--- /dev/null
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016, 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>
+The Buildbotics firmware ("the software") is free software: you can
+redistribute it and/or modify it under the terms of the GNU General
+Public License, version 2 (with out any licensing exceptions) as
+published by the Free Software Foundation. See the full license terms
+below.
+
+***********************************************************************
+
+Substantial effort was made to give credit to all authors of this
+software and of the works it was derived from and to adhere to the
+terms of the applicable license agreements. If you belive any
+mistakes have been made in this regard please contact Joseph Coffland
+<joseph@buildbotics.com>.
+
+Portions of this software are copyrighted by the following entities:
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2014 Thomas Nixon, Jonathan Heathcote (cpp_magic.h)
+ Copyright (c) 2013 - 2015 Robert Giseburt
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2008 Atmel Corporation (part of clock.c)
+ All rights reserved.
+
+Each source code file lists the entities which claim copyright to
+parts of those files.
+
+Much of this software was originally written by Alden S. Hart, Jr. and
+Robert Giseburt as part of the TinyG project. The TinyG project was
+in turn derived from grbl/marlin firmwares. All of the original code
+has been reformatted and cleaned up to fit our coding standards.
+Functionality in many areas has been substantially modified.
+
+The original TinyG firmware is licensed under the GPL v2 and includes
+an exception which allows use of the source code by non-GPLed
+libraires and potentially executables linked to those libraries. The
+TinyG project's license did not specify that this exception must be
+offered in derived works, therefore this software's license DOES NOT
+offer any exceptions to the GPL v2 license.
+
+***********************************************************************
+
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
-# Makefile for the project TinyG firmware
-PROJECT = tinyg
+# Makefile for the project Bulidbotics firmware
+PROJECT = buildbotics
MCU = atxmega192a3u
CLOCK = 32000000
-TinyG is a 6 axis motion control system designed for high-performance on small to mid-sized machines. This fork contains a modified version of the TinyG firmware. See the [original TinyG](https://github.com/synthetos/TinyG) for more info.
+The Buildbotics firmware is a 4 axis motion control system designed for
+high-performance on small to mid-sized machines. It was originally
+derived from the [TinyG firmware](https://github.com/synthetos/TinyG).
# Features
-* 6 axis motion (XYZABC axes)
+* 4 axis motion
* jerk controlled motion for acceleration planning (3rd order motion planning)
-* status displays ('?' character)
-* XON/XOFF and RTS/CTS protocol over USB serial
-* RESTful interface using JSON
# Build Instructions
To build in Linux run:
* **read_fuses** - Read and pring AVR fuse bytes
* **clean** - Remove build files
* **tidy** - Remove backup files
-
-# Links
-* [TinyG Wiki](https://github.com/synthetos/TinyG/wiki)
-* [TinyG Support Forum](https://www.synthetos.com/forum/tinyg/)
-* [TinyG Github](https://github.com/synthetos/TinyG)
-/*
- * canonical_machine.c - rs274/ngc canonical machine.
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S Hart, Jr.
- * Copyright (c) 2014 - 2015 Robert Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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 code is a loose implementation of Kramer, Proctor and Messina's
* canonical machining functions as described in the NIST RS274/NGC v3
uint8_t cm_get_block_delete_switch() {return cm.gmx.block_delete_switch;}
uint8_t cm_get_runtime_busy() {return mp_get_runtime_busy();}
-
+
float cm_get_feed_rate(GCodeState_t *gcode_state) {
return gcode_state->feed_rate;
}
* - coordinate system selected. 1-9 correspond to G54-G59
* - absolute override: forces current move to be interpreted in machine
* coordinates: G53 (system 0)
- * - G92 offsets are added "on top of" the coord system offsets --
+ * - G92 offsets are added "on top of" the coord system offsets --
* if origin_offset_enable
* - G28 and G30 moves; these are run in absolute coordinates
*
* supposed to be persistent.
*
* To reduce complexity and data load the following is done:
- * - Full data for coordinates/offsets is only accessible by the canonical
+ * - Full data for coordinates/offsets is only accessible by the canonical
* machine, not the downstream
* - Resolved set of coord and G92 offsets, with per-move exceptions can
* be captured as "work_offsets"
void canonical_machine_init() {
// If you can assume all memory has been zeroed by a hard reset you don't
// need this code:
- memset(&cm.gm, 0, sizeof(GCodeState_t));
+ memset(&cm.gm, 0, sizeof(GCodeState_t));
memset(&cm.gn, 0, sizeof(GCodeInput_t));
memset(&cm.gf, 0, sizeof(GCodeInput_t));
static void _exec_offset(float *value, float *flag) {
// coordinate system is passed in value[0] element
- uint8_t coord_system = ((uint8_t)value[0]);
+ uint8_t coord_system = ((uint8_t)value[0]);
float offsets[AXES];
for (uint8_t axis = AXIS_X; axis < AXES; axis++)
offsets[axis] = cm.offset[coord_system][axis] +
stat_t cm_goto_g28_position(float target[], float flags[]) {
cm_set_absolute_override(MODEL, true);
// move through intermediate point, or skip
- cm_straight_traverse(target, flags);
+ cm_straight_traverse(target, flags);
- // make sure you have an available buffer
+ // make sure you have an available buffer
while (!mp_get_planner_buffers_available());
// execute actual stored move
stat_t cm_goto_g30_position(float target[], float flags[]) {
cm_set_absolute_override(MODEL, true);
// move through intermediate point, or skip
- cm_straight_traverse(target, flags);
+ cm_straight_traverse(target, flags);
// make sure you have an available buffer
while (!mp_get_planner_buffers_available());
float f[] = {1, 1, 1, 1, 1, 1};
/// M50
-stat_t cm_feed_rate_override_enable(uint8_t flag) {
+stat_t cm_feed_rate_override_enable(uint8_t flag) {
if (fp_TRUE(cm.gf.parameter) && fp_ZERO(cm.gn.parameter))
cm.gmx.feed_rate_override_enable = false;
else cm.gmx.feed_rate_override_enable = true;
/// M50.1
-stat_t cm_feed_rate_override_factor(uint8_t flag) {
+stat_t cm_feed_rate_override_factor(uint8_t flag) {
cm.gmx.feed_rate_override_enable = flag;
cm.gmx.feed_rate_override_factor = cm.gn.parameter;
return STAT_OK;
/// M50.2
-stat_t cm_traverse_override_enable(uint8_t flag) {
+stat_t cm_traverse_override_enable(uint8_t flag) {
if (fp_TRUE(cm.gf.parameter) && fp_ZERO(cm.gn.parameter))
cm.gmx.traverse_override_enable = false;
else cm.gmx.traverse_override_enable = true;
/// M51
-stat_t cm_traverse_override_factor(uint8_t flag) {
+stat_t cm_traverse_override_factor(uint8_t flag) {
cm.gmx.traverse_override_enable = flag;
cm.gmx.traverse_override_factor = cm.gn.parameter;
return STAT_OK;
/// M51.1
-stat_t cm_spindle_override_enable(uint8_t flag) {
+stat_t cm_spindle_override_enable(uint8_t flag) {
if (fp_TRUE(cm.gf.parameter) && fp_ZERO(cm.gn.parameter))
cm.gmx.spindle_override_enable = false;
else cm.gmx.spindle_override_enable = true;
/// M50.1
-stat_t cm_spindle_override_factor(uint8_t flag) {
+stat_t cm_spindle_override_factor(uint8_t flag) {
cm.gmx.spindle_override_enable = flag;
cm.gmx.spindle_override_factor = cm.gn.parameter;
*
* cm_program_end() implements M2 and M30
* The END behaviors are defined by NIST 3.6.1 are:
- * 1. Axis offsets are set to zero (like G92.2) and origin offsets are set
+ * 1. Axis offsets are set to zero (like G92.2) and origin offsets are set
* to the default (like G54)
* 2. Selected plane is set to CANON_PLANE_XY (like G17)
* 3. Distance mode is set to MODE_ABSOLUTE (like G90)
* 9. Coolant is turned off (like M9)
*
* cm_program_end() implments things slightly differently:
- * 1. Axis offsets are set to G92.1 CANCEL offsets
+ * 1. Axis offsets are set to G92.1 CANCEL offsets
* (instead of using G92.2 SUSPEND Offsets)
* Set default coordinate system (uses $gco, not G54)
* 2. Selected plane is set to default plane ($gpl)
-/*
- * canonical_machine.h - rs274/ngc canonical machining functions
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart Jr.
- *
- * This code is a loose implementation of Kramer, Proctor and Messina's
- * canonical machining functions as described in the NIST RS274/NGC v3
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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>
/// absolute pointer from canonical machine gm model
-#define MODEL (GCodeState_t *)&cm.gm
+#define MODEL (GCodeState_t *)&cm.gm
/// relative to buffer *bf is currently pointing to
-#define PLANNER (GCodeState_t *)&bf->gm
+#define PLANNER (GCodeState_t *)&bf->gm
/// absolute pointer from runtime mm struct
#define RUNTIME (GCodeState_t *)&mr.gm
/// active model pointer is maintained by state management
/// G Modal Group 13
enum cmPathControlMode {
/// G61 - hits corners but does not stop if it does not need to.
- PATH_EXACT_PATH,
+ PATH_EXACT_PATH,
PATH_EXACT_STOP, // G61.1 - stops at all corners
PATH_CONTINUOUS // G64 and typically the default mode
};
enum cmProgramFlow {
- PROGRAM_STOP,
+ PROGRAM_STOP,
PROGRAM_END
};
/// spindle state settings (See hardware.h for bit settings)
enum cmSpindleState {
- SPINDLE_OFF,
+ SPINDLE_OFF,
SPINDLE_CW,
SPINDLE_CCW
};
/// used for spindle and arc dir
enum cmDirection {
- DIRECTION_CW,
+ DIRECTION_CW,
DIRECTION_CCW
};
stat_t cm_clear();
// Representation (4.3.3)
-stat_t cm_select_plane(uint8_t plane);
-stat_t cm_set_units_mode(uint8_t mode);
-stat_t cm_set_distance_mode(uint8_t mode);
+stat_t cm_select_plane(uint8_t plane);
+stat_t cm_set_units_mode(uint8_t mode);
+stat_t cm_set_distance_mode(uint8_t mode);
stat_t cm_set_coord_offsets(uint8_t coord_system, float offset[], float flag[]);
-void cm_set_position(uint8_t axis, float position);
-stat_t cm_set_absolute_origin(float origin[], float flag[]);
-void cm_set_axis_origin(uint8_t axis, const float position);
+void cm_set_position(uint8_t axis, float position);
+stat_t cm_set_absolute_origin(float origin[], float flag[]);
+void cm_set_axis_origin(uint8_t axis, const float position);
-stat_t cm_set_coord_system(uint8_t coord_system);
-stat_t cm_set_origin_offsets(float offset[], float flag[]);
-stat_t cm_reset_origin_offsets();
-stat_t cm_suspend_origin_offsets();
-stat_t cm_resume_origin_offsets();
+stat_t cm_set_coord_system(uint8_t coord_system);
+stat_t cm_set_origin_offsets(float offset[], float flag[]);
+stat_t cm_reset_origin_offsets();
+stat_t cm_suspend_origin_offsets();
+stat_t cm_resume_origin_offsets();
// Free Space Motion (4.3.4)
-stat_t cm_straight_traverse(float target[], float flags[]);
-stat_t cm_set_g28_position();
-stat_t cm_goto_g28_position(float target[], float flags[]);
-stat_t cm_set_g30_position();
-stat_t cm_goto_g30_position(float target[], float flags[]);
+stat_t cm_straight_traverse(float target[], float flags[]);
+stat_t cm_set_g28_position();
+stat_t cm_goto_g28_position(float target[], float flags[]);
+stat_t cm_set_g30_position();
+stat_t cm_goto_g30_position(float target[], float flags[]);
// Machining Attributes (4.3.5)
-stat_t cm_set_feed_rate(float feed_rate);
-stat_t cm_set_feed_rate_mode(uint8_t mode);
-stat_t cm_set_path_control(uint8_t mode);
+stat_t cm_set_feed_rate(float feed_rate);
+stat_t cm_set_feed_rate_mode(uint8_t mode);
+stat_t cm_set_path_control(uint8_t mode);
// Machining Functions (4.3.6)
-stat_t cm_straight_feed(float target[], float flags[]);
-stat_t cm_arc_feed(float target[], float flags[],
+stat_t cm_straight_feed(float target[], float flags[]);
+stat_t cm_arc_feed(float target[], float flags[],
float i, float j, float k,
float radius, uint8_t motion_mode);
-stat_t cm_dwell(float seconds);
+stat_t cm_dwell(float seconds);
// Spindle Functions (4.3.7)
// see spindle.h for spindle definitions - which would go right here
// Tool Functions (4.3.8)
-stat_t cm_select_tool(uint8_t tool);
-stat_t cm_change_tool(uint8_t tool);
+stat_t cm_select_tool(uint8_t tool);
+stat_t cm_change_tool(uint8_t tool);
// Miscellaneous Functions (4.3.9)
-stat_t cm_mist_coolant_control(uint8_t mist_coolant);
-stat_t cm_flood_coolant_control(uint8_t flood_coolant);
+stat_t cm_mist_coolant_control(uint8_t mist_coolant);
+stat_t cm_flood_coolant_control(uint8_t flood_coolant);
-stat_t cm_override_enables(uint8_t flag);
-stat_t cm_feed_rate_override_enable(uint8_t flag);
-stat_t cm_feed_rate_override_factor(uint8_t flag);
-stat_t cm_traverse_override_enable(uint8_t flag);
-stat_t cm_traverse_override_factor(uint8_t flag);
-stat_t cm_spindle_override_enable(uint8_t flag);
-stat_t cm_spindle_override_factor(uint8_t flag);
+stat_t cm_override_enables(uint8_t flag);
+stat_t cm_feed_rate_override_enable(uint8_t flag);
+stat_t cm_feed_rate_override_factor(uint8_t flag);
+stat_t cm_traverse_override_enable(uint8_t flag);
+stat_t cm_traverse_override_factor(uint8_t flag);
+stat_t cm_spindle_override_enable(uint8_t flag);
+stat_t cm_spindle_override_factor(uint8_t flag);
-void cm_message(char *message);
+void cm_message(char *message);
// Program Functions (4.3.10)
void cm_request_feedhold();
void cm_request_queue_flush();
void cm_request_cycle_start();
-stat_t cm_feedhold_sequencing_callback();
-stat_t cm_queue_flush();
+stat_t cm_feedhold_sequencing_callback();
+stat_t cm_queue_flush();
-void cm_cycle_start();
-void cm_cycle_end();
-void cm_feedhold();
-void cm_program_stop();
-void cm_optional_program_stop();
-void cm_program_end();
+void cm_cycle_start();
+void cm_cycle_end();
+void cm_feedhold();
+void cm_program_stop();
+void cm_optional_program_stop();
+void cm_program_end();
char cm_get_axis_char(const int8_t axis);
// Cycles
// Homing cycles
-stat_t cm_homing_cycle_start();
-stat_t cm_homing_cycle_start_no_set();
-stat_t cm_homing_callback();
+stat_t cm_homing_cycle_start();
+stat_t cm_homing_cycle_start_no_set();
+stat_t cm_homing_callback();
// Probe cycles
-stat_t cm_straight_probe(float target[], float flags[]);
-stat_t cm_probe_callback();
+stat_t cm_straight_probe(float target[], float flags[]);
+stat_t cm_probe_callback();
-/*
- * Part of TinyG project
- *
- * Copyright (c) 2010 - 2013 Alden S. Hart Jr.
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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 "clock.h"
}
/******************************************************************************
- * The following code was excerpted from the Atmel AVR1003 clock driver example
+ * The following code was excerpted from the Atmel AVR1003 clock driver example
* and carries its copyright:
*
* $Revision: 2771 $
AVR_LEAVE_CRITICAL_REGION();
#endif
}
-
-/*
- * Part of TinyG project
- *
- * Copyright (c) 2010 - 2013 Alden S. Hart Jr.
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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
void clock_init();
void CCPWrite(volatile uint8_t *address, uint8_t value);
-
-
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 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 <avr/interrupt.h>
#define M1_MICROSTEPS MOTOR_MICROSTEPS
#define M1_POLARITY MOTOR_POLARITY_NORMAL
#define M1_POWER_MODE MOTOR_POWER_MODE
-#define M1_POWER_LEVEL MOTOR_POWER_LEVEL
#define M2_MOTOR_MAP AXIS_Y
#define M2_STEP_ANGLE 1.8
#define M2_MICROSTEPS MOTOR_MICROSTEPS
#define M2_POLARITY MOTOR_POLARITY_NORMAL
#define M2_POWER_MODE MOTOR_POWER_MODE
-#define M2_POWER_LEVEL MOTOR_POWER_LEVEL
#define M3_MOTOR_MAP AXIS_A
#define M3_STEP_ANGLE 1.8
#define M3_MICROSTEPS MOTOR_MICROSTEPS
#define M3_POLARITY MOTOR_POLARITY_NORMAL
#define M3_POWER_MODE MOTOR_POWER_MODE
-#define M3_POWER_LEVEL MOTOR_POWER_LEVEL
#define M4_MOTOR_MAP AXIS_Z
#define M4_STEP_ANGLE 1.8
#define M4_MICROSTEPS MOTOR_MICROSTEPS
#define M4_POLARITY MOTOR_POLARITY_NORMAL
#define M4_POWER_MODE MOTOR_POWER_MODE
-#define M4_POWER_LEVEL MOTOR_POWER_LEVEL
// Switch settings. See switch.h
#define C_SWITCH_MODE_MAX SW_MODE_DISABLED
-// Jog settings
-#define JOG_ACCELERATION 50000 // mm/min^2
-
-
// Machine settings
#define CHORDAL_TOLERANCE 0.01 // chordal accuracy for arc drawing
#define SOFT_LIMIT_ENABLE 0 // 0 = off, 1 = on
-#define JERK_MAX 40 // yes, that's "20,000,000" mm/min^3
+#define JERK_MAX 40 // yes, that's km/min^3
#define JUNCTION_DEVIATION 0.05 // default value, in mm
#define JUNCTION_ACCELERATION 100000 // centripetal corner acceleration
-
+#define JOG_ACCELERATION 500000 // mm/min^2
// Axis settings
#define VELOCITY_MAX 16000
-/*
- * controller.c - tinyg controller and top level parser
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2013 - 2015 Robert Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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 "controller.h"
-/*
- * controller.h - tinyg controller and main dispatch loop
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2014 Alden S. Hart, Jr.
- * Copyright (c) 2013 - 2014 Robert Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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
void controller_init();
void controller_run();
-
-
-/**
- * This header file contains a library of advanced C Pre-Processor (CPP) macros
+/******************************************************************************\
+
+ This file is part of the uSHET library.
+ See https://github.com/18sg/uSHET
+
+ Copyright (c) 2014 Thomas Nixon, Jonathan Heathcote
+ All rights reserved.
+
+ Permission is hereby granted, free of charge, to any person obtaining
+ a copy of this software and associated documentation files (the
+ "Software"), to deal in the Software without restriction, including
+ without limitation the rights to use, copy, modify, merge, publish,
+ distribute, sublicense, and/or sell copies of the Software, and to
+ permit persons to whom the Software is furnished to do so, subject to
+ the following conditions:
+
+ The above copyright notice and this permission notice shall be
+ included in all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+\******************************************************************************/
+
+/* This header file contains a library of advanced C Pre-Processor (CPP) macros
* which implement various useful functions, such as iteration, in the
* pre-processor.
*
#define EVAL1(...) __VA_ARGS__
-/**
- * Macros which expand to common values
- */
+// Macros which expand to common values
#define PASS(...) __VA_ARGS__
#define EMPTY()
#define COMMA() ,
-/*
- * cycle_homing.c - homing cycle extension to canonical_machine
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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 "canonical_machine.h"
#include "switch.h"
// G28.2 homing cycle
/* Homing works from a G28.2 according to the following writeup:
- * https://github.com/synthetos/TinyG/wiki/TinyG-Homing-(version-0.95-and-above)
+ *
+ * https://github.com/synthetos
+ * /TinyG/wiki/Homing-and-Limits-Description-and-Operation
*
* How does this work?
*
-/* cycle_probing.c - probing cycle extension to canonical_machine.c
- * Part of TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S Hart, Jr.
+ 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 "canonical_machine.h"
#include "spindle.h"
-/*
- * encoder.c - encoder interface
- * This file is part of the TinyG project
- *
- * Copyright (c) 2013 - 2015 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2013 - 2015 Alden S. Hart, Jr.
+ 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"
-/*
- * encoder.h - encoder interface
- * This file is part of TinyG project
- *
- * Copyright (c) 2013 - 2014 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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.
-/*
- * Encoders
+ 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>
+
+\******************************************************************************/
+
+/* Encoders
*
* Calling this file "encoders" is kind of a lie, at least for
* now. There are no encoders. Instead the steppers count steps to
* somewhere. Targets are propagated downward to the planner runtime
* (the EXEC), but the exec will have moved on to moveB by the time we
* need it. So moveA's target needs to be saved somewhere.
- */
-
-/* Error correction
+ *
+ * Error correction
*
* The purpose of this module is to calculate an error term between
* the programmed position (target) and the actual measured position
* errors. It's also the basis of closed-loop (servoed) systems.
*
* Positional error occurs due to floating point numerical
- * inaccuracies. TinyG uses 32 bit floating point (GCC 32 bit, which
- * is NOT IEEE 32 bit). Errors creep in during planning, move
+ * inaccuracies. This code uses 32 bit floating point (GCC 32 bit,
+ * which is NOT IEEE 32 bit). Errors creep in during planning, move
* execution, and stepper output phases. Care has been taken to
* minimize introducing errors throughout the process, but they still
* occur. In most cases errors are not noticeable as they fall below
void encoder_init();
void en_set_encoder_steps(uint8_t motor, float steps);
float en_read_encoder(uint8_t motor);
-
-
-/*
- * gcode_parser.c - rs274/ngc Gcode parser
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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 "gcode_parser.h"
-/*
- * gcode_parser.h - rs274/ngc Gcode parser
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2014 Alden S. Hart, Jr.
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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 "status.h"
stat_t gc_gcode_parser(char *block);
-
-
-/*
- * gpio.c - general purpose IO bits
- * Part of TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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 GPIO file is where all parallel port bits are managed that are
+/* This GPIO file is where all parallel port bits are managed that are
* not already taken up by steppers, serial ports, SPI or PDI programming
*
* There are 2 GPIO ports:
-/*
- * gpio.c - general purpose IO bits - including limit switches, inputs, outputs
- * Part of TinyG project
- *
- * Copyright (c) 2010 - 2014 Alden S. Hart Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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
void gpio_set_bit_on(uint8_t b);
void gpio_set_bit_off(uint8_t b);
void gpio_set_bit_toggle(uint8_t b);
-
-
-/*
- * hardware.c - general hardware support functions
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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 "hardware.h"
#include "switch.h"
-/*
- * hardware.h - system hardware configuration
- * This file is hardware platform specific - AVR Xmega version
- *
- * This file is part of the TinyG project
- *
- * Copyright (c) 2013 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2013 - 2015 Robert Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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
-/*
- * main.c - TinyG - An embedded rs274/ngc CNC controller
- * This file is part of the TinyG project.
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2013 - 2015 Robert Giseburt
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2013 - 2015 Robert Giseburt
+ 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 "hardware.h"
#include "controller.h"
sei(); // enable global interrupts
- fprintf_P(stderr, PSTR("TinyG firmware\n"));
+ fprintf_P(stderr, PSTR("Buildbotics firmware\n"));
}
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 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>
+
+\******************************************************************************/
+
// Must keep these aligned with defs in status.h
MSG(00, "OK")
MSG(198, "198")
MSG(199, "199")
-MSG(200, "Generic TinyG error")
+MSG(200, "Generic firmware error")
MSG(201, "Move less than minimum length")
MSG(202, "Move less than minimum time")
MSG(203, "Machine is alarmed - Command not processed")
-/*
- * arc.c - arc planning and motion execution
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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 module actually contains some parts that belong ion the
* canonical machine, and other parts that belong at the motion planner
-/*
- * arc.h - arc planning and motion execution
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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
void cm_arc_init();
stat_t cm_arc_callback();
void cm_abort_arc();
-
-
-/*
- * buffer.c - Planner buffers
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2015 Rob Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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>
+
+\******************************************************************************/
/* Planner buffers are used to queue and operate on Gcode blocks. Each
* buffer contains one Gcode block which may be a move, and M code, or
-/*
- * command.c
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2015 Rob Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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>
+
+\******************************************************************************/
/* How this works:
* - The command is called by the Gcode interpreter (cm_<command>, e.g. an M
-/*
- * dwell.c
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2015 Rob Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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 "planner.h"
#include "canonical_machine.h"
-/*
- * exec.c - execution function for acceleration managed lines
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2015 Rob Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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 "planner.h"
#include "kinematics.h"
-/*
- * feedhold.c - functions for performing holds
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2015 Rob Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTIN OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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 "planner.h"
#include "stepper.h"
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 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 "jog.h"
#include "planner.h"
#include "stepper.h"
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 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 "config.h"
-/*
- * kinematics.c - inverse kinematics routines
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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 "kinematics.h"
else steps[motor] = travel[axis] * st_cfg.mot[motor].steps_per_unit;
}
}
-
-/*
- * kinematics.h - inverse kinematics routines
- * This file is part of the TinyG project
- *
- * Copyright (c) 2013 - 2014 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
-#pragma once
+ This file is part of the Buildbotics firmware.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ All rights reserved.
-void ik_kinematics(const float travel[], float steps[]);
+ 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
+
+
+void ik_kinematics(const float travel[], float steps[]);
-/*
- * line.c - acceleration managed line planning and motion execution
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2015 Rob Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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 "planner.h"
* turn. The wider it is, the faster through the corner it can go.
*
* (Note 1: "max_jerk" refers to the old grbl/marlin max_jerk"
- * approximation term, not the tinyG jerk terms)
+ * approximation term, not the TinyG jerk terms)
*
* If you do the geometry in terms of the known variables, you get:
* sin(theta/2) = R/(R+delta)
-/*
- * planner.c - Cartesian trajectory planning and motion execution
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2015 Rob Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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>
+
+\******************************************************************************/
/* Planner Notes
*
-/*
- * planner.h - cartesian trajectory planning and motion execution
- * This file is part of the TinyG project
- *
- * Copyright (c) 2013 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2013 - 2015 Robert Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2013 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2013 - 2015 Robert Giseburt
+ 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
-/*
- * zoid.c - acceleration managed line planning and motion execution -
- * trapezoid planner.
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2015 Rob Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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 "planner.h"
#include "util.h"
*
* Or
* J from L, Vi, and Vf
- * J = ((Vf - Vi) (Vi + Vf)²) / L²
+ * J = ((Vf - Vi) (Vi + Vf)^2) / L^2
*
* Replacing Vf with x, and subtracting the known J:
- * 0 = ((x - Vi) (Vi + x)²) / L² - J
- * Z(x) = ((x - Vi) (Vi + x)²) / L² - J
+ * 0 = ((x - Vi) (Vi + x)^2) / L^2 - J
+ * Z(x) = ((x - Vi) (Vi + x)^2) / L^2 - J
*
* L doesn't resolve to the value very quickly (it graphs near-vertical).
* So, we'll use J, which resolves in < 10 iterations, often in only two or
* SqrtDeltaOverJ = sqrt((x - Vi) / J)
* L'(x) = SqrtDeltaOverJ + (Vi + x) / (2*J) + (Vi + x) / (2 * SqrtDeltaJ)
*
- * J'(x) = (2 * Vi * x - Vi² + 3 * x²) / L²
+ * J'(x) = (2 * Vi * x - Vi^2 + 3 * x^2) / L^2
*/
#define GET_VELOCITY_ITERATIONS 0 // must be 0, 1, or 2
-/*
- * pwm.c - pulse width modulation drivers
- * This file is part of the TinyG project
- *
- * Copyright (c) 2012 - 2015 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2012 - 2015 Alden S. Hart, Jr.
+ 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 "pwm.h"
-/*
- * pwm.h - pulse width modulation drivers
- * This file is part of the TinyG project
- *
- * Copyright (c) 2012 - 2014 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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
void pwm_init();
stat_t pwm_set_freq(uint8_t channel, float freq);
stat_t pwm_set_duty(uint8_t channel, float duty);
-
-
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
void report_request();
void report_request_full();
stat_t report_callback();
-
-
/******************************************************************************\
- Siren Operated Sensor Firmware
- Version IX
-
- Joseph Coffland
- Cauldron Development LLC
-
- November, 2013 - February 2014
+ This file is part of the Buildbotics firmware.
-\******************************************************************************/
-
-/*
- This file defines an X-Macro ring buffer. It can be used like this:
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- #define RING_BUF_NAME tx_buf
- #define RING_BUF_SIZE 256
- #include "ringbuf.def"
+ 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/>.
- This will define the following functions:
+ 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.
- void <name>_init();
- int <name>_empty();
- int <name>_full();
- <type> <name>_peek();
- void <name>_pop();
- void <name>_push(<type> data);
+ 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/>.
- 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.
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
- 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.
-*/
+/* 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>
-/*
- * rtc.h - real-time counter/clock
- * Part of TinyG project
- *
- * Copyright (c) 2010 - 2013 Alden S. Hart Jr.
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2013 Alden S. Hart Jr.
+ 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"
-/*
- * rtc.h - general purpose real-time clock
- * Part of TinyG project
- *
- * Copyright (c) 2010 - 2013 Alden S. Hart Jr.
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2013 Alden S. Hart Jr.
+ 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
void rtc_init(); // initialize and start general timer
uint32_t rtc_get_time();
-
-
-/*
- * spindle.c - canonical machine spindle driver
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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 "spindle.h"
-/*
- * spindle.h - spindle driver
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2014 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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
stat_t cm_spindle_control(uint8_t spindle_mode); // M3, M4, M5
void cm_exec_spindle_control(uint8_t spindle_mode); // callback for above
-
-
-/*
- * status.c - TinyG - An embedded rs274/ngc CNC controller
- * This file is part of the TinyG project.
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2013 - 2015 Robert Giseburt
- *
- * 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 OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2013 - 2015 Robert Giseburt
+ 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 "status.h"
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
* 20 - 99 Generic internal and application errors. Internal errors start at
* 20 and work up, Assertion failures start at 99 and work down.
*
- * 100 - 129 Generic data and input errors - not specific to Gcode or TinyG
+ * 100 - 129 Generic data and input errors - not specific to Gcode
*
- * 130 - Gcode and TinyG application errors and warnings
+ * 130 - Gcode and application errors and warnings
*
* See main.c for associated message strings. Any changes to the codes may also
* require changing the message strings and string array in main.c
#define STAT_GCODE_MODAL_GROUP_VIOLATION 133
#define STAT_GCODE_AXIS_IS_MISSING 134
#define STAT_GCODE_AXIS_CANNOT_BE_PRESENT 135
-#define STAT_GCODE_AXIS_IS_INVALID 136
-#define STAT_GCODE_AXIS_IS_NOT_CONFIGURED 137
-#define STAT_GCODE_AXIS_NUMBER_IS_MISSING 138
-#define STAT_GCODE_AXIS_NUMBER_IS_INVALID 139
-
-#define STAT_GCODE_ACTIVE_PLANE_IS_MISSING 140
-#define STAT_GCODE_ACTIVE_PLANE_IS_INVALID 141
-#define STAT_GCODE_FEEDRATE_NOT_SPECIFIED 142
-#define STAT_GCODE_INVERSE_TIME_MODE_CANNOT_BE_USED 143
-#define STAT_GCODE_ROTARY_AXIS_CANNOT_BE_USED 144
-#define STAT_GCODE_G53_WITHOUT_G0_OR_G1 145
+#define STAT_GCODE_AXIS_IS_INVALID 136
+#define STAT_GCODE_AXIS_IS_NOT_CONFIGURED 137
+#define STAT_GCODE_AXIS_NUMBER_IS_MISSING 138
+#define STAT_GCODE_AXIS_NUMBER_IS_INVALID 139
+
+#define STAT_GCODE_ACTIVE_PLANE_IS_MISSING 140
+#define STAT_GCODE_ACTIVE_PLANE_IS_INVALID 141
+#define STAT_GCODE_FEEDRATE_NOT_SPECIFIED 142
+#define STAT_GCODE_INVERSE_TIME_MODE_CANNOT_BE_USED 143
+#define STAT_GCODE_ROTARY_AXIS_CANNOT_BE_USED 144
+#define STAT_GCODE_G53_WITHOUT_G0_OR_G1 145
#define STAT_REQUESTED_VELOCITY_EXCEEDS_LIMITS 146
#define STAT_CUTTER_COMPENSATION_CANNOT_BE_ENABLED 147
#define STAT_PROGRAMMED_POINT_SAME_AS_CURRENT_POINT 148
#define STAT_T_WORD_IS_MISSING 178
#define STAT_T_WORD_IS_INVALID 179
-// TinyG errors and warnings
+// Errors and warnings
#define STAT_GENERIC_ERROR 200
#define STAT_MINIMUM_LENGTH_MOVE 201 // move is less than minimum length
#define STAT_MINIMUM_TIME_MOVE 202 // move is less than minimum time
#define STAT_PROBE_ENDPOINT_IS_STARTING_POINT 251
// Do not exceed 255 without also changing stat_t typedef
-
-
-/*
- * stepper.c - stepper motor controls
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2013 - 2015 Robert Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
-/* This module provides the low-level stepper drivers and some related
- * functions. See stepper.h for a detailed explanation of this module.
- */
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2013 - 2015 Robert Giseburt
+ 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 module provides the low-level stepper drivers and some related
+// functions. See stepper.h for a detailed explanation of this module.
#include "stepper.h"
} else pre_mot->timer_clock = TC_CLKSEL_DIV2_gc;
} else pre_mot->timer_clock = TC_CLKSEL_DIV1_gc;
- pre_mot->timer_period = ticks_per_step * 2;
+ pre_mot->timer_period = ticks_per_step * 2; // TODO why do we need *2 here?
pre_mot->steps = seg_clocks / ticks_per_step;
if (false && usart_tx_empty() && motor == 0)
-/*
- * stepper.h - stepper motor interface
- * This file is part of TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2013 - 2015 Robert Giseburt
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ Copyright (c) 2012 - 2015 Rob Giseburt
+ 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
-/*
- * Coordinated motion (line drawing) is performed using a classic
- * Bresenham DDA. A number of additional steps are taken to
- * optimize interpolation and pulse train timing accuracy to
- * minimize pulse jitter and make for very smooth motion and
- * surface finish.
+/* Coordinated motion (line drawing) is performed using a classic
+ * Bresenham DDA. A number of additional steps are taken to optimize
+ * interpolation and pulse train timing accuracy to minimize pulse
+ * jitter and make for very smooth motion and surface finish.
*
* - The DDA is not used as a 'ramp' for acceleration
- * management. Accel is computed upstream in the motion planner
- * as 3rd order (controlled jerk) equations. These generate
- * accel/decel segments that are passed to the DDA for step
- * output.
- *
- * - The DDA accepts and processes fractional motor steps as
- * floating point numbers from the planner. Steps do not need
- * to be whole numbers, and are not expected to be. The step
- * values are converted to integer by multiplying by a
- * fixed-point precision (DDA_SUBSTEPS, 100000). Rounding is
- * performed to avoid a truncation bias.
- *
- * - Constant Rate DDA clock: The DDA runs at a constant, maximum
- * rate for every segment regardless of actual step rate
- * required. This means that the DDA clock is not tuned to the
- * step rate (or a multiple) of the major axis, as is typical
- * for most DDAs. Running the DDA flat out might appear to be
- * "wasteful", but it ensures that the best aliasing results
- * are achieved, and is part of maintaining step accuracy
- * across motion segments.
- *
- * The observation is that TinyG is a hard real-time system in
- * which every clock cycle is knowable and can be accounted
- * for. So if the system is capable of sustaining max pulse
- * rate for the fastest move, it's capable of sustaining this
- * rate for any move. So we just run it flat out and get the
- * best pulse resolution for all moves. If we were running
- * from batteries or otherwise cared about the energy budget we
- * might not be so cavalier about this.
- *
- * At 50 KHz constant clock rate we have 20 uSec between pulse
- * timer (DDA) interrupts. On the Xmega we consume <10 uSec in
- * the interrupt - a whopping 50% of available cycles going
- * into pulse generation.
- *
- * - Pulse timing is also helped by minimizing the time spent
- * loading the next move segment. The time budget for the load
- * is less than the time remaining before the next DDA clock
- * tick. This means that the load must take < 10 uSec or the
- * time between pulses will stretch out when changing
- * segments. This does not affect positional accuracy but it
- * would affect jitter and smoothness. To this end as much as
- * possible about that move is pre-computed during move
- * execution (prep cycles). Also, all moves are loaded from
- * the DDA interrupt level (HI), avoiding the need for mutual
+ * management. Accel is computed upstream in the motion planner as
+ * 3rd order (controlled jerk) equations. These generate accel/decel
+ * segments that are passed to the DDA for step output.
+ *
+ * - The DDA accepts and processes fractional motor steps as floating
+ * point numbers from the planner. Steps do not need to be whole
+ * numbers, and are not expected to be. The step values are
+ * converted to integer by multiplying by a fixed-point precision
+ * (DDA_SUBSTEPS, 100000). Rounding is performed to avoid a
+ * truncation bias.
+ *
+ * - Constant Rate DDA clock: The DDA runs at a constant, maximum rate
+ * for every segment regardless of actual step rate required. This
+ * means that the DDA clock is not tuned to the step rate (or a
+ * multiple) of the major axis, as is typical for most DDAs. Running
+ * the DDA flat out might appear to be "wasteful", but it ensures
+ * that the best aliasing results are achieved, and is part of
+ * maintaining step accuracy across motion segments.
+ *
+ * The observation is this firmware is a hard real-time system in
+ * which every clock cycle is knowable and can be accounted for. So
+ * if the system is capable of sustaining max pulse rate for the
+ * fastest move, it's capable of sustaining this rate for any
+ * move. So we just run it flat out and get the best pulse
+ * resolution for all moves. If we were running from batteries or
+ * otherwise cared about the energy budget we might not be so
+ * cavalier about this.
+ *
+ * At 50 KHz constant clock rate we have 20 uSec between pulse timer
+ * (DDA) interrupts. On the Xmega we consume <10 uSec in the
+ * interrupt - a whopping 50% of available cycles going into pulse
+ * generation.
+ *
+ * - Pulse timing is also helped by minimizing the time spent loading
+ * the next move segment. The time budget for the load is less than
+ * the time remaining before the next DDA clock tick. This means
+ * that the load must take < 10 uSec or the time between pulses will
+ * stretch out when changing segments. This does not affect
+ * positional accuracy but it would affect jitter and smoothness. To
+ * this end as much as possible about that move is pre-computed
+ * during move execution (prep cycles). Also, all moves are loaded
+ * from the DDA interrupt level (HI), avoiding the need for mutual
* exclusion locking or volatiles (which slow things down).
*/
-/*
- * switch.c - switch handling functions
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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>
+
+\******************************************************************************/
/* Switch Modes
*
#include <stdbool.h>
-static void _switch_isr_helper(uint8_t sw_num);
-
/* Initialize homing/limit switches
*
* This function assumes sys_init() and st_init() have been run previously to
if (sw.mode[MIN_SWITCH(i)] != SW_MODE_DISABLED) {
// set min input - see 13.14.14
hw.sw_port[i]->DIRCLR = SW_MIN_BIT_bm;
- hw.sw_port[i]->PIN6CTRL = (PIN_MODE | PORT_ISC_BOTHEDGES_gc);
+ hw.sw_port[i]->PIN6CTRL = PIN_MODE | PORT_ISC_BOTHEDGES_gc;
// interrupt on min switch
hw.sw_port[i]->INT0MASK = SW_MIN_BIT_bm;
if (sw.mode[MAX_SWITCH(i)] != SW_MODE_DISABLED) {
// set max input - see 13.14.14
hw.sw_port[i]->DIRCLR = SW_MAX_BIT_bm;
- hw.sw_port[i]->PIN7CTRL = (PIN_MODE | PORT_ISC_BOTHEDGES_gc);
+ hw.sw_port[i]->PIN7CTRL = PIN_MODE | PORT_ISC_BOTHEDGES_gc;
hw.sw_port[i]->INT1MASK = SW_MAX_BIT_bm; // max on INT1
} else hw.sw_port[i]->INT1MASK = 0;
}
-/*
- * These functions interact with each other to process switch closures
+/* These functions interact with each other to process switch closures
* and firing. Each switch has a counter which is initially set to
* negative SW_DEGLITCH_TICKS. When a switch closure is DETECTED the
* count increments for each RTC tick. When the count reaches zero
* increment positive until the lockout is exceeded.
*/
-// Switch interrupt handler vectors
-ISR(X_MIN_ISR_vect) {_switch_isr_helper(SW_MIN_X);}
-ISR(Y_MIN_ISR_vect) {_switch_isr_helper(SW_MIN_Y);}
-ISR(Z_MIN_ISR_vect) {_switch_isr_helper(SW_MIN_Z);}
-ISR(A_MIN_ISR_vect) {_switch_isr_helper(SW_MIN_A);}
-ISR(X_MAX_ISR_vect) {_switch_isr_helper(SW_MAX_X);}
-ISR(Y_MAX_ISR_vect) {_switch_isr_helper(SW_MAX_Y);}
-ISR(Z_MAX_ISR_vect) {_switch_isr_helper(SW_MAX_Z);}
-ISR(A_MAX_ISR_vect) {_switch_isr_helper(SW_MAX_A);}
-
-
static void _switch_isr_helper(uint8_t sw_num) {
if (sw.mode[sw_num] == SW_MODE_DISABLED) return; // never supposed to happen
if (sw.debounce[sw_num] == SW_LOCKOUT) return; // switch is in lockout
}
+// Switch interrupt handler vectors
+ISR(X_MIN_ISR_vect) {_switch_isr_helper(SW_MIN_X);}
+ISR(Y_MIN_ISR_vect) {_switch_isr_helper(SW_MIN_Y);}
+ISR(Z_MIN_ISR_vect) {_switch_isr_helper(SW_MIN_Z);}
+ISR(A_MIN_ISR_vect) {_switch_isr_helper(SW_MIN_A);}
+ISR(X_MAX_ISR_vect) {_switch_isr_helper(SW_MAX_X);}
+ISR(Y_MAX_ISR_vect) {_switch_isr_helper(SW_MAX_Y);}
+ISR(Z_MAX_ISR_vect) {_switch_isr_helper(SW_MAX_Z);}
+ISR(A_MAX_ISR_vect) {_switch_isr_helper(SW_MAX_A);}
+
+
/// Called from RTC for each RTC tick
void switch_rtc_callback() {
for (uint8_t i = 0; i < NUM_SWITCHES; i++) {
-/*
- * switch.h - switch handling functions
- * This file is part of the TinyG project
- *
- * Copyright (c) 2013 - 2014 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-/* Switch processing functions under Motate
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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>
+
+\******************************************************************************/
+
+/* Switch processing functions
*
* Switch processing turns pin transitions into reliable switch states.
* There are 2 main operations:
#define SW_DEGLITCH_TICKS 3 // 3=30ms
// switch modes
-#define SW_HOMING_BIT 1
-#define SW_LIMIT_BIT 2
-#define SW_MODE_DISABLED 0 // disabled for all operations
+enum {
+ SW_MODE_DISABLED,
+ SW_HOMING_BIT,
+ SW_LIMIT_BIT
+};
+
#define SW_MODE_HOMING SW_HOMING_BIT // enable switch for homing only
#define SW_MODE_LIMIT SW_LIMIT_BIT // enable switch for limits only
#define SW_MODE_HOMING_LIMIT (SW_HOMING_BIT | SW_LIMIT_BIT) // homing & limits
-#define SW_MODE_MAX_VALUE SW_MODE_HOMING_LIMIT
enum swType {
- SW_TYPE_NORMALLY_OPEN = 0,
+ SW_TYPE_NORMALLY_OPEN,
SW_TYPE_NORMALLY_CLOSED
};
enum swState {
SW_DISABLED = -1,
- SW_OPEN = 0, // also read as 'false'
- SW_CLOSED // also read as 'true'
+ SW_OPEN,
+ SW_CLOSED
};
// macros for finding the index into the switch table give the axis number
#define MAX_SWITCH(axis) (axis * 2 + 1)
enum swDebounce { // state machine for managing debouncing and lockout
- SW_IDLE = 0,
+ SW_IDLE,
SW_DEGLITCHING,
SW_LOCKOUT
};
enum swNums { // indexes into switch arrays
- SW_MIN_X = 0,
+ SW_MIN_X,
SW_MAX_X,
SW_MIN_Y,
SW_MAX_Y,
NUM_SWITCHES // must be last one. Used for array sizing and for loops
};
#define SW_OFFSET SW_MAX_X // offset between MIN and MAX switches
-#define NUM_SWITCH_PAIRS (NUM_SWITCHES/2)
+#define NUM_SWITCH_PAIRS (NUM_SWITCHES / 2)
/// Interrupt levels and vectors - The vectors are hard-wired to xmega ports
/// If you change axis port assignments you need to change these, too.
-#define GPIO1_INTLVL (PORT_INT0LVL_MED_gc|PORT_INT1LVL_MED_gc)
+#define GPIO1_INTLVL (PORT_INT0LVL_MED_gc | PORT_INT1LVL_MED_gc)
// port assignments for vectors
#define X_MIN_ISR_vect PORTA_INT0_vect
#define Z_MAX_ISR_vect PORTE_INT1_vect
#define A_MAX_ISR_vect PORTF_INT1_vect
-/*
- * Switch control structures
- // Note 1: The term "thrown" is used because switches could be normally-open
- // or normally-closed. "Thrown" means activated or hit.
+/* Switch control structures
+ * Note 1: The term "thrown" is used because switches could be normally-open
+ * or normally-closed. "Thrown" means activated or hit.
*/
struct swStruct { // switch state
uint8_t switch_type; // 0=NO, 1=NC - applies to all switches
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2015-2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2015-2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
int16_t usart_tx_space();
inline int usart_tx_empty() {return !usart_tx_fill();}
inline int usart_tx_full() {return !usart_tx_space();}
-
-
-/*
- * util.c - a random assortment of useful functions
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
+ 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>
+
+\******************************************************************************/
/* util contains:
* - math and min/max utilities and extensions
-/*
- * util.h - a random assortment of useful functions
- * This file is part of the TinyG project
- *
- * Copyright (c) 2010 - 2014 Alden S. Hart, Jr.
- *
- * 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/>.
- *
- * As a special exception, you may use this file as part of a software
- * library without restriction. Specifically, if other files
- * instantiate templates or use macros or inline functions from this
- * file, or you compile this file and link it with other files to
- * produce an executable, this file does not by itself cause the
- * resulting executable to be covered by the GNU General Public
- * License. This exception does not however invalidate any other
- * reasons why the executable file might be covered by the GNU General
- * Public License.
- *
- * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT
- * WITHOUT ANY WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
- * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
- * PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
- * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
- * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
- * OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ Copyright (c) 2010 - 2014 Alden S. Hart, Jr.
+ All rights reserved.
-/* util.c/.h contains a dog's breakfast of supporting functions that are
- * not specific to tinyg: including:
+ 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>
+
+\******************************************************************************/
+
+/* Supporting functions including:
*
- * - math and min/max utilities and extensions
- * - vector manipulation utilities
- * - support for debugging routines
+ * - math and min/max utilities and extensions
+ * - vector manipulation utilities
+ * - support for debugging routines
*/
#pragma once
#ifndef M_SQRT3
#define M_SQRT3 (1.73205080756888)
#endif
-
-
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
/******************************************************************************\
- This file is part of the TinyG firmware.
+ This file is part of the Buildbotics firmware.
- Copyright (c) 2016, Buildbotics LLC
- All rights reserved.
+ Copyright (c) 2015 - 2016 Buildbotics LLC
+ All rights reserved.
- The C! library is free software: you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public License
- as published by the Free Software Foundation, either version 2.1 of
- the License, or (at your option) any later version.
+ 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 C! library 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.
+ 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 C! library. If not, see
- <http://www.gnu.org/licenses/>.
-
- In addition, BSD licensing may be granted on a case by case basis
- by written permission from at least one of the copyright holders.
- You may request written permission by emailing the authors.
+ 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
+ "Joseph Coffland" <joseph@buildbotics.com>
\******************************************************************************/
projects / bbctrl-firmware / commitdiff