#include <avr/wdt.h> // used for software reset
#include "tinyg.h" // #1
-#include "config.h" // #2
+#include "config.h" // #2
#include "hardware.h"
#include "switch.h"
#include "controller.h"
#include "xmega/xmega_init.h"
#include "xmega/xmega_rtc.h"
-/*
- * _port_bindings - bind XMEGA ports to hardware - these changed at board revision 7
- * hardware_init() - lowest level hardware init
- */
-static void _port_bindings(float hw_version)
-{
- hw.st_port[0] = &PORT_MOTOR_1;
- hw.st_port[1] = &PORT_MOTOR_2;
- hw.st_port[2] = &PORT_MOTOR_3;
- hw.st_port[3] = &PORT_MOTOR_4;
-
- hw.sw_port[0] = &PORT_SWITCH_X;
- hw.sw_port[1] = &PORT_SWITCH_Y;
- hw.sw_port[2] = &PORT_SWITCH_Z;
- hw.sw_port[3] = &PORT_SWITCH_A;
-
- if (hw_version > 6.9) {
- hw.out_port[0] = &PORT_OUT_V7_X;
- hw.out_port[1] = &PORT_OUT_V7_Y;
- hw.out_port[2] = &PORT_OUT_V7_Z;
- hw.out_port[3] = &PORT_OUT_V7_A;
- } else {
- hw.out_port[0] = &PORT_OUT_V6_X;
- hw.out_port[1] = &PORT_OUT_V6_Y;
- hw.out_port[2] = &PORT_OUT_V6_Z;
- hw.out_port[3] = &PORT_OUT_V6_A;
- }
+/// Bind XMEGA ports to hardware
+static void _port_bindings() {
+ hw.st_port[0] = &PORT_MOTOR_1;
+ hw.st_port[1] = &PORT_MOTOR_2;
+ hw.st_port[2] = &PORT_MOTOR_3;
+ hw.st_port[3] = &PORT_MOTOR_4;
+
+ hw.sw_port[0] = &PORT_SWITCH_X;
+ hw.sw_port[1] = &PORT_SWITCH_Y;
+ hw.sw_port[2] = &PORT_SWITCH_Z;
+ hw.sw_port[3] = &PORT_SWITCH_A;
+
+ hw.out_port[0] = &PORT_OUT_V7_X;
+ hw.out_port[1] = &PORT_OUT_V7_Y;
+ hw.out_port[2] = &PORT_OUT_V7_Z;
+ hw.out_port[3] = &PORT_OUT_V7_A;
}
-void hardware_init()
-{
- xmega_init(); // set system clock
- _port_bindings(TINYG_HARDWARE_VERSION);
- rtc_init(); // real time counter
+
+/// Lowest level hardware init
+void hardware_init() {
+ xmega_init(); // set system clock
+ _port_bindings();
+ rtc_init(); // real time counter
}
+
/*
* _get_id() - get a human readable signature
*
* The alpha is the low 5 bits of wafer number and XY coords in printable ASCII
* Refer to NVM_PROD_SIGNATURES_t in iox192a3.h for details.
*/
-
enum {
- LOTNUM0=8, // Lot Number Byte 0, ASCII
- LOTNUM1, // Lot Number Byte 1, ASCII
- LOTNUM2, // Lot Number Byte 2, ASCII
- LOTNUM3, // Lot Number Byte 3, ASCII
- LOTNUM4, // Lot Number Byte 4, ASCII
- LOTNUM5, // Lot Number Byte 5, ASCII
- WAFNUM =16, // Wafer Number
- COORDX0=18, // Wafer Coordinate X Byte 0
- COORDX1, // Wafer Coordinate X Byte 1
- COORDY0, // Wafer Coordinate Y Byte 0
- COORDY1, // Wafer Coordinate Y Byte 1
+ LOTNUM0 = 8, // Lot Number Byte 0, ASCII
+ LOTNUM1, // Lot Number Byte 1, ASCII
+ LOTNUM2, // Lot Number Byte 2, ASCII
+ LOTNUM3, // Lot Number Byte 3, ASCII
+ LOTNUM4, // Lot Number Byte 4, ASCII
+ LOTNUM5, // Lot Number Byte 5, ASCII
+ WAFNUM = 16, // Wafer Number
+ COORDX0 = 18, // Wafer Coordinate X Byte 0
+ COORDX1, // Wafer Coordinate X Byte 1
+ COORDY0, // Wafer Coordinate Y Byte 0
+ COORDY1, // Wafer Coordinate Y Byte 1
};
-static void _get_id(char_t *id)
-{
- char printable[33] = {"ABCDEFGHJKLMNPQRSTUVWXYZ23456789"};
- uint8_t i;
-
- NVM_CMD = NVM_CMD_READ_CALIB_ROW_gc; // Load NVM Command register to read the calibration row
-
- for (i=0; i<6; i++) {
- id[i] = pgm_read_byte(LOTNUM0 + i);
- }
- id[i++] = '-';
- id[i++] = printable[(pgm_read_byte(WAFNUM) & 0x1F)];
- id[i++] = printable[(pgm_read_byte(COORDX0) & 0x1F)];
-// id[i++] = printable[(pgm_read_byte(COORDX1) & 0x1F)];
- id[i++] = printable[(pgm_read_byte(COORDY0) & 0x1F)];
-// id[i++] = printable[(pgm_read_byte(COORDY1) & 0x1F)];
- id[i] = 0;
-
- NVM_CMD = NVM_CMD_NO_OPERATION_gc; // Clean up NVM Command register
+
+static void _get_id(char_t *id) {
+ char printable[33] = "ABCDEFGHJKLMNPQRSTUVWXYZ23456789";
+ uint8_t i;
+
+ NVM_CMD = NVM_CMD_READ_CALIB_ROW_gc; // Load NVM Command register to read the calibration row
+
+ for (i = 0; i < 6; i++)
+ id[i] = pgm_read_byte(LOTNUM0 + i);
+
+ id[i++] = '-';
+ id[i++] = printable[(pgm_read_byte(WAFNUM) & 0x1F)];
+ id[i++] = printable[(pgm_read_byte(COORDX0) & 0x1F)];
+ id[i++] = printable[(pgm_read_byte(COORDY0) & 0x1F)];
+ id[i] = 0;
+
+ NVM_CMD = NVM_CMD_NO_OPERATION_gc; // Clean up NVM Command register
}
+
/*
* Hardware Reset Handlers
*
* hw_hard_reset() - hard reset using watchdog timer
* hw_hard_reset_handler() - controller's rest handler
*/
-void hw_request_hard_reset() { cs.hard_reset_requested = true; }
+void hw_request_hard_reset() {cs.hard_reset_requested = true;}
+
-void hw_hard_reset() // software hard reset using the watchdog timer
-{
- wdt_enable(WDTO_15MS);
- while (true); // loops for about 15ms then resets
+void hw_hard_reset() { // software hard reset using the watchdog timer
+ wdt_enable(WDTO_15MS);
+ while (true); // loops for about 15ms then resets
}
-stat_t hw_hard_reset_handler()
-{
- if (cs.hard_reset_requested == false)
- return STAT_NOOP;
- hw_hard_reset(); // hard reset - identical to hitting RESET button
- return STAT_EAGAIN;
+
+stat_t hw_hard_reset_handler() {
+ if (cs.hard_reset_requested == false) return STAT_NOOP;
+ hw_hard_reset(); // hard reset - identical to hitting RESET button
+ return STAT_EAGAIN;
}
/*
* hw_request_bootloader()
* hw_request_bootloader_handler() - executes a software reset using CCPWrite
*/
+void hw_request_bootloader() {cs.bootloader_requested = true;}
+
-void hw_request_bootloader() { cs.bootloader_requested = true;}
+stat_t hw_bootloader_handler() {
+ if (cs.bootloader_requested == false)
+ return STAT_NOOP;
-stat_t hw_bootloader_handler()
-{
- if (cs.bootloader_requested == false)
- return STAT_NOOP;
- cli();
- CCPWrite(&RST.CTRL, RST_SWRST_bm); // fire a software reset
+ cli();
+ CCPWrite(&RST.CTRL, RST_SWRST_bm); // fire a software reset
- return STAT_EAGAIN; // never gets here but keeps the compiler happy
+ return STAT_EAGAIN; // never gets here but keeps the compiler happy
}
-/***** END OF SYSTEM FUNCTIONS *****/
+/// hw_get_id() - get device ID (signature)
+stat_t hw_get_id(nvObj_t *nv) {
+ char_t tmp[SYS_ID_LEN];
+ _get_id(tmp);
+ nv->valuetype = TYPE_STRING;
+ ritorno(nv_copy_string(nv, tmp));
+ return STAT_OK;
+}
-/***********************************************************************************
- * CONFIGURATION AND INTERFACE FUNCTIONS
- * Functions to get and set variables from the cfgArray table
- ***********************************************************************************/
-/*
- * hw_get_id() - get device ID (signature)
- */
-
-stat_t hw_get_id(nvObj_t *nv)
-{
- char_t tmp[SYS_ID_LEN];
- _get_id(tmp);
- nv->valuetype = TYPE_STRING;
- ritorno(nv_copy_string(nv, tmp));
- return STAT_OK;
+/// hw_run_boot() - invoke boot form the cfgArray
+stat_t hw_run_boot(nvObj_t *nv) {
+ hw_request_bootloader();
+ return(STAT_OK);
}
-/*
- * hw_run_boot() - invoke boot form the cfgArray
- */
-stat_t hw_run_boot(nvObj_t *nv)
-{
- hw_request_bootloader();
- return(STAT_OK);
-}
-/*
- * hw_set_hv() - set hardware version number
- */
-stat_t hw_set_hv(nvObj_t *nv)
-{
- if (nv->value > TINYG_HARDWARE_VERSION_MAX)
- return STAT_INPUT_EXCEEDS_MAX_VALUE;
- set_flt(nv); // record the hardware version
- _port_bindings(nv->value); // reset port bindings
- switch_init(); // re-initialize the GPIO ports
- return STAT_OK;
-}
+/// hw_set_hv() - set hardware version number
+stat_t hw_set_hv(nvObj_t *nv) {
+ if (nv->value > TINYG_HARDWARE_VERSION_MAX)
+ return STAT_INPUT_EXCEEDS_MAX_VALUE;
-/***********************************************************************************
- * TEXT MODE SUPPORT
- * Functions to print variables from the cfgArray table
- ***********************************************************************************/
+ set_flt(nv); // record the hardware version
+ _port_bindings(nv->value); // reset port bindings
+ switch_init(); // re-initialize the GPIO ports
+ return STAT_OK;
+}
#ifdef __TEXT_MODE
static const char fmt_hv[] PROGMEM = "[hv] hardware version%16.2f\n";
static const char fmt_id[] PROGMEM = "[id] TinyG ID%30s\n";
-void hw_print_fb(nvObj_t *nv) { text_print_flt(nv, fmt_fb);}
-void hw_print_fv(nvObj_t *nv) { text_print_flt(nv, fmt_fv);}
-void hw_print_hp(nvObj_t *nv) { text_print_flt(nv, fmt_hp);}
-void hw_print_hv(nvObj_t *nv) { text_print_flt(nv, fmt_hv);}
-void hw_print_id(nvObj_t *nv) { text_print_str(nv, fmt_id);}
+void hw_print_fb(nvObj_t *nv) {text_print_flt(nv, fmt_fb);}
+void hw_print_fv(nvObj_t *nv) {text_print_flt(nv, fmt_fv);}
+void hw_print_hp(nvObj_t *nv) {text_print_flt(nv, fmt_hp);}
+void hw_print_hv(nvObj_t *nv) {text_print_flt(nv, fmt_hv);}
+void hw_print_id(nvObj_t *nv) {text_print_str(nv, fmt_id);}
#endif //__TEXT_MODE
/*--- Hardware platform enumerations ---*/
enum hwPlatform {
- HM_PLATFORM_NONE = 0,
+ HM_PLATFORM_NONE = 0,
- HW_PLATFORM_TINYG_XMEGA, // TinyG code base on Xmega boards.
- // hwVersion 7 = TinyG v7 and earlier
- // hwVersion 8 = TinyG v8
+ HW_PLATFORM_TINYG_XMEGA, // TinyG code base on Xmega boards.
+ // hwVersion 7 = TinyG v7 and earlier
+ // hwVersion 8 = TinyG v8
- HW_PLATFORM_G2_DUE, // G2 code base on native Arduino Due
+ HW_PLATFORM_G2_DUE, // G2 code base on native Arduino Due
- HW_PLATFORM_TINYG_V9 // G2 code base on v9 boards
- // hwVersion 0 = v9c
- // hwVersion 1 = v9d
- // hwVersion 2 = v9f
- // hwVersion 3 = v9h
- // hwVersion 4 = v9i
+ HW_PLATFORM_TINYG_V9 // G2 code base on v9 boards
+ // hwVersion 0 = v9c
+ // hwVersion 1 = v9d
+ // hwVersion 2 = v9f
+ // hwVersion 3 = v9h
+ // hwVersion 4 = v9i
};
#define HW_VERSION_TINYGV6 6
#define MOTOR_PORT_DIR_gm 0x3F // dir settings: lower 6 out, upper 2 in
enum cfgPortBits { // motor control port bit positions
- STEP_BIT_bp = 0, // bit 0
- DIRECTION_BIT_bp, // bit 1
- MOTOR_ENABLE_BIT_bp, // bit 2
- MICROSTEP_BIT_0_bp, // bit 3
- MICROSTEP_BIT_1_bp, // bit 4
- GPIO1_OUT_BIT_bp, // bit 5 (4 gpio1 output bits; 1 from each axis)
- SW_MIN_BIT_bp, // bit 6 (4 input bits for homing/limit switches)
- SW_MAX_BIT_bp // bit 7 (4 input bits for homing/limit switches)
+ STEP_BIT_bp = 0, // bit 0
+ DIRECTION_BIT_bp, // bit 1
+ MOTOR_ENABLE_BIT_bp, // bit 2
+ MICROSTEP_BIT_0_bp, // bit 3
+ MICROSTEP_BIT_1_bp, // bit 4
+ GPIO1_OUT_BIT_bp, // bit 5 (4 gpio1 output bits; 1 from each axis)
+ SW_MIN_BIT_bp, // bit 6 (4 input bits for homing/limit switches)
+ SW_MAX_BIT_bp // bit 7 (4 input bits for homing/limit switches)
};
#define STEP_BIT_bm (1<<STEP_BIT_bp)
/**** Device singleton - global structure to allow iteration through similar devices ****/
/*
- Ports are shared between steppers and GPIO so we need a global struct.
- Each xmega port has 3 bindings; motors, switches and the output bit
+ Ports are shared between steppers and GPIO so we need a global struct.
+ Each xmega port has 3 bindings; motors, switches and the output bit
- The initialization sequence is important. the order is:
- - sys_init() binds all ports to the device struct
- - st_init() sets IO directions and sets stepper VPORTS and stepper specific functions
+ The initialization sequence is important. the order is:
+ - sys_init() binds all ports to the device struct
+ - st_init() sets IO directions and sets stepper VPORTS and stepper specific functions
- Care needs to be taken in routines that use ports not to write to bits that are
- not assigned to the designated function - ur unpredicatable results will occur
+ Care needs to be taken in routines that use ports not to write to bits that are
+ not assigned to the designated function - ur unpredicatable results will occur
*/
typedef struct hmSingleton {
- PORT_t *st_port[MOTORS]; // bindings for stepper motor ports (stepper.c)
- PORT_t *sw_port[MOTORS]; // bindings for switch ports (GPIO2)
- PORT_t *out_port[MOTORS]; // bindings for output ports (GPIO1)
+ PORT_t *st_port[MOTORS]; // bindings for stepper motor ports (stepper.c)
+ PORT_t *sw_port[MOTORS]; // bindings for switch ports (GPIO2)
+ PORT_t *out_port[MOTORS]; // bindings for output ports (GPIO1)
} hwSingleton_t;
hwSingleton_t hw;
canonical_machine_init(); // canonical machine - must follow config_init()
// now bring up the interrupts and get started
- PMIC_SetVectorLocationToApplication();// as opposed to boot ROM
+ PMIC_SetVectorLocationToApplication(); // as opposed to boot ROM
PMIC_EnableHighLevel(); // all levels are used, so don't bother to abstract them
PMIC_EnableMediumLevel();
PMIC_EnableLowLevel();
sei(); // enable global interrupts
- rpt_print_system_ready_message();// (LAST) announce system is ready
+ rpt_print_system_ready_message(); // (LAST) announce system is ready
}
+++ /dev/null
-/*
- * system.c - general hardware support functions
- * Part of TinyG project
- *
- * Copyright (c) 2011 - 2012 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.
- *
- * ------
- * Notes:
- * - add full interrupt tables and dummy interrupt routine (maybe)
- * - add crystal oscillator failover
- * - add watchdog timer functions
- *
- */
-
-#include <stdio.h>
-#include <stddef.h>
-#include <avr/pgmspace.h>
-
-#include "tinyg.h"
-#include "system.h"
-#include "xmega/xmega_init.h"
-
-/*
- * sys_init() - lowest level hardware init
- */
-
-void sys_init()
-{
- xmega_init(); // set system clock
- sys_port_bindings(8);
-}
-
-void sys_port_bindings(float hw_version)
-{
- device.st_port[0] = &PORT_MOTOR_1;
- device.st_port[1] = &PORT_MOTOR_2;
- device.st_port[2] = &PORT_MOTOR_3;
- device.st_port[3] = &PORT_MOTOR_4;
-
- device.sw_port[0] = &PORT_SWITCH_X;
- device.sw_port[1] = &PORT_SWITCH_Y;
- device.sw_port[2] = &PORT_SWITCH_Z;
- device.sw_port[3] = &PORT_SWITCH_A;
-
- if (hw_version > 6.9) {
- device.out_port[0] = &PORT_OUT_V7_X;
- device.out_port[1] = &PORT_OUT_V7_Y;
- device.out_port[2] = &PORT_OUT_V7_Z;
- device.out_port[3] = &PORT_OUT_V7_A;
- } else {
- device.out_port[0] = &PORT_OUT_V6_X;
- device.out_port[1] = &PORT_OUT_V6_Y;
- device.out_port[2] = &PORT_OUT_V6_Z;
- device.out_port[3] = &PORT_OUT_V6_A;
- }
-}
-
-uint8_t sys_read_calibration_byte(uint8_t index)
-{
- NVM_CMD = NVM_CMD_READ_CALIB_ROW_gc; // Load NVM Command register to read the calibration row
- uint8_t result = pgm_read_byte(index);
- NVM_CMD = NVM_CMD_NO_OPERATION_gc; // Clean up NVM Command register
- return(result);
-}
-
-/*
- * sys_get_id() - get a human readable signature
- *
- * Produces a unique deviceID based on the factory calibration data. Format is:
- * 123456-ABC
- *
- * The number part is a direct readout of the 6 digit lot number
- * The alpha is the lo 5 bits of wafer number and XY coords in printable ASCII
- * Refer to NVM_PROD_SIGNATURES_t in iox192a3.h for details.
- */
-enum {
- LOTNUM0=8, // Lot Number Byte 0, ASCII
- LOTNUM1, // Lot Number Byte 1, ASCII
- LOTNUM2, // Lot Number Byte 2, ASCII
- LOTNUM3, // Lot Number Byte 3, ASCII
- LOTNUM4, // Lot Number Byte 4, ASCII
- LOTNUM5, // Lot Number Byte 5, ASCII
- WAFNUM =16, // Wafer Number
- COORDX0=18, // Wafer Coordinate X Byte 0
- COORDX1, // Wafer Coordinate X Byte 1
- COORDY0, // Wafer Coordinate Y Byte 0
- COORDY1, // Wafer Coordinate Y Byte 1
-};
-
-void sys_get_id(char *id)
-{
- char printable[33] = {"ABCDEFGHJKLMNPQRSTUVWXYZ23456789"};
- uint8_t i;
-
- NVM_CMD = NVM_CMD_READ_CALIB_ROW_gc; // Load NVM Command register to read the calibration row
-
- for (i=0; i<6; i++) {
- id[i] = pgm_read_byte(LOTNUM0 + i);
- }
- id[i++] = '-';
- id[i++] = printable[(pgm_read_byte(WAFNUM) & 0x1F)];
- id[i++] = printable[(pgm_read_byte(COORDX0) & 0x1F)];
-// id[i++] = printable[(pgm_read_byte(COORDX1) & 0x1F)];
- id[i++] = printable[(pgm_read_byte(COORDY0) & 0x1F)];
-// id[i++] = printable[(pgm_read_byte(COORDY1) & 0x1F)];
- id[i] = 0;
-
- NVM_CMD = NVM_CMD_NO_OPERATION_gc; // Clean up NVM Command register
-}
+++ /dev/null
-/*
- * system.h - system hardware device configuration values
- * Part of TinyG project
- *
- * Copyright (c) 2010 - 2012 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.
- */
-/*
- * INTERRUPT USAGE - TinyG uses a lot of them all over the place
- *
- * HI Stepper DDA pulse generation (set in stepper.h)
- * HI Stepper load routine SW interrupt (set in stepper.h)
- * HI Dwell timer counter (set in stepper.h)
- * LO Segment execution SW interrupt (set in stepper.h)
- * MED GPIO1 switch port (set in gpio.h)
- * MED Serial RX (set in usart.c)
- * LO Serial TX (set in usart.c)
- * LO Real time clock interrupt (set in xmega_rtc.h)
- */
-#ifndef system_h
-#define system_h
-
-void sys_init(); // master hardware init
-void sys_port_bindings(float hw_version);
-void sys_get_id(char *id);
-
-#define SYS_ID_LEN 12 // length of system ID string from sys_get_id()
-
-// Clock Crystal Config. Pick one:
-//#define __CLOCK_INTERNAL_32MHZ TRUE // use internal oscillator
-//#define __CLOCK_EXTERNAL_8MHZ TRUE // uses PLL to provide 32 MHz system clock
-#define __CLOCK_EXTERNAL_16MHZ TRUE // uses PLL to provide 32 MHz system clock
-
-/*** Motor, output bit & switch port assignments ***
- *** These are not all the same, and must line up in multiple places in gpio.h ***
- * Sorry if this is confusing - it's a board routing issue
- */
-#define PORT_MOTOR_1 PORTA // motors mapped to ports
-#define PORT_MOTOR_2 PORTF
-#define PORT_MOTOR_3 PORTE
-#define PORT_MOTOR_4 PORTD
-
-#define PORT_SWITCH_X PORTA // Switch axes mapped to ports
-#define PORT_SWITCH_Y PORTD
-#define PORT_SWITCH_Z PORTE
-#define PORT_SWITCH_A PORTF
-
-#define PORT_OUT_V7_X PORTA // v7 mapping - Output bits mapped to ports
-#define PORT_OUT_V7_Y PORTF
-#define PORT_OUT_V7_Z PORTD
-#define PORT_OUT_V7_A PORTE
-
-#define PORT_OUT_V6_X PORTA // v6 and earlier mapping - Output bits mapped to ports
-#define PORT_OUT_V6_Y PORTF
-#define PORT_OUT_V6_Z PORTE
-#define PORT_OUT_V6_A PORTD
-
-// These next four must be changed when the PORT_MOTOR_* definitions change!
-#define PORTCFG_VP0MAP_PORT_MOTOR_1_gc PORTCFG_VP0MAP_PORTA_gc
-#define PORTCFG_VP1MAP_PORT_MOTOR_2_gc PORTCFG_VP1MAP_PORTF_gc
-#define PORTCFG_VP2MAP_PORT_MOTOR_3_gc PORTCFG_VP2MAP_PORTE_gc
-#define PORTCFG_VP3MAP_PORT_MOTOR_4_gc PORTCFG_VP3MAP_PORTD_gc
-
-#define PORT_MOTOR_1_VPORT VPORT0
-#define PORT_MOTOR_2_VPORT VPORT1
-#define PORT_MOTOR_3_VPORT VPORT2
-#define PORT_MOTOR_4_VPORT VPORT3
-
-/*
- * Port setup - Stepper / Switch Ports:
- * b0 (out) step (SET is step, CLR is rest)
- * b1 (out) direction (CLR = Clockwise)
- * b2 (out) motor enable (CLR = Enabled)
- * b3 (out) microstep 0
- * b4 (out) microstep 1
- * b5 (out) output bit for GPIO port1
- * b6 (in) min limit switch on GPIO 2 (note: motor controls and GPIO2 port mappings are not the same)
- * b7 (in) max limit switch on GPIO 2 (note: motor controls and GPIO2 port mappings are not the same)
- */
-#define MOTOR_PORT_DIR_gm 0x3F // dir settings: lower 6 out, upper 2 in
-
-enum cfgPortBits { // motor control port bit positions
- STEP_BIT_bp = 0, // bit 0
- DIRECTION_BIT_bp, // bit 1
- MOTOR_ENABLE_BIT_bp, // bit 2
- MICROSTEP_BIT_0_bp, // bit 3
- MICROSTEP_BIT_1_bp, // bit 4
- GPIO1_OUT_BIT_bp, // bit 5 (4 gpio1 output bits; 1 from each axis)
- SW_MIN_BIT_bp, // bit 6 (4 input bits for homing/limit switches)
- SW_MAX_BIT_bp // bit 7 (4 input bits for homing/limit switches)
-};
-
-#define STEP_BIT_bm (1<<STEP_BIT_bp)
-#define DIRECTION_BIT_bm (1<<DIRECTION_BIT_bp)
-#define MOTOR_ENABLE_BIT_bm (1<<MOTOR_ENABLE_BIT_bp)
-#define MICROSTEP_BIT_0_bm (1<<MICROSTEP_BIT_0_bp)
-#define MICROSTEP_BIT_1_bm (1<<MICROSTEP_BIT_1_bp)
-#define GPIO1_OUT_BIT_bm (1<<GPIO1_OUT_BIT_bp) // spindle and coolant output bits
-#define SW_MIN_BIT_bm (1<<SW_MIN_BIT_bp) // minimum switch inputs
-#define SW_MAX_BIT_bm (1<<SW_MAX_BIT_bp) // maximum switch inputs
-
-/* Bit assignments for GPIO1_OUTs for spindle, PWM and coolant */
-
-#define SPINDLE_BIT 0x08 // spindle on/off
-#define SPINDLE_DIR 0x04 // spindle direction, 1=CW, 0=CCW
-#define SPINDLE_PWM 0x02 // spindle PWMs output bit
-#define MIST_COOLANT_BIT 0x01 // coolant on/off - these are the same due to limited ports
-#define FLOOD_COOLANT_BIT 0x01 // coolant on/off
-
-#define SPINDLE_LED 0
-#define SPINDLE_DIR_LED 1
-#define SPINDLE_PWM_LED 2
-#define COOLANT_LED 3
-
-#define INDICATOR_LED SPINDLE_DIR_LED // can use the spindle direction as an indicator LED
-
-/* Timer assignments - see specific modules for details) */
-
-#define TIMER_DDA TCC0 // DDA timer (see stepper.h)
-#define TIMER_DWELL TCD0 // Dwell timer (see stepper.h)
-#define TIMER_LOAD TCE0 // Loader timer (see stepper.h)
-#define TIMER_EXEC TCF0 // Exec timer (see stepper.h)
-#define TIMER_5 TCC1 // unallocated timer
-#define TIMER_PWM1 TCD1 // PWM timer #1 (see pwm.c)
-#define TIMER_PWM2 TCE1 // PWM timer #2 (see pwm.c)
-
-
-/**** Device singleton - global structure to allow iteration through similar devices ****/
-/*
- Ports are shared between steppers and GPIO so we need a global struct.
- Each xmega port has 3 bindings; motors, switches and the output bit
-
- The initialization sequence is important. the order is:
- - sys_init() binds all ports to the device struct
- - st_init() sets IO directions and sets stepper VPORTS and stepper specific functions
-
- Care needs to be taken in routines that use ports not to write to bits that are
- not assigned to the designated function - ur unpredicatable results will occur
-*/
-
-typedef struct deviceSingleton {
- PORT_t *st_port[MOTORS]; // bindings for stepper motor ports (stepper.c)
- PORT_t *sw_port[MOTORS]; // bindings for switch ports (GPIO2)
- PORT_t *out_port[MOTORS]; // bindings for output ports (GPIO1)
-} deviceSingleton_t;
-deviceSingleton_t device;
-
-#endif
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