Verison 1.0.3 Release

Based on Buildbotics 0.4.14

src/avr/step-test/step-test.c

@@ -0,0 +1,230 @@
+/******************************************************************************\
+
+                 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 "hardware.h"
+#include "usart.h"
+#include "lcd.h"
+
+#include <avr/interrupt.h>
+
+#include <stdint.h>
+#include <stdio.h>
+
+
+#define RESET_PIN SPI_MOSI_PIN
+
+
+void rtc_init() {}
+
+
+static struct {
+  uint8_t step_pin;
+  uint8_t dir_pin;
+  TC0_t *timer;
+  volatile int16_t high;
+  volatile bool reading;
+
+} channel[4] = {
+  {STEP_X_PIN, DIR_X_PIN, &TCC0, 0},
+  {STEP_Y_PIN, DIR_Y_PIN, &TCD0, 0},
+  {STEP_Z_PIN, DIR_Z_PIN, &TCE0, 0},
+  {STEP_A_PIN, DIR_A_PIN, &TCF0, 0},
+};
+
+
+static int reset = 0;
+
+
+void channel_reset(int i) {channel[i].timer->CNT = channel[i].high = 0;}
+
+
+#define EVSYS_CHMUX(CH) (&EVSYS_CH0MUX)[CH]
+#define EVSYS_CHCTRL(CH) (&EVSYS_CH0CTRL)[CH]
+
+
+void channel_overflow(int i) {
+  if (IN_PIN(channel[i].dir_pin)) channel[i].high--;
+  else channel[i].high++;
+  channel[i].reading = false;
+}
+
+
+ISR(TCC0_OVF_vect) {channel_overflow(0);}
+ISR(TCD0_OVF_vect) {channel_overflow(1);}
+ISR(TCE0_OVF_vect) {channel_overflow(2);}
+ISR(TCF0_OVF_vect) {channel_overflow(3);}
+
+
+void channel_update_dir(int i) {
+  if (IN_PIN(channel[i].dir_pin)) channel[i].timer->CTRLFSET = TC0_DIR_bm;
+  else channel[i].timer->CTRLFCLR = TC0_DIR_bm;
+}
+
+
+ISR(PORTE_INT0_vect) {for (int i = 0; i < 4; i++) channel_update_dir(i);}
+
+
+int32_t __attribute__ ((noinline)) _channel_read(int i) {
+  return (int32_t)channel[i].high << 16 | channel[i].timer->CNT;
+}
+
+
+int32_t channel_read(int i) {
+  while (true) {
+    channel[i].reading = true;
+
+    int32_t x = _channel_read(i);
+    int32_t y = _channel_read(i);
+
+    if (x != y || !channel[i].reading) continue;
+
+    channel[i].reading = false;
+    return x;
+  }
+}
+
+
+void channel_update_enable(int i) {
+  if (IN_PIN(MOTOR_ENABLE_PIN))
+    channel[i].timer->CTRLA = TC_CLKSEL_EVCH0_gc + i;
+  else channel[i].timer->CTRLA = 0;
+}
+
+
+ISR(PORTF_INT0_vect) {
+  for (int i = 0; i < 4; i++) channel_update_enable(i);
+  if (!IN_PIN(MOTOR_ENABLE_PIN)) reset = 2;
+}
+
+
+ISR(PORTC_INT0_vect) {reset = 32;}
+
+
+ISR(TCC1_OVF_vect) {
+  if (reset) reset--;
+
+  // Report measured steps
+  static int32_t counts[4] = {0, 0, 0, 0};
+  bool moving = false;
+  bool zero = true;
+  for (int i = 0; i < 4; i++) {
+    int32_t count = channel_read(i);
+    if (count != counts[i]) moving = true;
+    if (count) zero = false;
+    counts[i] = count;
+  }
+
+  if (reset && !zero) {
+    for (int i = 0; i < 4; i++) channel_reset(i);
+    printf("RESET\n");
+    return;
+  }
+
+  if (moving)
+    printf("%ld,%ld,%ld,%ld\n", counts[0], counts[1], counts[2], counts[3]);
+}
+
+
+static void _splash(uint8_t addr) {
+  lcd_init(addr);
+  lcd_goto(addr, 5, 1);
+  lcd_pgmstr(addr, PSTR("Step Test"));
+}
+
+
+void channel_init(int i) {
+  uint8_t step_pin = channel[i].step_pin;
+  uint8_t dir_pin = channel[i].dir_pin;
+
+  // Configure I/O
+  DIRCLR_PIN(step_pin);
+  DIRCLR_PIN(dir_pin);
+  PINCTRL_PIN(step_pin) = PORT_SRLEN_bm | PORT_ISC_RISING_gc;
+  PINCTRL_PIN(dir_pin)  = PORT_SRLEN_bm | PORT_ISC_BOTHEDGES_gc;
+
+  // Dir change interrupt
+  PIN_PORT(dir_pin)->INTCTRL  |= PORT_INT0LVL_HI_gc;
+  PIN_PORT(dir_pin)->INT0MASK |= PIN_BM(dir_pin);
+
+  // Events
+  EVSYS_CHMUX(i) = PIN_EVSYS_CHMUX(step_pin);
+  EVSYS_CHCTRL(i) = EVSYS_DIGFILT_8SAMPLES_gc;
+
+  // Clock
+  channel_update_enable(i);
+  channel[i].timer->INTCTRLA = TC_OVFINTLVL_HI_gc;
+
+  // Set initial clock direction
+  channel_update_dir(i);
+}
+
+
+static void init() {
+  cli();
+
+  hw_init();
+  usart_init();
+
+  // Motor channels
+  for (int i = 0; i < 4; i++) channel_init(i);
+
+  // Motor enable
+  DIRCLR_PIN(MOTOR_ENABLE_PIN);
+  PINCTRL_PIN(MOTOR_ENABLE_PIN) =
+    PORT_SRLEN_bm | PORT_ISC_BOTHEDGES_gc | PORT_OPC_PULLUP_gc;
+  PIN_PORT(MOTOR_ENABLE_PIN)->INTCTRL  |= PORT_INT0LVL_HI_gc;
+  PIN_PORT(MOTOR_ENABLE_PIN)->INT0MASK |= PIN_BM(MOTOR_ENABLE_PIN);
+
+  // Configure report clock
+  TCC1.INTCTRLA = TC_OVFINTLVL_LO_gc;
+  TCC1.PER = F_CPU / 256 * 0.01; // 10ms
+  TCC1.CTRLA = TC_CLKSEL_DIV256_gc;
+
+  // Reset switch
+  DIRCLR_PIN(RESET_PIN);
+  PINCTRL_PIN(RESET_PIN) =
+    PORT_SRLEN_bm | PORT_ISC_RISING_gc | PORT_OPC_PULLUP_gc;
+  PIN_PORT(RESET_PIN)->INTCTRL  |= PORT_INT0LVL_LO_gc;
+  PIN_PORT(RESET_PIN)->INT0MASK |= PIN_BM(RESET_PIN);
+
+  printf("RESET\n");
+
+  sei();
+}
+
+
+int main() {
+  init();
+
+  _splash(0x27);
+  _splash(0x3f);
+
+  while (true) continue;
+
+  return 0;
+}