recursive-include src/py/bbctrl/http *
-include package.json README.md scripts/install.sh src/avr/bbctrl-avr-firmware.hex
+include package.json README.md scripts/install.sh
+include src/avr/bbctrl-avr-firmware.hex
include scripts/avr109-flash.py
WATCH := src/jade src/jade/templates src/stylus src/js src/resources Makefile
all: html css js static
- @for SUB in $(SUBPROJECTS); do \
- $(MAKE) -C src/$$SUB; \
- done
+ @$(MAKE) -C src/avr
+ @$(MAKE) -C src/boot
+ @$(MAKE) -C src/pwr
+ @$(MAKE) -C src/jig
copy: pkg
rsync $(RSYNC_OPTS) pkg/$(PKG_NAME)/ $(DEST)/bbctrl/
fi
if $UPDATE_AVR; then
- ./scripts/avr109-flash.py avr/bbctrl-avr-firmware.hex
+ ./scripts/avr109-flash.py src/avr/bbctrl-avr-firmware.hex
fi
if $UPDATE_PY; then
static char *_cmd = 0;
+static bool _active = false;
static void command_i2c_cb(i2c_cmd_t cmd, uint8_t *data, uint8_t length) {
}
_cmd = 0; // Command consumed
+ _active = true;
report_request();
if (status) status_error(status);
}
+bool command_is_active() {return _active;}
+
+
// Command functions
void static print_command_help(int i) {
static const char fmt[] PROGMEM = " $%-12"PRPSTR" %"PRPSTR"\n";
#include <stdint.h>
+#include <stdbool.h>
#define MAX_ARGS 16
int command_find(const char *name);
int command_exec(int argc, char *argv[]);
void command_callback();
+bool command_is_active();
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2017 Buildbotics LLC
+ Copyright (c) 2010 Alex Forencich <alex@alexforencich.com>
+ 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 "lcd.h"
+#include "rtc.h"
+#include "command.h"
+
+#include <avr/io.h>
+#include <util/delay.h>
+
+#include <stdbool.h>
+
+
+void lcd_init(uint8_t addr) {
+ // Enable I2C master
+ TWIC.MASTER.BAUD = 0x9b; // 100 KHz with 32MHz clock
+ TWIC.MASTER.CTRLA = TWI_MASTER_ENABLE_bm;
+ TWIC.MASTER.CTRLB = TWI_MASTER_TIMEOUT_DISABLED_gc;
+ TWIC.MASTER.STATUS |= 1; // Force idle
+
+ _delay_ms(50);
+ lcd_nibble(addr, 3 << 4); // Home
+ _delay_ms(50);
+ lcd_nibble(addr, 3 << 4); // Home
+ _delay_ms(50);
+ lcd_nibble(addr, 3 << 4); // Home
+ lcd_nibble(addr, 2 << 4); // 4-bit
+
+ lcd_write(addr,
+ LCD_FUNCTION_SET | LCD_2_LINE | LCD_5x8_DOTS | LCD_4_BIT_MODE, 0);
+ lcd_write(addr, LCD_DISPLAY_CONTROL | LCD_DISPLAY_ON, 0);
+ lcd_write(addr, LCD_ENTRY_MODE_SET | LCD_ENTRY_SHIFT_INC, 0);
+
+ lcd_write(addr, LCD_CLEAR_DISPLAY, 0);
+ lcd_write(addr, LCD_RETURN_HOME, 0);
+}
+
+
+static void _write_i2c(uint8_t addr, uint8_t data) {
+ data |= BACKLIGHT_BIT;
+
+ TWIC.MASTER.ADDR = addr << 1;
+ while (!(TWIC.MASTER.STATUS & TWI_MASTER_WIF_bm)) continue;
+
+ TWIC.MASTER.DATA = data;
+ while (!(TWIC.MASTER.STATUS & TWI_MASTER_WIF_bm)) continue;
+
+ TWIC.MASTER.CTRLC = TWI_MASTER_CMD_STOP_gc;
+
+ _delay_us(100);
+}
+
+
+void lcd_nibble(uint8_t addr, uint8_t data) {
+ _write_i2c(addr, data);
+ _write_i2c(addr, data | ENABLE_BIT);
+ _delay_us(500);
+ _write_i2c(addr, data & ~ENABLE_BIT);
+ _delay_us(100);
+}
+
+
+void lcd_write(uint8_t addr, uint8_t cmd, uint8_t flags) {
+ lcd_nibble(addr, flags | (cmd & 0xf0));
+ lcd_nibble(addr, flags | ((cmd << 4) & 0xf0));
+}
+
+
+void lcd_goto(uint8_t addr, uint8_t x, uint8_t y) {
+ static uint8_t row[] = {0, 64, 20, 84};
+ lcd_write(addr, LCD_SET_DDRAM_ADDR | (row[y] + x), 0);
+}
+
+
+void lcd_putchar(uint8_t addr, uint8_t c) {
+ lcd_write(addr, c, REG_SELECT_BIT);
+}
+
+
+void lcd_pgmstr(uint8_t addr, const char *s) {
+ while (true) {
+ char c = pgm_read_byte(s++);
+ if (!c) break;
+ lcd_putchar(addr, c);
+ }
+}
+
+
+void _splash(uint8_t addr) {
+ lcd_init(addr);
+ lcd_goto(addr, 1, 1);
+ lcd_pgmstr(addr, PSTR("Controller booting"));
+ lcd_goto(addr, 3, 2);
+ lcd_pgmstr(addr, PSTR("Please wait..."));
+}
+
+
+void lcd_splash() {
+ _splash(0x27);
+ _splash(0x3f);
+}
+
+
+void lcd_rtc_callback() {
+ if (!command_is_active() && rtc_get_time() == 1000)
+ lcd_splash();
+}
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2017 Buildbotics LLC
+ Copyright (c) 2010 Alex Forencich <alex@alexforencich.com>
+ 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/pgmspace.h>
+
+#include <stdint.h>
+
+
+// Control flags
+enum {
+ REG_SELECT_BIT = 1 << 0,
+ READ_BIT = 1 << 1,
+ ENABLE_BIT = 1 << 2,
+ BACKLIGHT_BIT = 1 << 3,
+};
+
+
+// Commands
+enum {
+ LCD_CLEAR_DISPLAY = 1 << 0,
+ LCD_RETURN_HOME = 1 << 1,
+ LCD_ENTRY_MODE_SET = 1 << 2,
+ LCD_DISPLAY_CONTROL = 1 << 3,
+ LCD_CURSOR_SHIFT = 1 << 4,
+ LCD_FUNCTION_SET = 1 << 5,
+ LCD_SET_CGRAM_ADDR = 1 << 6,
+ LCD_SET_DDRAM_ADDR = 1 << 7,
+};
+
+
+// Entry Mode Set flags
+#define LCD_ENTRY_SHIFT_DISPLAY (1 << 0)
+#define LCD_ENTRY_SHIFT_INC (1 << 1)
+#define LCD_ENTRY_SHIFT_DEC (0 << 1)
+
+
+// Display Control flags
+#define LCD_BLINK_ON (1 << 0)
+#define LCD_BLINK_OFF (0 << 0)
+#define LCD_CURSOR_ON (1 << 1)
+#define LCD_CURSOR_OFF (0 << 1)
+#define LCD_DISPLAY_ON (1 << 2)
+#define LCD_DISPLAY_OFF (0 << 2)
+
+
+// Cursor Shift flags
+#define LCD_SHIFT_RIGHT (1 << 2)
+#define LCD_SHIFT_LEFT (0 << 2)
+#define LCD_SHIFT_DISPLAY (1 << 3)
+#define LCD_SHIFT_CURSOR (0 << 3)
+
+
+// Function Set flags
+#define LCD_5x11_DOTS (1 << 2)
+#define LCD_5x8_DOTS (0 << 2)
+#define LCD_2_LINE (1 << 3)
+#define LCD_1_LINE (0 << 3)
+#define LCD_8_BIT_MODE (1 << 4)
+#define LCD_4_BIT_MODE (0 << 4)
+
+
+// Text justification flags
+enum {
+ JUSTIFY_LEFT = 0,
+ JUSTIFY_RIGHT = 1,
+ JUSTIFY_CENTER = 2,
+};
+
+
+void lcd_init(uint8_t addr);
+void lcd_nibble(uint8_t addr, uint8_t data);
+void lcd_write(uint8_t addr, uint8_t cmd, uint8_t flags);
+void lcd_goto(uint8_t addr, uint8_t x, uint8_t y);
+void lcd_putchar(uint8_t addr, uint8_t c);
+void lcd_pgmstr(uint8_t addr, const char *s);
+void lcd_splash();
+void lcd_rtc_callback();
#include "i2c.h"
#include "pgmspace.h"
#include "outputs.h"
+#include "lcd.h"
#include "plan/planner.h"
#include "plan/arc.h"
#include "switch.h"
#include "huanyang.h"
#include "motor.h"
+#include "lcd.h"
#include <avr/io.h>
#include <avr/interrupt.h>
switch_rtc_callback();
huanyang_rtc_callback();
if (!(ticks & 255)) motor_rtc_callback();
+ lcd_rtc_callback();
}
#include "boot.h"
#include "sp_driver.h"
-#include "lcd.h"
#include <util/delay.h>
#include <util/crc16.h>
}
-void lcd_splash(uint8_t addr) {
- lcd_init(addr);
- lcd_goto(addr, 1, 1);
- lcd_pgmstr(addr, "Controller booting");
- lcd_goto(addr, 3, 2);
- lcd_pgmstr(addr, "Please wait...");
-}
-
-
bool uart_has_char() {return UART_DEVICE.STATUS & USART_RXCIF_bm;}
uint8_t uart_recv_char() {return UART_DEVICE.DATA;}
// Disable further self programming until next reset
SP_LockSPM();
- lcd_splash(0x27);
- lcd_splash(0x3f);
-
// Jump to application code
asm("jmp 0");
}
+++ /dev/null
-/******************************************************************************\
-
- This file is part of the Buildbotics firmware.
-
- Copyright (c) 2015 - 2017 Buildbotics LLC
- Copyright (c) 2010 Alex Forencich <alex@alexforencich.com>
- 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 "lcd.h"
-
-#include <avr/io.h>
-#include <util/delay.h>
-
-#include <stdbool.h>
-
-
-void lcd_init(uint8_t addr) {
- // Enable I2C master
- TWIC.MASTER.BAUD = 0x9b; // 100 KHz with 32MHz clock
- TWIC.MASTER.CTRLA = TWI_MASTER_ENABLE_bm;
- TWIC.MASTER.CTRLB = TWI_MASTER_TIMEOUT_DISABLED_gc;
- TWIC.MASTER.STATUS |= 1; // Force idle
-
- _delay_ms(50);
- lcd_nibble(addr, 3 << 4); // Home
- _delay_ms(50);
- lcd_nibble(addr, 3 << 4); // Home
- _delay_ms(50);
- lcd_nibble(addr, 3 << 4); // Home
- lcd_nibble(addr, 2 << 4); // 4-bit
-
- lcd_write(addr,
- LCD_FUNCTION_SET | LCD_2_LINE | LCD_5x8_DOTS | LCD_4_BIT_MODE, 0);
- lcd_write(addr, LCD_DISPLAY_CONTROL | LCD_DISPLAY_ON, 0);
- lcd_write(addr, LCD_ENTRY_MODE_SET | LCD_ENTRY_SHIFT_INC, 0);
-
- lcd_write(addr, LCD_CLEAR_DISPLAY, 0);
- lcd_write(addr, LCD_RETURN_HOME, 0);
-}
-
-
-static void _write_i2c(uint8_t addr, uint8_t data) {
- data |= BACKLIGHT_BIT;
-
- TWIC.MASTER.ADDR = addr << 1;
- while (!(TWIC.MASTER.STATUS & TWI_MASTER_WIF_bm)) continue;
-
- TWIC.MASTER.DATA = data;
- while (!(TWIC.MASTER.STATUS & TWI_MASTER_WIF_bm)) continue;
-
- TWIC.MASTER.CTRLC = TWI_MASTER_CMD_STOP_gc;
-
- _delay_us(100);
-}
-
-
-void lcd_nibble(uint8_t addr, uint8_t data) {
- _write_i2c(addr, data);
- _write_i2c(addr, data | ENABLE_BIT);
- _delay_us(500);
- _write_i2c(addr, data & ~ENABLE_BIT);
- _delay_us(100);
-}
-
-
-void lcd_write(uint8_t addr, uint8_t cmd, uint8_t flags) {
- lcd_nibble(addr, flags | (cmd & 0xf0));
- lcd_nibble(addr, flags | ((cmd << 4) & 0xf0));
-}
-
-
-void lcd_goto(uint8_t addr, uint8_t x, uint8_t y) {
- static uint8_t row[] = {0, 64, 20, 84};
- lcd_write(addr, LCD_SET_DDRAM_ADDR | (row[y] + x), 0);
-}
-
-
-void lcd_putchar(uint8_t addr, uint8_t c) {
- lcd_write(addr, c, REG_SELECT_BIT);
-}
-
-
-void lcd_pgmstr(uint8_t addr, const char *s) {
- while (*s) lcd_putchar(addr, *s++);
-}
+++ /dev/null
-/******************************************************************************\
-
- This file is part of the Buildbotics firmware.
-
- Copyright (c) 2015 - 2017 Buildbotics LLC
- Copyright (c) 2010 Alex Forencich <alex@alexforencich.com>
- 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/pgmspace.h>
-
-#include <stdint.h>
-
-
-// Control flags
-enum {
- REG_SELECT_BIT = 1 << 0,
- READ_BIT = 1 << 1,
- ENABLE_BIT = 1 << 2,
- BACKLIGHT_BIT = 1 << 3,
-};
-
-
-// Commands
-enum {
- LCD_CLEAR_DISPLAY = 1 << 0,
- LCD_RETURN_HOME = 1 << 1,
- LCD_ENTRY_MODE_SET = 1 << 2,
- LCD_DISPLAY_CONTROL = 1 << 3,
- LCD_CURSOR_SHIFT = 1 << 4,
- LCD_FUNCTION_SET = 1 << 5,
- LCD_SET_CGRAM_ADDR = 1 << 6,
- LCD_SET_DDRAM_ADDR = 1 << 7,
-};
-
-
-// Entry Mode Set flags
-#define LCD_ENTRY_SHIFT_DISPLAY (1 << 0)
-#define LCD_ENTRY_SHIFT_INC (1 << 1)
-#define LCD_ENTRY_SHIFT_DEC (0 << 1)
-
-
-// Display Control flags
-#define LCD_BLINK_ON (1 << 0)
-#define LCD_BLINK_OFF (0 << 0)
-#define LCD_CURSOR_ON (1 << 1)
-#define LCD_CURSOR_OFF (0 << 1)
-#define LCD_DISPLAY_ON (1 << 2)
-#define LCD_DISPLAY_OFF (0 << 2)
-
-
-// Cursor Shift flags
-#define LCD_SHIFT_RIGHT (1 << 2)
-#define LCD_SHIFT_LEFT (0 << 2)
-#define LCD_SHIFT_DISPLAY (1 << 3)
-#define LCD_SHIFT_CURSOR (0 << 3)
-
-
-// Function Set flags
-#define LCD_5x11_DOTS (1 << 2)
-#define LCD_5x8_DOTS (0 << 2)
-#define LCD_2_LINE (1 << 3)
-#define LCD_1_LINE (0 << 3)
-#define LCD_8_BIT_MODE (1 << 4)
-#define LCD_4_BIT_MODE (0 << 4)
-
-
-// Text justification flags
-enum {
- JUSTIFY_LEFT = 0,
- JUSTIFY_RIGHT = 1,
- JUSTIFY_CENTER = 2,
-};
-
-
-void lcd_init(uint8_t addr);
-void lcd_nibble(uint8_t addr, uint8_t data);
-void lcd_write(uint8_t addr, uint8_t cmd, uint8_t flags);
-void lcd_goto(uint8_t addr, uint8_t x, uint8_t y);
-void lcd_putchar(uint8_t addr, uint8_t c);
-void lcd_pgmstr(uint8_t addr, const char *s);
def reset(self):
+ self.clear()
time.sleep(0.050)
self.write_nibble(3 << 4) # Home
time.sleep(0.050)
projects / bbctrl-firmware / commitdiff