-
     if (distance == 0) {
-      laser_data[laser_data_position] = 0;
-      laser_data_position = 0;
+		data.positions[laser_data_position] = 0;
+		convert_positions_to_timings();
+    	laser_data_position = 0;
     } else {
-      laser_data[laser_data_position] = distance  * LASER_POINT_SCALER;
-      laser_data_position++;
+		data.positions[laser_data_position] = distance;
+		laser_data_position++;
     }
     delay(1);
-
+}
+
+void convert_positions_to_timings() {
+	for(int i = 0; i < laser_data_position; ++i) {
+		data.laser_timings[i] = data.positions[i] * LASER_POINT_SCALER;
+	}
+	data.laser_timings[laser_data_position] = 0;
 }
 
 // Turn Laser Timer on and activate Opto Capture

Software/Firmware/OpenExposer/LaserDriver.h

@@ -1,21 +1,25 @@
 #ifndef LASERDRIVER_H
 #define LASERDRIVER_H
-#if ARDUINO >= 100
-#include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
 
+#include <Arduino.h>
+
+#include "configuration.h"
 
 extern uint8_t exposing_done;
 
+typedef union {
+    uint32_t positions[LASER_POSITIONS_BUFFER_SIZE];
+    uint16_t laser_timings[LASER_POSITIONS_BUFFER_SIZE];
+} laser_buffer_type;
+
 void init_laser_driver();
 void laser_on();
 void laser_off();
 void expose_line(int time);
 void set_exposing_cycles(uint8_t cycles);
 void fill_laser_buffer(long distance);
 void create_test_pattern();
+void convert_positions_to_timings();
 
 #endif
 

Software/Firmware/OpenExposer/MotorDriver.cpp

@@ -1,6 +1,5 @@
 
 #include "configuration.h"
-//#include "ServoTimer2.h"
 #include "MotorDriver.h"
 #include "AccelStepper.h"
 #include "LaserDriver.h"

Software/Firmware/OpenExposer/MotorDriver.h

@@ -1,11 +1,7 @@
 #ifndef STEPPERCONTROLLER_H
 #define STEPPERCONTROLLER_H
 
-#if ARDUINO >= 100
 #include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
 
 // Helper Macro degrees to Microseconds for Timer2 Servo
 #define degreesToMS( _degrees) (_degrees * 6 + 900)

Software/Firmware/OpenExposer/OpenExposer.ino

@@ -1,14 +1,11 @@
 #include "configuration.h"
-#include <Servo.h>
 #include "LaserDriver.h"
 #include "MotorDriver.h"
 #include "Interpreter.h"
 
 void setup(){
 
 
-  Servo vat_servo;
-
   Serial.begin(BAUD);
 
   init_motor_driver();