mirror of
https://github.com/synthetos/g2.git
synced 2026-10-16 22:57:26 +08:00
005.03 Added Rob's Makefile and Motate changes; Got ported code to compile
This commit is contained in:
alden.hart
+4
-5
@@ -68,7 +68,7 @@ CFLAGS += -Wunreachable-code
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#CFLAGS += -Wmissing-noreturn
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#CFLAGS += -Wconversion
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# Stop warnings about late-bound printf() format strings. We use these.
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# Turn off printf() format strings. We use late bound FLASH and RAM format strings and this causes warnings
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CFLAGS += -Wno-format-nonliteral -Wno-format-security
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# To reduce application size use only integer printf function.
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@@ -89,7 +89,7 @@ CPPFLAGS += -Wredundant-decls -Winline -Wlong-long
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#CPPFLAGS += -Wmissing-noreturn -Wpacked
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#CPPFLAGS += -Wconversion
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# Stop warnings about late-bound printf() format strings. We use these.
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# Turn off printf() format strings. We use late bound FLASH and RAM format strings and this causes warnings
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CPPFLAGS += -Wno-format-nonliteral -Wno-format-security
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# To reduce application size use only integer printf function.
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@@ -305,9 +305,8 @@ $(OUTPUT_BIN)_$(1).elf: $$(OUTDIR)/core.a $$(DEVICE_OBJECTS_$(1))
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$(QUIET)$(NM) "$(OUTPUT_BIN)_$(1).elf" >"$(OUTPUT_BIN)_$(1).elf.txt"
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@echo $(START_BOLD)"Making binary $(OUTPUT_BIN)_$(1).bin" $(END_BOLD)
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$(QUIET)$(OBJCOPY) -O binary "$(OUTPUT_BIN)_$(1).elf" "$(OUTPUT_BIN)_$(1).bin"
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# @echo "--- SIZE INFO ---"
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# $(QUIET)$(SIZE) $$^ "$(OUTPUT_BIN)_$$@"
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# $(QUIET)$(SIZE) $$^ "$(OUTPUT_BIN)_$$@.elf"
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@echo "--- SIZE INFO ---"
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$(QUIET)$(SIZE) "$(OUTPUT_BIN)_$(1).elf"
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$$(ALL_CXX_OBJECTS_$(1)): $$(OUTDIR)/%.o: %.cpp | $(MK_DIRS)
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$(QUIET)if [[ ! -d `dirname $$@` ]]; then mkdir -p `dirname $$@`; fi
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@@ -96,9 +96,21 @@
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extern "C"{
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#endif
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// NOTE: The canonical machine singleton "cm" would normally be declared here
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/***********************************************************************************
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**** STRUCTURE ALLOCATIONS *********************************************************
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***********************************************************************************/
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// NOTE: The canonical machine singleton "cm" would normally be declared here
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// but it's also used by cycles so it's in canonical_machine.h instead.
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cmSingleton_t cm; // canonical machine control structure
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GCodeModel_t gm; // active gcode model
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GCodeInput_t gn; // gcode input values
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GCodeInput_t gf; // gcode input flags
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/***********************************************************************************
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**** GENERIC STATIC FUNCTIONS AND VARIABLES ***************************************
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***********************************************************************************/
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static float _get_move_times(float *min_time);
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// planner queue callbacks
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@@ -112,6 +124,10 @@ static void _exec_program_finalize(uint8_t machine_state, float float_val);
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#define _to_millimeters(a) ((gm.units_mode == INCHES) ? (a * MM_PER_INCH) : a)
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/***********************************************************************************
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**** CODE *************************************************************************
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***********************************************************************************/
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/*************************************************************************
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*
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* HELPERS AND UTILITY FUNCTIONS
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@@ -56,7 +56,7 @@ typedef struct cmSingleton { // struct to manage cm globals and cycles
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uint8_t g10_persist_flag; //.G10 changed offsets - persist them
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uint16_t magic_end;
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} cmSingleton_t;
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cmSingleton_t cm;
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extern cmSingleton_t cm;
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/* GCODE MODEL - The following GCodeModel/GCodeInput structs are used:
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*
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@@ -187,10 +187,10 @@ typedef struct GCodeInput { // Gcode model inputs - meaning depends on contex
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float arc_offset[3]; // IJK - used by arc commands
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} GCodeInput_t;
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// Allocation
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GCodeModel_t gm; // active gcode model
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GCodeInput_t gn; // gcode input values
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GCodeInput_t gf; // gcode input flags
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// Externs
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extern GCodeModel_t gm; // active gcode model
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extern GCodeInput_t gn; // gcode input values
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extern GCodeInput_t gf; // gcode input flags
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/*****************************************************************************
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*
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+83
-31
@@ -30,6 +30,7 @@
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#include "json_parser.h"
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#include "text_parser.h"
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#include "controller.h"
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#include "canonical_machine.h"
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#include "util.h"
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#include "xio.h"
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@@ -38,7 +39,7 @@ extern "C"{
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#endif
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/***********************************************************************************
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**** STUCTURE ALLOCATIONS *********************************************************
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**** STRUCTURE ALLOCATIONS ********************************************************
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***********************************************************************************/
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cmdStr_t cmdStr;
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@@ -128,20 +129,16 @@ static stat_t set_defa(cmdObj_t *cmd)
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return (STAT_OK);
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}
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/***** Generic Internal Functions *******************************************
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* Generic gets()
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* get_nul() - get nothing (returns STAT_NOOP)
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* get_ui8() - get value as 8 bit uint8_t w/o unit conversion
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* get_int() - get value as 32 bit integer w/o unit conversion
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* get_flt() - get value as float w/o unit conversion
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*
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* Generic sets()
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* set_nul() - set nothing (returns STAT_NOOP)
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* set_ui8() - set value as 8 bit uint8_t value w/o unit conversion
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* set_int() - set value as 32 bit integer w/o unit conversion
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* set_flt() - set value as float w/o unit conversion
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/***** Generic Internal Functions *********************************************/
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/* Generic gets()
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* get_nul() - get nothing (returns STAT_NOOP)
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* get_ui8() - get value as 8 bit uint8_t w/o unit conversion
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* get_int() - get value as 32 bit integer w/o unit conversion
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* get_flt() - get value as float w/o unit conversion
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* get_flu() - get value as double w/unit conversion
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* get_format() - internal accessor for printf() format string
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*/
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stat_t set_nul(cmdObj_t *cmd) { return (STAT_NOOP);}
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stat_t get_nul(cmdObj_t *cmd)
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{
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cmd->type = TYPE_NULL;
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@@ -154,43 +151,98 @@ stat_t get_ui8(cmdObj_t *cmd)
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cmd->type = TYPE_INTEGER;
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return (STAT_OK);
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}
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stat_t set_ui8(cmdObj_t *cmd)
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{
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*((uint8_t *)cfgArray[cmd->index].target) = cmd->value;
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cmd->type = TYPE_INTEGER;
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return(STAT_OK);
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}
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stat_t get_int(cmdObj_t *cmd)
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{
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cmd->value = (float)*((uint32_t *)cfgArray[cmd->index].target);
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cmd->type = TYPE_INTEGER;
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return (STAT_OK);
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}
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stat_t get_flt(cmdObj_t *cmd)
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{
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cmd->value = *((float *)cfgArray[cmd->index].target);
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cmd->precision = cfgArray[cmd->index].precision;
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cmd->type = TYPE_FLOAT;
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return (STAT_OK);
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}
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stat_t get_flu(cmdObj_t *cmd)
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{
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get_flt(cmd);
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if (cm_get_units_mode() == INCHES) {
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cmd->value *= INCH_PER_MM;
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}
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cmd->precision = cfgArray[cmd->index].precision;
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cmd->type = TYPE_FLOAT;
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return (STAT_OK);
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}
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/* REPLACED BY A MACRO - See config.h
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char *get_format(const index_t index)
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{
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return ((char *)cfgArray[index].format);
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}
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*/
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/* Generic sets()
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* set_nul() - set nothing (returns STAT_NOOP)
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* set_ui8() - set value as 8 bit uint8_t value w/o unit conversion
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* set_01() - set a 0 or 1 uint8_t value with validation
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* set_012() - set a 0, 1 or 2 uint8_t value with validation
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* set_int() - set value as 32 bit integer w/o unit conversion
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* set_flt() - set value as float w/o unit conversion
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* set_flu() - set value as float w/unit conversion
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*/
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stat_t set_nul(cmdObj_t *cmd) { return (STAT_NOOP);}
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stat_t set_ui8(cmdObj_t *cmd)
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{
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*((uint8_t *)cfgArray[cmd->index].target) = cmd->value;
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cmd->type = TYPE_INTEGER;
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return(STAT_OK);
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}
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stat_t set_01(cmdObj_t *cmd)
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{
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if (cmd->value > 1) {
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return (STAT_INPUT_VALUE_UNSUPPORTED);
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} else {
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return (set_ui8(cmd));
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}
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}
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stat_t set_012(cmdObj_t *cmd)
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{
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if (cmd->value > 2) {
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return (STAT_INPUT_VALUE_UNSUPPORTED);
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} else {
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return (set_ui8(cmd));
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}
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}
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stat_t set_int(cmdObj_t *cmd)
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{
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*((uint32_t *)cfgArray[cmd->index].target) = cmd->value;
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cmd->type = TYPE_INTEGER;
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return(STAT_OK);
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}
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stat_t get_flt(cmdObj_t *cmd)
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{
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cmd->value = *((float *)cfgArray[cmd->index].target);
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cmd->type = TYPE_FLOAT;
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return (STAT_OK);
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}
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stat_t set_flt(cmdObj_t *cmd)
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{
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*((float *)cfgArray[cmd->index].target) = cmd->value;
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cmd->precision = cfgArray[cmd->index].precision;
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cmd->type = TYPE_FLOAT;
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return(STAT_OK);
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}
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/*
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char *get_format(const index_t index)
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stat_t set_flu(cmdObj_t *cmd)
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{
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return ((char *)cfgArray[index].format);
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if (cm_get_units_mode() == INCHES) { cmd->value *= MM_PER_INCH;}
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*((float *)cfgArray[cmd->index].target) = cmd->value;
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cmd->precision = cfgArray[cmd->index].precision;
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cmd->type = TYPE_FLOAT_UNITS;
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return(STAT_OK);
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}
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*/
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/* Generic prints()
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* print_nul() - print nothing
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@@ -201,7 +253,6 @@ char *get_format(const index_t index)
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* print_lin() - print linear value with units and in/mm unit conversion
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* print_rot() - print rotary value with units
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*/
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void print_nul(cmdObj_t *cmd) {}
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void print_str(cmdObj_t *cmd)
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@@ -403,6 +454,7 @@ cmdObj_t *cmd_reset_obj(cmdObj_t *cmd) // clear a single cmdObj structure
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cmd->type = TYPE_EMPTY; // selective clear is much faster than calling memset
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cmd->index = 0;
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cmd->value = 0;
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cmd->precision = 0;
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cmd->token[0] = NUL;
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cmd->group[0] = NUL;
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cmd->stringp = NULL;
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+12
-10
@@ -34,7 +34,6 @@
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*/
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#include "tinyg2.h"
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#include "config.h"
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//#include "config_app.h"
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#include "controller.h"
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#include "canonical_machine.h"
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#include "settings.h"
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@@ -108,7 +107,7 @@ static stat_t set_defa(cmdObj_t *cmd); // reset config to default values
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static stat_t get_am(cmdObj_t *cmd); // get axis mode
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static stat_t set_am(cmdObj_t *cmd); // set axis mode
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static void print_am(cmdObj_t *cmd); // print axis mode
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static void print_am(cmdObj_t *cmd); // print axis mode with enumeration string
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static stat_t set_sw(cmdObj_t *cmd); // must run any time you change a switch setting
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static stat_t set_sa(cmdObj_t *cmd); // set motor step angle
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static stat_t set_tr(cmdObj_t *cmd); // set motor travel per revolution
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@@ -118,7 +117,6 @@ static stat_t set_po(cmdObj_t *cmd); // set motor polarity
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static void pr_ma_ui8(cmdObj_t *cmd); // print uint8_t value
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static void pr_ma_lin(cmdObj_t *cmd); // print a linear value in prevailing units
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static void pr_ma_rot(cmdObj_t *cmd); // print a rotary value in degrees units
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static void print_am(cmdObj_t *cmd); // print axis mode with enumeration string
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static void print_coor(cmdObj_t *cmd); // print coordinate offsets with linear units
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static void print_corr(cmdObj_t *cmd); // print coordinate offsets with rotary units
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@@ -541,7 +539,7 @@ const cfgItem_t cfgArray[] = {
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{ "c","cjm",_fip, 0, fmt_Xjm, pr_ma_rot, get_flt, set_flt,(float *)&cfg.a[AXIS_C].jerk_max, C_JERK_MAX },
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{ "c","cjd",_fip, 0, fmt_Xjd, pr_ma_rot, get_flt, set_flt,(float *)&cfg.a[AXIS_C].junction_dev, C_JUNCTION_DEVIATION },
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{ "c","cra",_fip, 3, fmt_Xra, pr_ma_rot, get_flt, set_flt,(float *)&cfg.a[AXIS_C].radius, C_RADIUS },
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/*
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// PWM settings
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{ "p1","p1frq",_fip, 0, fmt_p1frq, print_flt, get_flt, set_flt,(float *)&cfg.p.frequency, P1_PWM_FREQUENCY },
|
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{ "p1","p1csl",_fip, 0, fmt_p1csl, print_flt, get_flt, set_flt,(float *)&cfg.p.cw_speed_lo, P1_CW_SPEED_LO },
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@@ -553,7 +551,7 @@ const cfgItem_t cfgArray[] = {
|
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{ "p1","p1wpl",_fip, 3, fmt_p1wpl, print_flt, get_flt, set_flt,(float *)&cfg.p.ccw_phase_lo, P1_CCW_PHASE_LO },
|
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{ "p1","p1wph",_fip, 3, fmt_p1wph, print_flt, get_flt, set_flt,(float *)&cfg.p.ccw_phase_hi, P1_CCW_PHASE_HI },
|
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{ "p1","p1pof",_fip, 3, fmt_p1pof, print_rot, get_flt, set_flt,(float *)&cfg.p.phase_off, P1_PWM_PHASE_OFF },
|
||||
|
||||
/*
|
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// Coordinate system offsets (G54-G59 and G92)
|
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{ "g54","g54x",_fip, 3, fmt_cofs, print_coor,get_flu, set_flu,(float *)&cfg.offset[G54][AXIS_X], G54_X_OFFSET },
|
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{ "g54","g54y",_fip, 3, fmt_cofs, print_coor,get_flu, set_flu,(float *)&cfg.offset[G54][AXIS_Y], G54_Y_OFFSET },
|
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@@ -978,8 +976,9 @@ static stat_t get_vel(cmdObj_t *cmd)
|
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{
|
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//+++++ cmd->value = mp_get_runtime_velocity();
|
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if (cm_get_units_mode() == INCHES) cmd->value *= INCH_PER_MM;
|
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cmd->type = TYPE_FLOAT;
|
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cmd->precision = cfgArray[cmd->index].precision;
|
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// cmd->type = TYPE_FLOAT_UNITS;
|
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cmd->type = TYPE_FLOAT;
|
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return (STAT_OK);
|
||||
}
|
||||
|
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@@ -1013,24 +1012,27 @@ int8_t _get_pos_axis(const index_t index) // index into configArray
|
||||
static stat_t get_pos(cmdObj_t *cmd)
|
||||
{
|
||||
cmd->value = cm_get_runtime_work_position(_get_pos_axis(cmd->index));
|
||||
cmd->type = TYPE_FLOAT;
|
||||
cmd->precision = cfgArray[cmd->index].precision;
|
||||
// cmd->type = TYPE_FLOAT_UNITS; //++++ UNTESTED
|
||||
cmd->type = TYPE_FLOAT;
|
||||
return (STAT_OK);
|
||||
}
|
||||
|
||||
static stat_t get_mpos(cmdObj_t *cmd)
|
||||
{
|
||||
cmd->value = cm_get_runtime_machine_position(_get_pos_axis(cmd->index));
|
||||
cmd->type = TYPE_FLOAT;
|
||||
cmd->precision = cfgArray[cmd->index].precision;
|
||||
// cmd->type = TYPE_FLOAT_UNITS; //++++ UNTESTED
|
||||
cmd->type = TYPE_FLOAT;
|
||||
return (STAT_OK);
|
||||
}
|
||||
|
||||
static stat_t get_ofs(cmdObj_t *cmd)
|
||||
{
|
||||
cmd->value = cm_get_runtime_work_offset(_get_pos_axis(cmd->index));
|
||||
cmd->type = TYPE_FLOAT;
|
||||
cmd->precision = cfgArray[cmd->index].precision;
|
||||
// cmd->type = TYPE_FLOAT_UNITS; //++++ UNTESTED
|
||||
cmd->type = TYPE_FLOAT;
|
||||
return (STAT_OK);
|
||||
}
|
||||
|
||||
@@ -1073,7 +1075,7 @@ static stat_t run_gc(cmdObj_t *cmd)
|
||||
|
||||
static stat_t run_home(cmdObj_t *cmd)
|
||||
{
|
||||
if (fp_TRUE(cmd->value)) { cm_homing_cycle_start();}
|
||||
//+++++ if (fp_TRUE(cmd->value)) { cm_homing_cycle_start();}
|
||||
return (STAT_OK);
|
||||
}
|
||||
|
||||
|
||||
+2
-2
@@ -73,9 +73,9 @@ extern void SysTick_Handler( void )
|
||||
|
||||
static void _application_init(void);
|
||||
|
||||
//globals
|
||||
// collect all weird little globals here
|
||||
stat_t status_code; // declared for ritorno, see tinyg2.h
|
||||
|
||||
|
||||
/******************** Application Code ************************/
|
||||
|
||||
void setup( void )
|
||||
|
||||
@@ -179,7 +179,6 @@ namespace Motate {
|
||||
static const int8_t number = pinNum;\
|
||||
static const uint8_t portLetter = (uint8_t) registerChar;\
|
||||
static const uint32_t mask = (1u << registerPin);\
|
||||
static Port32<registerChar> port;\
|
||||
\
|
||||
Pin() {};\
|
||||
Pin(const PinMode type, const PinOptions options = kNormal) {\
|
||||
@@ -201,12 +200,12 @@ namespace Motate {
|
||||
if (!fromConstructor) {\
|
||||
if ( (*PIO ## registerLetter).PIO_OSR == 0xffffffff )\
|
||||
{\
|
||||
port.disablePeripheralClock();\
|
||||
Port32<registerChar>::disablePeripheralClock();\
|
||||
}\
|
||||
}\
|
||||
break;\
|
||||
case kInput:\
|
||||
port.enablePeripheralClock();\
|
||||
Port32<registerChar>::enablePeripheralClock();\
|
||||
(*PIO ## registerLetter).PIO_ODR = mask ;\
|
||||
(*PIO ## registerLetter).PIO_PER = mask ;\
|
||||
break;\
|
||||
@@ -295,7 +294,7 @@ namespace Motate {
|
||||
template <>\
|
||||
struct Port32<registerChar> {\
|
||||
static const uint8_t letter = (uint8_t) registerChar;\
|
||||
void enablePeripheralClock() {\
|
||||
static void enablePeripheralClock() {\
|
||||
if (pmcId() < 32) {\
|
||||
uint32_t id_mask = 1u << ( pmcId() );\
|
||||
if ((PMC->PMC_PCSR0 & id_mask) != id_mask) {\
|
||||
@@ -308,7 +307,7 @@ namespace Motate {
|
||||
}\
|
||||
}\
|
||||
};\
|
||||
void disablePeripheralClock() {\
|
||||
static void disablePeripheralClock() {\
|
||||
if (pmcId() < 32) {\
|
||||
uint32_t id_mask = 1u << ( pmcId() );\
|
||||
if ((PMC->PMC_PCSR0 & id_mask) == id_mask) {\
|
||||
@@ -393,7 +392,7 @@ namespace Motate {
|
||||
Pio* portPtr() {\
|
||||
return (PIO ## registerLetter);\
|
||||
};\
|
||||
const uint32_t pmcId() {\
|
||||
static const uint32_t pmcId() {\
|
||||
return ID_PIO ## registerLetter;\
|
||||
};\
|
||||
};\
|
||||
|
||||
@@ -66,7 +66,6 @@ namespace Motate {
|
||||
kInterruptsOff = 0,
|
||||
kInterruptOnMatch = 1<<1,
|
||||
kInterruptOnOverflow = 1<<2,
|
||||
kSetOnMatch = 1<<3, // ???
|
||||
};
|
||||
|
||||
enum TimerErrorCodes {
|
||||
@@ -75,18 +74,18 @@ namespace Motate {
|
||||
|
||||
template <uint8_t timerNum>
|
||||
struct Timer {
|
||||
// NOTE: Read carefully! The *pointers* are const, not the *values*.
|
||||
// NOTE: Notice! The *pointers* are const, not the *values*.
|
||||
static Tc * const tc;
|
||||
static TcChannel * const tcChan;
|
||||
static const uint32_t peripheralId; // ID_TC0 .. ID_TC8
|
||||
|
||||
/* ################################################################### *
|
||||
/* # WARNING # *
|
||||
/* # WARNING: Sam channels (tcChan) DO NOT map to Motate Channels!?! # *
|
||||
/* # WARNING (u been warned) # *
|
||||
/* ################################################################### */
|
||||
* # WARNING # *
|
||||
* # WARNING: Sam channels (tcChan) DO NOT map to Motate Channels!?! # *
|
||||
* # WARNING (u been warned) # *
|
||||
* ################################################################### */
|
||||
|
||||
Timer() : init() {};
|
||||
Timer() { init(); };
|
||||
|
||||
void init() {
|
||||
/* Unlock this thing */
|
||||
@@ -133,7 +132,7 @@ namespace Motate {
|
||||
// Set the mode and frequency.
|
||||
// Returns: The actual frequency that was used, or kFrequencyUnattainable
|
||||
int32_t setModeAndFrequency(const TimerMode mode, const uint32_t freq) {
|
||||
/* Prepare to be able to make changes: *?
|
||||
/* Prepare to be able to make changes: */
|
||||
/* Disable TC clock */
|
||||
tcChan->TC_CCR = TC_CCR_CLKDIS ;
|
||||
/* Disable interrupts */
|
||||
@@ -196,11 +195,16 @@ namespace Motate {
|
||||
int32_t newTop = masterClock/(divisor*freq);
|
||||
setTop(newTop);
|
||||
|
||||
// determine and return the new frequency
|
||||
// Determine and return the new frequency.
|
||||
return masterClock/(divisor*newTop);
|
||||
}
|
||||
|
||||
// determine and return the new frequency
|
||||
// Optimization -- we can't use RC for much when we're not using it,
|
||||
// so, instead of looking up if we're using it or not, just set it to
|
||||
// 0xFFFF when we're not using it.
|
||||
setTop(0xFFFF);
|
||||
|
||||
// Determine and return the new frequency.
|
||||
return masterClock/(divisor*0xFFFF);
|
||||
};
|
||||
|
||||
@@ -212,9 +216,79 @@ namespace Motate {
|
||||
return 0;
|
||||
};
|
||||
|
||||
// Here we want to get what the TOP value is. Is the mode is one that resets on RC, then RC is the TOP.
|
||||
// Otherwise, TOP is 0xFFFF. In order to see if TOP is RC, we need to look at the CPCTRG (RC Compare
|
||||
// Trigger Enable) bit of the CMR (Channel Mode Register). Note that this bit position is the same for
|
||||
// waveform or Capture mode, even though the Datasheet seems to obfuscate this fact.
|
||||
uint32_t getTopValue() {
|
||||
return tcChan->TC_CMR & TC_CMR_CPCTRG ? tcChan->TC_RC : 0xFFFF;
|
||||
};
|
||||
|
||||
// Return the current value of the counter. This is a fleeting thing...
|
||||
uint32_t getValue() {
|
||||
return tcChan->TC_CV;
|
||||
}
|
||||
|
||||
void start() {
|
||||
tcChan->TC_CCR = TC_CCR_CLKEN | TC_CCR_SWTRG;
|
||||
};
|
||||
|
||||
void stop() {
|
||||
tcChan->TC_CCR = TC_CCR_CLKDIS;
|
||||
};
|
||||
|
||||
// Channel-specific functions. These are Motate channels.
|
||||
// Motate channel 0 = Sam channel A.
|
||||
// Motate channel 1 = Sam channel B.
|
||||
|
||||
// Specify the duty cycle as a value from 0.0 .. 1.0;
|
||||
void setDutyCycle(const uint8_t channel, const float ratio) {
|
||||
if (channel == 0)
|
||||
tcChan->TC_RA = getTopValue() * ratio;
|
||||
else if (channel == 1)
|
||||
tcChan->TC_RB = getTopValue() * ratio;
|
||||
};
|
||||
|
||||
// Specify channel A/B duty cycle as a integer value from 0 .. TOP.
|
||||
// TOP in this case is either RC_RC or 0xFFFF.
|
||||
void setDutyCycle(const uint8_t channel, const uint32_t absolute) {
|
||||
if (channel == 0)
|
||||
tcChan->TC_RA = absolute;
|
||||
else if (channel == 1)
|
||||
tcChan->TC_RB = absolute;
|
||||
};
|
||||
};
|
||||
|
||||
|
||||
template<> Tc * const Timer<0>::tc = TC0;
|
||||
template<> TcChannel * const Timer<0>::tcChan = TC0->TC_CHANNEL + 0;
|
||||
template<> const uint32_t Timer<0>::peripheralId = ID_TC0;
|
||||
template<> Tc * const Timer<1>::tc = TC0;
|
||||
template<> TcChannel * const Timer<1>::tcChan = TC0->TC_CHANNEL + 1;
|
||||
template<> const uint32_t Timer<1>::peripheralId = ID_TC1;
|
||||
template<> Tc * const Timer<2>::tc = TC0;
|
||||
template<> TcChannel * const Timer<2>::tcChan = TC0->TC_CHANNEL + 2;
|
||||
template<> const uint32_t Timer<2>::peripheralId = ID_TC2;
|
||||
|
||||
template<> Tc * const Timer<3>::tc = TC1;
|
||||
template<> TcChannel * const Timer<3>::tcChan = TC1->TC_CHANNEL + 0;
|
||||
template<> const uint32_t Timer<3>::peripheralId = ID_TC3;
|
||||
template<> Tc * const Timer<4>::tc = TC1;
|
||||
template<> TcChannel * const Timer<4>::tcChan = TC1->TC_CHANNEL + 1;
|
||||
template<> const uint32_t Timer<4>::peripheralId = ID_TC4;
|
||||
template<> Tc * const Timer<5>::tc = TC1;
|
||||
template<> TcChannel * const Timer<5>::tcChan = TC1->TC_CHANNEL + 2;
|
||||
template<> const uint32_t Timer<5>::peripheralId = ID_TC5;
|
||||
|
||||
template<> Tc * const Timer<6>::tc = TC2;
|
||||
template<> TcChannel * const Timer<6>::tcChan = TC2->TC_CHANNEL + 0;
|
||||
template<> const uint32_t Timer<6>::peripheralId = ID_TC6;
|
||||
template<> Tc * const Timer<7>::tc = TC2;
|
||||
template<> TcChannel * const Timer<7>::tcChan = TC2->TC_CHANNEL + 1;
|
||||
template<> const uint32_t Timer<7>::peripheralId = ID_TC7;
|
||||
template<> Tc * const Timer<8>::tc = TC2;
|
||||
template<> TcChannel * const Timer<8>::tcChan = TC2->TC_CHANNEL + 2;
|
||||
template<> const uint32_t Timer<8>::peripheralId = ID_TC8;
|
||||
|
||||
}
|
||||
#endif /* end of include guard: AVRTIMERS_H_ONCE */
|
||||
+225
-225
File diff suppressed because it is too large
Load Diff
+23
-14
@@ -9,6 +9,8 @@
|
||||
* - vector manipulation utilities
|
||||
* - support for debugging routines
|
||||
*/
|
||||
|
||||
#include "tinyg2.h"
|
||||
#include "util.h"
|
||||
|
||||
/*
|
||||
@@ -28,10 +30,17 @@
|
||||
#include "stepper.h"
|
||||
#include "report.h"
|
||||
*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"{
|
||||
#endif
|
||||
|
||||
/*** statically allocated global for vector operations ***/
|
||||
float vector[AXES]; // vector used by util.cpp and other functions
|
||||
|
||||
/*
|
||||
* strcpy_U() - strcpy workalike to get around initial NUL for blank string - possibly wrong
|
||||
*/
|
||||
uint8_t * strcpy_U( uint8_t * dst, const uint8_t * src )
|
||||
{
|
||||
uint16_t index = 0;
|
||||
@@ -56,14 +65,14 @@ uint8_t * strcpy_U( uint8_t * dst, const uint8_t * src )
|
||||
* set_vector_by_axis() - load a single value into a zero vector
|
||||
*/
|
||||
|
||||
inline void copy_vector(float dest[], const float src[], uint8_t length)
|
||||
void copy_vector(float dest[], const float src[], uint8_t length)
|
||||
{
|
||||
for (uint8_t i=0; i<length; i++) {
|
||||
dest[i] = src[i];
|
||||
}
|
||||
}
|
||||
|
||||
inline void copy_axis_vector(float dest[], const float src[])
|
||||
void copy_axis_vector(float dest[], const float src[])
|
||||
{
|
||||
memcpy(dest, src, sizeof(float)*AXES);
|
||||
}
|
||||
@@ -91,14 +100,14 @@ float *set_vector(float x, float y, float z, float a, float b, float c)
|
||||
|
||||
float *set_vector_by_axis(float value, uint8_t axis)
|
||||
{
|
||||
clear_vector(vector);
|
||||
//+++++ clear_vector(vector);
|
||||
switch (axis) {
|
||||
case (X): vector[AXIS_X] = value; break;
|
||||
case (Y): vector[AXIS_Y] = value; break;
|
||||
case (Z): vector[AXIS_Z] = value; break;
|
||||
case (A): vector[AXIS_A] = value; break;
|
||||
case (B): vector[AXIS_B] = value; break;
|
||||
case (C): vector[AXIS_C] = value;
|
||||
case (AXIS_X): { vector[AXIS_X] = value; break; }
|
||||
case (AXIS_Y): { vector[AXIS_Y] = value; break; }
|
||||
case (AXIS_Z): { vector[AXIS_Z] = value; break; }
|
||||
case (AXIS_A): { vector[AXIS_A] = value; break; }
|
||||
case (AXIS_B): { vector[AXIS_B] = value; break; }
|
||||
case (AXIS_C): { vector[AXIS_C] = value; }
|
||||
}
|
||||
return (vector);
|
||||
}
|
||||
@@ -157,7 +166,7 @@ inline float max4(float x1, float x2, float x3, float x4)
|
||||
/*
|
||||
* isnumber() - isdigit that also accepts plus, minus, and decimal point
|
||||
*/
|
||||
|
||||
/*
|
||||
uint8_t isnumber(char_t c)
|
||||
{
|
||||
if (c == '.') { return (true); }
|
||||
@@ -165,7 +174,7 @@ uint8_t isnumber(char_t c)
|
||||
if (c == '+') { return (true); }
|
||||
return (isdigit(c));
|
||||
}
|
||||
|
||||
*/
|
||||
/*
|
||||
* read_float() - read a float from a normalized char array
|
||||
*
|
||||
@@ -186,7 +195,7 @@ uint8_t read_float(uint8_t *buf, uint8_t *index, float *float_ptr)
|
||||
if(end == start) {
|
||||
return(false);
|
||||
}
|
||||
*i = (uint8_t)(end - buf);
|
||||
*index = (uint8_t)(end - buf);
|
||||
return(true);
|
||||
}
|
||||
|
||||
@@ -199,7 +208,7 @@ uint8_t read_float(uint8_t *buf, uint8_t *index, float *float_ptr)
|
||||
* See http://en.wikipedia.org/wiki/Java_hashCode()
|
||||
*/
|
||||
#define HASHMASK 9999
|
||||
|
||||
/*
|
||||
uint16_t compute_checksum(char_t const *string, const uint16_t length)
|
||||
{
|
||||
uint32_t h = 0;
|
||||
@@ -213,7 +222,7 @@ uint16_t compute_checksum(char_t const *string, const uint16_t length)
|
||||
}
|
||||
return (h % HASHMASK);
|
||||
}
|
||||
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user