From 48f117e96f380eba0ced9c7b45fba954246e9df2 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Wed, 30 Sep 2020 11:06:56 -0400
Subject: [PATCH] rm firmware
---
firmware/osape-smoothieroll-head/.gitignore | 5 -
firmware/osape-smoothieroll-head/.travis.yml | 67 ---
.../.vscode/extensions.json | 7 -
.../.vscode/settings.json | 5 -
.../osape-smoothieroll-head/include/README | 39 --
firmware/osape-smoothieroll-head/lib/README | 46 --
.../osape-smoothieroll-head/platformio.ini | 14 -
.../src/drivers/indicators.h | 57 --
.../src/drivers/peripheral_nums.h | 18 -
.../src/drivers/ucbus_head.cpp | 261 ----------
.../src/drivers/ucbus_head.h | 122 -----
firmware/osape-smoothieroll-head/src/main.cpp | 404 ---------------
.../osape-smoothieroll-head/src/osap/osap.cpp | 487 ------------------
.../osape-smoothieroll-head/src/osap/osap.h | 60 ---
.../osape-smoothieroll-head/src/osap/ts.cpp | 82 ---
.../osape-smoothieroll-head/src/osap/ts.h | 103 ----
.../src/osap/vport.cpp | 40 --
.../osape-smoothieroll-head/src/osap/vport.h | 52 --
.../src/osap/vport_usbserial.cpp | 141 -----
.../src/osap/vport_usbserial.h | 57 --
.../src/smoothie/SmoothieRoll.cpp | 45 --
.../src/smoothie/SmoothieRoll.h | 43 --
.../src/smoothie/libs/HeapRing.cpp | 255 ---------
.../src/smoothie/libs/HeapRing.h | 86 ----
.../src/smoothie/libs/StepTicker.cpp | 222 --------
.../src/smoothie/libs/StepTicker.h | 76 ---
.../modules/robot/ActuatorCoordinates.h | 16 -
.../src/smoothie/modules/robot/Block.cpp | 350 -------------
.../src/smoothie/modules/robot/Block.h | 79 ---
.../src/smoothie/modules/robot/Conveyor.cpp | 318 ------------
.../src/smoothie/modules/robot/Conveyor.h | 73 ---
.../src/smoothie/modules/robot/Planner.cpp | 351 -------------
.../src/smoothie/modules/robot/Planner.h | 49 --
.../smoothie/modules/robot/StepInterface.cpp | 61 ---
.../smoothie/modules/robot/StepInterface.h | 44 --
.../src/utils/clocks_d51_module.cpp | 115 -----
.../src/utils/clocks_d51_module.h | 43 --
.../src/utils/cobs.cpp | 60 ---
.../osape-smoothieroll-head/src/utils/cobs.h | 24 -
.../src/utils/syserror.cpp | 38 --
.../src/utils/syserror.h | 11 -
firmware/osape-smoothieroll-head/test/README | 11 -
42 files changed, 4437 deletions(-)
delete mode 100644 firmware/osape-smoothieroll-head/.gitignore
delete mode 100644 firmware/osape-smoothieroll-head/.travis.yml
delete mode 100644 firmware/osape-smoothieroll-head/.vscode/extensions.json
delete mode 100644 firmware/osape-smoothieroll-head/.vscode/settings.json
delete mode 100644 firmware/osape-smoothieroll-head/include/README
delete mode 100644 firmware/osape-smoothieroll-head/lib/README
delete mode 100644 firmware/osape-smoothieroll-head/platformio.ini
delete mode 100644 firmware/osape-smoothieroll-head/src/drivers/indicators.h
delete mode 100644 firmware/osape-smoothieroll-head/src/drivers/peripheral_nums.h
delete mode 100644 firmware/osape-smoothieroll-head/src/drivers/ucbus_head.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/drivers/ucbus_head.h
delete mode 100644 firmware/osape-smoothieroll-head/src/main.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/osap/osap.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/osap/osap.h
delete mode 100644 firmware/osape-smoothieroll-head/src/osap/ts.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/osap/ts.h
delete mode 100644 firmware/osape-smoothieroll-head/src/osap/vport.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/osap/vport.h
delete mode 100644 firmware/osape-smoothieroll-head/src/osap/vport_usbserial.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/osap/vport_usbserial.h
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/SmoothieRoll.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/SmoothieRoll.h
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/libs/HeapRing.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/libs/HeapRing.h
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/libs/StepTicker.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/libs/StepTicker.h
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/modules/robot/ActuatorCoordinates.h
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Block.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Block.h
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Conveyor.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Conveyor.h
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Planner.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Planner.h
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/modules/robot/StepInterface.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/smoothie/modules/robot/StepInterface.h
delete mode 100644 firmware/osape-smoothieroll-head/src/utils/clocks_d51_module.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/utils/clocks_d51_module.h
delete mode 100644 firmware/osape-smoothieroll-head/src/utils/cobs.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/utils/cobs.h
delete mode 100644 firmware/osape-smoothieroll-head/src/utils/syserror.cpp
delete mode 100644 firmware/osape-smoothieroll-head/src/utils/syserror.h
delete mode 100644 firmware/osape-smoothieroll-head/test/README
diff --git a/firmware/osape-smoothieroll-head/.gitignore b/firmware/osape-smoothieroll-head/.gitignore
deleted file mode 100644
index 89cc49c..0000000
--- a/firmware/osape-smoothieroll-head/.gitignore
+++ /dev/null
@@ -1,5 +0,0 @@
-.pio
-.vscode/.browse.c_cpp.db*
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-.vscode/ipch
diff --git a/firmware/osape-smoothieroll-head/.travis.yml b/firmware/osape-smoothieroll-head/.travis.yml
deleted file mode 100644
index 7c486f1..0000000
--- a/firmware/osape-smoothieroll-head/.travis.yml
+++ /dev/null
@@ -1,67 +0,0 @@
-# Continuous Integration (CI) is the practice, in software
-# engineering, of merging all developer working copies with a shared mainline
-# several times a day < https://docs.platformio.org/page/ci/index.html >
-#
-# Documentation:
-#
-# * Travis CI Embedded Builds with PlatformIO
-# < https://docs.travis-ci.com/user/integration/platformio/ >
-#
-# * PlatformIO integration with Travis CI
-# < https://docs.platformio.org/page/ci/travis.html >
-#
-# * User Guide for `platformio ci` command
-# < https://docs.platformio.org/page/userguide/cmd_ci.html >
-#
-#
-# Please choose one of the following templates (proposed below) and uncomment
-# it (remove "# " before each line) or use own configuration according to the
-# Travis CI documentation (see above).
-#
-
-
-#
-# Template #1: General project. Test it using existing `platformio.ini`.
-#
-
-# language: python
-# python:
-# - "2.7"
-#
-# sudo: false
-# cache:
-# directories:
-# - "~/.platformio"
-#
-# install:
-# - pip install -U platformio
-# - platformio update
-#
-# script:
-# - platformio run
-
-
-#
-# Template #2: The project is intended to be used as a library with examples.
-#
-
-# language: python
-# python:
-# - "2.7"
-#
-# sudo: false
-# cache:
-# directories:
-# - "~/.platformio"
-#
-# env:
-# - PLATFORMIO_CI_SRC=path/to/test/file.c
-# - PLATFORMIO_CI_SRC=examples/file.ino
-# - PLATFORMIO_CI_SRC=path/to/test/directory
-#
-# install:
-# - pip install -U platformio
-# - platformio update
-#
-# script:
-# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N
diff --git a/firmware/osape-smoothieroll-head/.vscode/extensions.json b/firmware/osape-smoothieroll-head/.vscode/extensions.json
deleted file mode 100644
index e80666b..0000000
--- a/firmware/osape-smoothieroll-head/.vscode/extensions.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- // See http://go.microsoft.com/fwlink/?LinkId=827846
- // for the documentation about the extensions.json format
- "recommendations": [
- "platformio.platformio-ide"
- ]
-}
diff --git a/firmware/osape-smoothieroll-head/.vscode/settings.json b/firmware/osape-smoothieroll-head/.vscode/settings.json
deleted file mode 100644
index adb1e49..0000000
--- a/firmware/osape-smoothieroll-head/.vscode/settings.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
- "files.associations": {
- "unordered_map": "cpp"
- }
-}
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/include/README b/firmware/osape-smoothieroll-head/include/README
deleted file mode 100644
index 194dcd4..0000000
--- a/firmware/osape-smoothieroll-head/include/README
+++ /dev/null
@@ -1,39 +0,0 @@
-
-This directory is intended for project header files.
-
-A header file is a file containing C declarations and macro definitions
-to be shared between several project source files. You request the use of a
-header file in your project source file (C, C++, etc) located in `src` folder
-by including it, with the C preprocessing directive `#include'.
-
-```src/main.c
-
-#include "header.h"
-
-int main (void)
-{
- ...
-}
-```
-
-Including a header file produces the same results as copying the header file
-into each source file that needs it. Such copying would be time-consuming
-and error-prone. With a header file, the related declarations appear
-in only one place. If they need to be changed, they can be changed in one
-place, and programs that include the header file will automatically use the
-new version when next recompiled. The header file eliminates the labor of
-finding and changing all the copies as well as the risk that a failure to
-find one copy will result in inconsistencies within a program.
-
-In C, the usual convention is to give header files names that end with `.h'.
-It is most portable to use only letters, digits, dashes, and underscores in
-header file names, and at most one dot.
-
-Read more about using header files in official GCC documentation:
-
-* Include Syntax
-* Include Operation
-* Once-Only Headers
-* Computed Includes
-
-https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/firmware/osape-smoothieroll-head/lib/README b/firmware/osape-smoothieroll-head/lib/README
deleted file mode 100644
index 6debab1..0000000
--- a/firmware/osape-smoothieroll-head/lib/README
+++ /dev/null
@@ -1,46 +0,0 @@
-
-This directory is intended for project specific (private) libraries.
-PlatformIO will compile them to static libraries and link into executable file.
-
-The source code of each library should be placed in a an own separate directory
-("lib/your_library_name/[here are source files]").
-
-For example, see a structure of the following two libraries `Foo` and `Bar`:
-
-|--lib
-| |
-| |--Bar
-| | |--docs
-| | |--examples
-| | |--src
-| | |- Bar.c
-| | |- Bar.h
-| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
-| |
-| |--Foo
-| | |- Foo.c
-| | |- Foo.h
-| |
-| |- README --> THIS FILE
-|
-|- platformio.ini
-|--src
- |- main.c
-
-and a contents of `src/main.c`:
-```
-#include <Foo.h>
-#include <Bar.h>
-
-int main (void)
-{
- ...
-}
-
-```
-
-PlatformIO Library Dependency Finder will find automatically dependent
-libraries scanning project source files.
-
-More information about PlatformIO Library Dependency Finder
-- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/firmware/osape-smoothieroll-head/platformio.ini b/firmware/osape-smoothieroll-head/platformio.ini
deleted file mode 100644
index 50208f0..0000000
--- a/firmware/osape-smoothieroll-head/platformio.ini
+++ /dev/null
@@ -1,14 +0,0 @@
-; PlatformIO Project Configuration File
-;
-; Build options: build flags, source filter
-; Upload options: custom upload port, speed and extra flags
-; Library options: dependencies, extra library storages
-; Advanced options: extra scripting
-;
-; Please visit documentation for the other options and examples
-; https://docs.platformio.org/page/projectconf.html
-
-[env:adafruit_feather_m4]
-platform = atmelsam
-board = adafruit_feather_m4
-framework = arduino
diff --git a/firmware/osape-smoothieroll-head/src/drivers/indicators.h b/firmware/osape-smoothieroll-head/src/drivers/indicators.h
deleted file mode 100644
index 5a2356a..0000000
--- a/firmware/osape-smoothieroll-head/src/drivers/indicators.h
+++ /dev/null
@@ -1,57 +0,0 @@
-// for the new one! with the DIP switch!
-#define CLKLIGHT_PIN 30
-#define CLKLIGHT_PORT PORT->Group[1]
-#define ERRLIGHT_PIN 27
-#define ERRLIGHT_PORT PORT->Group[0]
-#define DEBUG1PIN_PIN 13
-#define DEBUG1PIN_PORT PORT->Group[0]
-#define DEBUG2PIN_PIN 12
-#define DEBUG2PIN_PORT PORT->Group[0]
-#define DEBUG3PIN_PIN 15
-#define DEBUG3PIN_PORT PORT->Group[1]
-#define DEBUG4PIN_PIN 14
-#define DEBUG4PIN_PORT PORT->Group[1]
-
-#define CLKLIGHT_BM (uint32_t)(1 << CLKLIGHT_PIN)
-#define CLKLIGHT_ON
-//CLKLIGHT_PORT.OUTCLR.reg = CLKLIGHT_BM
-#define CLKLIGHT_OFF
-//CLKLIGHT_PORT.OUTSET.reg = CLKLIGHT_BM
-#define CLKLIGHT_TOGGLE
-//CLKLIGHT_PORT.OUTTGL.reg = CLKLIGHT_BM
-#define CLKLIGHT_SETUP
-//CLKLIGHT_PORT.DIRSET.reg = CLKLIGHT_BM; CLKLIGHT_OFF
-
-#define ERRLIGHT_BM (uint32_t)(1 << ERRLIGHT_PIN)
-#define ERRLIGHT_ON
-//ERRLIGHT_PORT.OUTCLR.reg = ERRLIGHT_BM
-#define ERRLIGHT_OFF
-//ERRLIGHT_PORT.OUTSET.reg = ERRLIGHT_BM
-#define ERRLIGHT_TOGGLE
-//ERRLIGHT_PORT.OUTTGL.reg = ERRLIGHT_BM
-#define ERRLIGHT_SETUP
-//ERRLIGHT_PORT.DIRSET.reg = ERRLIGHT_BM; ERRLIGHT_OFF
-
-#define DEBUG1PIN_BM (uint32_t)(1 << DEBUG1PIN_PIN)
-#define DEBUG1PIN_ON DEBUG1PIN_PORT.OUTSET.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_OFF DEBUG1PIN_PORT.OUTCLR.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_TOGGLE DEBUG1PIN_PORT.OUTTGL.reg = DEBUG1PIN_BM
-#define DEBUG1PIN_SETUP DEBUG1PIN_PORT.DIRSET.reg = DEBUG1PIN_BM; DEBUG1PIN_OFF
-
-#define DEBUG2PIN_BM (uint32_t)(1 << DEBUG2PIN_PIN)
-#define DEBUG2PIN_ON DEBUG2PIN_PORT.OUTSET.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_OFF DEBUG2PIN_PORT.OUTCLR.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_TOGGLE DEBUG2PIN_PORT.OUTTGL.reg = DEBUG2PIN_BM
-#define DEBUG2PIN_SETUP DEBUG2PIN_PORT.DIRSET.reg = DEBUG2PIN_BM; DEBUG2PIN_OFF
-
-#define DEBUG3PIN_BM (uint32_t)(1 << DEBUG3PIN_PIN)
-#define DEBUG3PIN_ON DEBUG3PIN_PORT.OUTSET.reg = DEBUG3PIN_BM
-#define DEBUG3PIN_OFF DEBUG3PIN_PORT.OUTCLR.reg = DEBUG3PIN_BM
-#define DEBUG3PIN_TOGGLE DEBUG3PIN_PORT.OUTTGL.reg = DEBUG3PIN_BM
-#define DEBUG3PIN_SETUP DEBUG3PIN_PORT.DIRSET.reg = DEBUG3PIN_BM; DEBUG3PIN_OFF
-
-#define DEBUG4PIN_BM (uint32_t)(1 << DEBUG4PIN_PIN)
-#define DEBUG4PIN_ON DEBUG4PIN_PORT.OUTSET.reg = DEBUG4PIN_BM
-#define DEBUG4PIN_OFF DEBUG4PIN_PORT.OUTCLR.reg = DEBUG4PIN_BM
-#define DEBUG4PIN_TOGGLE DEBUG4PIN_PORT.OUTTGL.reg = DEBUG4PIN_BM
-#define DEBUG4PIN_SETUP DEBUG4PIN_PORT.DIRSET.reg = DEBUG4PIN_BM; DEBUG4PIN_OFF
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/drivers/peripheral_nums.h b/firmware/osape-smoothieroll-head/src/drivers/peripheral_nums.h
deleted file mode 100644
index eed9f18..0000000
--- a/firmware/osape-smoothieroll-head/src/drivers/peripheral_nums.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#ifndef PERIPHERAL_NUMS_H_
-#define PERIPHERAL_NUMS_H_
-
-#define PERIPHERAL_A 0
-#define PERIPHERAL_B 1
-#define PERIPHERAL_C 2
-#define PERIPHERAL_D 3
-#define PERIPHERAL_E 4
-#define PERIPHERAL_F 5
-#define PERIPHERAL_G 6
-#define PERIPHERAL_H 7
-#define PERIPHERAL_I 8
-#define PERIPHERAL_K 9
-#define PERIPHERAL_L 10
-#define PERIPHERAL_M 11
-#define PERIPHERAL_N 12
-
-#endif
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/drivers/ucbus_head.cpp b/firmware/osape-smoothieroll-head/src/drivers/ucbus_head.cpp
deleted file mode 100644
index 8b6126d..0000000
--- a/firmware/osape-smoothieroll-head/src/drivers/ucbus_head.cpp
+++ /dev/null
@@ -1,261 +0,0 @@
-/*
-osap/drivers/ucbus_head.cpp
-
-beginnings of a uart-based clock / bus combo protocol
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo
-projects. Copyright is retained and must be preserved. The work is provided as
-is; no warranty is provided, and users accept all liability.
-*/
-
-#include "ucbus_head.h"
-
-UCBus_Head* UCBus_Head::instance = 0;
-
-UCBus_Head* UCBus_Head::getInstance(void){
- if(instance == 0){
- instance = new UCBus_Head();
- }
- return instance;
-}
-
-// making this instance globally available, when built,
-// recall extern declaration in .h
-UCBus_Head* ucBusHead = UCBus_Head::getInstance();
-
-UCBus_Head::UCBus_Head(void) {}
-
-// uart init
-void UCBus_Head::startupUART(void){
- // driver output is always on at head, set HI to enable
- UBH_DE_PORT.DIRSET.reg = UBH_DE_BM;
- UBH_DE_PORT.OUTSET.reg = UBH_DE_BM;
- // receive output is always on at head, set LO to enable
- UBH_RE_PORT.DIRSET.reg = UBH_RE_BM;
- UBH_RE_PORT.OUTCLR.reg = UBH_RE_BM;
- // termination resistor for receipt on bus head is on, set LO to enable
- UBH_TE_PORT.DIRSET.reg = UBH_TE_BM;
- UBH_TE_PORT.OUTCLR.reg = UBH_TE_BM;
- // rx pin setup
- UBH_COMPORT.DIRCLR.reg = UBH_RXBM;
- UBH_COMPORT.PINCFG[UBH_RXPIN].bit.PMUXEN = 1;
- if(UBH_RXPIN % 2){
- UBH_COMPORT.PMUX[UBH_RXPIN >> 1].reg |= PORT_PMUX_PMUXO(UBH_RXPERIPHERAL);
- } else {
- UBH_COMPORT.PMUX[UBH_RXPIN >> 1].reg |= PORT_PMUX_PMUXE(UBH_RXPERIPHERAL);
- }
- // tx
- UBH_COMPORT.DIRCLR.reg = UBH_TXBM;
- UBH_COMPORT.PINCFG[UBH_TXPIN].bit.PMUXEN = 1;
- if(UBH_TXPIN % 2){
- UBH_COMPORT.PMUX[UBH_TXPIN >> 1].reg |= PORT_PMUX_PMUXO(UBH_TXPERIPHERAL);
- } else {
- UBH_COMPORT.PMUX[UBH_TXPIN >> 1].reg |= PORT_PMUX_PMUXE(UBH_TXPERIPHERAL);
- }
- // ok, clocks, first line au manuel
- // unmask clocks
- MCLK->APBAMASK.bit.SERCOM1_ = 1;
- GCLK->GENCTRL[UBH_GCLKNUM_PICK].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
- while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(UBH_GCLKNUM_PICK));
- GCLK->PCHCTRL[UBH_SERCOM_CLK].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(UBH_GCLKNUM_PICK);
- // then, sercom
- while(UBH_SER_USART.SYNCBUSY.bit.ENABLE);
- UBH_SER_USART.CTRLA.bit.ENABLE = 0;
- while(UBH_SER_USART.SYNCBUSY.bit.SWRST);
- UBH_SER_USART.CTRLA.bit.SWRST = 1;
- while(UBH_SER_USART.SYNCBUSY.bit.SWRST);
- while(UBH_SER_USART.SYNCBUSY.bit.SWRST || UBH_SER_USART.SYNCBUSY.bit.ENABLE);
- // ok, well
- UBH_SER_USART.CTRLA.reg = SERCOM_USART_CTRLA_MODE(1) | SERCOM_USART_CTRLA_DORD; // data order and
- UBH_SER_USART.CTRLA.reg |= SERCOM_USART_CTRLA_RXPO(UBH_RXPO) | SERCOM_USART_CTRLA_TXPO(0); // rx and tx pinout options
- UBH_SER_USART.CTRLA.reg |= SERCOM_USART_CTRLA_FORM(1); // turn on parity: parity is even by default (set in CTRLB), leave that
- while(UBH_SER_USART.SYNCBUSY.bit.CTRLB);
- UBH_SER_USART.CTRLB.reg = SERCOM_USART_CTRLB_RXEN | SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_CHSIZE(0);
- // enable interrupts
- NVIC_EnableIRQ(SERCOM1_2_IRQn);
- NVIC_EnableIRQ(SERCOM1_0_IRQn);
- // set baud
- UBH_SER_USART.BAUD.reg = UBH_BAUD_VAL;
- // and finally, a kickoff
- while(UBH_SER_USART.SYNCBUSY.bit.ENABLE);
- UBH_SER_USART.CTRLA.bit.ENABLE = 1;
- // enable the rx interrupt,
- UBH_SER_USART.INTENSET.bit.RXC = 1;
-}
-
-void UCBus_Head::init(void) {
- // clear buffers to begin,
- for(uint8_t d = 0; d < UBH_DROP_OPS; d ++){
- inBufferLen[d] = 0;
- inBufferRp[d] = 0;
- }
- startupUART();
-}
-
-void UCBus_Head::timerISR(void){
- // debug zero
- if(outReceiveCall == 0){
- //DEBUG1PIN_TOGGLE;
- }
- // so, would formulate the out bytes,
- // in either case we formulate the outByte and outHeader, then bit shift identically into
- // the word ...
- if(outBufferALen > 0){ // always transmit channel A before B
- // have bytes, write word to encapsulate outBuffer[outBufferRp]; the do outBufferRp ++ and check wrap
- // mask: 6 bit,
- if(outBufferARp >= outBufferALen){
- // this is the EOP frame,
- outByte = 0;
- outHeader = headerMask & (noTokenWordA | (outReceiveCall & dropIdMask));
- // now it's clear,
- outBufferARp = 0;
- outBufferALen = 0;
- } else {
- // this is a regular frame
- outByte = outBufferA[outBufferARp];
- outHeader = headerMask & (tokenWordA | (outReceiveCall & dropIdMask));
- outBufferARp ++; // increment for next byte,
- }
- } else if (outBufferBLen > 0){
- if(outBufferBRp >= outBufferBLen){
- // CHB EOP frame
- outByte = 0;
- outHeader = headerMask & (noTokenWordB | (outReceiveCall & dropIdMask));
- // now is clear,
- outBufferBRp = 0;
- outBufferBLen = 0;
- } else {
- // ahn regular CHB frame
- outByte = outBufferB[outBufferBRp];
- outHeader = headerMask & (tokenWordB | (outReceiveCall & dropIdMask));
- outBufferBRp ++;
- }
- } else {
- // no token, no EOP on either channel
- // alternate channels, in case spurious packets not closed on one ... ensure close
- outByte = 0;
- if(lastSpareEOP == 0){
- outHeader = headerMask & (noTokenWordA | (outReceiveCall & dropIdMask));
- lastSpareEOP = 1;
- } else {
- outHeader = headerMask & (noTokenWordB | (outReceiveCall & dropIdMask));
- lastSpareEOP = 0;
- }
- }
- outWord[0] = 0b00000000 | ((outHeader << 1) & 0b01110000) | (outByte >> 4);
- outWord[1] = 0b10000000 | ((outHeader << 4) & 0b01110000) | (outByte & 0b00001111);
- // put the UART to work before more clocks on buffer incrementing
- UBH_SER_USART.DATA.reg = outWord[0];
- // and setup the interrupt to handle the second,
- UBH_SER_USART.INTENSET.bit.DRE = 1;
- // and loop through returns,
- outReceiveCall ++;
- if(outReceiveCall >= UBH_DROP_OPS){
- outReceiveCall = 0;
- }
-}
-
-// TX Handler, for second bytes initiated by timer,
-void SERCOM1_0_Handler(void){
- ucBusHead->txISR();
-}
-
-void UCBus_Head::txISR(void){
- UBH_SER_USART.DATA.reg = outWord[1]; // just services the next byte in the word: timer initiates
- UBH_SER_USART.INTENCLR.reg = SERCOM_USART_INTENCLR_DRE; // turn this interrupt off
-}
-
-void SERCOM1_2_Handler(void){
- ucBusHead->rxISR();
-}
-
-void UCBus_Head::rxISR(void){
- // check parity bit,
- uint16_t perr = UBH_SER_USART.STATUS.bit.PERR;
- if(perr){
- //ERRLIGHT_ON;
- uint8_t clear = UBH_SER_USART.DATA.reg;
- UBH_SER_USART.STATUS.bit.PERR = 1; // clear parity flag
- return;
- }
- // cleared by reading out, but we are blind feed forward atm
- uint8_t data = UBH_SER_USART.DATA.reg;
- if((data >> 7) == 0){
- inWord[0] = data;
- } else {
- inWord[1] = data;
- // now decouple,
- inHeader = ((inWord[0] >> 1) & 0b00111000) | ((inWord[1] >> 4) & 0b00000111);
- inByte = ((inWord[0] << 4) & 0b11110000) | (inWord[1] & 0b00001111);
- // the drop reporting
- uint8_t drop = inHeader & dropIdMask;
- if(drop > UBH_DROP_OPS) return; // unknown drop ?
- // otherwise, load it
- inBuffer[drop][inBufferRp[drop]] = inByte;
- if(inByte == 0){ // eop cobs encoded
- inBufferLen[drop] = inBufferRp[drop];
- } else {
- inBufferRp[drop] += 1;
- }
- }
-}
-
-// -------------------------------------------------------- API
-
-boolean UCBus_Head::ctr(uint8_t drop){
- if(drop >= UBH_DROP_OPS) return false;
- if(inBufferLen[drop] > 0){
- return true;
- } else {
- return false;
- }
-}
-
-size_t UCBus_Head::read(uint8_t drop, uint8_t *dest){
- if(!ctr(drop)) return 0;
- NVIC_DisableIRQ(SERCOM1_2_IRQn);
- size_t decodeLen = cobsDecode(inBuffer[drop], inBufferLen[drop], dest);
- inBufferLen[drop] = 0;
- inBufferRp[drop] = 0;
- NVIC_EnableIRQ(SERCOM1_2_IRQn);
- return decodeLen;
-}
-
-// mod cts(channel) and transmit(data, len, channel)
-// then do an example for channel-b-write currents, then do drop code, then test
-
-boolean UCBus_Head::cts_a(void){
- if(outBufferALen != 0){
- return false;
- } else {
- return true;
- }
-}
-
-boolean UCBus_Head::cts_b(void){
- if(outBufferBLen != 0){
- return false;
- } else {
- return true;
- }
-}
-
-void UCBus_Head::transmit_a(uint8_t *data, uint16_t len){
- if(!cts_a()) return;
- //size_t encLen = cobsEncode(data, len, outBuffer);
- memcpy(outBufferA, data, len);
- outBufferALen = len; //encLen;
- outBufferARp = 0;
-}
-
-void UCBus_Head::transmit_b(uint8_t *data, uint16_t len){\
- if(!cts_b()) return;
- memcpy(outBufferB, data, len);
- outBufferBLen = len;
- outBufferBRp = 0;
-}
-
diff --git a/firmware/osape-smoothieroll-head/src/drivers/ucbus_head.h b/firmware/osape-smoothieroll-head/src/drivers/ucbus_head.h
deleted file mode 100644
index e171d1c..0000000
--- a/firmware/osape-smoothieroll-head/src/drivers/ucbus_head.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
-osap/drivers/ucbus_head.h
-
-beginnings of a uart-based clock / bus combo protocol
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo
-projects. Copyright is retained and must be preserved. The work is provided as
-is; no warranty is provided, and users accept all liability.
-*/
-
-#ifndef UCBUS_HEAD_H_
-#define UCBUS_HEAD_H_
-
-#include <arduino.h>
-
-#include "indicators.h"
-#include "peripheral_nums.h"
-#include "utils/syserror.h"
-#include "utils/clocks_d51_module.h"
-#include "utils/cobs.h"
-
-#define TIMER_A_GCLK_NUM 9
-#define TIMER_B_GCLK_NUM 10
-
-#define UBH_SER_USART SERCOM1->USART
-#define UBH_SERCOM_CLK SERCOM1_GCLK_ID_CORE
-#define UBH_GCLKNUM_PICK 7
-#define UBH_COMPORT PORT->Group[0]
-#define UBH_TXPIN 16 // x-0
-#define UBH_TXBM (uint32_t)(1 << UBH_TXPIN)
-#define UBH_RXPIN 18 // x-2
-#define UBH_RXBM (uint32_t)(1 << UBH_RXPIN)
-#define UBH_RXPO 2 // RX on SER-2
-#define UBH_TXPERIPHERAL PERIPHERAL_C
-#define UBH_RXPERIPHERAL PERIPHERAL_C
-
-// baud bb baud
-// 63019 for a very safe 115200
-// 54351 for a go-karting 512000
-// 43690 for a trotting pace of 1MHz
-// 21845 for the E30 2MHz
-// 0 for max-speed 3MHz
-#define UBH_BAUD_VAL 0
-
-#define UBH_DE_PIN 16 // driver output enable: set HI to enable, LO to tri-state the driver
-#define UBH_DE_BM (uint32_t)(1 << UBH_DE_PIN)
-#define UBH_DE_PORT PORT->Group[1]
-#define UBH_RE_PIN 19 // receiver output enable, set LO to enable the RO, set HI to tri-state RO
-#define UBH_RE_BM (uint32_t)(1 << UBH_RE_PIN)
-#define UBH_RE_PORT PORT->Group[0]
-#define UBH_TE_PIN 17 // termination enable, drive LO to enable to internal termination resistor, HI to disable
-#define UBH_TE_BM (uint32_t)(1 << UBH_TE_PIN)
-#define UBH_TE_PORT PORT->Group[0]
-
-#define UBH_BUFSIZE 1024
-
-#define UBH_DROP_OPS 14
-
-#define UB_AK_GOTOPOS 91
-#define UB_AK_SETPOS 92
-#define UB_AK_SETRPM 93
-
-// PLEASE NOTE: this requires a 100kHz tick, use interrupt timer,
-// fire the timerISR there.
-
-class UCBus_Head {
- private:
- // singleton-ness
- static UCBus_Head* instance;
- // input is big for the head,
- volatile uint8_t inWord[2];
- volatile uint8_t inHeader;
- volatile uint8_t inByte;
- uint8_t inBuffer[UBH_DROP_OPS][UBH_BUFSIZE];
- volatile uint16_t inBufferRp[UBH_DROP_OPS];
- volatile uint16_t inBufferLen[UBH_DROP_OPS];
- // transmit buffers for A / B Channels
- uint8_t outBufferA[UBH_BUFSIZE];
- volatile uint16_t outBufferARp = 0;
- volatile uint16_t outBufferALen = 0;
- uint8_t outBufferB[UBH_BUFSIZE];
- volatile uint16_t outBufferBRp = 0;
- volatile uint16_t outBufferBLen = 0;
- // doublet
- volatile uint8_t outWord[2];
- volatile uint8_t outReceiveCall = 0;
- volatile uint8_t outHeader;
- volatile uint8_t outByte;
- const uint8_t headerMask = 0b00111111;
- const uint8_t dropIdMask = 0b00001111;
- // 0b00|token|channel|4bit id
- const uint8_t tokenWordA = 0b00100000; // CHA, data byte present
- const uint8_t noTokenWordA = 0b00000000; // CHA, data byte not present
- const uint8_t tokenWordB = 0b00110000; // CHB, data byte present
- const uint8_t noTokenWordB = 0b00010000; // CHB, data byte not present
- volatile uint8_t lastSpareEOP = 0;
- // uart
- void startupUART(void);
- public:
- UCBus_Head();
- static UCBus_Head* getInstance(void);
- // isrs
- void timerISR(void);
- void rxISR(void);
- void txISR(void);
- // handles
- void init(void);
- boolean ctr(uint8_t drop); // is there ahn packet to read at this drop
- size_t read(uint8_t drop, uint8_t *dest); // get 'them bytes fam
- boolean cts_a(void); // return true if TX complete / buffer ready
- boolean cts_b(void);
- void transmit_a(uint8_t *data, uint16_t len); // ship les bytos
- void transmit_b(uint8_t *data, uint16_t len);
-};
-
-extern UCBus_Head* ucBusHead;
-
-#endif
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/main.cpp b/firmware/osape-smoothieroll-head/src/main.cpp
deleted file mode 100644
index c7fe2c5..0000000
--- a/firmware/osape-smoothieroll-head/src/main.cpp
+++ /dev/null
@@ -1,404 +0,0 @@
-#include <Arduino.h>
-
-#include "drivers/indicators.h"
-#include "utils/cobs.h"
-#include "osap/osap.h"
-
-OSAP* osap = new OSAP("smoothieRoll head");
-#include "osap/vport_usbserial.h"
-VPort_USBSerial* vPortSerial = new VPort_USBSerial(); // 8 frames input, 1028 bytes each
-
-#include "utils/clocks_d51_module.h"
-#include "drivers/ucbus_head.h"
-
-// should eventually just be this,
-#include "smoothie/SmoothieRoll.h"
-
-union chunk_float32 {
- uint8_t bytes[4];
- float f;
-};
-
-union chunk_uint32 {
- uint8_t bytes[4];
- uint32_t u;
-};
-
-// adhoc reply
-uint8_t reply[1024];
-uint16_t rl = 0;
-
-uint8_t replyBlankPck[1024];
-uint16_t replyBlankPl = 0;
-uint16_t replyBlankPtr = 0;
-uint16_t replyBlankSegsize = 0;
-VPort* replyBlankVp;
-uint16_t replyBlankVpi = 0;
-uint16_t lastQueueSpaceTxd = 0;
-
-boolean needNewEmptySpaceReply = false;
-
-boolean smoothie_is_queue_empty(void){
- return conveyor->queue.is_empty();
-}
-
-boolean smoothie_is_moving(void){
- return (smoothieRoll->actuators[0]->is_moving()
- || smoothieRoll->actuators[1]->is_moving()
- || smoothieRoll->actuators[2]->is_moving()
- || !smoothie_is_queue_empty());
-}
-
-// pck[ptr] == DK_APP
-void OSAP::handleAppPacket(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp){
- // track end of header, to reply with
- uint16_t replyPtr = ptr;
- // (a hack) store one app packet, to format our replies with. do once
- if(replyBlankPtr == 0){
- for(uint16_t i = 0; i < pl; i++){
- replyBlankPck[i] = pck[i];
- }
- replyBlankPl = pl;
- replyBlankPtr = ptr;
- replyBlankSegsize = segsize;
- replyBlankVp = vp;
- replyBlankVpi = vpi;
- }
- // clear out our reply,
- rl = 0;
- reply[rl ++] = DK_APP;
- // do the reading:
- ptr ++; // walk appcode DK_APP
- switch(pck[ptr]){
- case AK_GOTOPOS: {
- ptr ++; // walk mocode
- reply[rl ++] = AK_GOTOPOS;
- // get positions
- chunk_float32 targetChunks[3];
- targetChunks[0] = { .bytes = { pck[ptr ++], pck[ptr ++], pck[ptr ++], pck[ptr ++] } };
- targetChunks[1] = { .bytes = { pck[ptr ++], pck[ptr ++], pck[ptr ++], pck[ptr ++] } };
- targetChunks[2] = { .bytes = { pck[ptr ++], pck[ptr ++], pck[ptr ++], pck[ptr ++] } };
- // get feed
- chunk_float32 feedrateChunk = { .bytes = { pck[ptr ++], pck[ptr ++], pck[ptr ++], pck[ptr ++] } };
- if(feedrateChunk.f < 0.01){
- sysError("ZERO FR");
- }
- // can load move?
- if(!(conveyor->is_queue_full())){
- // do load
- // need to get last position from each, to do increment calc for planner
- // that can all go in the planner,
- float target[3] = {targetChunks[0].f, targetChunks[1].f, targetChunks[2].f};
- //sysError("targets, rate: " + String(target[0], 6) + ", " + String(target[1], 6) + ", " + String(target[2], 6) + ", " + String(feedrateChunk.f, 6));
- planner->append_move(target, 3, feedrateChunk.f);
- } else {
- // if we flowcontrol properly, this shouldn't appear
- sysError("WRITE FULL");
- }
- // reply if not full after push,
- if(conveyor->is_queue_full()){
- // full,
- needNewEmptySpaceReply = true;
- } else {
- ts_writeBoolean(true, reply, &rl);
- if(vp->cts()){
- appReply(pck, pl, replyPtr, segsize, vp, vpi, reply, rl);
- } else {
- sysError("on reply, not cts, system fails");
- }
- }
- }
- break;
- case AK_SETPOS:
- // only when queue empty and not moving, set current position
- reply[rl ++] = AK_SETPOS;
- // these are cancelled for now ... or ? are they ?
- if(false){
- reply[rl ++] = AK_ERR;
- ts_writeString("setPos remote is cancelled, use deltas from query'd position", reply, &rl);
- } else if(smoothie_is_moving()){
- reply[rl ++] = AK_ERR;
- ts_writeString("motion is happening, cannot set position on the fly", reply, &rl);
- } else {
- // will require that you operate a new bus command.
- if(ucBusHead->cts_b() && !smoothie_is_moving()){
- ptr ++;
- // same as currents, we can forward these posns',
- //ucBusHead->transmit_b(&(pck[ptr]), 13);
- // but also need to set our own position to this...
- chunk_float32 setChunks[3];
- setChunks[0] = { .bytes = { pck[ptr ++], pck[ptr ++], pck[ptr ++], pck[ptr ++] } };
- setChunks[1] = { .bytes = { pck[ptr ++], pck[ptr ++], pck[ptr ++], pck[ptr ++] } };
- setChunks[2] = { .bytes = { pck[ptr ++], pck[ptr ++], pck[ptr ++], pck[ptr ++] } };
- // meaning...
- // I'm not 100% on this code, will ofc test when homing is tested
- float set[3] = {setChunks[0].f, setChunks[1].f, setChunks[2].f};
- planner->set_position(set, 3);
- sysError("SET: " + String(setChunks[0].f, 3) + " " + String(setChunks[1].f, 3) + " " + String(setChunks[2].f, 3));
- // and reply OK
- reply[rl ++] = AK_OK;
- }
- }
- if(vp->cts()){
- appReply(pck, pl, replyPtr, segsize, vp, vpi, reply, rl);
- } else {
- sysError("on reply, not cts: set pos");
- }
- break;
- case AK_SETWAITTIME:{
- reply[rl ++] = AK_SETWAITTIME;
- ptr ++;
- chunk_uint32 setChunk = { .bytes = { pck[ptr ++], pck[ptr ++], pck[ptr ++], pck[ptr ++] } };
- conveyor->setWaitTime(setChunk.u);
- if(vp->cts()){
- appReply(pck, pl, replyPtr, segsize, vp, vpi, reply, rl);
- } else {
- sysError("on reply, not cts: set pos");
- }
- break;
- }
- case AK_SETCURRENT:
- // should be able to put a new current-write out on the B channel,
- // so long as it's clear
- reply[rl ++] = AK_SETCURRENT;
- if(ucBusHead->cts_b()){
- // this is basically a forward, or should be,
- // pck[ptr] == AK_SETCURRENT, + 3*4 wide floats
- // we can actually do this direct from pck -> bus outbuffer
- ucBusHead->transmit_b(&(pck[ptr]), 13);
- reply[rl ++] = AK_OK;
- } else {
- reply[rl ++] = AK_ERR;
- ts_writeString("ucbus b-channel not clear, cannot write currents", reply, &rl);
- }
- if(vp->cts()){
- appReply(pck, pl, replyPtr, segsize, vp, vpi, reply, rl);
- } else {
- sysError("on reply, not cts: set current");
- }
- break;
- case AK_SETRPM:
- // spindle rpm change
- reply[rl ++] = AK_SETRPM;
- if(ucBusHead->cts_b()){ // this is aaaaahn float, or uint32, either way:
- ucBusHead->transmit_b(&(pck[ptr]), 5);
- reply[rl ++] = AK_OK;
- } else {
- reply[rl ++] = AK_ERR;
- ts_writeString("ucbus b-channel not clear, cannot write rpm", reply, &rl);
- }
- if(vp->cts()){
- appReply(pck, pl, replyPtr, segsize, vp, vpi, reply, rl);
- } else {
- sysError("on reply, not cts: set current");
- }
- break;
- case AK_QUERYMOVING:
- // is currently ticking?
- reply[rl ++] = AK_QUERYMOVING;
- if(smoothieRoll->actuators[0]->is_moving() || smoothieRoll->actuators[1]->is_moving() || smoothieRoll->actuators[2]->is_moving()){
- ts_writeBoolean(true, reply, &rl);
- } else {
- ts_writeBoolean(false, reply, &rl);
- }
- if(vp->cts()){
- appReply(pck, pl, replyPtr, segsize, vp, vpi, reply, rl);
- } else {
- sysError("on reply, not cts: query moving");
- }
- break;
- case AK_QUERYPOS:
- reply[rl ++] = AK_QUERYPOS;
- ts_writeFloat32(smoothieRoll->actuators[0]->floating_position, reply, &rl);
- ts_writeFloat32(smoothieRoll->actuators[1]->floating_position, reply, &rl);
- ts_writeFloat32(smoothieRoll->actuators[2]->floating_position, reply, &rl);
- if(vp->cts()){
- appReply(pck, pl, replyPtr, segsize, vp, vpi, reply, rl);
- } else {
- sysError("on reply, not cts, system fails");
- }
- case AK_QUERYQUEUELEN: {
- reply[rl ++] = AK_QUERYQUEUELEN;
- // length of queue is 64 - available space
- uint16_t ql = 64 - conveyor->queue_space();
- ts_writeUint16(ql, reply, &rl);
- if(vp->cts()){
- appReply(pck, pl, replyPtr, segsize, vp, vpi, reply, rl);
- } else {
- sysError("on rpely, not cts: queue len query");
- }
- }
- break;
- default:
- sysError("nonreq. appkey " + String(pck[ptr]));
- break;
- #warning TODO: could do all if(cts) handles here, once, with if(rl > 1) ...
- }
- // always do,
- vp->clearPacket(pwp);
- /*
- uint16_t qs = conveyor->queue_space();
- lastQueueSpaceTxd = qs;
- ts_writeUint16(qs, reply, &rl);
- // ship the reply
- */
-}
-
-void setup() {
- ERRLIGHT_SETUP;
- CLKLIGHT_SETUP;
- DEBUG1PIN_SETUP;
- DEBUG2PIN_SETUP;
- DEBUG3PIN_SETUP;
- DEBUG4PIN_SETUP;
- // osap
- osap->description = "smoothie port and stepper driver";
- osap->addVPort(vPortSerial);
- // bus
- ucBusHead->init();
- // smoothie
- smoothieRoll->init();
- // 100kHz base
- d51_clock_boss->start_100kHz_ticker_tc0();
-}
-
-volatile uint8_t tick_count = 0;
-
-// TODO: this should be volatile, no?
-uint8_t motion_packet[64]; // three floats bb, space
-
-void TC0_Handler(void){
- //DEBUG1PIN_ON;
- TC0->COUNT32.INTFLAG.bit.MC0 = 1;
- TC0->COUNT32.INTFLAG.bit.MC1 = 1;
- tick_count ++;
- // do bus action first: want downstream clocks to be deterministic-ish
- ucBusHead->timerISR();
- // do step tick
- smoothieRoll->step_tick();
- // every n ticks, ship position?
- if(tick_count > 20){
- tick_count = 0;
- uint16_t mpptr = 0; // motion packet pointer
- if(planner->do_set_position){
- motion_packet[mpptr ++] = UB_AK_SETPOS;
- planner->do_set_position = false;
- } else {
- motion_packet[mpptr ++] = UB_AK_GOTOPOS;
- }
- ts_writeFloat32(smoothieRoll->actuators[0]->floating_position, motion_packet, &mpptr);
- ts_writeFloat32(smoothieRoll->actuators[1]->floating_position, motion_packet, &mpptr);
- ts_writeFloat32(smoothieRoll->actuators[2]->floating_position, motion_packet, &mpptr);
- // write packet, put on ucbus
- //DEBUG3PIN_ON;
- ucBusHead->transmit_a(motion_packet, 13);
- //DEBUG3PIN_OFF;
- }
- //DEBUG1PIN_OFF;
-}
-
-uint8_t testTxBytes[4] = {0, 2, 4, 8};
-uint8_t testTxLen = 4;
-
-uint8_t dropRead = 0;
-uint8_t testRxBytes[1024];
-uint16_t testRxLen = 0;
-
-uint64_t lastTransmit = 0;
-uint64_t lastRead = 0;
-
-uint16_t queueCheck = 0;
-
-uint32_t time = 0;
-uint32_t lastTime = 0;
-boolean once = true;
-
-#define SQUARE_SIDELEN 5.0F
-#define OFFSET 0.0F
-
-// dummy moves
-uint8_t squareMove = 3;
-float square[4][3] = {
- {0.0F + OFFSET, 0.0F + OFFSET, 0.0F + OFFSET},
- {0.0F + OFFSET, SQUARE_SIDELEN + OFFSET, 0.0F + OFFSET},
- {SQUARE_SIDELEN + OFFSET, SQUARE_SIDELEN + OFFSET, 0.0F + OFFSET},
- {SQUARE_SIDELEN + OFFSET, 0.0F + OFFSET, 0.0F + OFFSET}
-};
-
-float spot = 1;
-float dummyTarget = 1;
-
-void loop() {
- //DEBUG2PIN_TOGGLE;
- osap->loop();
- conveyor->on_idle(nullptr);
- // return new info?
- // stepper-at-head spaces return
- if(needNewEmptySpaceReply && !(conveyor->is_queue_full())){
- rl = 0;
- reply[rl ++] = DK_APP;
- reply[rl ++] = AK_GOTOPOS;
- ts_writeBoolean(true, reply, &rl);
- osap->appReply(replyBlankPck, replyBlankPl, replyBlankPtr, replyBlankSegsize, replyBlankVp, replyBlankVpi, reply, rl);
- needNewEmptySpaceReply = false;
- }
- /*
- queueCheck = conveyor->queue_space();
- if(queueCheck > lastQueueSpaceTxd){
- if(replyBlankPl > 0 && replyBlankVp->cts()){
- rl = 0;
- reply[rl ++] = DK_APP;
- lastQueueSpaceTxd = queueCheck;
- ts_writeUint16(lastQueueSpaceTxd, reply, &rl);
- osap->appReply(replyBlankPck, replyBlankPl, replyBlankPtr, replyBlankSegsize, replyBlankVp, replyBlankVpi, reply, rl);
- }
- }
- */
-
- // for periodic debug,
- time = millis();
- if(time > lastTime + 10){
- lastTime = time;
- //DEBUG3PIN_TOGGLE;
- //DEBUG4PIN_TOGGLE;
- if(!(conveyor->is_queue_full()) && false){
- //sysError("position: " + String(smoothieRoll->actuators[0]->floating_position)
- // + " " + String(smoothieRoll->actuators[1]->floating_position));
- squareMove ++;
- if(squareMove > 3){
- squareMove = 0;
- }
- //sysError("append: " + String(squareMove) + " " + String(square[squareMove][0]) + " " + String(square[squareMove][1]) + " " + String(square[squareMove][2]));
- planner->append_move(square[squareMove], 3, 10);
- // set flag for 'process immediate'
- // or run another line to remote-set the queue_delay_time_ms
- // conveyor::line 223
- /*
- // thru append_move
- float dummyPos[3];
- for(uint8_t m = 0; m < 3; m ++){
- dummyPos[m] = dummyTarget;
- }
- dummyTarget += spot;
- spot += 1;
- if(spot > 5){
- spot = 1;
- }
- planner->append_move(dummyPos, 3, 1);
- */
- /*
- // thru append_block
- ActuatorCoordinates feedPos;
- float sos = powf(spot, 2) * 3;
- float dist = sqrtf(sos);
- float unit[3] = {1 / dist, 1 / dist, 1 / dist};
- float s_value = 10;
- // step,
- for(uint8_t i = 0; i < k_max_actuators; i ++){
- feedPos[i] = spot;
- }
- planner->append_block(feedPos, 3, 100, dist, unit, 10, s_value, true);
- */
- }
- }
-} // end loop
diff --git a/firmware/osape-smoothieroll-head/src/osap/osap.cpp b/firmware/osape-smoothieroll-head/src/osap/osap.cpp
deleted file mode 100644
index 4b4499c..0000000
--- a/firmware/osape-smoothieroll-head/src/osap/osap.cpp
+++ /dev/null
@@ -1,487 +0,0 @@
-/*
-osap/osap.cpp
-
-virtual network node
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "osap.h"
-
-uint8_t ringFrame[1028];
-
-OSAP::OSAP(String nodeName){
- name = nodeName;
-}
-
-boolean OSAP::addVPort(VPort* vPort){
- if(_numVPorts > OSAP_MAX_VPORTS){
- return false;
- } else {
- vPort->init();
- _vPorts[_numVPorts ++] = vPort;
- return true;
- }
-}
-
-void OSAP::forward(uint8_t *pck, uint16_t pl, uint16_t ptr, VPort *vp, uint8_t vpi, uint8_t pwp){
- sysError("NO FWD CODE YET");
- vp->clearPacket(pwp);
-}
-
-void OSAP::write77(uint8_t *pck, VPort *vp){
- uint16_t one = 1;
- pck[0] = PK_PPACK; // the '77'
- uint16_t bufSpace = vp->getBufSpace();
- ts_writeUint16(bufSpace, pck, &one);
- vp->lastRXBufferSpaceTransmitted = bufSpace;
- vp->rxSinceTx = 0;
-}
-
-// packet to read from, response to write into, write pointer, maximum response length
-// assumes header won't be longer than received max seg length, if it arrived ...
-// ptr = DK_x, ptr - 5 = PK_DEST, ptr - 6 = PK_PTR
-boolean OSAP::formatResponseHeader(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, uint16_t checksum, VPort *vp, uint16_t vpi){
- // sanity check, this should be pingreq key
- // sysError("FRH pck[ptr]: " + String(pck[ptr]));
- // buf[(*ptr) ++] = val & 255
- // pck like:
- // [rptr] [rend] [ptr]
- // [77:3][dep0][e1][e2][e3][pk_ptr][pk_dest][acksegsize:2][checksum:2][dkey-req]
- // response (will be) like:
- // [wptr]
- // [ptr]
- // [77:3][dep0][pk_ptr][p3][p2][p1][pk_dest][acksegsize:2][checksum:2][dkey-res]
- // ptr here will always indicate end of the header,
- // leaves space until pck[3] for the 77-ack, which will write in later on,
- // to do this, we read forwarding steps from e1 (incrementing read-ptr)
- // and write in tail-to-head, (decrementing write ptr)
- uint16_t wptr = ptr - 5; // to beginning of dest, segsize, checksum block
- _res[wptr ++] = PK_DEST;
- ts_writeUint16(segsize, _res, &wptr);
- ts_writeUint16(checksum, _res, &wptr);
- wptr -= 5; // back to start of this block,
- // now find rptr beginning,
- uint16_t rptr = 3; // departure port was trailing 77,
- switch(pck[rptr]){ // walk to e1, ignoring original departure information
- case PK_PORTF_KEY:
- rptr += PK_PORTF_INC;
- break;
- case PK_BUSF_KEY:
- rptr += PK_BUSF_INC;
- break;
- case PK_BUSB_KEY:
- rptr += PK_BUSB_INC;
- break;
- default:
- sysError("nonreq departure key on reverse route, bailing");
- return false;
- }
- // end switch, now pck[rptr] is at port-type-key of next fwd instruction
- // walk rptr forwards, wptr backwards, copying in forwarding segments, max. 16 hops
- uint16_t rend = ptr - 6; // read-end per static pck-at-dest end block: 6 for checksum(2) acksegsize(2), dest and ptr
- for(uint8_t h = 0; h < 16; h ++){
- if(rptr >= rend){ // terminate when walking past end,
- break;
- }
- switch(pck[rptr]){
- case PK_PORTF_KEY:
- wptr -= PK_PORTF_INC;
- for(uint8_t i = 0; i < PK_PORTF_INC; i ++){
- _res[wptr + i] = pck[rptr ++];
- }
- break;
- case PK_BUSF_KEY:
- case PK_BUSB_KEY:
- wptr -= PK_BUSF_INC;
- for(uint8_t i = 0; i < PK_BUSF_INC; i ++){
- _res[wptr + i] = pck[rptr ++];
- }
- default:
- sysError("rptr: " + String(rptr) + " key here: " + String(pck[rptr]));
- sysError("couldn't reverse this path");
- return false;
- }
- }
- // following route-copy-in,
- // TODO mod this for busses,
- wptr -= 4;
- _res[wptr ++] = PK_PORTF_KEY; /// write in departure key type,
- ts_writeUint16(vpi, _res, &wptr); // write in departure port,
- _res[wptr ++] = PK_PTR; // ptr follows departure key,
- // to check, wptr should now be at 7: for 77(3), departure(3:portf), ptr(1)
- if(wptr != 7){ // wptr != 7
- sysError("bad response header write");
- return false;
- } else {
- return true;
- }
-}
-
-/*
-await osap.query(nextRoute, 'name', 'numVPorts')
-await osap.query(nextRoute, 'vport', np, 'name', 'portTypeKey', 'portStatus', 'maxSegLength')
-*/
-
-void OSAP::writeQueryDown(uint16_t *wptr){
- sysError("QUERYDOWN");
- _res[(*wptr) ++] = EP_ERRKEY;
- _res[(*wptr) ++] = EP_ERRKEY_QUERYDOWN;
-}
-
-void OSAP::writeEmpty(uint16_t *wptr){
- sysError("EMPTY");
- _res[(*wptr) ++] = EP_ERRKEY;
- _res[(*wptr) ++] = EP_ERRKEY_EMPTY;
-}
-
-// queries for ahn vport,
-void OSAP::readRequestVPort(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t rptr, uint16_t *wptr, uint16_t segsize, VPort* vp){
- // could be terminal, could read into endpoints (input / output) of the vport,
- for(uint8_t i = 0; i < 16; i ++){
- if(rptr >= pl){
- return;
- }
- if(*wptr > segsize){
- sysError("QUERYDOWN wptr: " + String(*wptr) + " segsize: " + String(segsize));
- *wptr = ptr;
- writeQueryDown(wptr);
- return;
- }
- switch(pck[rptr]){
- case EP_NUMINPUTS:
- _res[(*wptr) ++] = EP_NUMINPUTS;
- ts_writeUint16(0, _res, wptr); // TODO: vports can have inputs / outputs,
- rptr ++;
- break;
- case EP_NUMOUTPUTS:
- _res[(*wptr) ++] = EP_NUMOUTPUTS;
- ts_writeUint16(0, _res, wptr);
- rptr ++;
- break;
- case EP_INPUT:
- case EP_OUTPUT:
- writeEmpty(wptr); // ATM, these just empty - and then return, further args would be for dive
- return;
- case EP_NAME:
- _res[(*wptr) ++] = EP_NAME;
- ts_writeString(vp->name, _res, wptr);
- rptr ++;
- break;
- case EP_DESCRIPTION:
- _res[(*wptr) ++] = EP_DESCRIPTION;
- ts_writeString(vp->description, _res, wptr);
- rptr ++;
- break;
- case EP_PORTTYPEKEY:
- _res[(*wptr) ++] = EP_PORTTYPEKEY; // TODO for busses
- _res[(*wptr) ++] = vp->portTypeKey;
- rptr ++;
- break;
- case EP_MAXSEGLENGTH:
- _res[(*wptr) ++] = EP_MAXSEGLENGTH;
- ts_writeUint32(vp->maxSegLength, _res, wptr);
- rptr ++;
- break;
- case EP_PORTSTATUS:
- _res[(*wptr) ++] = EP_PORTSTATUS;
- ts_writeBoolean(vp->status, _res, wptr);
- rptr ++;
- break;
- case EP_PORTBUFSPACE:
- _res[(*wptr) ++] = EP_PORTBUFSPACE;
- ts_writeUint16(vp->getBufSpace(), _res, wptr);
- rptr ++;
- break;
- case EP_PORTBUFSIZE:
- _res[(*wptr) ++] = EP_PORTBUFSIZE;
- ts_writeUint16(vp->getBufSize(), _res, wptr);
- rptr ++;
- break;
- default:
- writeEmpty(wptr);
- return;
- }
- }
-}
-
-void OSAP::handleReadRequest(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp){
- if(vp->cts()){
- // resp. code,
- // readptr,
- uint16_t rptr = ptr + 1; // this will pass the RREQ and ID bytes, next is first query key
- uint16_t wptr = ptr;
- _res[wptr ++] = DK_RRES;
- _res[wptr ++] = pck[rptr ++];
- _res[wptr ++] = pck[rptr ++];
- // read items,
- // ok, walk those keys
- uint16_t indice = 0;
- for(uint8_t i = 0; i < 16; i ++){
- if(rptr >= pl){
- goto endwalk;
- }
- if(wptr > segsize){
- sysError("QUERYDOWN wptr: " + String(wptr) + " segsize: " + String(segsize));
- wptr = ptr;
- writeQueryDown(&wptr);
- goto endwalk;
- }
- switch(pck[rptr]){
- // first up, handle dives which downselect the tree
- case EP_VPORT:
- rptr ++;
- ts_readUint16(&indice, pck, &rptr);
- if(indice < _numVPorts){
- _res[wptr ++] = EP_VPORT;
- ts_writeUint16(indice, _res, &wptr);
- readRequestVPort(pck, pl, ptr, rptr, &wptr, segsize, _vPorts[indice]);
- } else {
- writeEmpty(&wptr);
- }
- goto endwalk;
- case EP_VMODULE:
- writeEmpty(&wptr);
- goto endwalk;
- // for reading any top-level item,
- case EP_NUMVPORTS:
- _res[wptr ++] = EP_NUMVPORTS;
- ts_writeUint16(_numVPorts, _res, &wptr);
- rptr ++;
- break;
- case EP_NUMVMODULES:
- _res[wptr ++] = EP_NUMVMODULES;
- ts_writeUint16(_numVModules, _res, &wptr);
- rptr ++;
- break;
- case EP_NAME:
- _res[wptr ++] = EP_NAME;
- ts_writeString(name, _res, &wptr);
- rptr ++;
- break;
- case EP_DESCRIPTION:
- _res[wptr ++] = EP_DESCRIPTION;
- ts_writeString(description, _res, &wptr);
- rptr ++;
- break;
- // the default: unclear keys nullify entire response
- default:
- writeEmpty(&wptr);
- goto endwalk;
- } // end 1st switch
- }
- endwalk: ;
- //sysError("QUERY ENDWALK, ptr: " + String(ptr) + " wptr: " + String(wptr));
- if(formatResponseHeader(pck, pl, ptr, segsize, wptr - ptr, vp, vpi)){
- vp->clearPacket(pwp);
- write77(_res, vp);
- vp->sendPacket(_res, wptr);
- vp->decrimentRecipBufSpace();
- } else {
- sysError("bad response format");
- vp->clearPacket(pwp);
- }
- } else {
- vp->clearPacket(pwp);
- }
-}
-
-// pck[ptr] == DK_PINGREQ
-void OSAP::handlePingRequest(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp){
- if(vp->cts()){ // resp. path is clear, can write resp. and ship it
- // the reversed header will be *the same length* as the received header,
- // which was from 0-ptr! - this is great news, we can say:
- uint16_t wptr = ptr; // start writing here, leaves room for the header,
- _res[wptr ++] = DK_PINGRES; // write in whatever the response is, here just the ping-res key and id
- _res[wptr ++] = pck[ptr + 1];
- _res[wptr ++] = pck[ptr + 2];
- // this'll be the 'std' response formatting codes,
- // formatResponseHeader doesn't need the _res, that's baked in, and it writes 0-ptr,
- // since we wrote into _res following ptr, (header lengths identical), this is safe,
- if(formatResponseHeader(pck, pl, ptr, segsize, 3, vp, vpi)){ // write the header: this goes _resp[3] -> _resp[ptr]
- vp->clearPacket(pwp); // can now rm the packet, have gleaned all we need from it,
- write77(_res, vp); // and *after* rm'ing it, report open space _resp[0] -> _resp[3];
- vp->sendPacket(_res, wptr); // this fn' call should copy-out of our buffer
- vp->decrimentRecipBufSpace();
- } else {
- sysError("bad response format");
- vp->clearPacket(pwp);
- }
- } else {
- vp->clearPacket(pwp);
- }
-}
-
-// write and send ahn reply out,
-void OSAP::appReply(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t *reply, uint16_t rl){
- uint16_t wptr = ptr;
- for(uint16_t i = 0; i < rl; i ++){
- _res[wptr ++] = reply[i];
- }
- if(formatResponseHeader(pck, pl, ptr, segsize, rl, vp, vpi)){
- write77(_res, vp);
- vp->sendPacket(_res, wptr);
- vp->decrimentRecipBufSpace();
- } else {
- sysError("bad response format");
- }
-}
-
-// frame: the buffer, ptr: the location of the ptr (ack or pack),
-// vp: port received on, fwp: frame-write-ptr,
-// so vp->frames[fwp] = frame, though that isn't exposed here
-void OSAP::instructionSwitch(uint8_t *pck, uint16_t pl, uint16_t ptr, VPort *vp, uint8_t vpi, uint8_t pwp){
- // we must *do* something, and (ideally) pop this thing,
- switch(pck[ptr]){
- case PK_PORTF_KEY:
- case PK_BUSF_KEY:
- case PK_BUSB_KEY:
- forward(pck, pl, ptr, vp, vpi, pwp);
- break;
- case PK_DEST: {
- ptr ++; // walk past dest key,
- uint16_t segsize = 0;
- uint16_t checksum = 0;
- ts_readUint16(&segsize, pck, &ptr);
- ts_readUint16(&checksum, pck, &ptr);
- if(checksum != pl - ptr){
- sysError("bad checksum, count: " + String(pl - ptr) + " checksum: " + String(checksum));
- vp->clearPacket(pwp);
- } else {
- switch(pck[ptr]){
- case DK_APP:
- handleAppPacket(pck, pl, ptr, segsize, vp, vpi, pwp);
- break;
- case DK_PINGREQ:
- handlePingRequest(pck, pl, ptr, segsize, vp, vpi, pwp);
- break;
- case DK_RREQ:
- handleReadRequest(pck, pl, ptr, segsize, vp, vpi, pwp);
- break;
- break;
- case DK_WREQ: // no writing yet,
- case DK_PINGRES: // not issuing pings from embedded, shouldn't have deal w/ their responses
- case DK_RRES: // not issuing requests from embedded, same
- case DK_WRES: // not issuing write requests from embedded, again
- sysError("WREQ or RES received in embedded, popping");
- vp->clearPacket(pwp);
- break;
- default:
- sysError("non-recognized destination key, popping");
- vp->clearPacket(pwp);
- break;
- }
- }
- }
- break;
- default:
- // packet is unrecognized,
- sysError("unrecognized instruction key");
- vp->clearPacket(pwp);
- break;
- }
-}
-
-void OSAP::loop(){
- /*
- Also a note - the vp->getFrame(); (which is called often in the loop) doesn't have to be a virtual f.
- VPorts can have private \_frames** ptrs-to, and when we start up a vport class,
- point that at some statically allocated heap.
- also, set a \_numFrames and ahn \_writePtrs*.
- */
- /*
- another note
- this was measured around 25us (long!)
- so it would be *tite* if that coule be decreased, especially in recognizing the no-op cases,
- where execution could be very - very - small.
- */
- unsigned long pat = 0; // packet arrival time
- VPort* vp; // vp of vports
- unsigned long now = millis();
- // pull one frame per loop per port,
- // TODO: can increase speed by pulling more frames per loop ??
- for(uint8_t p = 0; p < _numVPorts; p ++){
- vp = _vPorts[p];
- vp->loop(); // affordance to run phy code,
- for(uint8_t t = 0; t < 4; t ++){ // count # of packets to process per port per turn
- uint8_t* pck; // the packet we are handling
- uint16_t pl = 0; // length of that packet
- uint8_t pwp = 0; // packet write pointer: where it was, to write-back clearance
- vp->getPacket(&pck, &pl, &pwp, &pat); // gimme the bytes
- if(pl > 0){ // have length, will try,
- // check prune stale,
- if(pat + OSAP_STALETIMEOUT < now){
- //this untested, but should work, yeah?
- //sysError("prune stale message on " + String(vp->name));
- vp->clearPacket(pwp);
- continue;
- }
- // check / handle pck
- uint16_t ptr = 0;
- // new rcrbx?
- if(pck[ptr] == PK_PPACK){
- ptr ++;
- uint16_t rcrxs;
- ts_readUint16(&rcrxs, pck, &ptr);
- vp->setRecipRxBufSpace(rcrxs);
- }
- // anything else?
- if(ptr < pl){
- // walk through for instruction,
- for(uint8_t i = 0; i < 16; i ++){
- switch(pck[ptr]){
- case PK_PTR:
- instructionSwitch(pck, pl, ptr + 1, vp, p, pwp);
- goto endWalk;
- case PK_PORTF_KEY: // previous instructions, walk over,
- ptr += PK_PORTF_INC;
- break;
- case PK_BUSF_KEY:
- ptr += PK_BUSF_INC;
- break;
- case PK_BUSB_KEY:
- ptr += PK_BUSF_INC;
- break;
- case PK_LLERR:
- // someone forwarded us an err-escape,
- // we are kind of helpless to help, just escp.
- vp->clearPacket(pwp);
- goto endWalk;
- default:
- sysError("bad walk for ptr: key " + String(pck[ptr]) + " at: " + String(ptr));
- vp->clearPacket(pwp);
- goto endWalk;
- } // end switch
- } // end loop for ptr walk,
- } else {
- // that was just the rcrbx then,
- vp->clearPacket(pwp);
- }
- } else {
- break;
- } // no frames in this port,
- // end of this-port-scan,
- endWalk: ;
- } // end up-to-8-packets-per-turn
- } // end loop over ports (handling rx)
- // loop for keepalive conditions,
- for(uint8_t p = 0; p < _numVPorts; p ++){
- vp = _vPorts[p];
- // check if needs to tx keepalive,
- uint16_t currentRXBufferSpace = vp->getBufSpace();
- if(currentRXBufferSpace > vp->lastRXBufferSpaceTransmitted || vp->lastTxTime + OSAP_TXKEEPALIVEINTERVAL < now){
- // has open space not reported, or needs to ping for port keepalive
- if(vp->cts()){
- write77(_res, vp);
- vp->sendPacket(_res, 3);
- vp->decrimentRecipBufSpace();
- }
- }
- } // end loop over ports (keepalive)
-}
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/osap/osap.h b/firmware/osape-smoothieroll-head/src/osap/osap.h
deleted file mode 100644
index 5242ba0..0000000
--- a/firmware/osape-smoothieroll-head/src/osap/osap.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-osap/osap.h
-
-virtual network node
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#ifndef OSAP_H_
-#define OSAP_H_
-
-#include <arduino.h>
-#include "ts.h"
-#include "vport.h"
-#include "./drivers/indicators.h"
-#include "./utils/cobs.h"
-
-#define OSAP_MAX_VPORTS 16
-#define RES_LENGTH 2048
-#define OSAP_STALETIMEOUT 600
-#define OSAP_TXKEEPALIVEINTERVAL 300
-
-class OSAP {
-private:
- // yonder ports,
- VPort* _vPorts[16];
- uint8_t _numVPorts = 0;
- // yither vmodules
- uint8_t _numVModules = 0;
- // dishing output, temp write buffer
- uint8_t _res[RES_LENGTH];
-public:
- OSAP(String nodeName);
- // props
- String name;
- String description = "undescribed osap node";
- // fns
- boolean addVPort(VPort* vPort);
- void forward(uint8_t *pck, uint16_t pl, uint16_t ptr, VPort *vp, uint8_t vpi, uint8_t pwp);
- void write77(uint8_t *pck, VPort *vp);
- boolean formatResponseHeader(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, uint16_t checksum, VPort *vp, uint16_t vpi);
- void writeQueryDown(uint16_t *wptr);
- void writeEmpty(uint16_t *wptr);
- void readRequestVPort(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t rptr, uint16_t *wptr, uint16_t segsize, VPort* vp);
- void handleReadRequest(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp);
- void handlePingRequest(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp);
- void appReply(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t *reply, uint16_t rl);
- void instructionSwitch(uint8_t *pck, uint16_t pl, uint16_t ptr, VPort *vp, uint8_t vpi, uint8_t pwp);
- void loop();
- // the handoff,
- void handleAppPacket(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp);
-};
-
-#endif
diff --git a/firmware/osape-smoothieroll-head/src/osap/ts.cpp b/firmware/osape-smoothieroll-head/src/osap/ts.cpp
deleted file mode 100644
index 6fb3474..0000000
--- a/firmware/osape-smoothieroll-head/src/osap/ts.cpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
-osap/ts.cpp
-
-typeset / keys / writing / reading
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "ts.h"
-
-void ts_writeBoolean(boolean val, unsigned char *buf, uint16_t *ptr){
- if(val){
- buf[(*ptr) ++] = 1;
- } else {
- buf[(*ptr) ++] = 0;
- }
-}
-
-void ts_readUint16(uint16_t *val, unsigned char *buf, uint16_t *ptr){
- *val = buf[(*ptr) + 1] << 8 | buf[(*ptr)];
- *ptr += 2;
-}
-
-void ts_writeUint16(uint16_t val, unsigned char *buf, uint16_t *ptr){
- buf[(*ptr) ++] = val & 255;
- buf[(*ptr) ++] = (val >> 8) & 255;
-}
-
-void ts_writeUint32(uint32_t val, unsigned char *buf, uint16_t *ptr){
- buf[(*ptr) ++] = val & 255;
- buf[(*ptr) ++] = (val >> 8) & 255;
- buf[(*ptr) ++] = (val >> 16) & 255;
- buf[(*ptr) ++] = (val >> 24) & 255;
-}
-
-union chunk_float32 {
- uint8_t bytes[4];
- float f;
-};
-
-void ts_writeFloat32(float val, volatile unsigned char *buf, uint16_t *ptr){
- chunk_float32 chunk;
- chunk.f = val;
- buf[(*ptr) ++] = chunk.bytes[0];
- buf[(*ptr) ++] = chunk.bytes[1];
- buf[(*ptr) ++] = chunk.bytes[2];
- buf[(*ptr) ++] = chunk.bytes[3];
-}
-
-union chunk_float64 {
- uint8_t bytes[8];
- double f;
-};
-
-void ts_writeFloat64(double val, volatile unsigned char *buf, uint16_t *ptr){
- chunk_float64 chunk;
- chunk.f = val;
- buf[(*ptr) ++] = chunk.bytes[0];
- buf[(*ptr) ++] = chunk.bytes[1];
- buf[(*ptr) ++] = chunk.bytes[2];
- buf[(*ptr) ++] = chunk.bytes[3];
- buf[(*ptr) ++] = chunk.bytes[4];
- buf[(*ptr) ++] = chunk.bytes[5];
- buf[(*ptr) ++] = chunk.bytes[6];
- buf[(*ptr) ++] = chunk.bytes[7];
-}
-
-void ts_writeString(String val, unsigned char *buf, uint16_t *ptr){
- uint32_t len = val.length();
- buf[(*ptr) ++] = len & 255;
- buf[(*ptr) ++] = (len >> 8) & 255;
- buf[(*ptr) ++] = (len >> 16) & 255;
- buf[(*ptr) ++] = (len >> 24) & 255;
- val.getBytes(&buf[*ptr], len + 1);
- *ptr += len;
-}
diff --git a/firmware/osape-smoothieroll-head/src/osap/ts.h b/firmware/osape-smoothieroll-head/src/osap/ts.h
deleted file mode 100644
index 7cf3f01..0000000
--- a/firmware/osape-smoothieroll-head/src/osap/ts.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
-osap/ts.h
-
-typeset / keys / writing / reading
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include <arduino.h>
-
-// -------------------------------------------------------- Routing (Packet) Keys
-
-#define PK_PPACK 77
-#define PK_PTR 88
-#define PK_DEST 99
-#define PK_LLERR 44
-#define PK_PORTF_KEY 11
-#define PK_PORTF_INC 3
-#define PK_BUSF_KEY 12
-#define PK_BUSF_INC 5
-#define PK_BUSB_KEY 14
-#define PK_BUSB_INC 5
-
-// -------------------------------------------------------- Destination Keys (arrival layer)
-
-#define DK_APP 100 // application codes, go to -> main
-#define DK_PINGREQ 101 // ping request
-#define DK_PINGRES 102 // ping reply
-#define DK_RREQ 111 // read request
-#define DK_RRES 112 // read response
-#define DK_WREQ 113 // write request
-#define DK_WRES 114 // write response
-
-// -------------------------------------------------------- Application Keys
-
-#define AK_OK 100
-#define AK_ERR 200
-#define AK_GOTOPOS 101 // goto pos
-#define AK_SETPOS 102 // set position to xyz
-#define AK_SETCURRENT 103 // set currents xyz
-#define AK_SETWAITTIME 104 // set queue wait time
-#define AK_SETRPM 105 // set spindle
-#define AK_QUERYMOVING 111 // is moving?
-#define AK_QUERYPOS 112 // get current pos
-#define AK_QUERYQUEUELEN 113 // current queue len?
-
-// -------------------------------------------------------- MVC Endpoints
-
-#define EP_ERRKEY 150
-#define EP_ERRKEY_QUERYDOWN 151
-#define EP_ERRKEY_EMPTY 153
-#define EP_ERRKEY_UNCLEAR 154
-
-#define EP_NAME 171
-#define EP_DESCRIPTION 172
-
-#define EP_NUMVPORTS 181
-#define EP_VPORT 182
-#define EP_PORTTYPEKEY 183
-#define EP_MAXSEGLENGTH 184
-#define EP_PORTSTATUS 185
-#define EP_PORTBUFSPACE 186
-#define EP_PORTBUFSIZE 187
-
-#define EP_NUMVMODULES 201
-#define EP_VMODULE 202
-
-#define EP_NUMINPUTS 211
-#define EP_INPUT 212
-
-#define EP_NUMOUTPUTS 221
-#define EP_OUTPUT 222
-
-#define EP_TYPE 231
-#define EP_VALUE 232
-#define EP_STATUS 233
-
-#define EP_NUMROUES 243
-#define EP_ROUTE 235
-
-// ... etc, later
-
-// -------------------------------------------------------- Reading and Writing
-
-void ts_writeBoolean(boolean val, unsigned char *buf, uint16_t *ptr);
-
-void ts_readUint16(uint16_t *val, uint8_t *buf, uint16_t *ptr);
-
-void ts_writeUint16(uint16_t val, unsigned char *buf, uint16_t *ptr);
-
-void ts_writeUint32(uint32_t val, unsigned char *buf, uint16_t *ptr);
-
-void ts_writeFloat32(float val, volatile unsigned char *buf, uint16_t *ptr);
-
-void ts_writeFloat64(double val, volatile unsigned char *buf, uint16_t *ptr);
-
-void ts_writeString(String val, unsigned char *buf, uint16_t *ptr);
diff --git a/firmware/osape-smoothieroll-head/src/osap/vport.cpp b/firmware/osape-smoothieroll-head/src/osap/vport.cpp
deleted file mode 100644
index e064991..0000000
--- a/firmware/osape-smoothieroll-head/src/osap/vport.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-osap/vport.cpp
-
-virtual port, p2p
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "vport.h"
-
-VPort::VPort(String vPortName){
- name = vPortName;
-}
-
-void VPort::setRecipRxBufSpace(uint16_t len){
- _recipRxBufSpace = len;
-}
-
-void VPort::decrimentRecipBufSpace(void){
- if(_recipRxBufSpace < 1){
- _recipRxBufSpace = 0;
- } else {
- _recipRxBufSpace --;
- }
- lastTxTime = millis();
-}
-
-boolean VPort::cts(void){
- if(_recipRxBufSpace > 0 && status){
- return true;
- } else {
- return false;
- }
-}
diff --git a/firmware/osape-smoothieroll-head/src/osap/vport.h b/firmware/osape-smoothieroll-head/src/osap/vport.h
deleted file mode 100644
index b705e91..0000000
--- a/firmware/osape-smoothieroll-head/src/osap/vport.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-osap/vport.h
-
-virtual port, p2p
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#ifndef VPORT_H_
-#define VPORT_H_
-
-#include <arduino.h>
-#include "./utils/syserror.h"
-
-class VPort {
-private:
- uint16_t _recipRxBufSpace = 1;
-public:
- VPort(String vPortName);
- String name;
- String description = "undescribed vport";
- uint8_t portTypeKey = PK_PORTF_KEY;
- uint16_t maxSegLength = 0;
- virtual void init(void) = 0;
- virtual void loop(void) = 0;
- // keepalive log
- uint16_t lastRXBufferSpaceTransmitted = 0;
- uint16_t rxSinceTx = 0; // debugging: count packets received since last spaces txd
- unsigned long lastTxTime = 0;
- // handling incoming frames,
- virtual void getPacket(uint8_t** pck, uint16_t* pl, uint8_t* pwp, unsigned long* pat) = 0;
- // *be sure* that getPacket sets pl to zero if no packet emerges,
- // consider making boolean return, true if packet?
- virtual void clearPacket(uint8_t pwp) = 0;
- virtual uint16_t getBufSpace(void) = 0;
- virtual uint16_t getBufSize(void) = 0;
- // dish outgoing frames, and check if open to send them?
- boolean status = false; // open / closed-ness -> OSAP can set, VP can set.
- virtual boolean cts(void); // is a connection established & is the reciprocal buffer nonzero?
- virtual void sendPacket(uint8_t* pck, uint16_t pl) = 0; // take this frame, copying out of the buffer I pass you
- // internal state,
- void setRecipRxBufSpace(uint16_t len);
- void decrimentRecipBufSpace(void);
-};
-
-#endif
diff --git a/firmware/osape-smoothieroll-head/src/osap/vport_usbserial.cpp b/firmware/osape-smoothieroll-head/src/osap/vport_usbserial.cpp
deleted file mode 100644
index ddbc9fd..0000000
--- a/firmware/osape-smoothieroll-head/src/osap/vport_usbserial.cpp
+++ /dev/null
@@ -1,141 +0,0 @@
-/*
-osap/vport.cpp
-
-virtual port, p2p
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "vport_usbserial.h"
-
-VPort_USBSerial::VPort_USBSerial()
-:VPort("usb serial"){
- description = "vport wrap on arduino Serial object";
- // ok, just calls super-constructor
-}
-
-void VPort_USBSerial::init(void){
- // set frame lengths to zero,
- for(uint8_t i = 0; i < VPUSB_NUM_SPACES; i ++){
- _pl[i] = 0;
- }
- Serial.begin(9600);
-}
-
-void VPort_USBSerial::loop(void){
- while(Serial.available()){
- _encodedPacket[_pwp][_bwp] = Serial.read();
- if(_encodedPacket[_pwp][_bwp] == 0){
- rxSinceTx ++;
- // sysError(String(getBufSpace()) + " " + String(_bwp));
- // indicate we recv'd zero
- // CLKLIGHT_TOGGLE;
- // decode from rx-ing frame to interface frame,
- status = true; // re-assert open whenever received packet incoming
- size_t dcl = cobsDecode(_encodedPacket[_pwp], _bwp, _packet[_pwp]);
- _pl[_pwp] = dcl; // this frame now available, has this length,
- _packetArrivalTimes[_pwp] = millis(); // time this thing arrived
- // reset byte write pointer
- _bwp = 0;
- // find next empty frame, that's new frame write pointer
- boolean set = false;
- for(uint8_t i = 0; i <= VPUSB_NUM_SPACES; i ++){
- _pwp ++;
- if(_pwp >= VPUSB_NUM_SPACES){ _pwp = 0; }
- if(_pl[_pwp] == 0){ // if this frame-write-ptr hasn't been set to occupied,
- set = true;
- break; // this _pwp is next empty frame,
- }
- }
- if(!set){
- sysError("no empty slot for serial read, protocol error!");
- uint16_t apparentSpace = getBufSpace();
- sysError("reads: " + String(apparentSpace));
- sysError("last txd recip: " + String(lastRXBufferSpaceTransmitted));
- sysError("rxd since last tx: " + String(rxSinceTx));
- sysError(String(_pl[0]));
- sysError(String(_pl[1]));
- sysError(String(_pl[2]));
- sysError(String(_pl[3]));
- sysError(String(_pl[4]));
- sysError(String(_pl[5]));
- sysError(String(_pl[6]));
- sysError(String(_pl[7]));
- sysError(String(_pl[8]));
- delay(5000);
- }
- } else {
- _bwp ++;
- }
- }
-}
-
-void VPort_USBSerial::getPacket(uint8_t **pck, uint16_t *pl, uint8_t *pwp, unsigned long* pat){
- uint8_t p = _lastPacket; // the last one we delivered,
- boolean retrieved = false;
- for(uint8_t i = 0; i <= VPUSB_NUM_SPACES; i ++){
- p ++;
- if(p >= VPUSB_NUM_SPACES) { p = 0; }
- if(_pl[p] > 0){ // this is an occupied packet, deliver that
- *pck = _packet[p]; // same, is this passing the ptr, yeah?
- *pl = _pl[p]; // I *think* this is how we do this in c?
- *pwp = p; // packet write pointer ? the indice of the packet, to clear
- *pat = _packetArrivalTimes[p];
- _lastPacket = p;
- retrieved = true;
- break;
- }
- }
- if(!retrieved){
- *pl = 0;
- }
-}
-
-void VPort_USBSerial::clearPacket(uint8_t pwp){
- // frame consumed, clear to write-in,
- //sysError("clear " + String(pwp));
- _pl[pwp] = 0;
- _packetArrivalTimes[pwp] = 0;
-}
-
-uint16_t VPort_USBSerial::getBufSize(void){
- return VPUSB_NUM_SPACES;
-}
-
-uint16_t VPort_USBSerial::getBufSpace(void){
- uint16_t sum = 0;
- // any zero-length frame is not full,
- for(uint16_t i = 0; i < VPUSB_NUM_SPACES; i++){
- if(_pl[i] == 0){
- sum ++;
- }
- }
- // but one is being written into,
- //if(_bwp > 0){
- sum --;
- //}
- // if we're very full this might wrap / invert, so
- if(sum > VPUSB_NUM_SPACES){
- sum = 0;
- }
- // arrivaderci
- return sum;
-}
-
-void VPort_USBSerial::sendPacket(uint8_t *pck, uint16_t pl){
- size_t encLen = cobsEncode(pck, pl, _encodedOut);
- if(Serial.availableForWrite()){
- //DEBUG1PIN_ON;
- Serial.write(_encodedOut, encLen);
- Serial.flush();
- //DEBUG1PIN_OFF;
- } else {
- sysError("NOT AVAILABLE");
- }
-}
diff --git a/firmware/osape-smoothieroll-head/src/osap/vport_usbserial.h b/firmware/osape-smoothieroll-head/src/osap/vport_usbserial.h
deleted file mode 100644
index 4a72d1c..0000000
--- a/firmware/osape-smoothieroll-head/src/osap/vport_usbserial.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
-osap/vport_usbserial.h
-
-virtual port, p2p
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#ifndef VPORT_USBSERIAL_H_
-#define VPORT_USBSERIAL_H_
-
-#include <arduino.h>
-#include "vport.h"
-#include "./utils/cobs.h"
-#include "./drivers/indicators.h"
-
-#define VPUSB_NUM_SPACES 64
-#define VPUSB_SPACE_SIZE 1028
-
-class VPort_USBSerial : public VPort {
-private:
- // unfortunately, looks like we need to write-in to temp,
- // and decode out of that
- uint8_t _encodedPacket[VPUSB_NUM_SPACES][VPUSB_SPACE_SIZE];
- uint8_t _packet[VPUSB_NUM_SPACES][VPUSB_SPACE_SIZE];
- volatile uint16_t _pl[VPUSB_NUM_SPACES];
- unsigned long _packetArrivalTimes[VPUSB_NUM_SPACES];
- uint8_t _pwp = 0; // packet write pointer,
- uint16_t _bwp = 0; // byte write pointer,
- uint8_t _lastPacket = 0; // last packet written into
- // outgoing cobs-copy-in,
- uint8_t _encodedOut[VPUSB_SPACE_SIZE];
- // this is just for debug,
- uint8_t _ringPacket[VPUSB_SPACE_SIZE];
-public:
- VPort_USBSerial();
- // props
- uint16_t maxSegLength = VPUSB_SPACE_SIZE - 6;
- // code
- void init(void);
- void loop(void);
- // handle incoming frames
- void getPacket(uint8_t** pck, uint16_t* pl, uint8_t* pwp, unsigned long* pat);
- void clearPacket(uint8_t pwp);
- uint16_t getBufSize(void);
- uint16_t getBufSpace(void);
- // dish outgoing frames, and check if cts
- void sendPacket(uint8_t *pck, uint16_t pl);
-};
-
-#endif
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/SmoothieRoll.cpp b/firmware/osape-smoothieroll-head/src/smoothie/SmoothieRoll.cpp
deleted file mode 100644
index 41ec8ee..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/SmoothieRoll.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
-SmoothieRoll.cpp
-
-bottle & state container for the SmoothieWare instance running here
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "SmoothieRoll.h"
-
-SmoothieRoll* SmoothieRoll::instance = 0;
-
-SmoothieRoll* SmoothieRoll::getInstance(void){
- if(instance == 0){
- instance = new SmoothieRoll();
- }
- return instance;
-}
-
-SmoothieRoll* smoothieRoll = SmoothieRoll::getInstance();
-
-SmoothieRoll::SmoothieRoll(void){
-
-}
-
-void SmoothieRoll::init(void){
- // make motors
- for(uint8_t m = 0; m < SMOOTHIEROLL_NUM_MOTORS; m ++){
- actuators[m] = new StepInterface();
- }
- stepTicker->init();
- stepTicker->start();
- conveyor->on_module_loaded();
- conveyor->start(3);
-}
-
-void SmoothieRoll::step_tick(void){
- stepTicker->step_tick();
-}
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/SmoothieRoll.h b/firmware/osape-smoothieroll-head/src/smoothie/SmoothieRoll.h
deleted file mode 100644
index c914581..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/SmoothieRoll.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-SmoothieRoll.h
-
-bottle & state container for the SmoothieWare instance running here
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#ifndef SMOOTHIEROLL_H_
-#define SMOOTHIEROLL_H_
-
-#include <Arduino.h>
-// get top level stepTicker, conveyor...
-#include "smoothie/libs/StepTicker.h" // has singleton 'stepTicker'
-#include "smoothie/modules/robot/Conveyor.h" // has singleton 'conveyor'
-#include "smoothie/modules/robot/Planner.h" // has singleton 'planner'
-// motor state-trackers
-#include "modules/robot/StepInterface.h"
-
-#define SMOOTHIEROLL_NUM_MOTORS 3
-
-class SmoothieRoll{
- public:
- SmoothieRoll(void);
- static SmoothieRoll* getInstance(void);
- void init(void);
- void step_tick(void);
-
- StepInterface* actuators[SMOOTHIEROLL_NUM_MOTORS];
-
- private:
- static SmoothieRoll* instance;
-};
-
-extern SmoothieRoll* smoothieRoll;
-
-#endif
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/libs/HeapRing.cpp b/firmware/osape-smoothieroll-head/src/smoothie/libs/HeapRing.cpp
deleted file mode 100644
index fbc3955..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/libs/HeapRing.cpp
+++ /dev/null
@@ -1,255 +0,0 @@
-#include "HeapRing.h"
-
-#include <cstdlib>
-#include <Arduino.h>
-//#include "cmsis.h" // this was just for enable / disable IRQ I think...
-
-/*
- * constructors
- */
-
-template<class kind> HeapRing<kind>::HeapRing()
-{
- head_i = tail_i = length = 0;
- isr_tail_i = tail_i;
- ring = NULL;
-}
-
-template<class kind> HeapRing<kind>::HeapRing(unsigned int length)
-{
- head_i = tail_i = 0;
- isr_tail_i = tail_i;
- ring = new kind[length];
- // TODO: handle allocation failure
- this->length = length;
-}
-
-/*
- * destructor
- */
-
-template<class kind> HeapRing<kind>::~HeapRing()
-{
- head_i = tail_i = length = 0;
- isr_tail_i = tail_i;
- if (ring)
- delete [] ring;
- ring = NULL;
-}
-
-/*
- * index accessors (protected)
- */
-
-template<class kind> unsigned int HeapRing<kind>::next(unsigned int item) const
-{
- if (length == 0)
- return 0;
-
- if (++item >= length)
- return 0;
-
- return item;
-}
-
-template<class kind> unsigned int HeapRing<kind>::prev(unsigned int item) const
-{
- if (length == 0)
- return 0;
-
- if (item == 0)
- return (length - 1);
- else
- return (item - 1);
-}
-
-/*
- * reference accessors
- */
-
-template<class kind> kind& HeapRing<kind>::head()
-{
- return ring[head_i];
-}
-
-template<class kind> kind& HeapRing<kind>::tail()
-{
- return ring[tail_i];
-}
-
-template<class kind> kind& HeapRing<kind>::item(unsigned int i)
-{
- return ring[i];
-}
-
-template<class kind> void HeapRing<kind>::push_front(kind& item)
-{
- ring[head_i] = item;
- head_i = next(head_i);
-}
-
-template<class kind> kind& HeapRing<kind>::pop_back()
-{
- kind& r = ring[tail_i];
- tail_i = next(tail_i);
- return r;
-}
-
-/*
- * pointer accessors
- */
-
-template<class kind> kind* HeapRing<kind>::head_ref()
-{
- return &ring[head_i];
-}
-
-template<class kind> kind* HeapRing<kind>::tail_ref()
-{
- return &ring[tail_i];
-}
-
-template<class kind> kind* HeapRing<kind>::item_ref(unsigned int i)
-{
- return &ring[i];
-}
-
-template<class kind> void HeapRing<kind>::produce_head()
-{
- while (is_full());
- head_i = next(head_i);
-}
-
-template<class kind> void HeapRing<kind>::consume_tail()
-{
- if (!is_empty())
- tail_i = next(tail_i);
-}
-
-/*
- * queue status accessors
- */
-
-template<class kind> bool HeapRing<kind>::is_full() const
-{
- // these IRQ disable / enable calls were commented out by smoothie devs
- //__disable_irq();
- bool r = (next(head_i) == tail_i);
- //__enable_irq();
-
- return r;
-}
-
-template<class kind> bool HeapRing<kind>::is_empty() const
-{
- //__disable_irq();
- bool r = (head_i == tail_i);
- //__enable_irq();
-
- return r;
-}
-
-template <class kind> unsigned int HeapRing<kind>::space(void){
- // I *think* this is sound
- if(next(head_i) == tail_i){
- return 0;
- } else if (head_i == tail_i){
- return length;
- } else if (head_i > tail_i){
- return (length - head_i + tail_i);
- } else if (tail_i > head_i){
- return (length - tail_i + head_i);
- } else {
- return 0; // ?? shouldn't
- }
-}
-
-/*
- * resize
- */
-
-template<class kind> bool HeapRing<kind>::resize(unsigned int length)
-{
- if (is_empty())
- {
- if (length == 0)
- {
- // pretty sure these work w/ D51 same as w/ STM
- __disable_irq();
-
- if (is_empty()) // check again in case something was pushed
- {
- head_i = tail_i = this->length = 0;
-
- __enable_irq();
-
- if (ring)
- delete [] ring;
- ring = NULL;
-
- return true;
- }
-
- __enable_irq();
-
- return false;
- }
-
- // Note: we don't use realloc so we can fall back to the existing ring if allocation fails
- kind* newring = new kind[length];
-
- if (newring != NULL)
- {
- kind* oldring = ring;
-
- __disable_irq();
-
- if (is_empty()) // check again in case something was pushed while malloc did its thing
- {
- ring = newring;
- this->length = length;
- head_i = tail_i = 0;
-
- __enable_irq();
-
- if (oldring)
- delete [] oldring;
-
- return true;
- }
-
- __enable_irq();
-
- delete [] newring;
- }
- }
-
- return false;
-}
-
-template<class kind> bool HeapRing<kind>::provide(kind* buffer, unsigned int length)
-{
- __disable_irq();
-
- if (is_empty())
- {
- kind* oldring = ring;
-
- if ((buffer != NULL) && (length > 0))
- {
- ring = buffer;
- this->length = length;
- head_i = tail_i = 0;
-
- __enable_irq();
-
- if (oldring)
- delete [] oldring;
- return true;
- }
- }
-
- __enable_irq();
-
- return false;
-}
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/libs/HeapRing.h b/firmware/osape-smoothieroll-head/src/smoothie/libs/HeapRing.h
deleted file mode 100644
index cd20af6..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/libs/HeapRing.h
+++ /dev/null
@@ -1,86 +0,0 @@
-#ifndef _HEAPRING_H
-#define _HEAPRING_H
-
-#include "../../utils/syserror.h"
-
-template<class kind> class HeapRing {
-
- // smoothie-specific friend classes
- friend class Planner;
- friend class Conveyor;
- friend class Block;
-
-public:
- HeapRing();
- HeapRing(unsigned int length);
-
- ~HeapRing();
-
- /*
- * direct accessors
- */
- kind& head();
- kind& tail();
-
- void push_front(kind&) __attribute__ ((warning("Not thread-safe if pop_back() is used in ISR context!"))); // instead, prepare(head_ref()); produce_head();
- kind& pop_back(void) __attribute__ ((warning("Not thread-safe if head_ref() is used to prepare new items, or push_front() is used in ISR context!"))); // instead, consume(tail_ref()); consume_tail();
-
- /*
- * pointer accessors
- */
- kind* head_ref();
- kind* tail_ref();
-
- void produce_head(void);
- void consume_tail(void);
-
- /*
- * queue status
- */
- bool is_empty(void) const;
- bool is_full(void) const;
- unsigned int space(void);
-
- /*
- * resize
- *
- * returns true on success, or false if queue is not empty or not enough memory available
- */
- bool resize(unsigned int);
-
- /*
- * provide
- * kind* - new buffer pointer
- * int length - number of items in buffer (NOT size in bytes!)
- *
- * cause HeapRing to use a specific memory location instead of allocating its own
- *
- * returns true on success, or false if queue is not empty
- */
- bool provide(kind*, unsigned int length);
-
-protected:
- /*
- * these functions are protected as they should only be used internally
- * or in extremely specific circumstances
- */
- kind& item(unsigned int);
- kind* item_ref(unsigned int);
-
- unsigned int next(unsigned int) const;
- unsigned int prev(unsigned int) const;
-
- /*
- * buffer variables
- */
- unsigned int length;
-
- volatile unsigned int head_i;
- volatile unsigned int tail_i;
- volatile unsigned int isr_tail_i;
-
-private:
- kind* ring;
-};
-
-#endif /* _HEAPRING_H */
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/libs/StepTicker.cpp b/firmware/osape-smoothieroll-head/src/smoothie/libs/StepTicker.cpp
deleted file mode 100644
index 463bfc0..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/libs/StepTicker.cpp
+++ /dev/null
@@ -1,222 +0,0 @@
-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
- Smoothie 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 General Public License for more details.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-
-#include "StepTicker.h"
-#include "../modules/robot/Block.h"
-//#include "../modules/robot/Conveyor.h"
-/*
-#include "libs/nuts_bolts.h"
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "StepperMotor.h"
-#include "StreamOutputPool.h"
-#include "Block.h"
-#include "Conveyor.h"
-
-#include "system_LPC17xx.h" // mbed.h lib
-#include <math.h>
-#include <mri.h>
-*/
-
-StepTicker* StepTicker::instance = 0;
-
-StepTicker* StepTicker::getInstance(void){
- if(instance == 0){
- instance = new StepTicker();
- }
- return instance;
-}
-
-StepTicker* stepTicker = StepTicker::getInstance();
-
-StepTicker::StepTicker(){
-}
-
-void StepTicker::init(void){
- // Default start values
- this->set_frequency(100000);
-
- this->num_motors = 3;
-
- for(uint8_t m = 0; m < 3; m ++){
- motor[m] = smoothieRoll->actuators[m];
- }
-
- this->running = false;
- this->current_block = nullptr;
-}
-
-//called when everything is setup and interrupts can start
-void StepTicker::start(){
- //NVIC_EnableIRQ(TIMER0_IRQn); // Enable interrupt handler
- //NVIC_EnableIRQ(TIMER1_IRQn); // Enable interrupt handler
- current_tick= 0;
-}
-
-// Set the base stepping frequency
-#warning This leaves config as is, see startup to 'make proper'.
-void StepTicker::set_frequency( float frequency ){
- this->frequency = frequency;
- this->period = 80; // set manually above, floorf((SystemCoreClock / 4.0F) / frequency); // SystemCoreClock/4 = Timer increments in a second
-}
-
-// step clock
-void StepTicker::step_tick (void){
- if(running){
- //DEBUG3PIN_ON;
- } else {
- //DEBUG3PIN_OFF;
- }
- // if nothing has been setup we ignore the ticks
- if(!running){
- // check if anything new available
- if(conveyor->get_next_block(¤t_block)) { // returns false if no new block is available
- running = start_next_block(); // returns true if there is at least one motor with steps to issue
- if(!running) return;
- } else {
- return;
- }
- }
-
- /*
- eliminated this, but here's a halting case
- if(THEKERNEL->is_halted()) {
- running= false;
- current_tick = 0;
- current_block= nullptr;
- return;
- }
- */
-
- bool still_moving= false;
- // foreach motor, if it is active see if time to issue a step to that motor
- for (uint8_t m = 0; m < num_motors; m++) {
- if(current_block->tick_info[m].steps_to_move == 0) continue; // not active
-
- current_block->tick_info[m].steps_per_tick += current_block->tick_info[m].acceleration_change;
-
- if(current_tick == current_block->tick_info[m].next_accel_event) {
- if(current_tick == current_block->accelerate_until) { // We are done accelerating, deceleration becomes 0 : plateau
- current_block->tick_info[m].acceleration_change = 0;
- if(current_block->decelerate_after < current_block->total_move_ticks) {
- current_block->tick_info[m].next_accel_event = current_block->decelerate_after;
- if(current_tick != current_block->decelerate_after) { // We are plateauing
- // steps/sec / tick frequency to get steps per tick
- current_block->tick_info[m].steps_per_tick = current_block->tick_info[m].plateau_rate;
- }
- }
- }
-
- if(current_tick == current_block->decelerate_after) { // We start decelerating
- current_block->tick_info[m].acceleration_change = current_block->tick_info[m].deceleration_change;
- }
- }
-
- // protect against rounding errors and such
- if(current_block->tick_info[m].steps_per_tick <= 0) {
- current_block->tick_info[m].counter = STEPTICKER_FPSCALE; // we force completion this step by setting to 1.0
- current_block->tick_info[m].steps_per_tick = 0;
- }
-
- current_block->tick_info[m].counter += current_block->tick_info[m].steps_per_tick;
-
- if(current_block->tick_info[m].counter >= STEPTICKER_FPSCALE) { // >= 1.0 step time
- current_block->tick_info[m].counter -= STEPTICKER_FPSCALE; // -= 1.0F;
- ++current_block->tick_info[m].step_count;
-
- // step the motor
- bool ismoving = motor[m]->step(); // returns false if the moving flag was set to false externally (probes, endstops etc)
- if(m == 0 && ismoving){
- DEBUG2PIN_TOGGLE;
- //stepper_hw->step();
- } else if (m == 1 && ismoving){
- DEBUG4PIN_TOGGLE;
- }
-
- if(!ismoving || current_block->tick_info[m].step_count == current_block->tick_info[m].steps_to_move) {
- // done
- current_block->tick_info[m].steps_to_move = 0;
- motor[m]->stop_moving(); // let motor know it is no longer moving
- }
- }
-
- // see if any motors are still moving after this tick
- if(motor[m]->is_moving()) still_moving = true;
- }
-
- // do this after so we start at tick 0
- current_tick++; // count number of ticks
-
- // see if any motors are still moving
- if(!still_moving) {
- // block transition
- //DEBUG3PIN_TOGGLE;
-
- // all moves finished
- current_tick = 0;
-
- // get next block
- // do it here so there is no delay in ticks
- conveyor->block_finished();
-
- if(conveyor->get_next_block(¤t_block)) { // returns false if no new block is available
- running = start_next_block(); // returns true if there is at least one motor with steps to issue
- } else {
- current_block = nullptr;
- running = false;
- }
- // all moves finished
- // queue needs to be incremented, that happens on the conveyor's idle cycle
- }
-} // end step_tick
-
-// only called from the step tick ISR (single consumer)
-bool StepTicker::start_next_block()
-{
- if(current_block == nullptr){
- return false;
- }
- bool ok = false;
- // need to prepare each active motor
- for (uint8_t m = 0; m < num_motors; m++) {
- if(m == 0){
- if(current_block->direction_bits[m]){
- DEBUG1PIN_ON;
- } else {
- DEBUG1PIN_OFF;
- }
- //stepper_hw->dir(current_block->direction_bits[m]);
- } else if (m == 1){
- if(current_block->direction_bits[m]){
- DEBUG3PIN_ON;
- } else {
- DEBUG3PIN_OFF;
- }
- }
- if(current_block->tick_info[m].steps_to_move == 0) continue;
- ok = true; // mark at least one motor is moving
- // set direction bit here
- // NOTE this would be at least 10us before first step pulse.
- // TODO does this need to be done sooner, if so how without delaying next tick
- motor[m]->set_direction(current_block->direction_bits[m]);
- motor[m]->start_moving(); // also let motor know it is moving now
- }
-
- current_tick= 0;
-
- if(ok) {
- //SET_STEPTICKER_DEBUG_PIN(1);
- return true;
- } else {
- // this is an edge condition that should never happen, but we need to discard this block if it ever does
- // basically it is a block that has zero steps for all motors
- conveyor->block_finished();
- }
-
- return false;
-}
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/libs/StepTicker.h b/firmware/osape-smoothieroll-head/src/smoothie/libs/StepTicker.h
deleted file mode 100644
index fedb812..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/libs/StepTicker.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
- Smoothie 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 General Public License for more details.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-
-
-#pragma once
-
-// smoothie includes
-#include <stdint.h>
-#include <array>
-#include <bitset>
-#include <functional>
-#include <atomic>
-#include "../modules/robot/ActuatorCoordinates.h"
-#include "../modules/robot/Conveyor.h"
-// step state interface hack
-#include "../modules/robot/StepInterface.h"
-/*
-#include "TSRingBuffer.h"
-*/
-class Block;
-
-// osap includes
-#include <Arduino.h>
-#include "../../drivers/indicators.h"
-#include "../../utils/clocks_d51_module.h"
-#include "../SmoothieRoll.h"
-
-// handle 2.30 Fixed point
-#define STEPTICKER_FPSCALE (1<<30)
-#define STEPTICKER_TOFP(x) ((int32_t)roundf((float)(x)*STEPTICKER_FPSCALE))
-#define STEPTICKER_FROMFP(x) ((float)(x)/STEPTICKER_FPSCALE)
-
-class StepTicker{
- private:
- static StepTicker* instance;
- bool start_next_block();
-
- float frequency;
- uint32_t period;
- // not using motor refs, direct stepping std::array<StepperMotor*, k_max_actuators> motor;
- // do adhoc hack
- StepInterface* motor[3];
-
- Block *current_block;
- uint32_t current_tick{0};
-
- struct {
- volatile bool running:1;
- uint8_t num_motors:4;
- };
- public:
- StepTicker();
- static StepTicker* getInstance();
- void init(void);
- // go
- void set_frequency( float frequency );
- // deleted this void set_unstep_time( float microseconds );
- // deleted this int register_motor(StepperMotor* motor);
- float get_frequency() const { return frequency; }
- void unstep_tick();
- const Block *get_current_block() const { return current_block; }
-
- void step_tick (void);
- void handle_finish (void);
- void start();
-
- // whatever setup the block should register this to know when it is done
- std::function<void()> finished_fnc{nullptr};
-};
-
-extern StepTicker* stepTicker;
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/ActuatorCoordinates.h b/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/ActuatorCoordinates.h
deleted file mode 100644
index 135dd04..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/ActuatorCoordinates.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
- Smoothie 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 General Public License for more details.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#pragma once
-
-#include <array>
-
-#define MAX_ROBOT_ACTUATORS 3
-
-// Keep MAX_ROBOT_ACTUATORS as small as practical it impacts block size and therefore free memory.
-const size_t k_max_actuators = MAX_ROBOT_ACTUATORS;
-typedef struct std::array<float, k_max_actuators> ActuatorCoordinates;
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Block.cpp b/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Block.cpp
deleted file mode 100644
index 460e584..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Block.cpp
+++ /dev/null
@@ -1,350 +0,0 @@
-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
- Smoothie 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 General Public License for more details.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include "Block.h"
-#include "../../libs/StepTicker.h"
-#include <math.h>
-
-/*
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "libs/nuts_bolts.h"
-#include <math.h>
-#include <string>
-#include "Block.h"
-#include "Planner.h"
-#include "Conveyor.h"
-#include "Gcode.h"
-#include "libs/StreamOutputPool.h"
-#include "StepTicker.h"
-
-#include "mri.h"
-*/
-
-using std::string;
-#include <vector>
-
-#define STEP_TICKER_FREQUENCY stepTicker->get_frequency()
-//THEKERNEL->step_ticker->get_frequency()
-#define STEP_TICKER_FREQUENCY_2 (STEP_TICKER_FREQUENCY*STEP_TICKER_FREQUENCY)
-
-uint8_t Block::n_actuators = 0;
-
-// A block represents a movement, it's length for each stepper motor, and the corresponding acceleration curves.
-// It's stacked on a queue, and that queue is then executed in order, to move the motors.
-// Most of the accel math is also done in this class
-// And GCode objects for use in on_gcode_execute are also help in here
-
-Block::Block()
-{
- clear();
-}
-
-void Block::clear()
-{
- is_ready = false;
-
- this->steps.fill(0);
-
- steps_event_count = 0;
- nominal_rate = 0.0F;
- nominal_speed = 0.0F;
- millimeters = 0.0F;
- entry_speed = 0.0F;
- exit_speed = 0.0F;
- acceleration = 100.0F; // we don't want to get divide by zeroes if this is not set
- initial_rate = 0.0F;
- accelerate_until = 0;
- decelerate_after = 0;
- direction_bits = 0;
- recalculate_flag = false;
- nominal_length_flag = false;
- max_entry_speed = 0.0F;
- is_ticking = false;
- is_g123 = false;
- locked = false;
- s_value = 0.0F;
-
- acceleration_per_tick= 0;
- deceleration_per_tick= 0;
- total_move_ticks= 0;
- if(tick_info.size() != n_actuators) {
- tick_info.resize(n_actuators);
- }
- for(auto &i : tick_info) {
- i.steps_per_tick= 0;
- i.counter= 0;
- i.acceleration_change= 0;
- i.deceleration_change= 0;
- i.plateau_rate= 0;
- i.steps_to_move= 0;
- i.step_count= 0;
- i.next_accel_event= 0;
- }
-}
-
-void Block::debug() const
-{
- /*
- THEKERNEL->streams->printf("%p: steps-X:%lu Y:%lu Z:%lu ", this, this->steps[0], this->steps[1], this->steps[2]);
- for (size_t i = E_AXIS; i < n_actuators; ++i) {
- THEKERNEL->streams->printf("E%d:%lu ", i-E_AXIS, this->steps[i]);
- }
- THEKERNEL->streams->printf("(max:%lu) nominal:r%1.4f/s%1.4f mm:%1.4f acc:%1.2f accu:%lu decu:%lu ticks:%lu rates:%1.4f entry/max:%1.4f/%1.4f exit:%1.4f primary:%d ready:%d locked:%d ticking:%d recalc:%d nomlen:%d time:%f\r\n",
- this->steps_event_count,
- this->nominal_rate,
- this->nominal_speed,
- this->millimeters,
- this->acceleration,
- this->accelerate_until,
- this->decelerate_after,
- this->total_move_ticks,
- this->initial_rate,
- this->entry_speed,
- this->max_entry_speed,
- this->exit_speed,
- this->primary_axis,
- this->is_ready,
- this->locked,
- this->is_ticking,
- recalculate_flag ? 1 : 0,
- nominal_length_flag ? 1 : 0,
- total_move_ticks/STEP_TICKER_FREQUENCY
- );
- */
-}
-
-
-/* Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
-// The factors represent a factor of braking and must be in the range 0.0-1.0.
-// +--------+ <- nominal_rate
-// / \
-// nominal_rate*entry_factor -> + \
-// | + <- nominal_rate*exit_factor
-// +-------------+
-// time -->
-*/
-void Block::calculate_trapezoid( float entryspeed, float exitspeed )
-{
- // if block is currently executing, don't touch anything!
- if (is_ticking) return;
-
- float initial_rate = this->nominal_rate * (entryspeed / this->nominal_speed); // steps/sec
- float final_rate = this->nominal_rate * (exitspeed / this->nominal_speed);
- //printf("Initial rate: %f, final_rate: %f\n", initial_rate, final_rate);
- // How many steps ( can be fractions of steps, we need very precise values ) to accelerate and decelerate
- // This is a simplification to get rid of rate_delta and get the steps/s² accel directly from the mm/s² accel
- float acceleration_per_second = (this->acceleration * this->steps_event_count) / this->millimeters;
-
- float maximum_possible_rate = sqrtf( ( this->steps_event_count * acceleration_per_second ) + ( ( powf(initial_rate, 2) + powf(final_rate, 2) ) / 2.0F ) );
-
- //printf("id %d: acceleration_per_second: %f, maximum_possible_rate: %f steps/sec, %f mm/sec\n", this->id, acceleration_per_second, maximum_possible_rate, maximum_possible_rate/100);
-
- // Now this is the maximum rate we'll achieve this move, either because
- // it's the higher we can achieve, or because it's the higher we are
- // allowed to achieve
- this->maximum_rate = std::min(maximum_possible_rate, this->nominal_rate);
-
- // Now figure out how long it takes to accelerate in seconds
- float time_to_accelerate = ( this->maximum_rate - initial_rate ) / acceleration_per_second;
-
- // Now figure out how long it takes to decelerate
- float time_to_decelerate = ( final_rate - this->maximum_rate ) / -acceleration_per_second;
-
- // Now we know how long it takes to accelerate and decelerate, but we must
- // also know how long the entire move takes so we can figure out how long
- // is the plateau if there is one
- float plateau_time = 0;
-
- // Only if there is actually a plateau ( we are limited by nominal_rate )
- if(maximum_possible_rate > this->nominal_rate) {
- // Figure out the acceleration and deceleration distances ( in steps )
- float acceleration_distance = ( ( initial_rate + this->maximum_rate ) / 2.0F ) * time_to_accelerate;
- float deceleration_distance = ( ( this->maximum_rate + final_rate ) / 2.0F ) * time_to_decelerate;
-
- // Figure out the plateau steps
- float plateau_distance = this->steps_event_count - acceleration_distance - deceleration_distance;
-
- // Figure out the plateau time in seconds
- plateau_time = plateau_distance / this->maximum_rate;
- }
-
- // Figure out how long the move takes total ( in seconds )
- float total_move_time = time_to_accelerate + time_to_decelerate + plateau_time;
- //puts "total move time: #{total_move_time}s time to accelerate: #{time_to_accelerate}, time to decelerate: #{time_to_decelerate}"
-
- // We now have the full timing for acceleration, plateau and deceleration,
- // yay \o/ Now this is very important these are in seconds, and we need to
- // round them into ticks. This means instead of accelerating in 100.23
- // ticks we'll accelerate in 100 ticks. Which means to reach the exact
- // speed we want to reach, we must figure out a new/slightly different
- // acceleration/deceleration to be sure we accelerate and decelerate at
- // the exact rate we want
-
- // First off round total time, acceleration time and deceleration time in ticks
- uint32_t acceleration_ticks = floorf( time_to_accelerate * STEP_TICKER_FREQUENCY );
- uint32_t deceleration_ticks = floorf( time_to_decelerate * STEP_TICKER_FREQUENCY );
- uint32_t total_move_ticks = floorf( total_move_time * STEP_TICKER_FREQUENCY );
-
- // Now deduce the plateau time for those new values expressed in tick
- //uint32_t plateau_ticks = total_move_ticks - acceleration_ticks - deceleration_ticks;
-
- // Now we figure out the acceleration value to reach EXACTLY maximum_rate(steps/s) in EXACTLY acceleration_ticks(ticks) amount of time in seconds
- float acceleration_time = acceleration_ticks / STEP_TICKER_FREQUENCY; // This can be moved into the operation below, separated for clarity, note we need to do this instead of using time_to_accelerate(seconds) directly because time_to_accelerate(seconds) and acceleration_ticks(seconds) do not have the same value anymore due to the rounding
- float deceleration_time = deceleration_ticks / STEP_TICKER_FREQUENCY;
-
- float acceleration_in_steps = (acceleration_time > 0.0F ) ? ( this->maximum_rate - initial_rate ) / acceleration_time : 0;
- float deceleration_in_steps = (deceleration_time > 0.0F ) ? ( this->maximum_rate - final_rate ) / deceleration_time : 0;
-
- // we have a potential race condition here as we could get interrupted anywhere in the middle of this call, we need to lock
- // the updates to the blocks to get around it
- this->locked = true;
- // Now figure out the two acceleration ramp change events in ticks
- this->accelerate_until = acceleration_ticks;
- this->decelerate_after = total_move_ticks - deceleration_ticks;
-
- // Now figure out the acceleration PER TICK, this should ideally be held as a float, even a double if possible as it's very critical to the block timing
- // steps/tick^2
-
- this->acceleration_per_tick = acceleration_in_steps / STEP_TICKER_FREQUENCY_2;
- this->deceleration_per_tick = deceleration_in_steps / STEP_TICKER_FREQUENCY_2;
-
- // We now have everything we need for this block to call a Steppermotor->move method !!!!
- // Theorically, if accel is done per tick, the speed curve should be perfect.
- this->total_move_ticks = total_move_ticks;
-
- //puts "accelerate_until: #{this->accelerate_until}, decelerate_after: #{this->decelerate_after}, acceleration_per_tick: #{this->acceleration_per_tick}, total_move_ticks: #{this->total_move_ticks}"
-
- this->initial_rate = initial_rate;
- this->exit_speed = exitspeed;
-
- // prepare the block for stepticker
- this->prepare();
- this->locked = false;
-}
-
-// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
-// acceleration within the allotted distance.
-float Block::max_allowable_speed(float acceleration, float target_velocity, float distance)
-{
- return sqrtf(target_velocity * target_velocity - 2.0F * acceleration * distance);
-}
-
-// Called by Planner::recalculate() when scanning the plan from last to first entry.
-float Block::reverse_pass(float exit_speed)
-{
- // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
- // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
- // check for maximum allowable speed reductions to ensure maximum possible planned speed.
- if (this->entry_speed != this->max_entry_speed) {
- // If nominal length true, max junction speed is guaranteed to be reached. Only compute
- // for max allowable speed if block is decelerating and nominal length is false.
- if ((!this->nominal_length_flag) && (this->max_entry_speed > exit_speed)) {
- float max_entry_speed = max_allowable_speed(-this->acceleration, exit_speed, this->millimeters);
-
- this->entry_speed = min(max_entry_speed, this->max_entry_speed);
-
- return this->entry_speed;
- } else
- this->entry_speed = this->max_entry_speed;
- }
-
- return this->entry_speed;
-}
-
-
-// Called by Planner::recalculate() when scanning the plan from first to last entry.
-// returns maximum exit speed of this block
-float Block::forward_pass(float prev_max_exit_speed)
-{
- // If the previous block is an acceleration block, but it is not long enough to complete the
- // full speed change within the block, we need to adjust the entry speed accordingly. Entry
- // speeds have already been reset, maximized, and reverse planned by reverse planner.
- // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
-
- // TODO: find out if both of these checks are necessary
- if (prev_max_exit_speed > nominal_speed)
- prev_max_exit_speed = nominal_speed;
- if (prev_max_exit_speed > max_entry_speed)
- prev_max_exit_speed = max_entry_speed;
-
- if (prev_max_exit_speed <= entry_speed) {
- // accel limited
- entry_speed = prev_max_exit_speed;
- // since we're now acceleration or cruise limited
- // we don't need to recalculate our entry speed anymore
- recalculate_flag = false;
- }
- // else
- // // decel limited, do nothing
-
- return max_exit_speed();
-}
-
-float Block::max_exit_speed()
-{
- // if block is currently executing, return cached exit speed from calculate_trapezoid
- // this ensures that a block following a currently executing block will have correct entry speed
- if(is_ticking)
- return this->exit_speed;
-
- // if nominal_length_flag is asserted
- // we are guaranteed to reach nominal speed regardless of entry speed
- // thus, max exit will always be nominal
- if (nominal_length_flag)
- return nominal_speed;
-
- // otherwise, we have to work out max exit speed based on entry and acceleration
- float max = max_allowable_speed(-this->acceleration, this->entry_speed, this->millimeters);
-
- return min(max, nominal_speed);
-}
-
-// prepare block for the step ticker, called everytime the block changes
-// this is done during planning so does not delay tick generation and step ticker can simply grab the next block during the interrupt
-void Block::prepare()
-{
- float inv = 1.0F / this->steps_event_count;
- for (uint8_t m = 0; m < n_actuators; m++) {
- uint32_t steps = this->steps[m];
- this->tick_info[m].steps_to_move = steps;
- if(steps == 0) continue;
-
- float aratio = inv * steps;
- this->tick_info[m].steps_per_tick = STEPTICKER_TOFP((this->initial_rate * aratio) / STEP_TICKER_FREQUENCY); // steps/sec / tick frequency to get steps per tick in 2.30 fixed point
- this->tick_info[m].counter = 0; // 2.30 fixed point
- this->tick_info[m].step_count = 0;
- this->tick_info[m].next_accel_event = this->total_move_ticks + 1;
-
- float acceleration_change = 0;
- if(this->accelerate_until != 0) { // If the next accel event is the end of accel
- this->tick_info[m].next_accel_event = this->accelerate_until;
- acceleration_change = this->acceleration_per_tick;
-
- } else if(this->decelerate_after == 0 /*&& this->accelerate_until == 0*/) {
- // we start off decelerating
- acceleration_change = -this->deceleration_per_tick;
-
- } else if(this->decelerate_after != this->total_move_ticks /*&& this->accelerate_until == 0*/) {
- // If the next event is the start of decel ( don't set this if the next accel event is accel end )
- this->tick_info[m].next_accel_event = this->decelerate_after;
- }
-
- // convert to fixed point after scaling
- this->tick_info[m].acceleration_change= STEPTICKER_TOFP(acceleration_change * aratio);
- this->tick_info[m].deceleration_change= -STEPTICKER_TOFP(this->deceleration_per_tick * aratio);
- this->tick_info[m].plateau_rate= STEPTICKER_TOFP((this->maximum_rate * aratio) / STEP_TICKER_FREQUENCY);
- }
-}
-
-// returns current rate (steps/sec) for the given actuator
-float Block::get_trapezoid_rate(int i) const
-{
- // convert steps per tick from fixed point to float and convert to steps/sec
- // FIXME steps_per_tick can change at any time, potential race condition if it changes while being read here
- return STEPTICKER_FROMFP(tick_info[i].steps_per_tick) * STEP_TICKER_FREQUENCY;
-}
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Block.h b/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Block.h
deleted file mode 100644
index 76884db..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Block.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
- Smoothie 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 General Public License for more details.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#pragma once
-
-#include <vector>
-#include <bitset>
-#include "ActuatorCoordinates.h"
-
-class Block {
- public:
- Block();
- void calculate_trapezoid( float entry_speed, float exit_speed );
- float max_allowable_speed( float acceleration, float target_velocity, float distance);
-
- float reverse_pass(float exit_speed);
- float forward_pass(float next_entry_speed);
- float max_exit_speed();
- void debug() const;
- void ready() { is_ready= true; }
- void clear();
- void prepare();
-
- float get_trapezoid_rate(int i) const;
-
- std::array<uint32_t, k_max_actuators> steps; // Number of steps for each axis for this block
- uint32_t steps_event_count; // Steps for the longest axis
- float nominal_rate; // Nominal rate in steps per second
- float nominal_speed; // Nominal speed in mm per second
- float millimeters; // Distance for this move
- float entry_speed;
- float exit_speed;
- float acceleration; // the acceleration for this block
- float initial_rate; // Initial rate in steps per second
- float maximum_rate;
-
- float acceleration_per_tick {0};
- float deceleration_per_tick {0};
-
- float max_entry_speed;
-
- // this is tick info needed for this block. applies to all motors
- uint32_t accelerate_until;
- uint32_t decelerate_after;
- uint32_t total_move_ticks;
- std::bitset<k_max_actuators> direction_bits; // Direction for each axis in bit form, relative to the direction port's mask
-
- // this is the data needed to determine when each motor needs to be issued a step
- using tickinfo_t= struct {
- int32_t steps_per_tick; // 2.30 fixed point
- int32_t counter; // 2.30 fixed point
- int32_t acceleration_change; // 2.30 fixed point signed
- int32_t deceleration_change; // 2.30 fixed point
- int32_t plateau_rate; // 2.30 fixed point
- uint32_t steps_to_move;
- uint32_t step_count;
- uint32_t next_accel_event;
- };
-
- // need info for each active motor
- //std::array<tickinfo_t, k_max_actuators> tick_info;
- std::vector<tickinfo_t> tick_info;
- static uint8_t n_actuators;
-
- struct {
- bool recalculate_flag:1; // Planner flag to recalculate trapezoids on entry junction
- bool nominal_length_flag:1; // Planner flag for nominal speed always reached
- bool is_ready:1;
- bool primary_axis:1; // set if this move is a primary axis
- bool is_g123:1; // set if this is a G1, G2 or G3
- volatile bool is_ticking:1; // set when this block is being actively ticked by the stepticker
- volatile bool locked:1; // set to true when the critical data is being updated, stepticker will have to skip if this is set
- uint16_t s_value:12; // for laser 1.11 Fixed point
- };
-};
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Conveyor.cpp b/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Conveyor.cpp
deleted file mode 100644
index c0e1876..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Conveyor.cpp
+++ /dev/null
@@ -1,318 +0,0 @@
-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl) with additions from Sungeun K. Jeon (https://github.com/chamnit/grbl)
- Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
- Smoothie 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 General Public License for more details.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include <functional>
-#include <vector>
-#include <Arduino.h>
-#include "Conveyor.h"
-#include "Block.h"
-//#include "Planner.h"
-
-/*
-#include "libs/nuts_bolts.h"
-#include "libs/RingBuffer.h"
-#include "../communication/utils/Gcode.h"
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "Timer.h" // mbed.h lib
-#include "wait_api.h" // mbed.h lib
-#include "Block.h"
-#include "Conveyor.h"
-#include "Planner.h"
-#include "mri.h"
-#include "checksumm.h"
-#include "Config.h"
-#include "libs/StreamOutputPool.h"
-#include "ConfigValue.h"
-#include "StepTicker.h"
-#include "Robot.h"
-#include "StepperMotor.h"
-
-#include <functional>
-#include <vector>
-
-#include "mbed.h"
-*/
-
-/*
-rmd' these: have to do with smoothie's config-grabbing system
-#define planner_queue_size_checksum CHECKSUM("planner_queue_size")
-#define queue_delay_time_ms_checksum CHECKSUM("queue_delay_time_ms")
-*/
-
-/*
- * The conveyor holds the queue of blocks, takes care of creating them, and starting the executing chain of blocks
- *
- * The Queue is implemented as a ringbuffer- with a twist
- *
- * Since delete() is not thread-safe, we must marshall deletable items out of ISR context
- *
- * To do this, we have implmented a *double* ringbuffer- two ringbuffers sharing the same ring, and one index pointer
- *
- * as in regular ringbuffers, HEAD always points to a clean, free block. We are free to prepare it as we see fit, at our leisure.
- * When the block is fully prepared, we increment the head pointer, and from that point we must not touch it anymore.
- *
- * also, as in regular ringbuffers, we can 'use' the TAIL block, and increment tail pointer when we're finished with it
- *
- * Both of these are implemented here- see queue_head_block() (where head is pushed) and on_idle() (where tail is consumed)
- *
- * The double ring is implemented by adding a third index pointer that lives in between head and tail. We call it isr_tail_i.
- *
- * in ISR context, we use HEAD as the head pointer, and isr_tail_i as the tail pointer.
- * As HEAD increments, ISR context can consume the new blocks which appear, and when we're finished with a block, we increment isr_tail_i to signal that they're finished, and ready to be cleaned
- *
- * in IDLE context, we use isr_tail_i as the head pointer, and TAIL as the tail pointer.
- * When isr_tail_i != tail, we clean up the tail block (performing ISR-unsafe delete operations) and consume it (increment tail pointer), returning it to the pool of clean, unused blocks which HEAD is allowed to prepare for queueing
- *
- * Thus, our two ringbuffers exist sharing the one ring of blocks, and we safely marshall used blocks from ISR context to IDLE context for safe cleanup.
- */
-
-Conveyor* Conveyor::instance = 0;
-
-Conveyor* Conveyor::getInstance(void){
- if(instance == 0){
- instance = new Conveyor();
- }
- return instance;
-}
-
-Conveyor* conveyor = Conveyor::getInstance();
-
-Conveyor::Conveyor(){
- running = false;
- halted = false;
- allow_fetch = false;
- flush = false;
-}
-
-// we allocate the queue here after config is completed so we do not run out of memory during config
-void Conveyor::start(uint8_t n)
-{
- Block::n_actuators= n; // set the number of motors which determines how big the tick info vector is
- queue.resize(queue_size);
- running = true;
-}
-
-void Conveyor::on_module_loaded(){
- //register_for_event(ON_IDLE);
- //register_for_event(ON_HALT);
- // Attach to the end_of_move stepper event: this next line *is* commented out in smoothieware main
- //THEKERNEL->step_ticker->finished_fnc = std::bind( &Conveyor::all_moves_finished, this);
- queue_size = 64; //THEKERNEL->config->value(planner_queue_size_checksum)->by_default(32)->as_number();
- queue_delay_time_ms = 1000; //THEKERNEL->config->value(queue_delay_time_ms_checksum)->by_default(100)->as_number();
-}
-
-void Conveyor::on_idle(void*)
-{
- if (running) {
- check_queue();
- }
-
- // we can garbage collect the block queue here
- if (queue.tail_i != queue.isr_tail_i) {
- if (queue.is_empty()) {
- // rm'd this smoothie debug line
- //__debugbreak();
- } else {
- // Cleanly delete block
- Block* block = queue.tail_ref();
- //sysError("block: steps-X: " + String(block->steps[0]));
- //block->debug();
- block->clear();
- queue.consume_tail();
- }
- }
-}
-
-void Conveyor::on_halt(void* argument)
-{
- if(argument == nullptr) {
- halted = true;
- flush_queue();
- } else {
- halted = false;
- }
-}
-
-unsigned int Conveyor::queue_space(void){
- // need this fn in order to build flow control
- return queue.space();
- return 0;
-}
-
-// see if we are idle
-// this checks the block queue is empty, and that the step queue is empty and
-// checks that all motors are no longer moving
-bool Conveyor::is_idle() const
-{
- if(queue.is_empty()) {
- // rm'd this, but current integration doesn't call this ever...
- // I think is used to allow moves to finish when a halt is called
- /*
- for(auto &a : THEROBOT->actuators) {
- if(a->is_moving()) return false;
- }
- */
- return true;
- }
-
- return false;
-}
-
-// Wait for the queue to be empty and for all the jobs to finish in step ticker
-void Conveyor::wait_for_idle(bool wait_for_motors)
-{
- // wait for the job queue to empty, this means cycling everything on the block queue into the job queue
- // forcing them to be jobs
- #warning modified this, unsure of events: deleted call_event and motor wait
- running = false; // stops on_idle calling check_queue
- while (!queue.is_empty()) {
- check_queue(true); // forces queue to be made available to stepticker
- on_idle(nullptr); // replaced call below with this line's direct call
- //THEKERNEL->call_event(ON_IDLE, this);
- }
-
- /*
- if(wait_for_motors) {
- // now we wait for all motors to stop moving
- while(!is_idle()) {
- THEKERNEL->call_event(ON_IDLE, this);
- }
- }
- */
-
- running = true;
- // returning now means that everything has totally finished
-}
-
-/*
- * push the pre-prepared head block onto the queue
- */
-void Conveyor::queue_head_block()
-{
- // upstream caller will block on this until there is room in the queue
- while (queue.is_full() && !halted) {
- //check_queue(); // smoothieware's comment-out
- //THEKERNEL->call_event(ON_IDLE, this); // will call check_queue();
- #warning replaced above with direct call to this,
- on_idle(nullptr);
-
- }
-
- /*
- jake removed this call, not using halt function
- if(halted) {
- // we do not want to stick more stuff on the queue if we are in halt state
- // clear and release the block on the head
- queue.head_ref()->clear();
- return; // if we got a halt then we are done here
- }
- */
-
- queue.produce_head();
-
- // jake removed this call as well,
- // not sure if this is the correct place but we need to turn on the motors if they were not already on
- // THEKERNEL->call_event(ON_ENABLE, (void*)1); // turn all enable pins on
-}
-
-void Conveyor::setWaitTime(uint32_t ms){
- if(ms > 5000) ms = 5000;
- queue_delay_time_ms = ms;
-}
-
-void Conveyor::check_queue(bool force)
-{
- static uint32_t last_time_check = micros();
-
- if(queue.is_empty()) {
- allow_fetch = false;
- last_time_check = micros(); // reset timeout
- return;
- }
-
- // if we have been waiting for more than the required waiting time and the queue is not empty,
- // or the queue is full, then allow stepticker to get the tail
- // we do this to allow an idle system to pre load the queue a bit so the first few blocks run smoothly.
- if(force || queue.is_full() || (micros() - last_time_check) >= (queue_delay_time_ms * 1000)) {
- last_time_check = micros(); // reset timeout
- if(!flush) allow_fetch = true;
- return;
- }
-}
-
-// called from step ticker ISR
-bool Conveyor::get_next_block(Block **block){
- // mark entire queue for GC if flush flag is asserted
- if (flush){
- while (queue.isr_tail_i != queue.head_i) {
- queue.isr_tail_i = queue.next(queue.isr_tail_i);
- }
- }
-
- // default the feerate to zero if there is no block available
- this->current_feedrate= 0;
-
- if(halted || queue.isr_tail_i == queue.head_i) return false; // we do not have anything to give
-
- // wait for queue to fill up, optimizes planning
- if(!allow_fetch) return false;
-
- Block *b = queue.item_ref(queue.isr_tail_i);
- // we cannot use this now if it is being updated
- if(!b->locked) {
- // removed the smoothie debugbreak below
- if(!b->is_ready); // __debugbreak(); // should never happen
- b->is_ticking = true;
- b->recalculate_flag = false;
- this->current_feedrate = b->nominal_speed;
- *block = b;
- return true;
- }
-
- return false;
-}
-
-// called from step ticker ISR when block is finished, do not do anything slow here
-void Conveyor::block_finished(){
- // we increment the isr_tail_i so we can get the next block
- queue.isr_tail_i= queue.next(queue.isr_tail_i);
-}
-
-/*
- In most cases this will not totally flush the queue, as when streaming
- gcode there is one stalled waiting for space in the queue, in
- queue_head_block() so after this flush, once main_loop runs again one more
- gcode gets stuck in the queue, this is bad. Current work around is to call
- this when the queue in not full and streaming has stopped
-*/
-void Conveyor::flush_queue(){
- allow_fetch = false;
- flush= true;
-
- // TODO force deceleration of last block
-
- // now wait until the block queue has been flushed
- wait_for_idle(false);
-
- flush= false;
-}
-
-// Debug function
-void Conveyor::dump_queue(){
- for (unsigned int index = queue.tail_i, i = 0; true; index = queue.next(index), i++ ) {
- // THEKERNEL->streams->printf("block %03d > ", i);
- // queue.item_ref(index)->debug();
-
- if (index == queue.head_i)
- break;
- }
-}
-
-// feels hacky, but apparently the way to do it
-#include "../../libs/HeapRing.cpp"
-template class HeapRing<Block>;
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Conveyor.h b/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Conveyor.h
deleted file mode 100644
index 096e3ab..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Conveyor.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
- Smoothie 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 General Public License for more details.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#pragma once
-
-//#include "libs/Module.h"
-#include "../../libs/HeapRing.h"
-#include "../../../drivers/indicators.h"
-
-using namespace std;
-#include <string>
-#include <vector>
-
-class Gcode;
-class Block;
-
-class Conveyor //: public Module
-{
-public:
- Conveyor();
- static Conveyor* getInstance(void);
- void start(uint8_t n_actuators);
-
- void on_module_loaded(void);
- void on_idle(void *);
- void on_halt(void *);
-
- void setWaitTime(uint32_t ms);
- void wait_for_idle(bool wait_for_motors=true);
- bool is_queue_empty() { return queue.is_empty(); };
- bool is_queue_full() { return queue.is_full(); };
- unsigned int queue_space(void);
- bool is_idle() const;
-
- // returns next available block writes it to block and returns true
- bool get_next_block(Block **block);
- void block_finished();
-
- void dump_queue(void);
- void flush_queue(void);
- float get_current_feedrate() const { return current_feedrate; }
-
- friend class Planner; // for queue: friends can access private vars
-
- using Queue_t = HeapRing<Block>;
- Queue_t queue; // Queue of Blocks
-
-private:
- static Conveyor* instance;
- // void all_moves_finished(); // commented out by smoothie devs
- void check_queue(bool force= false);
- void queue_head_block(void);
-
- //volatile unsigned int gc_pending;
-
- uint32_t queue_delay_time_ms;
- size_t queue_size;
- float current_feedrate{0}; // actual nominal feedrate that current block is running at in mm/sec
-
- struct {
- volatile bool running:1;
- volatile bool halted:1;
- volatile bool allow_fetch:1;
- bool flush:1;
- };
-
-};
-
-extern Conveyor* conveyor;
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Planner.cpp b/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Planner.cpp
deleted file mode 100644
index 4c41bbd..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Planner.cpp
+++ /dev/null
@@ -1,351 +0,0 @@
-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl) with additions from Sungeun K. Jeon (https://github.com/chamnit/grbl)
- Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
- Smoothie 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 General Public License for more details.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-using namespace std;
-#include <vector>
-
-#include "Planner.h"
-
-/*
-#include "mri.h"
-#include "nuts_bolts.h"
-#include "RingBuffer.h"
-#include "Gcode.h"
-#include "Module.h"
-#include "Kernel.h"
-#include "Block.h"
-#include "Planner.h"
-#include "Conveyor.h"
-#include "StepperMotor.h"
-#include "Config.h"
-#include "checksumm.h"
-#include "Robot.h"
-#include "ConfigValue.h"
-*/
-
-#include <math.h>
-#include <algorithm>
-
-// The Planner does the acceleration math for the queue of Blocks ( movements ).
-// It makes sure the speed stays within the configured constraints ( acceleration, junction_deviation, etc )
-// It goes over the list in both direction, every time a block is added, re-doing the math to make sure everything is optimal
-
-Planner* Planner::instance = 0;
-
-Planner* Planner::getInstance(void){
- if(instance == 0){
- instance = new Planner();
- }
- return instance;
-}
-
-Planner* planner = Planner::getInstance();
-
-Planner::Planner()
-{
- memset(this->previous_unit_vec, 0, sizeof this->previous_unit_vec);
- config_load();
-}
-
-// Configure acceleration
-void Planner::config_load()
-{
- #warning replaced with defaults
- this->junction_deviation = 0.05F; //THEKERNEL->config->value(junction_deviation_checksum)->by_default(0.05F)->as_number();
- this->z_junction_deviation = 0.05F; //THEKERNEL->config->value(z_junction_deviation_checksum)->by_default(NAN)->as_number(); // disabled by default
- this->minimum_planner_speed = 0.00F; //THEKERNEL->config->value(minimum_planner_speed_checksum)->by_default(0.0f)->as_number();
-}
-
-void Planner::set_position(float* pos, uint8_t n_motors){
- for(uint8_t i = 0; i < n_motors; i ++){
- last_position[i] = pos[i];
- smoothieRoll->actuators[i]->set_position(pos[i]); // not totally sure about this
- }
- do_set_position = true;
-}
-
-// motion packet -> block
-void Planner::append_move( float* target, uint8_t n_motors, float rate){
- // do increments on last milestone appended, checking if moves are abs. or inc.
- // ...
- ActuatorCoordinates feedPos;
- ActuatorCoordinates deltas;
- for(uint8_t m = 0; m < 3; m ++){
- feedPos[m] = target[m]; // - last_position[m];
- deltas[m] = target[m] - last_position[m];
- last_position[m] = target[m];
- }
- // calc sum of squares on increments
- float sos = powf(deltas[0], 2) + powf(deltas[1], 2) + powf(deltas[2], 2);
- float dist = sqrtf(sos);
- float unit[3] = {deltas[0] / dist, deltas[1] / dist, deltas[2] / dist};
- // zero rates are rejected
- if(rate < 0.0001F){
- sysError("rejecting small rate");
- return;
- }
- // very small moves are rejected
- if(dist < 0.00001F) return;
- // append it
- // would also do: set accel for lowest in move (with per motor accel)
- // and set speed for lowest max. speed per motor
- append_block(feedPos, 3, rate, dist, unit, 100.0F, 1.0F, true);
- //feedPos, 3, 100, dist, unit, 100, s_value, true
-}
-
-// Append a block to the queue, compute it's speed factors
-bool Planner::append_block( ActuatorCoordinates &actuator_pos, uint8_t n_motors, float rate_mm_s, float distance, float *unit_vec, float acceleration, float s_value, bool g123)
-{
- // Create ( recycle ) a new block
- Block* block = conveyor->queue.head_ref();
- // Direction bits
- bool has_steps = false;
- for (size_t i = 0; i < n_motors; i++) {
- // hell yeah, ok, the actuators know where they are in step space, i.e. how many ticks they have ticked
- // so this asks them to produce a # of steps to the end of this target, given that current state
- int32_t steps = smoothieRoll->actuators[i]->steps_to_target(actuator_pos[i]);
- if(i == 0 && false){
- sysError("steps-x: " + String(steps)
- + " t: " + String(actuator_pos[i], 6)
- + " lm: " + String(smoothieRoll->actuators[i]->get_last_milestone_mm()));
- }
- //THEROBOT->actuators[i]->steps_to_target(actuator_pos[i]);
- // Update current position
- if(steps != 0) {
- // here we update that state
- smoothieRoll->actuators[i]->update_last_milestones(actuator_pos[i], steps);
- //THEROBOT->actuators[i]->update_last_milestones(actuator_pos[i], steps);
- has_steps = true;
- }
- // find direction
- block->direction_bits[i] = (steps < 0) ? 1 : 0;
- // save actual steps in block
- block->steps[i] = labs(steps);
- }
-
- // sometimes even though there is a detectable movement it turns out there are no steps to be had from such a small move
- if(!has_steps) {
- block->clear();
- return false;
- }
-
- // info needed by laser
- block->s_value = 0; //roundf(s_value*(1<<11)); // 1.11 fixed point
- block->is_g123 = g123;
-
- // use default JD
- float junction_deviation = this->junction_deviation;
-
- // use either regular junction deviation or z specific and see if a primary axis move
- block->primary_axis = true;
- if(block->steps[0] == 0 && block->steps[1] == 0) {
- if(block->steps[2] != 0) {
- // z only move
- if(!isnan(this->z_junction_deviation)) junction_deviation = this->z_junction_deviation;
- } else {
- // is not a primary axis move
- block->primary_axis = false;
- }
- }
-
- block->acceleration = acceleration; // save in block
-
- // Max number of steps, for all axes
- auto mi = std::max_element(block->steps.begin(), block->steps.end());
- block->steps_event_count = *mi;
-
- block->millimeters = distance;
-
- // Calculate speed in mm/sec for each axis. No divide by zero due to previous checks.
- if( distance > 0.0F ) {
- block->nominal_speed = rate_mm_s; // (mm/s) Always > 0
- block->nominal_rate = block->steps_event_count * rate_mm_s / distance; // (step/s) Always > 0
- } else {
- block->nominal_speed = 0.0F;
- block->nominal_rate = 0;
- }
-
- // Compute the acceleration rate for the trapezoid generator. Depending on the slope of the line
- // average travel per step event changes. For a line along one axis the travel per step event
- // is equal to the travel/step in the particular axis. For a 45 degree line the steppers of both
- // axes might step for every step event. Travel per step event is then sqrt(travel_x^2+travel_y^2).
-
- // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
- // Let a circle be tangent to both previous and current path line segments, where the junction
- // deviation is defined as the distance from the junction to the closest edge of the circle,
- // colinear with the circle center. The circular segment joining the two paths represents the
- // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
- // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
- // path width or max_jerk in the previous grbl version. This approach does not actually deviate
- // from path, but used as a robust way to compute cornering speeds, as it takes into account the
- // nonlinearities of both the junction angle and junction velocity.
-
- // NOTE however it does not take into account independent axis, in most cartesian X and Y and Z are totally independent
- // and this allows one to stop with little to no decleration in many cases.
- // This is particualrly bad on leadscrew based systems that will skip steps.
- float vmax_junction = minimum_planner_speed; // Set default max junction speed
-
- // if unit_vec was null then it was not a primary axis move so we skip the junction deviation stuff
- if (unit_vec != nullptr && !conveyor->is_queue_empty()) {
- Block *prev_block = conveyor->queue.item_ref(conveyor->queue.prev(conveyor->queue.head_i));
- float previous_nominal_speed = prev_block->primary_axis ? prev_block->nominal_speed : 0;
-
- if (junction_deviation > 0.0F && previous_nominal_speed > 0.0F) {
- // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
- // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
- float cos_theta = - this->previous_unit_vec[0] * unit_vec[0]
- - this->previous_unit_vec[1] * unit_vec[1]
- - this->previous_unit_vec[2] * unit_vec[2] ;
-
- // Skip and use default max junction speed for 0 degree acute junction.
- if (cos_theta < 0.95F) {
- vmax_junction = std::min(previous_nominal_speed, block->nominal_speed);
- // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
- if (cos_theta > -0.95F) {
- // Compute maximum junction velocity based on maximum acceleration and junction deviation
- float sin_theta_d2 = sqrtf(0.5F * (1.0F - cos_theta)); // Trig half angle identity. Always positive.
- vmax_junction = std::min(vmax_junction, sqrtf(acceleration * junction_deviation * sin_theta_d2 / (1.0F - sin_theta_d2)));
- }
- }
- }
- }
- block->max_entry_speed = vmax_junction;
-
- // Initialize block entry speed. Compute based on deceleration to user-defined minimum_planner_speed.
- float v_allowable = max_allowable_speed(-acceleration, minimum_planner_speed, block->millimeters);
- block->entry_speed = std::min(vmax_junction, v_allowable);
-
- // Initialize planner efficiency flags
- // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
- // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
- // the current block and next block junction speeds are guaranteed to always be at their maximum
- // junction speeds in deceleration and acceleration, respectively. This is due to how the current
- // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
- // the reverse and forward planners, the corresponding block junction speed will always be at the
- // the maximum junction speed and may always be ignored for any speed reduction checks.
- if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
- else { block->nominal_length_flag = false; }
-
- // Always calculate trapezoid for new block
- block->recalculate_flag = true;
-
- // Update previous path unit_vector and nominal speed
- if(unit_vec != nullptr) {
- memcpy(previous_unit_vec, unit_vec, sizeof(previous_unit_vec)); // previous_unit_vec[] = unit_vec[]
- } else {
- memset(previous_unit_vec, 0, sizeof(previous_unit_vec));
- }
-
- // Math-heavy re-computing of the whole queue to take the new
- this->recalculate();
-
- // The block can now be used
- block->ready();
-
- // here's where the hang / while occurs
- conveyor->queue_head_block();
-
- return true;
-}
-
-void Planner::recalculate()
-{
- Conveyor::Queue_t &queue = conveyor->queue;
-
- unsigned int block_index;
-
- Block* previous;
- Block* current;
-
- /*
- * a newly added block is decel limited
- *
- * we find its max entry speed given its exit speed
- *
- * for each block, walking backwards in the queue:
- *
- * if max entry speed == current entry speed
- * then we can set recalculate to false, since clearly adding another block didn't allow us to enter faster
- * and thus we don't need to check entry speed for this block any more
- *
- * once we find an accel limited block, we must find the max exit speed and walk the queue forwards
- *
- * for each block, walking forwards in the queue:
- *
- * given the exit speed of the previous block and our own max entry speed
- * we can tell if we're accel or decel limited (or coasting)
- *
- * if prev_exit > max_entry
- * then we're still decel limited. update previous trapezoid with our max entry for prev exit
- * if max_entry >= prev_exit
- * then we're accel limited. set recalculate to false, work out max exit speed
- *
- * finally, work out trapezoid for the final (and newest) block.
- */
-
- /*
- * Step 1:
- * For each block, given the exit speed and acceleration, find the maximum entry speed
- */
-
- float entry_speed = minimum_planner_speed;
-
- block_index = queue.head_i;
- current = queue.item_ref(block_index);
-
- if (!queue.is_empty()) {
- while ((block_index != queue.tail_i) && current->recalculate_flag) {
- entry_speed = current->reverse_pass(entry_speed);
-
- block_index = queue.prev(block_index);
- current = queue.item_ref(block_index);
- }
-
- /*
- * Step 2:
- * now current points to either tail or first non-recalculate block
- * and has not had its reverse_pass called
- * or its calculate_trapezoid
- * entry_speed is set to the *exit* speed of current.
- * each block from current to head has its entry speed set to its max entry speed- limited by decel or nominal_rate
- */
-
- float exit_speed = current->max_exit_speed();
-
- while (block_index != queue.head_i) {
- previous = current;
- block_index = queue.next(block_index);
- current = queue.item_ref(block_index);
-
- // we pass the exit speed of the previous block
- // so this block can decide if it's accel or decel limited and update its fields as appropriate
- exit_speed = current->forward_pass(exit_speed);
-
- previous->calculate_trapezoid(previous->entry_speed, current->entry_speed);
- }
- }
-
- /*
- * Step 3:
- * work out trapezoid for final (and newest) block
- */
-
- // now current points to the head item
- // which has not had calculate_trapezoid run yet
- current->calculate_trapezoid(current->entry_speed, minimum_planner_speed);
-}
-
-
-// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
-// acceleration within the allotted distance.
-float Planner::max_allowable_speed(float acceleration, float target_velocity, float distance)
-{
- // Was acceleration*60*60*distance, in case this breaks, but here we prefer to use seconds instead of minutes
- return(sqrtf(target_velocity * target_velocity - 2.0F * acceleration * distance));
-}
-
-
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Planner.h b/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Planner.h
deleted file mode 100644
index c0ed704..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/Planner.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
- Smoothie 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 General Public License for more details.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef PLANNER_H
-#define PLANNER_H
-
-#include "ActuatorCoordinates.h"
-#include <Arduino.h>
-#include "../../../drivers/indicators.h"
-
-#include "Block.h"
-#include "Conveyor.h"
-#include "../../SmoothieRoll.h"
-
-class Block;
-
-class Planner
-{
-public:
- Planner();
- static Planner* getInstance(void);
- float max_allowable_speed( float acceleration, float target_velocity, float distance);
- bool append_block(ActuatorCoordinates &target, uint8_t n_motors, float rate_mm_s, float distance, float unit_vec[], float accleration, float s_value, bool g123);
- void append_move(float *target, uint8_t n_motors, float rate);
- void set_position(float *target, uint8_t n_motors);
- volatile boolean do_set_position = false;
-
- // track for increments
- float last_position[3] = {0,0,0};
-
- friend class Robot; // for acceleration, junction deviation, minimum_planner_speed
-
-private:
- static Planner* instance;
- void recalculate();
- void config_load();
- float previous_unit_vec[3];
- float junction_deviation; // Setting
- float z_junction_deviation; // Setting
- float minimum_planner_speed; // Setting
-};
-
-extern Planner* planner;
-
-#endif
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/StepInterface.cpp b/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/StepInterface.cpp
deleted file mode 100644
index 7cf29a0..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/StepInterface.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
-
-StepInterface.cpp
-
-driver interface hack for smoothie port
-
-*/
-
-#include "StepInterface.h"
-
-StepInterface::StepInterface(void){}
-
-int32_t StepInterface::steps_to_target(float target){
- int32_t target_steps = lroundf(target * steps_per_mm);
- return target_steps - last_milestone_steps;
-}
-
-void StepInterface::update_last_milestones(float mm, int32_t steps){
- last_milestone_steps += steps;
- last_milestone_mm = mm;
-}
-
-void StepInterface::set_position(float mm){
- last_milestone_mm = mm;
- last_milestone_steps = lroundf(mm * steps_per_mm);
- // values *jake* tracks in rt
- stepwise_position = last_milestone_steps;
- floating_position = last_milestone_mm;
-}
-
-float StepInterface::get_last_milestone_mm(void){
- return last_milestone_mm;
-}
-
-boolean StepInterface::step(void){
- // upd8 position,
- if(direction){
- stepwise_position --;
- } else {
- stepwise_position ++;
- }
- floating_position = stepwise_position * mm_per_step;
- // do step things
- return moving;
-}
-
-void StepInterface::set_direction(boolean dir){
- direction = dir;
-}
-
-void StepInterface::start_moving(void){
- moving = true;
-}
-
-void StepInterface::stop_moving(void){
- moving = false;
-}
-
-boolean StepInterface::is_moving(void){
- return moving;
-}
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/StepInterface.h b/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/StepInterface.h
deleted file mode 100644
index b9d2f6d..0000000
--- a/firmware/osape-smoothieroll-head/src/smoothie/modules/robot/StepInterface.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
-
-motor.h
-
-driver interface hack for smoothie port
-
-*/
-
-#ifndef STEPINTERFACE_H_
-#define STEPINTERFACE_H_
-
-#include <Arduino.h>
-
-class StepInterface {
- public:
- StepInterface(void);
-
- int32_t steps_to_target(float target);
- void update_last_milestones(float mm, int32_t steps);
- void set_position(float mm);
- float get_last_milestone_mm(void);
-
- boolean step(void);
- void set_direction(boolean dir);
- void start_moving(void);
- void stop_moving(void);
- boolean is_moving(void);
- // could also use this structure to setup steps / mm, max accel, max rate per actuator
-
- // for net interface,
- volatile int32_t stepwise_position = 0;
- volatile float floating_position = 0.0F;
-
- private:
- volatile boolean direction = false;
- volatile boolean moving = false;
-
- float steps_per_mm = 400.0F;
- float mm_per_step = 1 / steps_per_mm;
- int32_t last_milestone_steps = 0;
- float last_milestone_mm = 0;
-};
-
-#endif
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/utils/clocks_d51_module.cpp b/firmware/osape-smoothieroll-head/src/utils/clocks_d51_module.cpp
deleted file mode 100644
index af2c83c..0000000
--- a/firmware/osape-smoothieroll-head/src/utils/clocks_d51_module.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
-utils/clocks_d51_module.cpp
-
-clock utilities for the D51 as moduuularized, adhoc!
-i.e. xtals present on module board or otherwise
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo
-projects. Copyright is retained and must be preserved. The work is provided as
-is; no warranty is provided, and users accept all liability.
-*/
-
-#include "clocks_d51_module.h"
-
-D51_Clock_Boss* D51_Clock_Boss::instance = 0;
-
-D51_Clock_Boss* D51_Clock_Boss::getInstance(void){
- if(instance == 0){
- instance = new D51_Clock_Boss();
- }
- return instance;
-}
-
-D51_Clock_Boss* d51_clock_boss = D51_Clock_Boss::getInstance();
-
-D51_Clock_Boss::D51_Clock_Boss(){}
-
-void D51_Clock_Boss::setup_16mhz_xtal(void){
- if(mhz_xtal_is_setup) return; // already done,
- // let's make a clock w/ that xtal:
- OSCCTRL->XOSCCTRL[0].bit.RUNSTDBY = 0;
- OSCCTRL->XOSCCTRL[0].bit.XTALEN = 1;
- // set oscillator current..
- OSCCTRL->XOSCCTRL[0].reg |= OSCCTRL_XOSCCTRL_IMULT(4) | OSCCTRL_XOSCCTRL_IPTAT(3);
- OSCCTRL->XOSCCTRL[0].reg |= OSCCTRL_XOSCCTRL_STARTUP(5);
- OSCCTRL->XOSCCTRL[0].bit.ENALC = 1;
- OSCCTRL->XOSCCTRL[0].bit.ENABLE = 1;
- // make the peripheral clock available on this ch
- GCLK->GENCTRL[MHZ_XTAL_GCLK_NUM].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_XOSC0) | GCLK_GENCTRL_GENEN; // GCLK_GENCTRL_SRC_DFLL
- while (GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(MHZ_XTAL_GCLK_NUM)){
- DEBUG2PIN_TOGGLE;
- };
- mhz_xtal_is_setup = true;
-}
-
-void D51_Clock_Boss::start_100kHz_ticker_tc0(void){
- setup_16mhz_xtal();
- // ok
- TC0->COUNT32.CTRLA.bit.ENABLE = 0;
- TC1->COUNT32.CTRLA.bit.ENABLE = 0;
- // unmask clocks
- MCLK->APBAMASK.reg |= MCLK_APBAMASK_TC0 | MCLK_APBAMASK_TC1;
- // ok, clock to these channels...
- GCLK->PCHCTRL[TC0_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- GCLK->PCHCTRL[TC1_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- // turn them ooon...
- TC0->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- TC1->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- // going to set this up to count at some time, we will tune
- // that freq. with
- TC0->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- TC1->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- // allow interrupt to trigger on this event (overflow)
- TC0->COUNT32.INTENSET.bit.MC0 = 1;
- TC0->COUNT32.INTENSET.bit.MC1 = 1;
- // set the period,
- while (TC0->COUNT32.SYNCBUSY.bit.CC0);
- TC0->COUNT32.CC[0].reg = 80; // at DIV2, 240 for 10us ('realtime') (with
- // DFLL), 80 for 10us (with XTAL 16MHZ)
- // 400 for 50us,
- // enable, sync for enable write
- while (TC0->COUNT32.SYNCBUSY.bit.ENABLE);
- TC0->COUNT32.CTRLA.bit.ENABLE = 1;
- while (TC0->COUNT32.SYNCBUSY.bit.ENABLE);
- TC1->COUNT32.CTRLA.bit.ENABLE = 1;
- // enable the IRQ
- NVIC_EnableIRQ(TC0_IRQn);
-}
-
-void D51_Clock_Boss::start_100kHz_ticker_tc2(void){
- setup_16mhz_xtal();
- // ok
- TC2->COUNT32.CTRLA.bit.ENABLE = 0;
- TC3->COUNT32.CTRLA.bit.ENABLE = 0;
- // unmask clocks
- MCLK->APBBMASK.reg |= MCLK_APBBMASK_TC2 | MCLK_APBBMASK_TC3;
- // ok, clock to these channels...
- GCLK->PCHCTRL[TC2_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- GCLK->PCHCTRL[TC3_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(d51_clock_boss->mhz_xtal_gclk_num);
- // turn them ooon...
- TC2->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- TC3->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC | TC_CTRLA_PRESCALER_DIV2 | TC_CTRLA_CAPTEN0;
- // going to set this up to count at some time, we will tune
- // that freq. with
- TC2->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- TC3->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
- // allow interrupt to trigger on this event (overflow)
- TC2->COUNT32.INTENSET.bit.MC0 = 1;
- TC2->COUNT32.INTENSET.bit.MC1 = 1;
- // set the period,
- while (TC2->COUNT32.SYNCBUSY.bit.CC0);
- TC2->COUNT32.CC[0].reg = 80; // at DIV2, 240 for 10us ('realtime') (with
- // DFLL), 80 for 10us (with XTAL 16MHZ)
- // 400 for 50us,
- // enable, sync for enable write
- while (TC2->COUNT32.SYNCBUSY.bit.ENABLE);
- TC2->COUNT32.CTRLA.bit.ENABLE = 1;
- while (TC2->COUNT32.SYNCBUSY.bit.ENABLE);
- TC3->COUNT32.CTRLA.bit.ENABLE = 1;
- // enable the IRQ
- NVIC_EnableIRQ(TC2_IRQn);
-}
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/utils/clocks_d51_module.h b/firmware/osape-smoothieroll-head/src/utils/clocks_d51_module.h
deleted file mode 100644
index 084141e..0000000
--- a/firmware/osape-smoothieroll-head/src/utils/clocks_d51_module.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-utils/clocks_d51_module.h
-
-clock utilities for the D51 as moduuularized, adhoc!
-i.e. xtals present on module board or otherwise
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo
-projects. Copyright is retained and must be preserved. The work is provided as
-is; no warranty is provided, and users accept all liability.
-*/
-
-#ifndef CLOCKS_D51_MODULE_H_
-#define CLOCKS_D51_MODULE_H_
-
-#include <Arduino.h>
-
-#include "../drivers/indicators.h"
-
-#define MHZ_XTAL_GCLK_NUM 9
-
-class D51_Clock_Boss {
- private:
- static D51_Clock_Boss* instance;
- public:
- D51_Clock_Boss();
- static D51_Clock_Boss* getInstance(void);
- // xtal
- volatile boolean mhz_xtal_is_setup = false;
- uint32_t mhz_xtal_gclk_num = 9;
- void setup_16mhz_xtal(void);
- // builds 100kHz clock on TC0 or TC2
- // todo: tell these fns a frequency,
- void start_100kHz_ticker_tc0(void);
- void start_100kHz_ticker_tc2(void);
-};
-
-extern D51_Clock_Boss* d51_clock_boss;
-
-#endif
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-head/src/utils/cobs.cpp b/firmware/osape-smoothieroll-head/src/utils/cobs.cpp
deleted file mode 100644
index a2d7378..0000000
--- a/firmware/osape-smoothieroll-head/src/utils/cobs.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-utils/cobs.cpp
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#include "cobs.h"
-// str8 crib from
-// https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing
-
-#define StartBlock() (code_ptr = dst++, code = 1)
-#define FinishBlock() (*code_ptr = code)
-
-size_t cobsEncode(uint8_t *ptr, size_t length, uint8_t *dst){
- const uint8_t *start = dst, *end = ptr + length;
- uint8_t code, *code_ptr; /* Where to insert the leading count */
-
- StartBlock();
- while (ptr < end) {
- if (code != 0xFF) {
- uint8_t c = *ptr++;
- if (c != 0) {
- *dst++ = c;
- code++;
- continue;
- }
- }
- FinishBlock();
- StartBlock();
- }
- FinishBlock();
- // write the actual zero,
- *dst++ = 0;
- return dst - start;
-}
-
-size_t cobsDecode(uint8_t *ptr, size_t length, uint8_t *dst)
-{
- const uint8_t *start = dst, *end = ptr + length;
- uint8_t code = 0xFF, copy = 0;
-
- for (; ptr < end; copy--) {
- if (copy != 0) {
- *dst++ = *ptr++;
- } else {
- if (code != 0xFF)
- *dst++ = 0;
- copy = code = *ptr++;
- if (code == 0)
- break; /* Source length too long */
- }
- }
- return dst - start;
-}
diff --git a/firmware/osape-smoothieroll-head/src/utils/cobs.h b/firmware/osape-smoothieroll-head/src/utils/cobs.h
deleted file mode 100644
index a9e5874..0000000
--- a/firmware/osape-smoothieroll-head/src/utils/cobs.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
-utils/cobs.h
-
-consistent overhead byte stuffing implementation
-
-Jake Read at the Center for Bits and Atoms
-(c) Massachusetts Institute of Technology 2019
-
-This work may be reproduced, modified, distributed, performed, and
-displayed for any purpose, but must acknowledge the squidworks and ponyo projects.
-Copyright is retained and must be preserved. The work is provided as is;
-no warranty is provided, and users accept all liability.
-*/
-
-#ifndef UTIL_COBS_H_
-#define UTIL_COBS_H_
-
-#include <arduino.h>
-
-size_t cobsEncode(uint8_t *src, size_t len, uint8_t *dest);
-
-size_t cobsDecode(uint8_t *src, size_t len, uint8_t *dest);
-
-#endif
diff --git a/firmware/osape-smoothieroll-head/src/utils/syserror.cpp b/firmware/osape-smoothieroll-head/src/utils/syserror.cpp
deleted file mode 100644
index a2473fe..0000000
--- a/firmware/osape-smoothieroll-head/src/utils/syserror.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-#include "syserror.h"
-
-uint8_t errBuf[1028];
-uint8_t errEncoded[1028];
-
-/*
-boolean writeString(unsigned char* dest, uint16_t* dptr, String msg){
- uint16_t len = msg.length();
- dest[(*dptr) ++] = TS_STRING_KEY;
- writeLenBytes(dest, dptr, len);
- msg.getBytes(dest, len + 1);
- return true;
-}
-
-boolean writeLenBytes(unsigned char* dest, uint16_t* dptr, uint16_t len){
- dest[(*dptr) ++] = len;
- dest[(*dptr) ++] = (len >> 8) & 255;
- return true;
-}
-*/
-
-// config-your-own-ll-escape-hatch
-void sysError(String msg){
- // whatever you want,
- //ERRLIGHT_ON;
- uint32_t len = msg.length();
- errBuf[0] = PK_LLERR; // the ll-errmsg-key
- errBuf[1] = len & 255;
- errBuf[2] = (len >> 8) & 255;
- errBuf[3] = (len >> 16) & 255;
- errBuf[4] = (len >> 24) & 255;
- msg.getBytes(&errBuf[5], len + 1);
- size_t ecl = cobsEncode(errBuf, len + 5, errEncoded);
- if(Serial.availableForWrite() > (int64_t)ecl){
- Serial.write(errEncoded, ecl);
- Serial.flush();
- }
-}
diff --git a/firmware/osape-smoothieroll-head/src/utils/syserror.h b/firmware/osape-smoothieroll-head/src/utils/syserror.h
deleted file mode 100644
index b421cc2..0000000
--- a/firmware/osape-smoothieroll-head/src/utils/syserror.h
+++ /dev/null
@@ -1,11 +0,0 @@
-#ifndef SYSERROR_H_
-#define SYSERROR_H_
-
-#include <arduino.h>
-#include "./drivers/indicators.h"
-#include "./utils/cobs.h"
-#include "./osap/ts.h"
-
-void sysError(String msg);
-
-#endif
diff --git a/firmware/osape-smoothieroll-head/test/README b/firmware/osape-smoothieroll-head/test/README
deleted file mode 100644
index df5066e..0000000
--- a/firmware/osape-smoothieroll-head/test/README
+++ /dev/null
@@ -1,11 +0,0 @@
-
-This directory is intended for PIO Unit Testing and project tests.
-
-Unit Testing is a software testing method by which individual units of
-source code, sets of one or more MCU program modules together with associated
-control data, usage procedures, and operating procedures, are tested to
-determine whether they are fit for use. Unit testing finds problems early
-in the development cycle.
-
-More information about PIO Unit Testing:
-- https://docs.platformio.org/page/plus/unit-testing.html
--
GitLab