6 akser, StallGuard og basic web interface med ledningsdiagrammer tilføjet

src/main.cpp

@@ -0,0 +1,63 @@
+#include <Arduino.h>
+#include <FastAccelStepper.h>
+#include "config.h"
+#include "Machine.h"
+#include "Commands.h"
+
+FastAccelStepperEngine engine;
+Machine machine(engine);
+Commands commands(machine);
+
+static String rxLine;
+static uint32_t lastRxMs = 0;
+
+void setup() {
+  Serial.begin(PC_BAUD);
+  delay(200);
+
+  machine.begin();
+
+  Serial.println();
+  Serial.printf("# Stepper-test klar - %u akser\n", NUM_AXES);
+  uint8_t found = 0;
+  for (uint8_t i = 0; i < NUM_AXES; i++) {
+    Axis& a = machine.axis(i);
+    found += a.uartOk();
+    Serial.printf("# a%u (bus %c, adr %u, STEP %u, DIR %u): %s\n", i, 'A' + a.config().bus,
+                  a.config().address, a.config().stepPin, a.config().dirPin,
+                  a.uartOk() ? "TMC2209 fundet" : "ingen driver");
+  }
+  if (!found) Serial.println("# Ingen drivere fundet - er VM (12/24 V) tændt? Prøver igen løbende.");
+  Serial.printf("# DIAG: %s på GPIO%u\n",
+                DIAG_MODE == DiagMode::DiodeOr ? "diode-OR (digital)" : "modstande + ADC", PIN_DIAG);
+  Serial.println("# Skriv 'help' for kommandoer");
+  Serial.println(commands.handle("status"));
+}
+
+void loop() {
+  // ---- Læs kommandoer fra PC'en (ikke-blokerende) ----
+  while (Serial.available()) {
+    char c = (char)Serial.read();
+    lastRxMs = millis();
+    if (c == '\n' || c == '\r') {
+      if (rxLine.length()) {
+        String reply = commands.handle(rxLine);
+        if (reply.length()) Serial.println(reply);
+        rxLine = "";
+      }
+    } else if (rxLine.length() < 80) {
+      rxLine += c;
+    }
+  }
+
+  // ---- Stall, homing, driver-tjek og live-status ----
+  machine.poll(Serial);
+
+  // ---- Watchdog: kun aktiv når PC-programmet sender "hb" ----
+  uint32_t now = millis();
+  if (commands.heartbeatArmed() && now - lastRxMs > WATCHDOG_TIMEOUT_MS && machine.anyRunning()) {
+    machine.stopAll();
+    Serial.println("# watchdog: ingen heartbeat fra PC - blød stop af alle akser");
+    lastRxMs = now;  // undgå at gentage beskeden hver loop
+  }
+}