.offset = {
{}, // ABSOLUTE_COORDS
- {G54_X_OFFSET, G54_Y_OFFSET, G54_Z_OFFSET,
- G54_A_OFFSET, G54_B_OFFSET, G54_C_OFFSET},
-
- {G55_X_OFFSET, G55_Y_OFFSET, G55_Z_OFFSET,
- G55_A_OFFSET, G55_B_OFFSET, G55_C_OFFSET},
-
- {G56_X_OFFSET, G56_Y_OFFSET, G56_Z_OFFSET,
- G56_A_OFFSET, G56_B_OFFSET, G56_C_OFFSET},
-
- {G57_X_OFFSET, G57_Y_OFFSET, G57_Z_OFFSET,
- G57_A_OFFSET, G57_B_OFFSET, G57_C_OFFSET},
-
- {G58_X_OFFSET, G58_Y_OFFSET, G58_Z_OFFSET,
- G58_A_OFFSET, G58_B_OFFSET, G58_C_OFFSET},
-
- {G59_X_OFFSET, G59_Y_OFFSET, G59_Z_OFFSET,
- G59_A_OFFSET, G59_B_OFFSET, G59_C_OFFSET},
+ {0, 0, 0, 0, 0, 0}, // G54
+ {X_TRAVEL_MAX / 2, Y_TRAVEL_MAX / 2, 0, 0, 0, 0}, // G55
+ {0, 0, 0, 0, 0, 0}, // G56
+ {0, 0, 0, 0, 0, 0}, // G57
+ {0, 0, 0, 0, 0, 0}, // G58
+ {0, 0, 0, 0, 0, 0}, // G59
},
// Axes
#pragma once
+#include "pins.h"
+
#include <avr/interrupt.h>
+
#define VERSION "0.3.0"
+
+// Pins
+enum {
+ STEP_X_PIN = PORT_A << 3,
+ DIR_X_PIN,
+ ENABLE_X_PIN,
+ SPI_CS_X_PIN,
+ FAULT_X_PIN,
+ FAULT_PIN,
+ MIN_X_PIN,
+ MAX_X_PIN,
+
+ SPIN_PWM_PIN = PORT_B << 3,
+ SPIN_DIR_PIN,
+ MIN_Y_PIN,
+ MAX_Y_PIN,
+ RS485_RE_PIN,
+ RS485_DE_PIN,
+ SPIN_ENABLE_PIN,
+ BOOT_PIN,
+
+ READY_PIN = PORT_C << 3,
+ PROBE_PIN,
+ SERIAL_RX_PIN,
+ SERIAL_TX_PIN,
+ SERIAL_CTS_PIN,
+ SPI_CLK_PIN,
+ SPI_MOSI_PIN,
+ SPI_MISO_PIN,
+
+ STEP_A_PIN = PORT_D << 3,
+ DIR_A_PIN,
+ ENABLE_A_PIN,
+ SPI_CS_A_PIN,
+ FAULT_A_PIN,
+ ESTOP_PIN,
+ RS485_RO_PIN,
+ RS485_DI_PIN,
+
+ STEP_Z_PIN = PORT_E << 3,
+ DIR_Z_PIN,
+ ENABLE_Z_PIN,
+ SPI_CS_Z_PIN,
+ FAULT_Z_PIN,
+ SWITCH_1_PIN,
+ MIN_Z_PIN,
+ MAX_Z_PIN,
+
+ STEP_Y_PIN = PORT_F << 3,
+ DIR_Y_PIN,
+ ENABLE_Y_PIN,
+ SPI_CS_Y_PIN,
+ FAULT_Y_PIN,
+ SWITCH_2_PIN,
+ MIN_A_PIN,
+ MAX_A_PIN,
+};
+
+
// Compile-time settings
//#define __STEP_CORRECTION
//#define __JERK_EXEC // Use computed jerk (vs. forward difference)
#define SPINDLE_MAX_DUTY 0.99
#define SPINDLE_POLARITY 0 // 0 = normal, 1 = reverse
-#define SPINDLE_PWM_PORT PORTD
-#define SPINDLE_PWM_PIN_bm (1 << 5)
-#define SPINDLE_DIR_PORT PORTB
-#define SPINDLE_DIR_PIN_bm (1 << 1)
-#define SPINDLE_ENABLE_PORT PORTB
-#define SPINDLE_ENABLE_PIN_bm (1 << 6)
-
// Gcode defaults
#define GCODE_DEFAULT_UNITS MILLIMETERS // MILLIMETERS or INCHES
#define GCODE_DEFAULT_DISTANCE_MODE ABSOLUTE_MODE
-// Motors mapped to ports
-#define PORT_MOTOR_1 PORTA
-#define PORT_MOTOR_2 PORTF
-#define PORT_MOTOR_3 PORTE
-#define PORT_MOTOR_4 PORTD
-
// Motor fault ISRs
#define PORT_1_FAULT_ISR_vect PORTA_INT1_vect
#define PORT_2_FAULT_ISR_vect PORTD_INT1_vect
#define PORT_3_FAULT_ISR_vect PORTE_INT1_vect
#define PORT_4_FAULT_ISR_vect PORTF_INT1_vect
-// Switch axes mapped to ports
-#define PORT_SWITCH_X PORT_MOTOR_1
-#define PORT_SWITCH_Y PORT_MOTOR_2
-#define PORT_SWITCH_Z PORT_MOTOR_3
-#define PORT_SWITCH_A PORT_MOTOR_4
-
-// Axes mapped to output ports
-#define PORT_OUT_X PORT_MOTOR_1
-#define PORT_OUT_Y PORT_MOTOR_2
-#define PORT_OUT_Z PORT_MOTOR_3
-#define PORT_OUT_A PORT_MOTOR_4
-
-// Motor control port
-#define STEP_BIT_bm (1 << 0)
-#define DIRECTION_BIT_bm (1 << 1)
-#define MOTOR_ENABLE_BIT_bm (1 << 2)
-#define CHIP_SELECT_BIT_bm (1 << 3)
-#define FAULT_BIT_bm (1 << 4)
-#define GPIO1_OUT_BIT_bm (1 << 5) // spindle and coolant
-#define SW_MIN_BIT_bm (1 << 6) // minimum switch inputs
-#define SW_MAX_BIT_bm (1 << 7) // maximum switch inputs
-
-// Assignments for GPIO1_OUTs for spindle, PWM and coolant
-#define SPINDLE_BIT 0 // spindle on/off
-#define SPINDLE_DIR 1 // spindle direction, 1=CW, 0=CCW
-#define SPINDLE_PWM 2 // spindle PWMs output bit
-
-#define MIST_PORT PORTE
-#define MIST_PIN_bm (1 << 5)
-#define FLOOD_PORT PORTF
-#define FLOOD_PIN_bm (1 << 5)
/* Interrupt usage:
*
#define M3_DMA_TRIGGER DMA_CH_TRIGSRC_TCE0_CCA_gc
#define M4_DMA_TRIGGER DMA_CH_TRIGSRC_TCD0_CCA_gc
+
// Timer setup for stepper and dwells
#define STEP_TIMER_DISABLE 0
#define STEP_TIMER_ENABLE TC_CLKSEL_DIV4_gc
#define STEP_TIMER_ISR TCC0_OVF_vect
#define STEP_TIMER_INTLVL TC_OVFINTLVL_HI_gc
+
/* Step correction settings
*
* Step correction settings determine how the encoder error is fed
#define STEP_CORRECTION_MAX 0.60
/// minimum wait between error correction
#define STEP_CORRECTION_HOLDOFF 5
-#define STEP_INITIAL_DIRECTION DIRECTION_CW
// TMC2660 driver settings
-#define TMC2660_SPI_PORT PORTC
-#define TMC2660_SPI_SS_PIN 4
-#define TMC2660_SPI_SCK_PIN 5
-#define TMC2660_SPI_MISO_PIN 6
-#define TMC2660_SPI_MOSI_PIN 7
-#define TMC2660_TIMER TCC1
+#define TMC2660_OVF_vect TCC1_OVF_vect
+#define TMC2660_SPI_SS_PIN SERIAL_CTS_PIN
+#define TMC2660_SPI_SCK_PIN SPI_CLK_PIN
+#define TMC2660_SPI_MISO_PIN SPI_MOSI_PIN
+#define TMC2660_SPI_MOSI_PIN SPI_MISO_PIN
+#define TMC2660_TIMER TIMER_TMC2660
#define TMC2660_TIMER_ENABLE TC_CLKSEL_DIV64_gc
#define TMC2660_POLL_RATE 0.001 // sec. Must be in (0, 1]
#define TMC2660_STABILIZE_TIME 0.01 // sec. Must be at least 1ms
-// PWM settings
-#define PWM_MAX_FREQ (F_CPU / 256) // with 8-bits duty cycle precision
-#define PWM_MIN_FREQ (F_CPU / 64 / 65536) // min frequency for prescaling
-#define PWM1_CTRLB (3 | TC1_CCBEN_bm) // single slope PWM channel B
-#define PWM1_ISR_vect TCD1_CCB_vect
-#define PWM2_CTRLB 3 // single slope PWM no output
-#define PWM2_ISR_vect TCE1_CCB_vect
-
-
// Huanyang settings
+#define HUANYANG_PORT USARTD1
+#define HUANYANG_DRE_vect USARTD1_DRE_vect
+#define HUANYANG_TXC_vect USARTD1_TXC_vect
+#define HUANYANG_RXC_vect USARTD1_RXC_vect
#define HUANYANG_TIMEOUT 50 // ms. response timeout
#define HUANYANG_RETRIES 4 // Number of retries before failure
#define HUANYANG_ID 1 // Default ID
+
+// Serial settings
+#define SERIAL_BAUD USART_BAUD_115200
+#define SERIAL_PORT USARTC0
+#define SERIAL_DRE_vect USARTC0_DRE_vect
+#define SERIAL_RXC_vect USARTC0_RXC_vect
+
+
// Input
#define INPUT_BUFFER_LEN 255 // text buffer size (255 max)
#define ARC_RADIUS_ERROR_MAX 1.0 // max mm diff between start and end radius
#define ARC_RADIUS_ERROR_MIN 0.005 // min mm where 1% rule applies
#define ARC_RADIUS_TOLERANCE 0.001 // 0.1% radius variance test
-
-// Coordinate offsets
-#define G54_X_OFFSET 0 // G54 is traditionally set to all zeros
-#define G54_Y_OFFSET 0
-#define G54_Z_OFFSET 0
-#define G54_A_OFFSET 0
-#define G54_B_OFFSET 0
-#define G54_C_OFFSET 0
-
-#define G55_X_OFFSET (X_TRAVEL_MAX / 2) // set to middle of table
-#define G55_Y_OFFSET (Y_TRAVEL_MAX / 2)
-#define G55_Z_OFFSET 0
-#define G55_A_OFFSET 0
-#define G55_B_OFFSET 0
-#define G55_C_OFFSET 0
-
-#define G56_X_OFFSET 0
-#define G56_Y_OFFSET 0
-#define G56_Z_OFFSET 0
-#define G56_A_OFFSET 0
-#define G56_B_OFFSET 0
-#define G56_C_OFFSET 0
-
-#define G57_X_OFFSET 0
-#define G57_Y_OFFSET 0
-#define G57_Z_OFFSET 0
-#define G57_A_OFFSET 0
-#define G57_B_OFFSET 0
-#define G57_C_OFFSET 0
-
-#define G58_X_OFFSET 0
-#define G58_Y_OFFSET 0
-#define G58_Z_OFFSET 0
-#define G58_A_OFFSET 0
-#define G58_B_OFFSET 0
-#define G58_C_OFFSET 0
-
-#define G59_X_OFFSET 0
-#define G59_Y_OFFSET 0
-#define G59_Z_OFFSET 0
-#define G59_A_OFFSET 0
-#define G59_B_OFFSET 0
-#define G59_C_OFFSET 0
void coolant_init() {
- MIST_PORT.OUTSET = MIST_PIN_bm; // High
- MIST_PORT.DIRSET = MIST_PIN_bm; // Output
- FLOOD_PORT.OUTSET = FLOOD_PIN_bm; // High
- FLOOD_PORT.DIRSET = FLOOD_PIN_bm; // Output
+ OUTSET_PIN(SWITCH_1_PIN); // High
+ DIRSET_PIN(SWITCH_1_PIN); // Output
+ OUTSET_PIN(SWITCH_2_PIN); // High
+ DIRSET_PIN(SWITCH_2_PIN); // Output
}
void coolant_set_mist(bool x) {
- if (x) MIST_PORT.OUTCLR = MIST_PIN_bm;
- else MIST_PORT.OUTSET = MIST_PIN_bm;
+ if (x) OUTCLR_PIN(SWITCH_1_PIN);
+ else OUTSET_PIN(SWITCH_1_PIN);
}
void coolant_set_flood(bool x) {
- if (x) FLOOD_PORT.OUTCLR = FLOOD_PIN_bm;
- else FLOOD_PORT.OUTSET = FLOOD_PIN_bm;
+ if (x) OUTCLR_PIN(SWITCH_2_PIN);
+ else OUTSET_PIN(SWITCH_2_PIN);
}
+++ /dev/null
-/******************************************************************************\
-
- 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 "gpio.h"
-
-#include "config.h"
-
-#include <avr/io.h>
-
-
-static PORT_t *_ports[MOTORS] = {
- &PORT_OUT_X, &PORT_OUT_Y, &PORT_OUT_Z, &PORT_OUT_A
-};
-
-uint8_t gpio_read_bit(int port) {return _ports[port]->IN & GPIO1_OUT_BIT_bm;}
-void gpio_set_bit_on(int port) {_ports[port]->OUTSET = GPIO1_OUT_BIT_bm;}
-void gpio_set_bit_off(int port) {_ports[port]->OUTCLR = GPIO1_OUT_BIT_bm;}
-void gpio_set_bit_toggle(int port) {_ports[port]->OUTTGL = GPIO1_OUT_BIT_bm;}
+++ /dev/null
-/******************************************************************************\
-
- 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>
-
-
-uint8_t gpio_read_bit(int b);
-void gpio_set_bit_on(int b);
-void gpio_set_bit_off(int b);
-void gpio_set_bit_toggle(int b);
static void _set_baud(uint16_t bsel, uint8_t bscale) {
- USARTD1.BAUDCTRLB = (uint8_t)((bscale << 4) | (bsel >> 8));
- USARTD1.BAUDCTRLA = bsel;
+ HUANYANG_PORT.BAUDCTRLB = (uint8_t)((bscale << 4) | (bsel >> 8));
+ HUANYANG_PORT.BAUDCTRLA = bsel;
}
static void _set_write(bool x) {
if (x) {
- PORTB.OUTSET = 1 << 4; // High
- PORTB.OUTSET = 1 << 5; // High
+ OUTSET_PIN(RS485_RE_PIN); // High
+ OUTSET_PIN(RS485_DE_PIN); // High
} else {
- PORTB.OUTCLR = 1 << 4; // Low
- PORTB.OUTCLR = 1 << 5; // Low
+ OUTCLR_PIN(RS485_RE_PIN); // Low
+ OUTCLR_PIN(RS485_DE_PIN); // Low
}
}
static void _set_dre_interrupt(bool enable) {
- if (enable) USARTD1.CTRLA |= USART_DREINTLVL_MED_gc;
- else USARTD1.CTRLA &= ~USART_DREINTLVL_MED_gc;
+ if (enable) HUANYANG_PORT.CTRLA |= USART_DREINTLVL_MED_gc;
+ else HUANYANG_PORT.CTRLA &= ~USART_DREINTLVL_MED_gc;
}
static void _set_txc_interrupt(bool enable) {
- if (enable) USARTD1.CTRLA |= USART_TXCINTLVL_MED_gc;
- else USARTD1.CTRLA &= ~USART_TXCINTLVL_MED_gc;
+ if (enable) HUANYANG_PORT.CTRLA |= USART_TXCINTLVL_MED_gc;
+ else HUANYANG_PORT.CTRLA &= ~USART_TXCINTLVL_MED_gc;
}
static void _set_rxc_interrupt(bool enable) {
- if (enable) USARTD1.CTRLA |= USART_RXCINTLVL_MED_gc;
- else USARTD1.CTRLA &= ~USART_RXCINTLVL_MED_gc;
+ if (enable) HUANYANG_PORT.CTRLA |= USART_RXCINTLVL_MED_gc;
+ else HUANYANG_PORT.CTRLA &= ~USART_RXCINTLVL_MED_gc;
}
// Data register empty interrupt
-ISR(USARTD1_DRE_vect) {
- USARTD1.DATA = ha.command[ha.current_offset++];
+ISR(HUANYANG_DRE_vect) {
+ HUANYANG_PORT.DATA = ha.command[ha.current_offset++];
if (ha.current_offset == ha.command_length) {
_set_dre_interrupt(false);
/// Transmit complete interrupt
-ISR(USARTD1_TXC_vect) {
+ISR(HUANYANG_TXC_vect) {
_set_txc_interrupt(false);
_set_rxc_interrupt(true);
_set_write(false); // RS485 read mode
// Data received interrupt
-ISR(USARTD1_RXC_vect) {
+ISR(HUANYANG_RXC_vect) {
ha.response[ha.current_offset++] = USARTD1.DATA;
if (ha.current_offset == ha.response_length) {
void huanyang_init() {
PR.PRPD &= ~PR_USART1_bm; // Disable power reduction
- // rs485_ro
- PORTD.DIRCLR = 1 << 6; // Input
-
- // rs485_di
- PORTD.OUTSET = 1 << 7; // High
- PORTD.DIRSET = 1 << 7; // Output
-
- // rs485_re
- PORTB.OUTSET = 1 << 4; // High
- PORTB.DIRSET = 1 << 4; // Output
-
- // rs485_de
- PORTB.OUTSET = 1 << 5; // High
- PORTB.DIRSET = 1 << 5; // Output
+ DIRCLR_PIN(RS485_RO_PIN); // Input
+ OUTSET_PIN(RS485_DI_PIN); // High
+ DIRSET_PIN(RS485_DI_PIN); // Output
+ OUTSET_PIN(RS485_RE_PIN); // High
+ DIRSET_PIN(RS485_RE_PIN); // Output
+ OUTSET_PIN(RS485_DE_PIN); // High
+ DIRSET_PIN(RS485_DE_PIN); // Output
_set_baud(3325, 0b1101); // 9600 @ 32MHz with 2x USART
cmMotorPowerMode_t power_mode;
float step_angle; // degrees per whole step
float travel_rev; // mm or deg of travel per motor revolution
- PORT_t *port;
+ uint8_t step_pin;
+ uint8_t dir_pin;
+ uint8_t enable_pin;
TC0_t *timer;
DMA_CH_t *dma;
uint8_t dma_trigger;
.microsteps = M1_MICROSTEPS,
.polarity = M1_POLARITY,
.power_mode = M1_POWER_MODE,
- .port = &PORT_MOTOR_1,
+ .step_pin = STEP_X_PIN,
+ .dir_pin = DIR_X_PIN,
+ .enable_pin = ENABLE_X_PIN,
.timer = (TC0_t *)&M1_TIMER,
.dma = &M1_DMA_CH,
.dma_trigger = M1_DMA_TRIGGER,
.microsteps = M2_MICROSTEPS,
.polarity = M2_POLARITY,
.power_mode = M2_POWER_MODE,
- .port = &PORT_MOTOR_2,
+ .step_pin = STEP_Y_PIN,
+ .dir_pin = DIR_Y_PIN,
+ .enable_pin = ENABLE_Y_PIN,
.timer = &M2_TIMER,
.dma = &M2_DMA_CH,
.dma_trigger = M2_DMA_TRIGGER,
.microsteps = M3_MICROSTEPS,
.polarity = M3_POLARITY,
.power_mode = M3_POWER_MODE,
- .port = &PORT_MOTOR_3,
+ .step_pin = STEP_Z_PIN,
+ .dir_pin = DIR_Z_PIN,
+ .enable_pin = ENABLE_Z_PIN,
.timer = &M3_TIMER,
.dma = &M3_DMA_CH,
.dma_trigger = M3_DMA_TRIGGER,
.microsteps = M4_MICROSTEPS,
.polarity = M4_POLARITY,
.power_mode = M4_POWER_MODE,
- .port = &PORT_MOTOR_4,
+ .step_pin = STEP_A_PIN,
+ .dir_pin = DIR_A_PIN,
+ .enable_pin = ENABLE_A_PIN,
.timer = &M4_TIMER,
.dma = &M4_DMA_CH,
.dma_trigger = M4_DMA_TRIGGER,
/// Special interrupt for X-axis
ISR(TCE1_CCA_vect) {
- PORT_MOTOR_1.OUTTGL = STEP_BIT_bm;
+ OUTTGL_PIN(STEP_X_PIN);
motors[0].steps++;
}
motor_t *m = &motors[motor];
// IO pins
- m->port->DIRSET = STEP_BIT_bm; // Output
- m->port->DIRSET = DIRECTION_BIT_bm; // Output
- m->port->OUTSET = MOTOR_ENABLE_BIT_bm; // High (disabled)
- m->port->DIRSET = MOTOR_ENABLE_BIT_bm; // Output
+ DIRSET_PIN(m->step_pin); // Output
+ DIRSET_PIN(m->dir_pin); // Output
+ OUTSET_PIN(m->enable_pin); // High (disabled)
+ DIRSET_PIN(m->enable_pin); // Output
// Setup motor timer
m->timer->CTRLB = TC_WGMODE_FRQ_gc | TC1_CCAEN_bm;
void motor_enable(int motor, bool enable) {
- if (enable) motors[motor].port->OUTCLR = MOTOR_ENABLE_BIT_bm; // Active low
+ if (enable) OUTCLR_PIN(motors[motor].enable_pin); // Active low
else {
- motors[motor].port->OUTSET = MOTOR_ENABLE_BIT_bm;
+ OUTSET_PIN(motors[motor].enable_pin);
motors[motor].power_state = MOTOR_IDLE;
}
}
m->timer_clock = 0; // Clear clock
// Set direction
- if (m->direction == DIRECTION_CW) m->port->OUTCLR = DIRECTION_BIT_bm;
- else m->port->OUTSET = DIRECTION_BIT_bm;
+ if (m->direction == DIRECTION_CW) OUTCLR_PIN(m->dir_pin);
+ else OUTSET_PIN(m->dir_pin);
// Accumulate encoder
// TODO we currently accumulate the x-axis here
static void _spindle_set_enable(bool enable) {
if (enable ^ spindle.enable_invert)
- SPINDLE_ENABLE_PORT.OUTSET = SPINDLE_ENABLE_PIN_bm;
- else SPINDLE_ENABLE_PORT.OUTCLR = SPINDLE_ENABLE_PIN_bm;
+ PORT(SPIN_ENABLE_PIN)->OUTSET = BM(SPIN_ENABLE_PIN);
+ else PORT(SPIN_ENABLE_PIN)->OUTCLR = BM(SPIN_ENABLE_PIN);
}
static void _spindle_set_dir(bool forward) {
- if (forward ^ spindle.reverse) SPINDLE_DIR_PORT.OUTCLR = SPINDLE_DIR_PIN_bm;
- else SPINDLE_DIR_PORT.OUTSET = SPINDLE_DIR_PIN_bm;
+ if (forward ^ spindle.reverse) PORT(SPIN_DIR_PIN)->OUTCLR = BM(SPIN_DIR_PIN);
+ else PORT(SPIN_DIR_PIN)->OUTSET = BM(SPIN_DIR_PIN);
}
void pwm_spindle_init() {
// Configure IO
- SPINDLE_PWM_PORT.DIRSET = SPINDLE_PWM_PIN_bm; // PWM Output
+ PORT(SPIN_PWM_PIN)->DIRSET = BM(SPIN_PWM_PIN); // PWM Output
_spindle_set_dir(true);
- SPINDLE_DIR_PORT.DIRSET = SPINDLE_DIR_PIN_bm; // Dir Output
+ PORT(SPIN_DIR_PIN)->DIRSET = BM(SPIN_DIR_PIN); // Dir Output
_spindle_set_enable(false);
- SPINDLE_ENABLE_PORT.DIRSET = SPINDLE_ENABLE_PIN_bm; // Enable output
+ PORT(SPIN_ENABLE_PIN)->DIRSET = BM(SPIN_ENABLE_PIN); // Enable output
// Configure clock
TIMER_PWM.CTRLB = TC1_CCBEN_bm | TC_WGMODE_SINGLESLOPE_gc;
typedef struct {
swType_t type;
swMode_t mode;
- PORT_t *port;
uint8_t pin;
bool min;
{ // X min
.type = SW_TYPE_NORMALLY_OPEN,
.mode = SW_MODE_HOMING,
- .port = &PORTA,
- .pin = 6,
+ .pin = MIN_X_PIN,
.min = true,
}, { // X max
.type = SW_TYPE_NORMALLY_OPEN,
.mode = SW_MODE_DISABLED,
- .port = &PORTA,
- .pin = 7,
+ .pin = MAX_X_PIN,
.min = false,
}, { // Y min
.type = SW_TYPE_NORMALLY_OPEN,
.mode = SW_MODE_HOMING,
- .port = &PORTD,
- .pin = 6,
+ .pin = MIN_Y_PIN,
.min = true,
}, { // Y max
.type = SW_TYPE_NORMALLY_OPEN,
.mode = SW_MODE_DISABLED,
- .port = &PORTD,
- .pin = 7,
+ .pin = MAX_X_PIN,
.min = false,
}, { // Z min
.type = SW_TYPE_NORMALLY_OPEN,
.mode = SW_MODE_DISABLED,
- .port = &PORTE,
- .pin = 6,
+ .pin = MIN_Z_PIN,
.min = true,
}, { // Z max
.type = SW_TYPE_NORMALLY_OPEN,
.mode = SW_MODE_HOMING,
- .port = &PORTE,
- .pin = 7,
+ .pin = MAX_Z_PIN,
.min = false,
}, { // A min
.type = SW_TYPE_NORMALLY_OPEN,
.mode = SW_MODE_HOMING,
- .port = &PORTF,
- .pin = 6,
+ .pin = MIN_A_PIN,
.min = true,
}, { // A max
.type = SW_TYPE_NORMALLY_OPEN,
.mode = SW_MODE_DISABLED,
- .port = &PORTF,
- .pin = 7,
+ .pin = MAX_A_PIN,
.min = false,
}, { // EStop
.type = SW_TYPE_NORMALLY_CLOSED,
.mode = SW_ESTOP_BIT,
- .port = &PORTD,
- .pin = 5,
+ .pin = ESTOP_PIN,
}, { // Probe
.type = SW_TYPE_NORMALLY_OPEN,
.mode = SW_PROBE_BIT,
- .port = &PORTF,
- .pin = 1,
+ .pin = PROBE_PIN,
},
}
};
static bool _read_state(const switch_t *s) {
// A normally open switch drives the pin low when thrown
- return (s->type == SW_TYPE_NORMALLY_OPEN) ^ (s->port->IN & (1 << s->pin));
+ return (s->type == SW_TYPE_NORMALLY_OPEN) ^ IN_PIN(s->pin);
}
void _switch_enable(switch_t *s, bool enable) {
if (enable) {
- s->port->INT0MASK |= 1 << s->pin; // Enable INT0
+ PORT(s->pin)->INT0MASK |= BM(s->pin); // Enable INT0
// Pull up and trigger on both edges
- (&s->port->PIN0CTRL)[s->pin] = PORT_OPC_PULLUP_gc | PORT_ISC_BOTHEDGES_gc;
+ PINCTRL_PIN(s->pin) = PORT_OPC_PULLUP_gc | PORT_ISC_BOTHEDGES_gc;
// Initialize state
s->state = _read_state(s);
} else {
- s->port->INT0MASK &= ~(1 << s->pin); // Disable INT0
- (&s->port->PIN0CTRL)[s->pin] = 0;
+ PORT(s->pin)->INT0MASK &= ~BM(s->pin); // Disable INT0
+ PINCTRL_PIN(s->pin) = 0;
}
}
for (int i = 0; i < SWITCHES; i++) {
switch_t *s = &sw.switches[i];
- s->port->DIRCLR = 1 << s->pin; // Input
- s->port->INTCTRL |= SWITCH_INTLVL; // Set interrupt level
+ DIRCLR_PIN(s->pin); // Input
+ PORT(s->pin)->INTCTRL |= SWITCH_INTLVL; // Set interrupt level
_switch_enable(s, s->mode != SW_MODE_DISABLED);
}
float idle_current;
float drive_current;
- PORT_t *port;
+ uint8_t cs_pin;
+ uint8_t fault_pin;
} tmc2660_driver_t;
static tmc2660_driver_t drivers[MOTORS] = {
- {.port = &PORT_MOTOR_1},
- {.port = &PORT_MOTOR_2},
- {.port = &PORT_MOTOR_3},
- {.port = &PORT_MOTOR_4},
+ {.cs_pin = SPI_CS_X_PIN, .fault_pin = FAULT_X_PIN},
+ {.cs_pin = SPI_CS_Y_PIN, .fault_pin = FAULT_Y_PIN},
+ {.cs_pin = SPI_CS_Z_PIN, .fault_pin = FAULT_Z_PIN},
+ {.cs_pin = SPI_CS_A_PIN, .fault_pin = FAULT_A_PIN},
};
if ((TMC2660_DRVSTATUS_OPEN_LOAD_A | TMC2660_DRVSTATUS_OPEN_LOAD_A) & dflags)
mflags |= MOTOR_FLAG_OPEN_LOAD_bm;
- if (drv->port->IN & FAULT_BIT_bm) mflags |= MOTOR_FLAG_STALLED_bm;
+ if (IN_PIN(drv->fault_pin)) mflags |= MOTOR_FLAG_STALLED_bm;
if (mflags) motor_error_callback(driver, mflags);
}
static void _spi_cs(int driver, bool enable) {
- if (enable) drivers[driver].port->OUTCLR = CHIP_SELECT_BIT_bm;
- else drivers[driver].port->OUTSET = CHIP_SELECT_BIT_bm;
+ if (enable) OUTCLR_PIN(drivers[driver].cs_pin);
+ else OUTSET_PIN(drivers[driver].cs_pin);
}
}
-ISR(TCC1_OVF_vect) {
+ISR(TMC2660_OVF_vect) {
TMC2660_TIMER.CTRLA = 0; // Disable clock
_spi_next();
}
// Setup pins
// Must set the SS pin either in/high or any/output for master mode to work
// Note, this pin is also used by the USART as the CTS line
- TMC2660_SPI_PORT.DIRSET = 1 << TMC2660_SPI_SS_PIN; // Output
-
- TMC2660_SPI_PORT.OUTSET = 1 << TMC2660_SPI_SCK_PIN; // High
- TMC2660_SPI_PORT.DIRSET = 1 << TMC2660_SPI_SCK_PIN; // Output
-
- TMC2660_SPI_PORT.DIRCLR = 1 << TMC2660_SPI_MISO_PIN; // Input
- TMC2660_SPI_PORT.OUTSET = 1 << TMC2660_SPI_MOSI_PIN; // High
- TMC2660_SPI_PORT.DIRSET = 1 << TMC2660_SPI_MOSI_PIN; // Output
+ DIRSET_PIN(TMC2660_SPI_SS_PIN); // Output
+ OUTSET_PIN(TMC2660_SPI_SCK_PIN); // High
+ DIRSET_PIN(TMC2660_SPI_SCK_PIN); // Output
+ DIRCLR_PIN(TMC2660_SPI_MISO_PIN); // Intput
+ OUTSET_PIN(TMC2660_SPI_MOSI_PIN); // High
+ DIRSET_PIN(TMC2660_SPI_MOSI_PIN); // Output
for (int driver = 0; driver < MOTORS; driver++) {
- PORT_t *port = drivers[driver].port;
+ uint8_t cs_pin = drivers[driver].cs_pin;
+ uint8_t fault_pin = drivers[driver].fault_pin;
- port->OUTSET = CHIP_SELECT_BIT_bm; // High
- port->DIRSET = CHIP_SELECT_BIT_bm; // Output
- port->DIRCLR = FAULT_BIT_bm; // Input
+ OUTSET_PIN(cs_pin); // High
+ DIRSET_PIN(cs_pin); // Output
+ OUTCLR_PIN(fault_pin); // Input
- port->PIN4CTRL = PORT_ISC_RISING_gc;
- port->INT1MASK = FAULT_BIT_bm; // INT1
- port->INTCTRL |= PORT_INT1LVL_HI_gc;
+ PINCTRL_PIN(fault_pin) = PORT_ISC_RISING_gc;
+ PORT(fault_pin)->INT1MASK = BM(fault_pin); // INT1
+ PORT(fault_pin)->INTCTRL |= PORT_INT1LVL_HI_gc;
}
// Configure SPI
PR.PRPC &= ~PR_SPI_bm; // Disable power reduction
SPIC.CTRL = SPI_ENABLE_bm | SPI_MASTER_bm | SPI_MODE_3_gc | SPI_CLK2X_bm |
SPI_PRESCALER_DIV16_gc; // enable, big endian, master, mode 3, clock/8
- PORTC.REMAP = PORT_SPI_bm; // Swap SCK and MOSI
+ PORT(TMC2660_SPI_SCK_PIN)->REMAP = PORT_SPI_bm; // Swap SCK and MOSI
SPIC.INTCTRL = SPI_INTLVL_LO_gc; // interupt level
// Configure timer
\******************************************************************************/
#include "usart.h"
+#include "cpp_magic.h"
#include "config.h"
#include <avr/io.h>
static void _set_dre_interrupt(bool enable) {
- if (enable) USARTC0.CTRLA |= USART_DREINTLVL_HI_gc;
- else USARTC0.CTRLA &= ~USART_DREINTLVL_HI_gc;
+ if (enable) SERIAL_PORT.CTRLA |= USART_DREINTLVL_HI_gc;
+ else SERIAL_PORT.CTRLA &= ~USART_DREINTLVL_HI_gc;
}
static void _set_rxc_interrupt(bool enable) {
if (enable) {
- USARTC0.CTRLA |= USART_RXCINTLVL_HI_gc;
- if (4 <= rx_buf_space()) PORTC.OUTCLR = 1 << 4; // CTS Lo (enable)
+ SERIAL_PORT.CTRLA |= USART_RXCINTLVL_HI_gc;
+ if (4 <= rx_buf_space()) OUTCLR_PIN(SERIAL_CTS_PIN); // CTS Lo (enable)
- } else USARTC0.CTRLA &= ~USART_RXCINTLVL_HI_gc;
+ } else SERIAL_PORT.CTRLA &= ~USART_RXCINTLVL_HI_gc;
}
// Data register empty interrupt vector
-ISR(USARTC0_DRE_vect) {
+ISR(SERIAL_DRE_vect) {
if (tx_buf_empty()) _set_dre_interrupt(false); // Disable interrupt
else {
- USARTC0.DATA = tx_buf_peek();
+ SERIAL_PORT.DATA = tx_buf_peek();
tx_buf_pop();
}
}
// Data received interrupt vector
-ISR(USARTC0_RXC_vect) {
+ISR(SERIAL_RXC_vect) {
if (rx_buf_full()) _set_rxc_interrupt(false); // Disable interrupt
else {
- uint8_t data = USARTC0.DATA;
+ uint8_t data = SERIAL_PORT.DATA;
rx_buf_push(data);
- if (rx_buf_space() < 4) PORTC.OUTSET = 1 << 4; // CTS Hi (disable)
+ if (rx_buf_space() < 4) OUTSET_PIN(SERIAL_CTS_PIN); // CTS Hi (disable)
}
}
PR.PRPC &= ~PR_USART0_bm; // Disable power reduction
// Setup pins
- PORTC.OUTSET = 1 << 4; // CTS Hi (disable)
- PORTC.DIRSET = 1 << 4; // CTS Output
- PORTC.OUTSET = 1 << 3; // Tx High
- PORTC.DIRSET = 1 << 3; // Tx Output
- PORTC.DIRCLR = 1 << 2; // Rx Input
+ OUTSET_PIN(SERIAL_CTS_PIN); // CTS Hi (disable)
+ DIRSET_PIN(SERIAL_CTS_PIN); // CTS Output
+ OUTSET_PIN(SERIAL_TX_PIN); // Tx High
+ DIRSET_PIN(SERIAL_TX_PIN); // Tx Output
+ DIRCLR_PIN(SERIAL_RX_PIN); // Rx Input
// Set baud rate
- usart_set_baud(USART_BAUD_115200);
+ usart_set_baud(SERIAL_BAUD);
// No parity, 8 data bits, 1 stop bit
- USARTC0.CTRLC = USART_CMODE_ASYNCHRONOUS_gc | USART_PMODE_DISABLED_gc |
+ SERIAL_PORT.CTRLC = USART_CMODE_ASYNCHRONOUS_gc | USART_PMODE_DISABLED_gc |
USART_CHSIZE_8BIT_gc;
// Configure receiver and transmitter
- USARTC0.CTRLB = USART_RXEN_bm | USART_TXEN_bm | USART_CLK2X_bm;
+ SERIAL_PORT.CTRLB = USART_RXEN_bm | USART_TXEN_bm | USART_CLK2X_bm;
PMIC.CTRL |= PMIC_HILVLEN_bm; // Interrupt level on
static void _set_baud(uint16_t bsel, uint8_t bscale) {
- USARTC0.BAUDCTRLB = (uint8_t)((bscale << 4) | (bsel >> 8));
- USARTC0.BAUDCTRLA = bsel;
+ SERIAL_PORT.BAUDCTRLB = (uint8_t)((bscale << 4) | (bsel >> 8));
+ SERIAL_PORT.BAUDCTRLA = bsel;
}
void usart_flush() {
usart_set(USART_FLUSH, true);
- while (!tx_buf_empty() || !(USARTC0.STATUS & USART_DREIF_bm) ||
- !(USARTC0.STATUS & USART_TXCIF_bm))
+ while (!tx_buf_empty() || !(SERIAL_PORT.STATUS & USART_DREIF_bm) ||
+ !(SERIAL_PORT.STATUS & USART_TXCIF_bm))
continue;
}
projects / bbctrl-firmware / commitdiff