Verison 1.0.3 Release

Based on Buildbotics 0.4.14

src/avr/emu/.gitignore

@@ -0,0 +1 @@
+bbemu

src/avr/emu/Makefile

@@ -0,0 +1,38 @@
+TARGET = bbemu
+
+SRC:=$(wildcard ../src/*.c) $(wildcard ../src/*.cpp)
+OBJ:=$(patsubst %.cpp,%.o,$(patsubst %.c,%.o,$(SRC)))
+OBJ:=$(patsubst ../src/%,build/%,$(OBJ))
+SRC+=src/emu.c
+OBJ+=build/emu.o
+
+CFLAGS = -I../src -Isrc -Wall -Werror -DDEBUG -g -std=gnu++98
+CFLAGS += -MD -MP -MT $@ -MF build/$(@F).d
+CFLAGS += -DF_CPU=32000000 -Wno-class-memaccess -pthread
+LDFLAGS = -lm -pthread
+
+all: $(TARGET)
+
+$(TARGET): $(OBJ)
+	g++ -o $@ $(OBJ) $(LDFLAGS)
+
+build/%.o: ../src/%.c
+	g++ -c -o $@ $(CFLAGS) $<
+
+build/%.o: src/%.c
+	g++ -c -o $@ $(CFLAGS) $<
+
+build/%.o: ../src/%.cpp
+	g++ -c -o $@ $(CFLAGS) $<
+
+# Clean
+tidy:
+	rm -f $(shell find -name \*~ -o -name \#\*)
+
+clean: tidy
+	rm -rf $(TARGET) build
+
+.PHONY: tidy clean all
+
+# Dependencies
+-include $(shell mkdir -p build) $(wildcard build/*.d)

src/avr/emu/src/avr/eeprom.h

@@ -0,0 +1,34 @@
+/******************************************************************************\
+
+                  This file is part of the Buildbotics firmware.
+
+                    Copyright (c) 2015 - 2018, Buildbotics LLC
+                               All rights reserved.
+
+       This file ("the software") is free software: you can redistribute it
+       and/or modify it under the terms of the GNU General Public License,
+        version 2 as published by the Free Software Foundation. You should
+        have received a copy of the GNU General Public License, version 2
+       along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+       The software is distributed in the hope that it will be useful, but
+            WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+                 Lesser General Public License for more details.
+
+         You should have received a copy of the GNU Lesser General Public
+                  License along with the software.  If not, see
+                         <http://www.gnu.org/licenses/>.
+
+                  For information regarding this software email:
+                    "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#define EEMEM
+
+#define eeprom_update_word(PTR, VAL) *(PTR) = (VAL)
+#define eeprom_read_word(PTR) *(PTR)
+#define eeprom_is_ready() true

src/avr/emu/src/avr/interrupt.h

@@ -0,0 +1,35 @@
+/******************************************************************************\
+
+                  This file is part of the Buildbotics firmware.
+
+                    Copyright (c) 2015 - 2018, Buildbotics LLC
+                               All rights reserved.
+
+       This file ("the software") is free software: you can redistribute it
+       and/or modify it under the terms of the GNU General Public License,
+        version 2 as published by the Free Software Foundation. You should
+        have received a copy of the GNU General Public License, version 2
+       along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+       The software is distributed in the hope that it will be useful, but
+            WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+                 Lesser General Public License for more details.
+
+         You should have received a copy of the GNU Lesser General Public
+                  License along with the software.  If not, see
+                         <http://www.gnu.org/licenses/>.
+
+                  For information regarding this software email:
+                    "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#include "io.h"
+
+void cli();
+void sei();
+
+#define ISR(X) void __##X()

src/avr/emu/src/avr/pgmspace.h

@@ -0,0 +1,41 @@
+/******************************************************************************\
+
+                  This file is part of the Buildbotics firmware.
+
+                    Copyright (c) 2015 - 2018, Buildbotics LLC
+                               All rights reserved.
+
+       This file ("the software") is free software: you can redistribute it
+       and/or modify it under the terms of the GNU General Public License,
+        version 2 as published by the Free Software Foundation. You should
+        have received a copy of the GNU General Public License, version 2
+       along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+       The software is distributed in the hope that it will be useful, but
+            WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+                 Lesser General Public License for more details.
+
+         You should have received a copy of the GNU Lesser General Public
+                  License along with the software.  If not, see
+                         <http://www.gnu.org/licenses/>.
+
+                  For information regarding this software email:
+                    "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#define PRPSTR "s"
+#define PROGMEM
+#define PGM_P const char *
+#define PSTR(X) X
+#define vfprintf_P vfprintf
+#define printf_P printf
+#define puts_P puts
+#define sprintf_P sprintf
+#define strcmp_P strcmp
+#define pgm_read_ptr(x) *(x)
+#define pgm_read_word(x) *(x)
+#define pgm_read_byte(x) *(x)

src/avr/emu/src/avr/wdt.h

@@ -0,0 +1,33 @@
+/******************************************************************************\
+
+                  This file is part of the Buildbotics firmware.
+
+                    Copyright (c) 2015 - 2018, Buildbotics LLC
+                               All rights reserved.
+
+       This file ("the software") is free software: you can redistribute it
+       and/or modify it under the terms of the GNU General Public License,
+        version 2 as published by the Free Software Foundation. You should
+        have received a copy of the GNU General Public License, version 2
+       along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+       The software is distributed in the hope that it will be useful, but
+            WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+                 Lesser General Public License for more details.
+
+         You should have received a copy of the GNU Lesser General Public
+                  License along with the software.  If not, see
+                         <http://www.gnu.org/licenses/>.
+
+                  For information regarding this software email:
+                    "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#define WDTO_250MS 0
+#define wdt_enable(...)
+#define wdt_disable()
+#define wdt_reset()

src/avr/emu/src/emu.c

@@ -0,0 +1,163 @@
+/******************************************************************************\
+
+                  This file is part of the Buildbotics firmware.
+
+                    Copyright (c) 2015 - 2018, Buildbotics LLC
+                               All rights reserved.
+
+       This file ("the software") is free software: you can redistribute it
+       and/or modify it under the terms of the GNU General Public License,
+        version 2 as published by the Free Software Foundation. You should
+        have received a copy of the GNU General Public License, version 2
+       along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+       The software is distributed in the hope that it will be useful, but
+            WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+                 Lesser General Public License for more details.
+
+         You should have received a copy of the GNU Lesser General Public
+                  License along with the software.  If not, see
+                         <http://www.gnu.org/licenses/>.
+
+                  For information regarding this software email:
+                    "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#include <config.h>
+
+#include <avr/io.h>
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/select.h>
+
+
+void __SPIC_INT_vect();      // DRV8711 SPI
+void __I2C_ISR();            // I2C from RPi
+void __ADCA_CH0_vect();      // Analog input
+void __ADCA_CH1_vect();      // Analog input
+void __RS485_DRE_vect();     // RS848
+void __RS485_TXC_vect();     // RS848
+void __RS485_RXC_vect();     // RS848
+void __SERIAL_DRE_vect();    // Serial to RPi
+void __SERIAL_RXC_vect();    // Serial from RPi
+void __STEP_LOW_LEVEL_ISR(); // Stepper lo interrupt
+void __STEP_TIMER_ISR();     // Stepper hi interrupt
+void __RTC_OVF_vect();       // RTC tick
+
+void motor_emulate_steps(int motor);
+
+extern int __argc;
+extern char **__argv;
+
+
+volatile uint8_t io_mem[4096] = {0};
+
+
+bool fast = false;
+int serialByte = -1;
+uint8_t i2cData[I2C_MAX_DATA];
+int i2cIndex = 0;
+bool haveI2C = false;
+fd_set readFDs;
+
+
+void cli() {}
+void sei() {}
+
+
+void emu_init() {
+  // Parse command line args
+  for (int i = 0; i < __argc; i++)
+    if (strcmp(__argv[i], "--fast") == 0) fast = true;
+
+  // Mark clocks ready
+  OSC.STATUS = OSC_XOSCRDY_bm | OSC_PLLRDY_bm | OSC_RC32KRDY_bm;
+
+  // So usart_flush() returns
+  SERIAL_PORT.STATUS = USART_DREIF_bm | USART_TXCIF_bm;
+
+  // Clear motor fault
+  PIN_PORT(MOTOR_FAULT_PIN)->IN |= PIN_BM(MOTOR_FAULT_PIN);
+
+  FD_ZERO(&readFDs);
+}
+
+
+void emu_callback() {
+  fflush(stdout);
+
+  if (RST.CTRL == RST_SWRST_bm) exit(0);
+
+  struct timeval t = {0, fast ? 0 : 1000};
+  bool readData = true;
+  while (readData) {
+    readData = false;
+
+    // Try to read
+    FD_SET(0, &readFDs);
+    if (fcntl(3, F_GETFL) != -1) FD_SET(3, &readFDs);
+
+    if (0 < select(4, &readFDs, 0, 0, &t)) {
+      uint8_t data;
+
+      if (serialByte == -1 && FD_ISSET(0, &readFDs) && read(0, &data, 1) == 1)
+        serialByte = data;
+
+      if (!haveI2C && FD_ISSET(3, &readFDs) && read(3, &data, 1) == 1) {
+        if (data == '\n') haveI2C = true;
+        else if (i2cIndex < I2C_MAX_DATA) i2cData[i2cIndex++] = data;
+      }
+    }
+
+    // Send message to i2c port
+    if (haveI2C && (I2C_DEV.SLAVE.CTRLA & TWI_SLAVE_INTLVL_LO_gc)) {
+      // START
+      I2C_DEV.SLAVE.STATUS = TWI_SLAVE_APIF_bm | TWI_SLAVE_AP_bm;
+      __I2C_ISR();
+
+      // DATA
+      for (int i = 0; i < i2cIndex; i++) {
+        I2C_DEV.SLAVE.STATUS = TWI_SLAVE_DIF_bm;
+        I2C_DEV.SLAVE.DATA = i2cData[i];
+        __I2C_ISR();
+      }
+
+      // STOP
+      I2C_DEV.SLAVE.STATUS = TWI_SLAVE_APIF_bm;
+      __I2C_ISR();
+
+      i2cIndex = 0;
+      haveI2C = false;
+      readData = true;
+    }
+
+    // Send byte to serial port
+    if (serialByte != -1 && SERIAL_PORT.CTRLA & USART_RXCINTLVL_MED_gc) {
+      SERIAL_PORT.DATA = (uint8_t)serialByte;
+      __SERIAL_RXC_vect();
+
+      if (SERIAL_PORT.CTRLA & USART_RXCINTLVL_MED_gc) {
+        serialByte = -1;
+        readData = true;
+      }
+    }
+  }
+
+  // Call stepper ISRs
+  if (ADCB_CH0_INTCTRL == ADC_CH_INTLVL_LO_gc) __STEP_LOW_LEVEL_ISR();
+  for (int motor = 0; motor < 4; motor++) motor_emulate_steps(motor);
+  __STEP_TIMER_ISR();
+
+  // Call RTC
+  __RTC_OVF_vect();
+
+  // Throttle with remaining time
+  if (t.tv_usec) usleep(t.tv_usec);
+}

src/avr/emu/src/util/atomic.h

@@ -0,0 +1,31 @@
+/******************************************************************************\
+
+                  This file is part of the Buildbotics firmware.
+
+                    Copyright (c) 2015 - 2018, Buildbotics LLC
+                               All rights reserved.
+
+       This file ("the software") is free software: you can redistribute it
+       and/or modify it under the terms of the GNU General Public License,
+        version 2 as published by the Free Software Foundation. You should
+        have received a copy of the GNU General Public License, version 2
+       along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+       The software is distributed in the hope that it will be useful, but
+            WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+                 Lesser General Public License for more details.
+
+         You should have received a copy of the GNU Lesser General Public
+                  License along with the software.  If not, see
+                         <http://www.gnu.org/licenses/>.
+
+                  For information regarding this software email:
+                    "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#define ATOMIC_BLOCK(x)
+#define ATOMIC_RESTORESTATE

src/avr/emu/src/util/crc16.h

@@ -0,0 +1,30 @@
+/******************************************************************************\
+
+                  This file is part of the Buildbotics firmware.
+
+                    Copyright (c) 2015 - 2018, Buildbotics LLC
+                               All rights reserved.
+
+       This file ("the software") is free software: you can redistribute it
+       and/or modify it under the terms of the GNU General Public License,
+        version 2 as published by the Free Software Foundation. You should
+        have received a copy of the GNU General Public License, version 2
+       along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+       The software is distributed in the hope that it will be useful, but
+            WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+                 Lesser General Public License for more details.
+
+         You should have received a copy of the GNU Lesser General Public
+                  License along with the software.  If not, see
+                         <http://www.gnu.org/licenses/>.
+
+                  For information regarding this software email:
+                    "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#define _crc16_update(...) 0

src/avr/emu/src/util/delay.h

@@ -0,0 +1,33 @@
+/******************************************************************************\
+
+                  This file is part of the Buildbotics firmware.
+
+                    Copyright (c) 2015 - 2018, Buildbotics LLC
+                               All rights reserved.
+
+       This file ("the software") is free software: you can redistribute it
+       and/or modify it under the terms of the GNU General Public License,
+        version 2 as published by the Free Software Foundation. You should
+        have received a copy of the GNU General Public License, version 2
+       along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+       The software is distributed in the hope that it will be useful, but
+            WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+                 Lesser General Public License for more details.
+
+         You should have received a copy of the GNU Lesser General Public
+                  License along with the software.  If not, see
+                         <http://www.gnu.org/licenses/>.
+
+                  For information regarding this software email:
+                    "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#include <unistd.h>
+
+#define _delay_ms(x) usleep((x) * 1000)
+#define _delay_us(x) usleep(x)