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

/******************************************************************************\

                 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;
}