Merge branch 'DevTimer'

Author: lunOptics

media/calculations.mcdx

@@ -0,0 +1,56 @@
+#include "ErrorHandler.h"
+#include <Arduino.h>
+
+namespace TeensyStep
+{    
+    static Stream* stream;   
+
+    static void vHandler(int module, int code)
+    {       
+        const char* mod;
+        const char* txt;
+
+        switch ((errModule)module)
+        {
+            case errModule::PIT: //----------------------------------------
+                mod = "PIT";
+                switch ((pitErr)code)
+                {
+                    case pitErr::outOfTimers: txt = "No timer available"; break;
+                    case pitErr::argErr:      txt = "BUG, argument error"; break;
+                    case pitErr::notAllocated:txt = "BUG, timer not allocated"; break;
+                    default:                  txt = "unknown"; break;
+                }                
+                break;           
+
+            case errModule::MC: //------------------------------------------
+                mod = "CTRL";
+                switch ((mcErr)code)
+                {
+                    case mcErr::alrdyMoving:  txt = "Started while moving"; break;
+                    default:                  txt = "unknown"; break;
+                }                
+                break;
+
+            default: //------------------------------------------------------
+                mod = "unknown";
+                txt = "unknown";
+                break;
+        }
+        stream->printf("ERR M%iC%i: %s (%s)\n", module, code, txt, mod);
+
+        while (true)
+        {
+            digitalWriteFast(LED_BUILTIN, !digitalReadFast(LED_BUILTIN));
+            delay(50);
+        }
+    }
+
+    errCallback_t* verboseHandler(Stream& s)
+    {
+        stream = &s;
+        return vHandler;
+    }
+
+    errCallback_t* ErrorHandler::callback = nullptr;
+}

media/calculations.pdf

@@ -0,0 +1,45 @@
+#pragma once
+#include "Stream.h"
+
+namespace TeensyStep
+{
+    using errCallback_t = void(int, int);
+
+    enum class errModule;
+    enum class pitERR;
+
+    class ErrorHandler
+    {
+     public:
+        static int error(errModule module, int code)
+        {            
+            if (callback != nullptr) callback((int)module, code);
+            return code;
+        }
+        static void attachCallback(errCallback_t* cb) { callback = cb; }
+
+     protected:
+        static errCallback_t* callback;
+    };
+
+    extern errCallback_t* verboseHandler(Stream&);
+
+    enum class errModule {
+        PIT = 1,
+        MC,
+        RB 
+    };
+
+    enum class pitErr {
+        OK,
+        argErr,
+        notAllocated,
+        outOfTimers,
+        
+    };
+
+    enum class mcErr {
+        OK,
+        alrdyMoving,        
+    };
+}