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Removed the "jig" source.

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This commit is contained in:
David Carley
2022-09-14 00:40:00 +00:00
parent f8190f9734
commit f76fc064fd
14 changed files with 1 additions and 1166 deletions
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6
Makefile
View File

@@ -16,14 +16,10 @@ GPLAN_MOD := rpi-share/camotics/gplan.so
GPLAN_TARGET := src/py/camotics/gplan.so
GPLAN_IMG := gplan-dev.img
RSYNC_EXCLUDE := \*.pyc __pycache__ \*.egg-info \\\#* \*~ .\\\#\*
RSYNC_EXCLUDE := $(patsubst %,--exclude %,$(RSYNC_EXCLUDE))
RSYNC_OPTS := $(RSYNC_EXCLUDE) -rv --no-g --delete --force
VERSION := $(shell sed -n 's/^.*"version": "\([^"]*\)",.*$$/\1/p' package.json)
PKG_NAME := bbctrl-$(VERSION)
SUBPROJECTS := avr boot pwr jig
SUBPROJECTS := avr boot pwr
ifndef HOST
HOST=onefinity

3
src/jig/.gitignore vendored
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@@ -1,3 +0,0 @@
/build
/*.hex
/*.elf

131
src/jig/Makefile
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@@ -1,131 +0,0 @@
# Makefile for the project Bulidbotics firmware
PROJECT = bbctrl-jig-firmware
MCU = atxmega192a3u
CLOCK = 32000000
VERSION = 0.0.1
TARGET = $(PROJECT).elf
# Compile flags
CC = avr-gcc
CPP = avr-g++
COMMON = -mmcu=$(MCU) -flto -fwhole-program
CFLAGS += $(COMMON)
CFLAGS += -Wall -Werror
CFLAGS += -Wno-error=strict-aliasing # for _invsqrt
CFLAGS += -std=gnu99 -DF_CPU=$(CLOCK)UL -O3
CFLAGS += -funsigned-bitfields -fpack-struct -fshort-enums -funsigned-char
CFLAGS += -MD -MP -MT $@ -MF build/dep/$(@F).d
CFLAGS += -Isrc -DVERSION=\"$(VERSION)\"
# Linker flags
LDFLAGS += $(COMMON) -Wl,-u,vfprintf -lprintf_flt -lm
LIBS += -lm
# EEPROM flags
EEFLAGS += -j .eeprom
EEFLAGS += --set-section-flags=.eeprom="alloc,load"
EEFLAGS += --change-section-lma .eeprom=0 --no-change-warnings
# Programming flags
PROGRAMMER = avrispmkII
#PROGRAMMER = jtag3pdi
PDEV = usb
AVRDUDE_OPTS = -c $(PROGRAMMER) -p $(MCU) -P $(PDEV)
FUSE0=0xff
FUSE1=0x00
FUSE2=0xbe
FUSE4=0xff
FUSE5=0xeb
# SRC
SRC = $(wildcard src/*.c)
OBJ = $(patsubst src/%.c,build/%.o,$(SRC))
# Build
all:
@$(MAKE) $(PROJECT).hex
@$(MAKE) size
# Compile
build/%.o: src/%.c
@mkdir -p $(shell dirname $@)
$(CC) $(INCLUDES) $(CFLAGS) -c -o $@ $<
build/%.o: src/%.S
@mkdir -p $(shell dirname $@)
$(CC) $(INCLUDES) $(CFLAGS) -c -o $@ $<
# Link
$(TARGET): $(OBJ)
$(CC) $(LDFLAGS) $(OBJ) $(LIBS) -o $@
%.hex: %.elf
avr-objcopy -O ihex -R .eeprom -R .fuse -R .lock -R .signature $< $@
%.eep: %.elf
avr-objcopy $(EEFLAGS) -O ihex $< $@
%.lss: %.elf
avr-objdump -h -S $< > $@
_size:
@for X in A B C; do\
echo '****************************************************************' ;\
avr-size -$$X --mcu=$(MCU) $(SIZE_TARGET) ;\
done
size: $(TARGET)
@$(MAKE) SIZE_TARGET=$< _size
# Program
init:
$(MAKE) erase
-$(MAKE) fuses
$(MAKE) program
reset:
avrdude $(AVRDUDE_OPTS)
erase:
avrdude $(AVRDUDE_OPTS) -e
program: $(PROJECT).hex
avrdude $(AVRDUDE_OPTS) -U flash:w:$(PROJECT).hex:i
verify: $(PROJECT).hex
avrdude $(AVRDUDE_OPTS) -U flash:v:$(PROJECT).hex:i
fuses:
avrdude $(AVRDUDE_OPTS) -U fuse0:w:$(FUSE0):m -U fuse1:w:$(FUSE1):m \
-U fuse2:w:$(FUSE2):m -U fuse4:w:$(FUSE4):m -U fuse5:w:$(FUSE5):m
read_fuses:
avrdude $(AVRDUDE_OPTS) -q -q -U fuse0:r:-:h -U fuse1:r:-:h -U fuse2:r:-:h \
-U fuse4:r:-:h -U fuse5:r:-:h
signature:
avrdude $(AVRDUDE_OPTS) -q -q -U signature:r:-:h
prodsig:
avrdude $(AVRDUDE_OPTS) -q -q -U prodsig:r:-:h
usersig:
avrdude $(AVRDUDE_OPTS) -q -q -U usersig:r:-:h
# Clean
tidy:
rm -f $(shell find -name \*~ -o -name \#\*)
clean: tidy
rm -rf $(PROJECT).elf $(PROJECT).hex $(PROJECT).eep $(PROJECT).lss \
$(PROJECT).map build
.PHONY: tidy clean size all reset erase program fuses read_fuses prodsig
.PHONY: signature usersig
# Dependencies
-include $(shell mkdir -p build/dep) $(wildcard build/dep/*)

103
src/jig/src/config.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 "pins.h"
// Pins
enum {
STALL_X_PIN = PORT_A << 3,
STALL_Y_PIN,
STALL_Z_PIN,
STALL_A_PIN,
SPIN_DIR_PIN,
SPIN_ENABLE_PIN,
ANALOG_PIN,
PROBE_PIN,
MIN_X_PIN = PORT_B << 3,
MAX_X_PIN,
MIN_A_PIN,
MAX_A_PIN,
MIN_Y_PIN,
MAX_Y_PIN,
MIN_Z_PIN,
MAX_Z_PIN,
SDA_PIN = PORT_C << 3,
SCL_PIN,
SERIAL_RX_PIN,
SERIAL_TX_PIN,
SERIAL_CTS_PIN,
SPI_CLK_PIN,
SPI_MISO_PIN,
SPI_MOSI_PIN,
ENCODER_X_A_PIN = PORT_D << 3,
ENCODER_X_B_PIN,
SPI_CS_A_PIN,
SPI_CS_Z_PIN,
SPIN_PWM_PIN,
SWITCH_1_PIN,
RS485_RO_PIN,
RS485_DI_PIN,
STEP_Y_PIN = PORT_E << 3,
SPI_CS_Y_PIN,
DIR_X_PIN,
DIR_Y_PIN,
STEP_A_PIN,
SWITCH_2_PIN,
DIR_Z_PIN,
DIR_A_PIN,
STEP_Z_PIN = PORT_F << 3,
RS485_RW_PIN,
FAULT_PIN,
ESTOP_PIN,
MOTOR_FAULT_PIN,
MOTOR_ENABLE_PIN,
NC_0_PIN,
NC_1_PIN,
};
// Serial settings
#define SERIAL_BAUD USART_BAUD_115200
#define SERIAL_PORT USARTC0
#define SERIAL_DRE_vect USARTC0_DRE_vect
#define SERIAL_RXC_vect USARTC0_RXC_vect
// Input
#define INPUT_BUFFER_LEN 255 // text buffer size (255 max)
// Encoder
#define ENCODER_LINES 600

85
src/jig/src/encoder.c
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@@ -1,85 +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 "encoder.h"
#include "pins.h"
#include "config.h"
#include <avr/io.h>
typedef struct {
int8_t pin_a;
int8_t pin_b;
uint16_t position;
float velocity;
} encoder_t;
encoder_t encoders[] = {
{ENCODER_X_A_PIN, ENCODER_X_B_PIN},
{0, 0}
};
void encoder_init() {
for (int i = 0; encoders[i].pin_a; i++) {
// Inputs
DIRCLR_PIN(encoders[i].pin_a);
DIRCLR_PIN(encoders[i].pin_b);
// Pullup and level sensing
PINCTRL_PIN(encoders[i].pin_a) = PORT_OPC_PULLUP_gc | PORT_ISC_LEVEL_gc;
PINCTRL_PIN(encoders[i].pin_b) = PORT_OPC_PULLUP_gc | PORT_ISC_LEVEL_gc;
}
// Event channel
EVSYS_CH0MUX = EVSYS_CHMUX_PORTD_PIN0_gc;
EVSYS_CH0CTRL = EVSYS_QDEN_bm | EVSYS_DIGFILT_2SAMPLES_gc;
// Timer config
TCC0.CTRLD = TC_EVACT_QDEC_gc | TC_EVSEL_CH0_gc;
TCC0.PER = ENCODER_LINES * 4 - 1;
TCC0.CTRLA = TC_CLKSEL_DIV1_gc; // Enable
}
void encoder_rtc_callback() {
uint16_t position = TCC0.CNT;
int32_t delta =
((int32_t)position - encoders[0].position) % (ENCODER_LINES * 4);
encoders[0].position = position;
encoders[0].velocity = encoders[0].velocity * 0.95 + delta * 5.0; // steps/sec
}
uint16_t encoder_get_position(int i) {return encoders[i].position;}
float encoder_get_velocity(int i) {return encoders[i].velocity;}

36
src/jig/src/encoder.h
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@@ -1,36 +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 <stdint.h>
void encoder_init();
void encoder_rtc_callback();
uint16_t encoder_get_position(int i);
float encoder_get_velocity(int i);

97
src/jig/src/main.c
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@@ -1,97 +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 "usart.h"
#include "rtc.h"
#include "encoder.h"
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <stdio.h>
#include <stdbool.h>
static void _clock_init() {
// 12-16 MHz crystal; 0.4-16 MHz XTAL w/ 16K CLK startup
OSC.XOSCCTRL = OSC_FRQRANGE_12TO16_gc | OSC_XOSCSEL_XTAL_16KCLK_gc;
OSC.CTRL = OSC_XOSCEN_bm; // enable external crystal oscillator
while (!(OSC.STATUS & OSC_XOSCRDY_bm)); // wait for oscillator ready
OSC.PLLCTRL = OSC_PLLSRC_XOSC_gc | 2; // PLL source, 2x (32 MHz sys clock)
OSC.CTRL = OSC_PLLEN_bm | OSC_XOSCEN_bm; // Enable PLL & External Oscillator
while (!(OSC.STATUS & OSC_PLLRDY_bm)); // wait for PLL ready
CCP = CCP_IOREG_gc;
CLK.CTRL = CLK_SCLKSEL_PLL_gc; // switch to PLL clock
OSC.CTRL &= ~OSC_RC2MEN_bm; // disable internal 2 MHz clock
}
int main() {
// Init
cli(); // disable interrupts
_clock_init();
rtc_init(); // real-time clock
usart_init(); // serial port
encoder_init(); // rotary encoders
sei(); // enable interrupts
// Splash
fprintf_P(stdout, PSTR("\nBuildbotics Jig " VERSION "\n"));
usart_set(USART_ECHO, true);
uint32_t timer = 0;
uint16_t last = 0;
// Main loop
while (true) {
char *line = usart_readline();
if (line) {
printf("\n%s\n", line);
printf("%ld\n", rtc_get_time());
}
if (rtc_expired(timer)) {
timer += 100;
uint16_t encoder = encoder_get_position(0);
if (encoder != last) {
last = encoder;
printf("%5d step %8.2f step/sec\n", encoder, encoder_get_velocity(0));
}
}
}
return 0;
}

31
src/jig/src/pins.c
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@@ -1,31 +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 "pins.h"
PORT_t *pin_ports[] = {&PORTA, &PORTB, &PORTC, &PORTD, &PORTE, &PORTF};

52
src/jig/src/pins.h
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@@ -1,52 +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
enum {PORT_A = 1, PORT_B, PORT_C, PORT_D, PORT_E, PORT_F};
#define PORT(PIN) pin_ports[(PIN >> 3) - 1]
#define BM(PIN) (1 << (PIN & 7))
#ifdef __AVR__
#include <avr/io.h>
extern PORT_t *pin_ports[];
#define DIRSET_PIN(PIN) PORT(PIN)->DIRSET = BM(PIN)
#define DIRCLR_PIN(PIN) PORT(PIN)->DIRCLR = BM(PIN)
#define OUTCLR_PIN(PIN) PORT(PIN)->OUTCLR = BM(PIN)
#define OUTSET_PIN(PIN) PORT(PIN)->OUTSET = BM(PIN)
#define OUTTGL_PIN(PIN) PORT(PIN)->OUTTGL = BM(PIN)
#define OUT_PIN(PIN) (!!(PORT(PIN)->OUT & BM(PIN)))
#define IN_PIN(PIN) (!!(PORT(PIN)->IN & BM(PIN)))
#define PINCTRL_PIN(PIN) ((&PORT(PIN)->PIN0CTRL)[PIN & 7])
#define SET_PIN(PIN, X) \
do {if (X) OUTSET_PIN(PIN); else OUTCLR_PIN(PIN);} while (0);
#endif // __AVR__

158
src/jig/src/ringbuf.def
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@@ -1,158 +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>
\******************************************************************************/
/* This file defines an X-Macro ring buffer. It can be used like this:
*
* #define RING_BUF_NAME tx_buf
* #define RING_BUF_SIZE 256
* #include "ringbuf.def"
*
* This will define the following functions:
*
* void <name>_init();
* int <name>_empty();
* int <name>_full();
* <type> <name>_peek();
* void <name>_pop();
* void <name>_push(<type> data);
*
* Where <name> is defined by RING_BUF_NAME and <type> by RING_BUF_TYPE.
* RING_BUF_SIZE defines the length of the ring buffer and must be a power of 2.
*
* The data type and index type both default to uint8_t but can be changed by
* defining RING_BUF_TYPE and RING_BUF_INDEX_TYPE respectively.
*
* By default these functions are declared static inline but this can be changed
* by defining RING_BUF_FUNC.
*/
#include <stdint.h>
#ifndef RING_BUF_NAME
#error Must define RING_BUF_NAME
#endif
#ifndef RING_BUF_SIZE
#error Must define RING_BUF_SIZE
#endif
#ifndef RING_BUF_TYPE
#define RING_BUF_TYPE uint8_t
#endif
#ifndef RING_BUF_INDEX_TYPE
#define RING_BUF_INDEX_TYPE uint8_t
#endif
#ifndef RING_BUF_FUNC
#define RING_BUF_FUNC static inline
#endif
#define RING_BUF_MASK (RING_BUF_SIZE - 1)
#if (RING_BUF_SIZE & RING_BUF_MASK)
#error RING_BUF_SIZE is not a power of 2
#endif
#ifndef CONCAT
#define _CONCAT(prefix, name) prefix##name
#define CONCAT(prefix, name) _CONCAT(prefix, name)
#endif
#define RING_BUF_STRUCT CONCAT(RING_BUF_NAME, _ring_buf_t)
#define RING_BUF CONCAT(RING_BUF_NAME, _ring_buf)
typedef struct {
RING_BUF_TYPE buf[RING_BUF_SIZE];
volatile RING_BUF_INDEX_TYPE head;
volatile RING_BUF_INDEX_TYPE tail;
} RING_BUF_STRUCT;
static RING_BUF_STRUCT RING_BUF;
RING_BUF_FUNC void CONCAT(RING_BUF_NAME, _init)() {
RING_BUF.head = RING_BUF.tail = 0;
}
#define RING_BUF_INC CONCAT(RING_BUF_NAME, _inc)
RING_BUF_FUNC RING_BUF_INDEX_TYPE RING_BUF_INC(RING_BUF_INDEX_TYPE x) {
return (x + 1) & RING_BUF_MASK;
}
RING_BUF_FUNC int CONCAT(RING_BUF_NAME, _empty)() {
return RING_BUF.head == RING_BUF.tail;
}
RING_BUF_FUNC int CONCAT(RING_BUF_NAME, _full)() {
return RING_BUF.head == RING_BUF_INC(RING_BUF.tail);
}
RING_BUF_FUNC int CONCAT(RING_BUF_NAME, _fill)() {
return (RING_BUF.tail - RING_BUF.head) & RING_BUF_MASK;
}
RING_BUF_FUNC int CONCAT(RING_BUF_NAME, _space)() {
return RING_BUF_SIZE - CONCAT(RING_BUF_NAME, _fill)();
}
RING_BUF_FUNC RING_BUF_TYPE CONCAT(RING_BUF_NAME, _peek)() {
return RING_BUF.buf[RING_BUF.head];
}
RING_BUF_FUNC RING_BUF_TYPE CONCAT(RING_BUF_NAME, _get)(int offset) {
return RING_BUF.buf[(RING_BUF.head + offset) & RING_BUF_MASK];
}
RING_BUF_FUNC void CONCAT(RING_BUF_NAME, _pop)() {
RING_BUF.head = RING_BUF_INC(RING_BUF.head);
}
RING_BUF_FUNC void CONCAT(RING_BUF_NAME, _push)(RING_BUF_TYPE data) {
RING_BUF.buf[RING_BUF.tail] = data;
RING_BUF.tail = RING_BUF_INC(RING_BUF.tail);
}
#undef RING_BUF
#undef RING_BUF_STRUCT
#undef RING_BUF_INC
#undef RING_BUF_MASK
#undef RING_BUF_NAME
#undef RING_BUF_SIZE
#undef RING_BUF_TYPE
#undef RING_BUF_INDEX_TYPE
#undef RING_BUF_FUNC

69
src/jig/src/rtc.c
View File

@@ -1,69 +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 "rtc.h"
#include "encoder.h"
#include <avr/io.h>
#include <avr/interrupt.h>
static uint32_t ticks;
ISR(RTC_OVF_vect) {
ticks++;
encoder_rtc_callback();
}
/// Initialize and start the clock
/// This routine follows the code in app note AVR1314.
void rtc_init() {
ticks = 0;
PR.PRGEN &= ~PR_RTC_bm; // Disable power reduction
OSC.CTRL |= OSC_RC32KEN_bm; // enable internal 32kHz.
while (!(OSC.STATUS & OSC_RC32KRDY_bm)); // 32kHz osc stabilize
while (RTC.STATUS & RTC_SYNCBUSY_bm); // wait RTC not busy
CLK.RTCCTRL = CLK_RTCSRC_RCOSC32_gc | CLK_RTCEN_bm; // 32kHz clock as RTC src
while (RTC.STATUS & RTC_SYNCBUSY_bm); // wait RTC not busy
// the following must be in this order or it doesn't work
RTC.PER = 33; // overflow period ~1ms
RTC.INTCTRL = RTC_OVFINTLVL_LO_gc; // overflow LO interrupt
RTC.CTRL = RTC_PRESCALER_DIV1_gc; // no prescale
PMIC.CTRL |= PMIC_LOLVLEN_bm; // Interrupt level on
}
uint32_t rtc_get_time() {return ticks;}
bool rtc_expired(uint32_t t) {return 0 <= (int32_t)(ticks - t);}

37
src/jig/src/rtc.h
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@@ -1,37 +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 <stdint.h>
#include <stdbool.h>
void rtc_init();
uint32_t rtc_get_time();
int32_t rtc_diff(uint32_t t);
bool rtc_expired(uint32_t t);

282
src/jig/src/usart.c
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@@ -1,282 +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 "usart.h"
//#include "cpp_magic.h"
#include "config.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdio.h>
#include <stdbool.h>
// Ring buffers
#define RING_BUF_NAME tx_buf
#define RING_BUF_SIZE USART_TX_RING_BUF_SIZE
#include "ringbuf.def"
#define RING_BUF_NAME rx_buf
#define RING_BUF_SIZE USART_RX_RING_BUF_SIZE
#include "ringbuf.def"
static int usart_flags = USART_CRLF;
static void _set_dre_interrupt(bool enable) {
if (enable) SERIAL_PORT.CTRLA |= USART_DREINTLVL_HI_gc;
else SERIAL_PORT.CTRLA &= ~USART_DREINTLVL_HI_gc;
}
static void _set_rxc_interrupt(bool enable) {
if (enable) {
SERIAL_PORT.CTRLA |= USART_RXCINTLVL_HI_gc;
if (4 <= rx_buf_space()) OUTCLR_PIN(SERIAL_CTS_PIN); // CTS Lo (enable)
} else SERIAL_PORT.CTRLA &= ~USART_RXCINTLVL_HI_gc;
}
// Data register empty interrupt vector
ISR(SERIAL_DRE_vect) {
if (tx_buf_empty()) _set_dre_interrupt(false); // Disable interrupt
else {
SERIAL_PORT.DATA = tx_buf_peek();
tx_buf_pop();
}
}
// Data received interrupt vector
ISR(SERIAL_RXC_vect) {
if (rx_buf_full()) _set_rxc_interrupt(false); // Disable interrupt
else {
uint8_t data = SERIAL_PORT.DATA;
rx_buf_push(data);
if (rx_buf_space() < 4) OUTSET_PIN(SERIAL_CTS_PIN); // CTS Hi (disable)
}
}
static int _usart_putchar(char c, FILE *f) {
usart_putc(c);
return 0;
}
static FILE _stdout = FDEV_SETUP_STREAM(_usart_putchar, 0, _FDEV_SETUP_WRITE);
void usart_init(void) {
// Setup ring buffer
tx_buf_init();
rx_buf_init();
PR.PRPC &= ~PR_USART0_bm; // Disable power reduction
// Setup pins
OUTSET_PIN(SERIAL_CTS_PIN); // CTS Hi (disable)
DIRSET_PIN(SERIAL_CTS_PIN); // CTS Output
OUTSET_PIN(SERIAL_TX_PIN); // Tx High
DIRSET_PIN(SERIAL_TX_PIN); // Tx Output
DIRCLR_PIN(SERIAL_RX_PIN); // Rx Input
// Set baud rate
usart_set_baud(SERIAL_BAUD);
// No parity, 8 data bits, 1 stop bit
SERIAL_PORT.CTRLC = USART_CMODE_ASYNCHRONOUS_gc | USART_PMODE_DISABLED_gc |
USART_CHSIZE_8BIT_gc;
// Configure receiver and transmitter
SERIAL_PORT.CTRLB = USART_RXEN_bm | USART_TXEN_bm | USART_CLK2X_bm;
PMIC.CTRL |= PMIC_HILVLEN_bm; // Interrupt level on
// Connect IO
stdout = &_stdout;
stderr = &_stdout;
// Enable Rx
_set_rxc_interrupt(true);
}
static void _set_baud(uint16_t bsel, uint8_t bscale) {
SERIAL_PORT.BAUDCTRLB = (uint8_t)((bscale << 4) | (bsel >> 8));
SERIAL_PORT.BAUDCTRLA = bsel;
}
void usart_set_baud(int baud) {
// The BSEL / BSCALE values provided below assume a 32 Mhz clock
// Assumes CTRLB CLK2X bit (0x04) is set
// See http://www.avrcalc.elektronik-projekt.de/xmega/baud_rate_calculator
switch (baud) {
case USART_BAUD_9600: _set_baud(3325, 0b1101); break;
case USART_BAUD_19200: _set_baud(3317, 0b1100); break;
case USART_BAUD_38400: _set_baud(3301, 0b1011); break;
case USART_BAUD_57600: _set_baud(1095, 0b1100); break;
case USART_BAUD_115200: _set_baud(1079, 0b1011); break;
case USART_BAUD_230400: _set_baud(1047, 0b1010); break;
case USART_BAUD_460800: _set_baud(983, 0b1001); break;
case USART_BAUD_921600: _set_baud(107, 0b1011); break;
case USART_BAUD_500000: _set_baud(1, 0b0010); break;
case USART_BAUD_1000000: _set_baud(1, 0b0001); break;
}
}
void usart_set(int flag, bool enable) {
if (enable) usart_flags |= flag;
else usart_flags &= ~flag;
}
bool usart_is_set(int flags) {
return (usart_flags & flags) == flags;
}
void usart_putc(char c) {
while (tx_buf_full() || (usart_flags & USART_FLUSH)) continue;
tx_buf_push(c);
_set_dre_interrupt(true); // Enable interrupt
if ((usart_flags & USART_CRLF) && c == '\n') usart_putc('\r');
}
void usart_puts(const char *s) {
while (*s) usart_putc(*s++);
}
int8_t usart_getc() {
while (rx_buf_empty()) continue;
uint8_t data = rx_buf_peek();
rx_buf_pop();
_set_rxc_interrupt(true); // Enable interrupt
return data;
}
char *usart_readline() {
static char line[INPUT_BUFFER_LEN];
static int i = 0;
bool eol = false;
while (!rx_buf_empty()) {
char data = usart_getc();
if (usart_flags & USART_ECHO) usart_putc(data);
switch (data) {
case '\r': case '\n': eol = true; break;
case '\b': // BS - backspace
if (usart_flags & USART_ECHO) {
usart_putc(' ');
usart_putc('\b');
}
if (i) i--;
break;
case 0x18: // CAN - Cancel or CTRL-X
if (usart_flags & USART_ECHO)
while (i) {
usart_putc('\b');
usart_putc(' ');
usart_putc('\b');
i--;
}
i = 0;
break;
default:
line[i++] = data;
if (i == INPUT_BUFFER_LEN - 1) eol = true;
break;
}
if (eol) {
line[i] = 0;
i = 0;
return line;
}
}
return 0;
}
int16_t usart_peek() {
return rx_buf_empty() ? -1 : rx_buf_peek();
}
void usart_flush() {
usart_set(USART_FLUSH, true);
while (!tx_buf_empty() || !(SERIAL_PORT.STATUS & USART_DREIF_bm) ||
!(SERIAL_PORT.STATUS & USART_TXCIF_bm))
continue;
}
void usart_rx_flush() {
rx_buf_init();
}
int16_t usart_rx_space() {
return rx_buf_space();
}
int16_t usart_rx_fill() {
return rx_buf_fill();
}
int16_t usart_tx_space() {
return tx_buf_space();
}
int16_t usart_tx_fill() {
return tx_buf_fill();
}

77
src/jig/src/usart.h
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@@ -1,77 +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 <stdint.h>
#include <stdbool.h>
#define USART_TX_RING_BUF_SIZE 256
#define USART_RX_RING_BUF_SIZE 256
enum {
USART_BAUD_9600,
USART_BAUD_19200,
USART_BAUD_38400,
USART_BAUD_57600,
USART_BAUD_115200,
USART_BAUD_230400,
USART_BAUD_460800,
USART_BAUD_921600,
USART_BAUD_500000,
USART_BAUD_1000000
};
enum {
USART_CRLF = 1 << 0,
USART_ECHO = 1 << 1,
USART_XOFF = 1 << 2,
USART_FLUSH = 1 << 3,
};
void usart_init();
void usart_set_baud(int baud);
void usart_set(int flag, bool enable);
bool usart_is_set(int flags);
void usart_putc(char c);
void usart_puts(const char *s);
int8_t usart_getc();
char *usart_readline();
int16_t usart_peek();
void usart_flush();
void usart_rx_flush();
int16_t usart_rx_fill();
int16_t usart_rx_space();
inline bool usart_rx_empty() {return !usart_rx_fill();}
inline bool usart_rx_full() {return !usart_rx_space();}
int16_t usart_tx_fill();
int16_t usart_tx_space();
inline bool usart_tx_empty() {return !usart_tx_fill();}
inline bool usart_tx_full() {return !usart_tx_space();}