#include <stdio.h>
#include <string.h>
#include <ctype.h>
+#include <stdlib.h>
// Command forward declarations
status_help();
return 0;
}
+
+
+uint8_t command_sync(int argc, char *argv[]) {
+ char *end = 0;
+ uint32_t x = strtoul(argv[1], &end, 0);
+
+ if (end) printf_P(PSTR("\n{\"sync\": %lu}\n"), x);
+ return 0;
+}
CMD(mreset, 0, 1, "Reset motor")
CMD(calibrate, 0, 0, "Calibrate motors")
CMD(messages, 0, 0, "Dump all possible status messages")
+CMD(sync, 1, 1, "Synchronize with queue processing")
SPIN_ENABLE_PIN,
BOOT_PIN,
- READY_PIN = PORT_C << 3,
- PROBE_PIN,
+ SDA_PIN = PORT_C << 3,
+ SCL_PIN,
SERIAL_RX_PIN,
SERIAL_TX_PIN,
SERIAL_CTS_PIN,
#define AXES 6 // number of axes
#define MOTORS 4 // number of motors on the board
#define COORDS 6 // number of supported coordinate systems
-#define SWITCHES 10 // number of supported limit switches
+#define SWITCHES 9 // number of supported limit switches
#define PWMS 2 // number of supported PWM channels
--- /dev/null
+/******************************************************************************\
+
+ 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 "i2c.h"
+#include "config.h"
+
+#include <avr/interrupt.h>
+
+#include <stdbool.h>
+
+
+typedef struct {
+ spi_cb_t cb;
+ uint8_t data[I2C_MAX_DATA];
+ uint8_t length;
+} spi_t;
+
+static spi_t spi = {0};
+
+
+ISR(I2C_ISR) {
+ static bool first = false;
+ uint8_t status = I2C_DEV.SLAVE.STATUS;
+
+ // Error or collision
+ if (status & (TWI_SLAVE_BUSERR_bm | TWI_SLAVE_COLL_bm)) return; // Ignore
+
+ // Address match
+ else if ((status & TWI_SLAVE_APIF_bm) && (status & TWI_SLAVE_AP_bm)) {
+ I2C_DEV.SLAVE.CTRLB = TWI_SLAVE_CMD_RESPONSE_gc; // ACK address byte
+ first = true;
+ spi.length = 0;
+
+ } else if (status & TWI_SLAVE_APIF_bm) { // STOP interrupt
+ I2C_DEV.SLAVE.STATUS = TWI_SLAVE_APIF_bm; // Clear interrupt flag
+ if (spi.cb) spi.cb(spi.data, spi.length);
+
+ } else if (status & TWI_SLAVE_DIF_bm) { // Data interrupt
+ if (status & TWI_SLAVE_DIR_bm) { // Write
+ // Check if master ACKed last byte sent
+ if (status & TWI_SLAVE_RXACK_bm && !first)
+ I2C_DEV.SLAVE.CTRLB = TWI_SLAVE_CMD_COMPTRANS_gc; // End transaction
+
+ else {
+ I2C_DEV.SLAVE.DATA = 0; // Send some data
+ I2C_DEV.SLAVE.CTRLB = TWI_SLAVE_CMD_RESPONSE_gc; // Continue transaction
+ }
+
+ first = false;
+
+ } else { // Read
+ uint8_t data = I2C_DEV.SLAVE.DATA;
+ if (spi.length < I2C_MAX_DATA) spi.data[spi.length++] = data;
+
+ // ACK and continue transaction
+ I2C_DEV.SLAVE.CTRLB = TWI_SLAVE_CMD_RESPONSE_gc;
+ }
+ }
+}
+
+
+void i2c_init() {
+ I2C_DEV.SLAVE.CTRLA = TWI_SLAVE_INTLVL_HI_gc | TWI_SLAVE_DIEN_bm |
+ TWI_SLAVE_ENABLE_bm | TWI_SLAVE_APIEN_bm | TWI_SLAVE_PIEN_bm;
+ I2C_DEV.SLAVE.ADDR = I2C_ADDR << 1;
+}
+
+
+void i2c_set_callback(spi_cb_t cb) {spi.cb = cb;}
--- /dev/null
+/******************************************************************************\
+
+ 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
+
+#include <stdint.h>
+
+
+#define I2C_DEV TWIC
+#define I2C_ISR TWIC_TWIS_vect
+#define I2C_ADDR 0x2b
+#define I2C_MAX_DATA 8
+
+
+typedef void (*spi_cb_t)(uint8_t *data, uint8_t length);
+
+void i2c_init();
+void i2c_set_callback(spi_cb_t cb);
#include "estop.h"
#include "probing.h"
#include "homing.h"
+#include "i2c.h"
#include "plan/planner.h"
#include "plan/arc.h"
#include "plan/feedhold.h"
-#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
int main() {
//wdt_enable(WDTO_250MS);
- cli(); // disable interrupts
+ // Init
+ cli(); // disable interrupts
hardware_init(); // hardware setup - must be first
usart_init(); // serial port
+ i2c_init(); // i2c port
tmc2660_init(); // motor drivers
stepper_init(); // steppers
motor_init(); // motors
switch_init(); // switches
planner_init(); // motion planning
- machine_init(); // gcode machine
+ machine_init(); // gcode machine
vars_init(); // configuration variables
estop_init(); // emergency stop handler
- sei(); // enable interrupts
+ sei(); // enable interrupts
- fprintf_P(stderr, PSTR("\n{\"firmware\": \"Buildbotics AVR\", "
+ // Splash
+ fprintf_P(stdout, PSTR("\n{\"firmware\": \"Buildbotics AVR\", "
"\"version\": \"" VERSION "\"}\n"));
- // main loop
+ // Main loop
while (true) {
- hw_reset_handler(); // handle hard reset requests
- mach_feedhold_callback(); // feedhold state machine
- mach_arc_callback(); // arc generation runs
- mach_homing_callback(); // G28.2 continuation
- mach_probe_callback(); // G38.2 continuation
- command_callback(); // process next command
- report_callback(); // report changes
+ hw_reset_handler(); // handle hard reset requests
+ mach_feedhold_callback(); // feedhold state machine
+ mach_arc_callback(); // arc generation runs
+ mach_homing_callback(); // G28.2 continuation
+ mach_probe_callback(); // G38.2 continuation
+ command_callback(); // process next command
+ report_callback(); // report changes
wdt_reset();
}
bf->move_type = MOVE_TYPE_COMMAND;
bf->bf_func = _exec_command; // callback to planner queue exec function
- bf->mach_func = mach_exec; // callback to machine exec function
+ bf->mach_func = mach_exec; // callback to machine exec function
// Store values and flags in planner buffer
for (int axis = 0; axis < AXES; axis++) {
{.pin = MIN_A_PIN, .type = SW_NORMALLY_OPEN},
{.pin = MAX_A_PIN, .type = SW_NORMALLY_OPEN},
{.pin = ESTOP_PIN, .type = SW_NORMALLY_OPEN},
- {.pin = PROBE_PIN, .type = SW_NORMALLY_OPEN},
+ // {.pin = PROBE_PIN, .type = SW_NORMALLY_OPEN},
};
projects / bbctrl-firmware / commitdiff