More cleanup

diff --git a/src/controller.c b/src/controller.c
index 44a2a05148274cb6ce723b324dae83ea0d1f2a1b..15e52703b202d305223ee01a64a08802fd394b76 100644 (file)
--- a/src/controller.c
+++ b/src/controller.c
@@ -213,7 +213,7 @@ static stat_t _shutdown_idler() {
 
   if (SysTickTimer_getValue() > cs.led_timer) {
     cs.led_timer = SysTickTimer_getValue() + LED_ALARM_TIMER;
-    IndicatorLed_toggle();
+    indicator_led_toggle();
   }
 
   return STAT_EAGAIN;    // EAGAIN prevents any lower-priority actions from running

diff --git a/src/encoder.c b/src/encoder.c
index 717fc89eab44b7504073496e9bb9e24898778789..f38c9e89520eee9f7c3128b56764c598ef01b42b 100644 (file)
--- a/src/encoder.c
+++ b/src/encoder.c
@@ -29,63 +29,48 @@
 #include "config.h"
 #include "encoder.h"
 
-/**** Allocate Structures ****/
-
 enEncoders_t en;
 
 
-/*
- * encoder_init() - initialize encoders
- */
-
-void encoder_init()
-{
-    memset(&en, 0, sizeof(en));        // clear all values, pointers and status
-    encoder_init_assertions();
+void encoder_init() {
+  memset(&en, 0, sizeof(en));        // clear all values, pointers and status
+  encoder_init_assertions();
 }
 
-/*
- * encoder_init_assertions() - initialize encoder assertions
- * encoder_test_assertions() - test assertions, return error code if violation exists
- */
 
-void encoder_init_assertions()
-{
-    en.magic_end = MAGICNUM;
-    en.magic_start = MAGICNUM;
+void encoder_init_assertions() {
+  en.magic_end = MAGICNUM;
+  en.magic_start = MAGICNUM;
 }
 
-stat_t encoder_test_assertions()
-{
-    if (en.magic_end   != MAGICNUM) return STAT_ENCODER_ASSERTION_FAILURE;
-    if (en.magic_start != MAGICNUM) return STAT_ENCODER_ASSERTION_FAILURE;
-    return STAT_OK;
+
+stat_t encoder_test_assertions() {
+  if (en.magic_end   != MAGICNUM) return STAT_ENCODER_ASSERTION_FAILURE;
+  if (en.magic_start != MAGICNUM) return STAT_ENCODER_ASSERTION_FAILURE;
+
+  return STAT_OK;
 }
 
+
 /*
- * en_set_encoder_steps() - set encoder values to a current step count
+ * Set encoder values to a current step count
  *
  *    Sets the encoder_position steps. Takes floating point steps as input,
  *    writes integer steps. So it's not an exact representation of machine
  *    position except if the machine is at zero.
  */
-
-void en_set_encoder_steps(uint8_t motor, float steps)
-{
-    en.en[motor].encoder_steps = (int32_t)round(steps);
+void en_set_encoder_steps(uint8_t motor, float steps) {
+  en.en[motor].encoder_steps = (int32_t)round(steps);
 }
 
+
 /*
- * en_read_encoder()
- *
  *    The stepper ISR count steps into steps_run(). These values are accumulated to
  *    encoder_position during LOAD (HI interrupt level). The encoder position is
  *    therefore always stable. But be advised: the position lags target and position
  *    valaues elsewherein the system becuase the sample is taken when the steps for
  *    that segment are complete.
  */
-
-float en_read_encoder(uint8_t motor)
-{
-    return (float)en.en[motor].encoder_steps;
+float en_read_encoder(uint8_t motor) {
+  return (float)en.en[motor].encoder_steps;
 }

diff --git a/src/encoder.h b/src/encoder.h
index ee84c16203e196a2977bb6bc5da3dbd196633a90..6f0db6b9f8beca4482e869895f9967b156a3c692 100644 (file)
--- a/src/encoder.h
+++ b/src/encoder.h
@@ -43,9 +43,9 @@
  *    these points. This synchronization is taken care of by the Target, Position, Position_delayed
  *    sequence in plan_exec. Referring to ASCII art in stepper.h and reproduced here:
  *
- *  LOAD/STEP (~5000uSec)          [L1][Segment1][L2][Segment2][L3][Segment3][L4][Segment4][Lb1][Segmentb1]
- *  PREP (100 uSec)            [P1]       [P2]          [P3]          [P4]          [Pb1]          [Pb2]
- *  EXEC (400 uSec)         [EXEC1]    [EXEC2]       [EXEC3]       [EXEC4]       [EXECb1]       [EXECb2]
+ *  LOAD/STEP (~5000uSec) [L1][Segment1][L2][Segment2][L3][Segment3][L4][Segment4][Lb1][Segmentb1]
+ *  PREP (100 uSec)       [P1]          [P2]          [P3]          [P4]          [Pb1]          [Pb2]
+ *  EXEC (400 uSec)       [EXEC1]       [EXEC2]       [EXEC3]       [EXEC4]       [EXECb1]       [EXECb2]
  *  PLAN (<4ms)  [PLANmoveA][PLANmoveB][PLANmoveC][PLANmoveD][PLANmoveE] etc.
  *
  *    You can collect the target for moveA as early as the end of [PLANmoveA]. The system will
@@ -58,6 +58,7 @@
  *    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
  *
@@ -85,37 +86,32 @@
  *    correction will be applied to moveC. (It's possible to recompute the body of moveB, but it may
  *    not be worth the trouble).
  */
+
 #ifndef ENCODER_H_ONCE
 #define ENCODER_H_ONCE
 
-/**** Configs and Constants ****/
-
-/**** Macros ****/
 // used to abstract the encoder code out of the stepper so it can be managed in one place
-
-#define SET_ENCODER_STEP_SIGN(m,s)    en.en[m].step_sign = s;
+#define SET_ENCODER_STEP_SIGN(m, s) en.en[m].step_sign = s;
 #define INCREMENT_ENCODER(m)        en.en[m].steps_run += en.en[m].step_sign;
-#define ACCUMULATE_ENCODER(m)        en.en[m].encoder_steps += en.en[m].steps_run; en.en[m].steps_run = 0;
+#define ACCUMULATE_ENCODER(m)       en.en[m].encoder_steps += en.en[m].steps_run; en.en[m].steps_run = 0;
 
-/**** Structures ****/
 
-typedef struct enEncoder {             // one real or virtual encoder per controlled motor
-    int8_t  step_sign;                // set to +1 or -1
-    int16_t steps_run;                // steps counted during stepper interrupt
-    int32_t encoder_steps;            // counted encoder position    in steps
+typedef struct enEncoder { // one real or virtual encoder per controlled motor
+  int8_t  step_sign;       // set to +1 or -1
+  int16_t steps_run;       // steps counted during stepper interrupt
+  int32_t encoder_steps;   // counted encoder position in steps
 } enEncoder_t;
 
+
 typedef struct enEncoders {
-    magic_t magic_start;
-    enEncoder_t en[MOTORS];            // runtime encoder structures
-    magic_t magic_end;
+  magic_t magic_start;
+  enEncoder_t en[MOTORS];   // runtime encoder structures
+  magic_t magic_end;
 } enEncoders_t;
 
 extern enEncoders_t en;
 
 
-/**** FUNCTION PROTOTYPES ****/
-
 void encoder_init();
 void encoder_init_assertions();
 stat_t encoder_test_assertions();
@@ -123,4 +119,4 @@ stat_t encoder_test_assertions();
 void en_set_encoder_steps(uint8_t motor, float steps);
 float en_read_encoder(uint8_t motor);
 
-#endif    // End of include guard: ENCODER_H_ONCE
+#endif // ENCODER_H_ONCE

diff --git a/src/gpio.c b/src/gpio.c
index e40df21faf74f384688d53177081572a17d412dc..c48e4ec7470e3427e404bf45b123083eeb7056ae 100644 (file)
--- a/src/gpio.c
+++ b/src/gpio.c
@@ -24,26 +24,27 @@
  * 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 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:
  *
- *      gpio1      Located on 5x2 header next to the PDI programming plugs (on v7's)
- *                Four (4) output bits capable of driving 3.3v or 5v logic
+ *      gpio1   Located on 5x2 header next to the PDI programming plugs (on v7's)
+ *              Four (4) output bits capable of driving 3.3v or 5v logic
  *
  *              Note: On v6 and earlier boards there are also 4 inputs:
- *                Four (4) level converted input bits capable of being driven
- *                by 3.3v or 5v logic - connected to B0 - B3 (now used for SPI)
+ *              Four (4) level converted input bits capable of being driven
+ *              by 3.3v or 5v logic - connected to B0 - B3 (now used for SPI)
  *
- *      gpio2      Located on 9x2 header on "bottom" edge of the board
- *                Eight (8) non-level converted input bits
- *                Eight (8) ground pins - one each "under" each input pin
- *                Two   (2) 3.3v power pins (on left edge of connector)
- *                Inputs can be used as switch contact inputs or
- *                    3.3v input bits depending on port configuration
- *                    **** These bits CANNOT be used as 5v inputs ****
+ *      gpio2   Located on 9x2 header on "bottom" edge of the board
+ *              Eight (8) non-level converted input bits
+ *              Eight (8) ground pins - one each "under" each input pin
+ *              Two   (2) 3.3v power pins (on left edge of connector)
+ *              Inputs can be used as switch contact inputs or
+ *              3.3v input bits depending on port configuration
+ *              **** These bits CANNOT be used as 5v inputs ****
  */
 
 #include <avr/interrupt.h>
@@ -56,117 +57,69 @@
 #include "gpio.h"
 #include "canonical_machine.h"
 
-//======================== Parallel IO Functions ===============================
 
-/*
- * IndicatorLed_set()     - fake out for IndicatorLed.set() until we get Motate running
- * IndicatorLed_clear() - fake out for IndicatorLed.clear() until we get Motate running
- * IndicatorLed_toggle()- fake out for IndicatorLed.toggle() until we get Motate running
- */
+void indicator_led_set() {
+  gpio_led_on(INDICATOR_LED);
+  cs.led_state = 1;
+}
+
 
-void IndicatorLed_set()
-{
-    gpio_led_on(INDICATOR_LED);
-    cs.led_state = 1;
+void indicator_led_clear() {
+  gpio_led_off(INDICATOR_LED);
+  cs.led_state = 0;
 }
 
-void IndicatorLed_clear()
-{
-    gpio_led_off(INDICATOR_LED);
-    cs.led_state = 0;
+
+void indicator_led_toggle() {
+  gpio_led_toggle(INDICATOR_LED);
+  cs.led_state = !cs.led_state;
 }
 
-void IndicatorLed_toggle()
-{
-    if (cs.led_state == 0) {
-        gpio_led_on(INDICATOR_LED);
-        cs.led_state = 1;
-    } else {
-        gpio_led_off(INDICATOR_LED);
-        cs.led_state = 0;
-    }
+
+void gpio_led_on(uint8_t led) {
+  gpio_set_bit_on(8 >> led);
 }
 
-/*
- * gpio_led_on() - turn led on - assumes TinyG LED mapping
- * gpio_led_off() - turn led on - assumes TinyG LED mapping
- * gpio_led_toggle()
- */
 
-void gpio_led_on(uint8_t led)
-{
-    if (led == 0) gpio_set_bit_on(0x08); else
-    if (led == 1) gpio_set_bit_on(0x04); else
-    if (led == 2) gpio_set_bit_on(0x02); else
-    if (led == 3) gpio_set_bit_on(0x01);
+void gpio_led_off(uint8_t led) {
+  gpio_set_bit_off(8 >> led);
 }
 
-void gpio_led_off(uint8_t led)
-{
-    if (led == 0) gpio_set_bit_off(0x08); else
-    if (led == 1) gpio_set_bit_off(0x04); else
-    if (led == 2) gpio_set_bit_off(0x02); else
-    if (led == 3) gpio_set_bit_off(0x01);
+
+void gpio_led_toggle(uint8_t led) {
+  gpio_set_bit_toggle(8 >> led);
 }
 
-void gpio_led_toggle(uint8_t led)
-{
-    if (led == 0) {
-        if (gpio_read_bit(0x08)) {
-            gpio_set_bit_off(0x08);
-        } else {
-            gpio_set_bit_on(0x08);
-        }
-    } else if (led == 1) {
-        if (gpio_read_bit(0x04)) {
-            gpio_set_bit_off(0x04);
-        } else {
-            gpio_set_bit_on(0x04);
-        }
-    } else if (led == 2) {
-        if (gpio_read_bit(0x02)) {
-            gpio_set_bit_off(0x02);
-        } else {
-            gpio_set_bit_on(0x02);
-        }
-    } else if (led == 3) {
-        if (gpio_read_bit(0x08)) {
-            gpio_set_bit_off(0x08);
-        } else {
-            gpio_set_bit_on(0x08);
-        }
-    }
+
+uint8_t gpio_read_bit(uint8_t b) {
+  if (b & 0x08) return hw.out_port[0]->IN & GPIO1_OUT_BIT_bm;
+  if (b & 0x04) return hw.out_port[1]->IN & GPIO1_OUT_BIT_bm;
+  if (b & 0x02) return hw.out_port[2]->IN & GPIO1_OUT_BIT_bm;
+  if (b & 0x01) return hw.out_port[3]->IN & GPIO1_OUT_BIT_bm;
+
+  return 0;
 }
 
-/*
- * gpio_read_bit() - return true if bit is on, false if off
- * gpio_set_bit_on() - turn bit on
- * gpio_set_bit_off() - turn bit on
- *
- *    These functions have an inner remap depending on what hardware is running
- */
 
-uint8_t gpio_read_bit(uint8_t b)
-{
-    if (b & 0x08) { return hw.out_port[0]->IN & GPIO1_OUT_BIT_bm; }
-    if (b & 0x04) { return hw.out_port[1]->IN & GPIO1_OUT_BIT_bm; }
-    if (b & 0x02) { return hw.out_port[2]->IN & GPIO1_OUT_BIT_bm; }
-    if (b & 0x01) { return hw.out_port[3]->IN & GPIO1_OUT_BIT_bm; }
-    return 0;
+void gpio_set_bit_on(uint8_t b) {
+  if (b & 0x08) hw.out_port[0]->OUTSET = GPIO1_OUT_BIT_bm;
+  if (b & 0x04) hw.out_port[1]->OUTSET = GPIO1_OUT_BIT_bm;
+  if (b & 0x02) hw.out_port[2]->OUTSET = GPIO1_OUT_BIT_bm;
+  if (b & 0x01) hw.out_port[3]->OUTSET = GPIO1_OUT_BIT_bm;
 }
 
-void gpio_set_bit_on(uint8_t b)
-{
-    if (b & 0x08) { hw.out_port[0]->OUTSET = GPIO1_OUT_BIT_bm; }
-    if (b & 0x04) { hw.out_port[1]->OUTSET = GPIO1_OUT_BIT_bm; }
-    if (b & 0x02) { hw.out_port[2]->OUTSET = GPIO1_OUT_BIT_bm; }
-    if (b & 0x01) { hw.out_port[3]->OUTSET = GPIO1_OUT_BIT_bm; }
+
+void gpio_set_bit_off(uint8_t b) {
+  if (b & 0x08) hw.out_port[0]->OUTCLR = GPIO1_OUT_BIT_bm;
+  if (b & 0x04) hw.out_port[1]->OUTCLR = GPIO1_OUT_BIT_bm;
+  if (b & 0x02) hw.out_port[2]->OUTCLR = GPIO1_OUT_BIT_bm;
+  if (b & 0x01) hw.out_port[3]->OUTCLR = GPIO1_OUT_BIT_bm;
 }
 
-void gpio_set_bit_off(uint8_t b)
-{
-    if (b & 0x08) { hw.out_port[0]->OUTCLR = GPIO1_OUT_BIT_bm; }
-    if (b & 0x04) { hw.out_port[1]->OUTCLR = GPIO1_OUT_BIT_bm; }
-    if (b & 0x02) { hw.out_port[2]->OUTCLR = GPIO1_OUT_BIT_bm; }
-    if (b & 0x01) { hw.out_port[3]->OUTCLR = GPIO1_OUT_BIT_bm; }
+
+void gpio_set_bit_toggle(uint8_t b) {
+  if (b & 0x08) hw.out_port[0]->OUTTGL = GPIO1_OUT_BIT_bm;
+  if (b & 0x04) hw.out_port[1]->OUTTGL = GPIO1_OUT_BIT_bm;
+  if (b & 0x02) hw.out_port[2]->OUTTGL = GPIO1_OUT_BIT_bm;
+  if (b & 0x01) hw.out_port[3]->OUTTGL = GPIO1_OUT_BIT_bm;
 }

diff --git a/src/gpio.h b/src/gpio.h
index ce0825fd761768a974244900f5ccf1ad81e66c1d..d679aa236cbaf8f0748b27e5b9938f6f30051efa 100644 (file)
--- a/src/gpio.h
+++ b/src/gpio.h
@@ -28,9 +28,9 @@
 #ifndef gpio_h
 #define gpio_h
 
-void IndicatorLed_set();
-void IndicatorLed_clear();
-void IndicatorLed_toggle();
+void indicator_led_set();
+void indicator_led_clear();
+void indicator_led_toggle();
 
 void gpio_led_on(uint8_t led);
 void gpio_led_off(uint8_t led);
@@ -39,5 +39,6 @@ void gpio_led_toggle(uint8_t led);
 uint8_t gpio_read_bit(uint8_t b);
 void gpio_set_bit_on(uint8_t b);
 void gpio_set_bit_off(uint8_t b);
+void gpio_set_bit_toggle(uint8_t b);
 
 #endif

diff --git a/src/help.h b/src/help.h
index 6486f1e96feedf8399f01c0c18b5b478e7ba139d..97eef5b5a9ebca5e577bef3578b4c0797bacd4a4 100644 (file)
--- a/src/help.h
+++ b/src/help.h
@@ -21,18 +21,22 @@
 #define HELP_H_ONCE
 
 #ifdef __HELP_SCREENS
+
 stat_t help_general(nvObj_t *nv);
 stat_t help_config(nvObj_t *nv);
 stat_t help_test(nvObj_t *nv);
 stat_t help_defa(nvObj_t *nv);
 stat_t help_boot_loader(nvObj_t *nv);
+
 #else
+
 stat_t help_stub(nvObj_t *nv);
 #define help_general help_stub
 #define help_config help_stub
 #define help_test help_stub
 #define help_defa help_stub
 #define help_boot_loader help_stub
+
 #endif // __HELP_SCREENS
 
 #endif // HELP_H_ONCE