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Unneeded code

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This commit is contained in:
David Carley
2022-07-12 19:38:02 -07:00
parent 9a397d565f
commit 614e7f62cb
18 changed files with 0 additions and 1337 deletions
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143
src/avr/src/lcd.c
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@@ -1,143 +0,0 @@
/******************************************************************************\
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 "lcd.h"
#include "rtc.h"
#include "hardware.h"
#include "command.h"
#include <avr/io.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <stdbool.h>
void lcd_init(uint8_t addr) {
// Enable I2C master
TWIC.MASTER.BAUD = F_CPU / 2 / 100000 - 5; // 100 KHz
TWIC.MASTER.CTRLA = TWI_MASTER_ENABLE_bm;
TWIC.MASTER.CTRLB = TWI_MASTER_TIMEOUT_DISABLED_gc;
TWIC.MASTER.STATUS = TWI_MASTER_BUSSTATE_IDLE_gc;
_delay_ms(50);
lcd_nibble(addr, 3 << 4); // Home
_delay_ms(50);
lcd_nibble(addr, 3 << 4); // Home
_delay_ms(50);
lcd_nibble(addr, 3 << 4); // Home
lcd_nibble(addr, 2 << 4); // 4-bit
lcd_write(addr,
LCD_FUNCTION_SET | LCD_2_LINE | LCD_5x8_DOTS | LCD_4_BIT_MODE, 0);
lcd_write(addr, LCD_DISPLAY_CONTROL | LCD_DISPLAY_ON, 0);
lcd_write(addr, LCD_ENTRY_MODE_SET | LCD_ENTRY_SHIFT_INC, 0);
lcd_write(addr, LCD_CLEAR_DISPLAY, 0);
lcd_write(addr, LCD_RETURN_HOME, 0);
}
static void _master_wait() {
#ifdef __AVR__
while (!(TWIC.MASTER.STATUS & TWI_MASTER_WIF_bm)) continue;
#endif
}
static void _write_i2c(uint8_t addr, uint8_t data) {
data |= BACKLIGHT_BIT;
TWIC.MASTER.ADDR = addr << 1;
_master_wait();
TWIC.MASTER.DATA = data;
_master_wait();
TWIC.MASTER.CTRLC = TWI_MASTER_CMD_STOP_gc;
_delay_us(100);
}
void lcd_nibble(uint8_t addr, uint8_t data) {
_write_i2c(addr, data);
_write_i2c(addr, data | ENABLE_BIT);
_delay_us(500);
_write_i2c(addr, data & ~ENABLE_BIT);
_delay_us(100);
}
void lcd_write(uint8_t addr, uint8_t cmd, uint8_t flags) {
lcd_nibble(addr, flags | (cmd & 0xf0));
lcd_nibble(addr, flags | ((cmd << 4) & 0xf0));
}
void lcd_goto(uint8_t addr, uint8_t x, uint8_t y) {
static uint8_t row[] = {0, 64, 20, 84};
lcd_write(addr, LCD_SET_DDRAM_ADDR | (row[y] + x), 0);
}
void lcd_putchar(uint8_t addr, uint8_t c) {
lcd_write(addr, c, REG_SELECT_BIT);
}
void lcd_pgmstr(uint8_t addr, const char *s) {
while (true) {
char c = pgm_read_byte(s++);
if (!c) break;
lcd_putchar(addr, c);
}
}
void _splash(uint8_t addr) {
lcd_init(addr);
lcd_goto(addr, 1, 1);
lcd_pgmstr(addr, PSTR("Controller booting"));
lcd_goto(addr, 3, 2);
lcd_pgmstr(addr, PSTR("Please wait..."));
}
void lcd_splash() {
wdt_disable();
_splash(0x27);
_splash(0x3f);
wdt_enable(WDTO_250MS);
}
void lcd_rtc_callback() {
// Display the splash if we haven't gotten any commands in 1sec since boot
if (!command_is_active() && rtc_get_time() == 1000)
lcd_splash();
}

103
src/avr/src/lcd.h
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@@ -1,103 +0,0 @@
/******************************************************************************\
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 "pgmspace.h"
#include <stdint.h>
// Control flags
enum {
REG_SELECT_BIT = 1 << 0,
READ_BIT = 1 << 1,
ENABLE_BIT = 1 << 2,
BACKLIGHT_BIT = 1 << 3,
};
// Commands
enum {
LCD_CLEAR_DISPLAY = 1 << 0,
LCD_RETURN_HOME = 1 << 1,
LCD_ENTRY_MODE_SET = 1 << 2,
LCD_DISPLAY_CONTROL = 1 << 3,
LCD_CURSOR_SHIFT = 1 << 4,
LCD_FUNCTION_SET = 1 << 5,
LCD_SET_CGRAM_ADDR = 1 << 6,
LCD_SET_DDRAM_ADDR = 1 << 7,
};
// Entry Mode Set flags
#define LCD_ENTRY_SHIFT_DISPLAY (1 << 0)
#define LCD_ENTRY_SHIFT_INC (1 << 1)
#define LCD_ENTRY_SHIFT_DEC (0 << 1)
// Display Control flags
#define LCD_BLINK_ON (1 << 0)
#define LCD_BLINK_OFF (0 << 0)
#define LCD_CURSOR_ON (1 << 1)
#define LCD_CURSOR_OFF (0 << 1)
#define LCD_DISPLAY_ON (1 << 2)
#define LCD_DISPLAY_OFF (0 << 2)
// Cursor Shift flags
#define LCD_SHIFT_RIGHT (1 << 2)
#define LCD_SHIFT_LEFT (0 << 2)
#define LCD_SHIFT_DISPLAY (1 << 3)
#define LCD_SHIFT_CURSOR (0 << 3)
// Function Set flags
#define LCD_5x11_DOTS (1 << 2)
#define LCD_5x8_DOTS (0 << 2)
#define LCD_2_LINE (1 << 3)
#define LCD_1_LINE (0 << 3)
#define LCD_8_BIT_MODE (1 << 4)
#define LCD_4_BIT_MODE (0 << 4)
// Text justification flags
enum {
JUSTIFY_LEFT = 0,
JUSTIFY_RIGHT = 1,
JUSTIFY_CENTER = 2,
};
void lcd_init(uint8_t addr);
void lcd_nibble(uint8_t addr, uint8_t data);
void lcd_write(uint8_t addr, uint8_t cmd, uint8_t flags);
void lcd_goto(uint8_t addr, uint8_t x, uint8_t y);
void lcd_putchar(uint8_t addr, uint8_t c);
void lcd_pgmstr(uint8_t addr, const char *s);
void lcd_splash();
void lcd_rtc_callback();

2
src/avr/src/rtc.c
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@@ -30,7 +30,6 @@
#include "switch.h"
#include "analog.h"
#include "motor.h"
#include "lcd.h"
#include "vfd_spindle.h"
#include <avr/io.h>
@@ -46,7 +45,6 @@ static uint32_t ticks;
ISR(RTC_OVF_vect) {
ticks++;
lcd_rtc_callback();
switch_rtc_callback();
analog_rtc_callback();
vfd_spindle_rtc_callback();

20
src/avr/step-test/Makefile
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@@ -1,20 +0,0 @@
# Makefile for Bulidbotics step-test
PROJECT = step-test
MCU = atxmega192a3u
CLOCK = 32000000
# SRC
SRC = usart.c lcd.c pins.c hardware.c
SRC := $(wildcard *.c) $(patsubst %,../src/%,$(SRC))
include ../Makefile.common
CFLAGS += -I../src -I.
# Build
all: $(PROJECT).hex size
$(PROJECT).elf: $(SRC)
$(CC) $(SRC) $(CFLAGS) $(LDFLAGS) $(LIBS) -o $@
.PHONY: all

187
src/avr/step-test/plot_velocity.py
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@@ -1,187 +0,0 @@
#!/usr/bin/env python3
################################################################################
# #
# 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> #
# #
################################################################################
import sys, serial, argparse
import numpy as np
import math
import json
from time import sleep
from collections import deque
from datetime import datetime
import matplotlib.pyplot as plt
import matplotlib.animation as animation
MM_PER_STEP = 5 * 1.8 / 360 / 32
SAMPLES_PER_MIN = 6000
class Plot:
def __init__(self, port, baud, max_len):
# Open serial port
self.sp = serial.Serial(port, baud)
# Create data series
self.series = []
for i in range(5):
self.series.append(deque([0.0] * max_len))
# Init vars
self.max_len = max_len
self.incoming = ''
self.last = [None] * 4
# Open velocity log
ts = datetime.now().strftime('%Y-%m-%d-%H:%M:%S')
self.log = open('velocity-%s.log' % ts, 'w')
# Add new series data
def add(self, i, value):
self.series[i].pop()
self.series[i].appendleft(value)
def update_text(self, text, vel, data):
text[4].set_text('V {0:8,.2f}'.format(vel))
for i in range(4):
text[i].set_text('{} {:11,}'.format('XYZA'[i], int(data[i])))
def update(self, frame, axes, text):
# Read new data
try:
data = self.sp.read(self.sp.in_waiting)
self.incoming += data.decode('utf-8')
except Exception as e:
print(e)
return
while True:
# Parse lines
i = self.incoming.find('\n')
if i == -1: break
line = self.incoming[0:i]
self.incoming = self.incoming[i + 1:]
# Handle reset
if line.find('RESET') != -1:
self.update_text(text, 0, [0] * 4)
self.log.write(line + '\n')
self.last = [None] * 4
continue
# Parse data
try:
data = [float(value) for value in line.split(',')]
except ValueError: continue
if len(data) != 4: continue
# Compute axis velocities
v = [] # Axis velocity
totalV = 0 # Tool velocity
for i in range(4):
if self.last[i] is not None:
delta = self.last[i] - data[i]
v.append(delta * MM_PER_STEP * SAMPLES_PER_MIN) # mm/min
totalV += math.pow(v[i], 2)
self.last[i] = data[i]
# Compute tool velocity
totalV = math.sqrt(totalV)
# Update position and velocity text
self.update_text(text, totalV, data)
# Don't update plots when not moving
if totalV == 0: continue
# Add new data
for i in range(4): self.add(i, v[i])
self.add(4, totalV)
# Update plots
for i in range(5):
axes[i].set_data(range(self.max_len), self.series[i])
self.log.write(line + '\n')
def close(self):
self.sp.flush()
self.sp.close()
if __name__ == '__main__':
# Parse command line arguments
description = "Plot velocity data in real-time"
parser = argparse.ArgumentParser(description = description)
parser.add_argument('-p', '--port', default = '/dev/ttyUSB0')
parser.add_argument('-b', '--baud', default = 115200, type = int)
parser.add_argument('-m', '--max-width', default = 2000, type = int)
args = parser.parse_args()
# Create plot
plot = Plot(args.port, args.baud, args.max_width)
fig = plt.figure()
ax = plt.axes(xlim = (0, args.max_width), ylim = (-10000, 10000))
axes = []
axes_text = []
# Setup position and velocity text fields
font = dict(fontsize = 14, family = 'monospace')
axes_text.append(plt.text(0, 11700, '', **font))
axes_text.append(plt.text(800, 11700, '', **font))
axes_text.append(plt.text(0, 10500, '', **font))
axes_text.append(plt.text(800, 10500, '', **font))
axes_text.append(plt.text(1500, 11700, '', **font))
# Create axes
for i in range(5):
axes.append(ax.plot([], [])[0])
# Set text color to match axis color
axes_text[i].set_color(axes[i].get_color())
# Initial text views
plot.update_text(axes_text, 0, [0] * 4)
# Set up animation
anim = animation.FuncAnimation(fig, plot.update, fargs = [axes, axes_text],
interval = 100)
# Run
plt.show()
plot.close()

230
src/avr/step-test/step-test.c
View File

@@ -1,230 +0,0 @@
/******************************************************************************\
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;
}