Merge branch 'rob' into alden

Conflicts:
	TinyG2/TinyG2.cppproj
	TinyG2/controller.cpp
	TinyG2/controller.h
	TinyG2/main.cpp
	TinyG2/stepper.cpp
	TinyG2/tinyg2.h

.gitignore

@@ -16,4 +16,5 @@ build/
 bin/
 *.xcodeproj/project.xcworkspace/xcuserdata/rob.xcuserdatad/UserInterfaceState.xcuserstate
 .DS_Store
-TcfTransactionLog.csv
+TcfTransactionLog.csv
+TinyG2/TinyG2.elf

Extras/.gitignore

@@ -1,2 +0,0 @@
-newlib-1.20.0/
-newlib-1.20.0.tar.gz

Reference/.gitignore

@@ -0,0 +1 @@
+newlib*

Reference/Makefile

@@ -0,0 +1,22 @@
+## In order to download and decompress the reference coded *useful* for symbolic debugging,
+## Just call "make" from this directory.
+
+# Program paths
+WGET=wget
+TAR=tar xzvf
+TOUCH=touch
+
+# Newlib locations
+NEWLIB_VERSION=1.20.0
+NEWLIB_URL=ftp://sources.redhat.com/pub/newlib/newlib-$(NEWLIB_VERSION).tar.gz
+NEWLIB_DIRECTORY=./newlib-$(NEWLIB_VERSION)/
+
+
+# Rules
+all: $(NEWLIB_DIRECTORY)
+
+$(NEWLIB_DIRECTORY): | newlib-$(NEWLIB_VERSION).tar.gz
+	$(TAR) $|
+
+newlib-$(NEWLIB_VERSION).tar.gz:
+	$(WGET) $(NEWLIB_URL)

TinyG2/TinyG2.cppproj

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup>
     <SchemaVersion>2.0</SchemaVersion>
@@ -18,8 +18,7 @@
     <ToolchainFlavour>Native</ToolchainFlavour>
     <KeepTimersRunning>true</KeepTimersRunning>
     <OverrideVtor>false</OverrideVtor>
-    <OverrideVtorValue>
-    </OverrideVtorValue>
+    <OverrideVtorValue>exception_table</OverrideVtorValue>
     <eraseonlaunchrule>1</eraseonlaunchrule>
     <AsfVersion>3.5.0</AsfVersion>
     <avrtoolinterface>JTAG</avrtoolinterface>
@@ -30,13 +29,13 @@
       <ToolNumber>000028014099</ToolNumber>
       <Channel>
         <host>127.0.0.1</host>
-        <port>2144</port>
+        <port>1180</port>
         <ssl>False</ssl>
       </Channel>
       <ToolOptions>
         <InterfaceName>JTAG</InterfaceName>
         <InterfaceProperties>
-          <JtagDbgClock>250000</JtagDbgClock>
+          <JtagDbgClock>0</JtagDbgClock>
           <JtagProgClock>1000000</JtagProgClock>
           <IspClock>150000</IspClock>
           <JtagInChain>false</JtagInChain>
@@ -45,6 +44,7 @@
           <JtagDevicesAfter>0</JtagDevicesAfter>
           <JtagInstrBitsBefore>0</JtagInstrBitsBefore>
           <JtagInstrBitsAfter>0</JtagInstrBitsAfter>
+          <SwdClock>8500000</SwdClock>
         </InterfaceProperties>
       </ToolOptions>
     </com_atmel_avrdbg_tool_samice>
@@ -706,6 +706,9 @@
     <None Include="motate\keywords.txt">
       <SubType>compile</SubType>
     </None>
+    <None Include="TinyG2.elf">
+      <SubType>compile</SubType>
+    </None>
   </ItemGroup>
   <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
 </Project>

TinyG2/controller.cpp

@@ -9,7 +9,7 @@
  * 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 
@@ -187,7 +187,7 @@ static status_t _command_dispatch()
 //	printf("printf test2 %d %f...\n", 10, 10.003);
 
 	status_t status;
-	
+		
 	strcpy(cs.in_buf, "$fb");
 
 	// read input line or return if not a completed line

TinyG2/main.cpp

@@ -52,7 +52,7 @@ extern void SysTick_Handler( void )
 #define DEV_STDERR 0
 
 static void _application_init(void);
-
+    
 //globals
 status_t errcode;
     
@@ -60,8 +60,6 @@ status_t errcode;
 
 void setup( void )
 {
-	USBDevice.attach();
-//	delay(5000);	
 	SerialUSB.begin(115200);
 	_application_init();
 }
@@ -77,7 +75,8 @@ void loop( void )
 int main( void )
 {
 	init();
-//	delay(1);
+	delay(1);
+	USBDevice.attach();
 	setup();
 
 	for (;;) {

TinyG2/stepper.cpp

@@ -426,8 +426,13 @@ void _load_move()
 //	sps.move_type = MOVE_TYPE_ALINE;
 	sps.move_type = true;
 	sps.timer_ticks = 100000;
-	sps.timer_ticks_X_substeps = 1000;
+	sps.timer_ticks_X_substeps = 1000000;
 	sps.timer_period = 64000;
+	
+	st.m[MOTOR_1].steps = 90000;
+	st.m[MOTOR_1].counter = -sps.timer_ticks;
+	st.timer_ticks_X_substeps = sps.timer_ticks_X_substeps;
+
 /*
 	// handle aline loads first (most common case)  NB: there are no more lines, only alines
 //	if (sps.move_type == MOVE_TYPE_ALINE) {

TinyG2/xio.h

@@ -147,4 +147,4 @@ Binary		Oct	Dec	Hex	Glyph
 111 1100	174	124	7C	|
 111 1101	175	125	7D	}
 111 1110	176	126	7E	~
-*/
+*/