From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Sat, 1 Oct 2016 21:02:26 +0000 (-0700)
Subject: Changes for v3 board wiring
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=c8baa1f41f63911eebadc7a5ec71c3175472b539;p=bbctrl-firmware

Changes for v3 board wiring
---

diff --git a/src/config.h b/src/config.h
index 3d5a2bd..450acb8 100644
--- a/src/config.h
+++ b/src/config.h
@@ -36,6 +36,64 @@
 
 
 // Pins
+enum {
+  ENABLE_X_PIN = PORT_A << 3,
+  ENABLE_Y_PIN,
+  ENABLE_Z_PIN,
+  ENABLE_A_PIN,
+  SPIN_DIR_PIN,
+  SPIN_ENABLE_PIN,
+  ANALOG_PIN,
+  PROBE_PIN,
+
+  MIN_X_PIN = PORT_B << 3,
+  MAX_X_PIN,
+  MIN_A_PIN,
+  MAX_A_PIN,
+  MIN_Y_PIN,
+  MAX_Y_PIN,
+  MIN_Z_PIN,
+  MAX_Z_PIN,
+
+  SDA_PIN = PORT_C << 3,
+  SCL_PIN,
+  SERIAL_RX_PIN,
+  SERIAL_TX_PIN,
+  SERIAL_CTS_PIN,
+  SPI_CLK_PIN,
+  SPI_MISO_PIN,
+  SPI_MOSI_PIN,
+
+  STEP_X_PIN = PORT_D << 3,
+  SPI_CS_X_PIN,
+  SPI_CS_A_PIN,
+  SPI_CS_Z_PIN,
+  SPIN_PWM_PIN,
+  SWITCH_1_PIN,
+  RS485_RO_PIN,
+  RS485_DI_PIN,
+
+  STEP_Y_PIN = PORT_E << 3,
+  SPI_CS_Y_PIN,
+  DIR_X_PIN,
+  DIR_Y_PIN,
+  STEP_A_PIN,
+  SWITCH_2_PIN,
+  DIR_Z_PIN,
+  DIR_A_PIN,
+
+  STEP_Z_PIN = PORT_F << 3,
+  RS485_RW_PIN,
+  FAULT_PIN,
+  ESTOP_PIN,
+  FAULT_X_PIN,
+  FAULT_Y_PIN,
+  FAULT_Z_PIN,
+  FAULT_A_PIN,
+};
+
+
+#if 0
 enum {
   STEP_X_PIN = PORT_A << 3,
   DIR_X_PIN,
@@ -91,6 +149,7 @@ enum {
   MIN_A_PIN,
   MAX_A_PIN,
 };
+#endif
 
 
 // Compile-time settings
@@ -299,20 +358,20 @@ typedef enum {
 #define TIMER_TMC2660          TCC1 // TMC2660 timer (see tmc2660.h)
 #define TIMER_PWM              TCD1 // PWM timer     (see pwm_spindle.c)
 
-#define M1_TIMER               TCE1
-#define M2_TIMER               TCF0
-#define M3_TIMER               TCE0
-#define M4_TIMER               TCD0
+#define M1_TIMER               TCD0
+#define M2_TIMER               TCE0
+#define M3_TIMER               TCF0
+#define M4_TIMER               TCE1
 
 #define M1_DMA_CH              DMA.CH0
 #define M2_DMA_CH              DMA.CH1
 #define M3_DMA_CH              DMA.CH2
 #define M4_DMA_CH              DMA.CH3
 
-#define M1_DMA_TRIGGER         DMA_CH_TRIGSRC_TCE1_CCA_gc
-#define M2_DMA_TRIGGER         DMA_CH_TRIGSRC_TCF0_CCA_gc
-#define M3_DMA_TRIGGER         DMA_CH_TRIGSRC_TCE0_CCA_gc
-#define M4_DMA_TRIGGER         DMA_CH_TRIGSRC_TCD0_CCA_gc
+#define M1_DMA_TRIGGER         DMA_CH_TRIGSRC_TCD0_CCA_gc
+#define M2_DMA_TRIGGER         DMA_CH_TRIGSRC_TCE0_CCA_gc
+#define M3_DMA_TRIGGER         DMA_CH_TRIGSRC_TCF0_CCA_gc
+#define M4_DMA_TRIGGER         DMA_CH_TRIGSRC_TCE1_CCA_gc
 
 
 // Timer setup for stepper and dwells
@@ -334,8 +393,8 @@ typedef enum {
 #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_SPI_MISO_PIN   SPI_MISO_PIN
+#define TMC2660_SPI_MOSI_PIN   SPI_MOSI_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]
diff --git a/src/huanyang.c b/src/huanyang.c
index bd8ade6..1abe98b 100644
--- a/src/huanyang.c
+++ b/src/huanyang.c
@@ -156,14 +156,8 @@ static void _set_baud(uint16_t bsel, uint8_t bscale) {
 
 
 static void _set_write(bool x) {
-  if (x)  {
-    OUTSET_PIN(RS485_RE_PIN); // High
-    OUTSET_PIN(RS485_DE_PIN); // High
-
-  } else {
-    OUTCLR_PIN(RS485_RE_PIN); // Low
-    OUTCLR_PIN(RS485_DE_PIN); // Low
-  }
+  if (x) OUTSET_PIN(RS485_RW_PIN); // High
+  else OUTCLR_PIN(RS485_RW_PIN); // Low
 }
 
 
@@ -431,10 +425,8 @@ void huanyang_init() {
   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
+  OUTSET_PIN(RS485_RW_PIN); // High
+  DIRSET_PIN(RS485_RW_PIN); // Output
 
   _set_baud(3325, 0b1101); // 9600 @ 32MHz with 2x USART
 
diff --git a/src/motor.c b/src/motor.c
index 61a64cd..9ea14ef 100644
--- a/src/motor.c
+++ b/src/motor.c
@@ -105,7 +105,7 @@ static motor_t motors[MOTORS] = {
     .step_pin    = STEP_X_PIN,
     .dir_pin     = DIR_X_PIN,
     .enable_pin  = ENABLE_X_PIN,
-    .timer       = (TC0_t *)&M1_TIMER,
+    .timer       = &M1_TIMER,
     .dma         = &M1_DMA_CH,
     .dma_trigger = M1_DMA_TRIGGER,
   }, {
@@ -144,7 +144,7 @@ static motor_t motors[MOTORS] = {
     .step_pin    = STEP_A_PIN,
     .dir_pin     = DIR_A_PIN,
     .enable_pin  = ENABLE_A_PIN,
-    .timer       = &M4_TIMER,
+    .timer       = (TC0_t *)&M4_TIMER,
     .dma         = &M4_DMA_CH,
     .dma_trigger = M4_DMA_TRIGGER,
   }
@@ -154,13 +154,6 @@ static motor_t motors[MOTORS] = {
 static uint8_t _dummy;
 
 
-/// Special interrupt for X-axis
-ISR(TCE1_CCA_vect) {
-  OUTTGL_PIN(STEP_X_PIN);
-  motors[0].steps++;
-}
-
-
 void motor_init() {
   // Enable DMA
   DMA.CTRL = DMA_RESET_bm;
@@ -179,8 +172,6 @@ void motor_init() {
     // Setup motor timer
     m->timer->CTRLB = TC_WGMODE_FRQ_gc | TC1_CCAEN_bm;
 
-    if (!motor) continue; // Don't configure DMA for motor 0
-
     // Setup DMA channel as timer event counter
     m->dma->ADDRCTRL = DMA_CH_SRCDIR_FIXED_gc | DMA_CH_DESTDIR_FIXED_gc;
     m->dma->TRIGSRC = m->dma_trigger;
@@ -200,9 +191,6 @@ void motor_init() {
       DMA_CH_REPEAT_bm | DMA_CH_SINGLE_bm | DMA_CH_BURSTLEN_1BYTE_gc;
     m->dma->CTRLA |= DMA_CH_ENABLE_bm;
   }
-
-  // Setup special interrupt for X-axis mapping
-  M1_TIMER.INTCTRLB = TC_CCAINTLVL_HI_gc;
 }
 
 
@@ -234,7 +222,7 @@ int32_t motor_get_encoder(int motor) {return motors[motor].encoder;}
 
 
 void motor_set_encoder(int motor, float encoder) {
-  if (st_is_busy()) ALARM(STAT_INTERNAL_ERROR);
+  //if (st_is_busy()) ALARM(STAT_INTERNAL_ERROR); TODO
 
   motor_t *m = &motors[motor];
   m->encoder = m->position = m->commanded = round(encoder);
@@ -337,7 +325,7 @@ void motor_error_callback(int motor, motor_flags_t errors) {
   m->flags |= errors;
   report_request();
 
-  if (false && motor_error(motor)) {
+  if (motor_error(motor)) {
     if (m->flags & MOTOR_FLAG_STALLED_bm) ALARM(STAT_MOTOR_STALLED);
     if (m->flags & MOTOR_FLAG_OVERTEMP_WARN_bm) ALARM(STAT_MOTOR_OVERTEMP_WARN);
     if (m->flags & MOTOR_FLAG_OVERTEMP_bm) ALARM(STAT_MOTOR_OVERTEMP);
@@ -381,11 +369,6 @@ void motor_load_move(int motor) {
   else OUTSET_PIN(m->dir_pin);
 
   // Accumulate encoder
-  // TODO we currently accumulate the x-axis here
-  if (!motor) {
-    steps = m->steps;
-    m->steps = 0;
-  }
   if (!m->wasEnabled) steps = 0;
 
   m->encoder += m->last_negative ? -(int32_t)steps : steps;
diff --git a/src/tmc2660.c b/src/tmc2660.c
index 59382e6..3252845 100644
--- a/src/tmc2660.c
+++ b/src/tmc2660.c
@@ -300,7 +300,7 @@ void tmc2660_init() {
   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
+  DIRCLR_PIN(TMC2660_SPI_MISO_PIN); // Input
   OUTSET_PIN(TMC2660_SPI_MOSI_PIN); // High
   DIRSET_PIN(TMC2660_SPI_MOSI_PIN); // Output