diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..eee21bb7204d46d0f372ebc8ef524f559e0a9ea9
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "firmware/osape-smoothieroll-drop-stepper/src/osape"]
+ path = firmware/osape-smoothieroll-drop-stepper/src/osape
+ url = ssh://git@gitlab.cba.mit.edu:846/jakeread/osape.git
diff --git a/2020-06_ucbus-stepper-melted/eagle.epf b/2020-06_ucbus-stepper-melted/eagle.epf
index 793c8af432e7bb3cb62d3aa9f41250ceb2c0bbe5..404203f804d7bf7d79b9694e27d1001eb8103911 100644
--- a/2020-06_ucbus-stepper-melted/eagle.epf
+++ b/2020-06_ucbus-stepper-melted/eagle.epf
@@ -58,7 +58,7 @@ Sheet="1"
Type="Board Editor"
Number=2
File="2020-06_ucbus-stepper-melted.brd"
-View="20.0133 22.7202 31.9216 35.358"
+View="15.3304 3.43831 50.8884 41.1746"
WireWidths=" 0.8 0.9 0.1 0.05 0.5 0 0.3 0.2032 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/config.h b/firmware/osape-smoothieroll-drop-stepper/src/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..3f537ba603cfda4ba09a2cfdcc32a01d6dab382e
--- /dev/null
+++ b/firmware/osape-smoothieroll-drop-stepper/src/config.h
@@ -0,0 +1,7 @@
+#ifndef CONFIG_H_
+#define CONFIG_H_
+
+//#define UCBUS_IS_HEAD
+#define UCBUS_IS_DROP
+
+#endif
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/dacs.h b/firmware/osape-smoothieroll-drop-stepper/src/drivers/dacs.h
index 6d095390582c08027f0bd3777136fed0e05edbf4..15cc2eadbca5c5e918b69bc7679669d7fc71d7ed 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/dacs.h
+++ b/firmware/osape-smoothieroll-drop-stepper/src/drivers/dacs.h
@@ -18,7 +18,7 @@ is; no warranty is provided, and users accept all liability.
#include <arduino.h>
#include "indicators.h"
-#include "utils/syserror.h"
+#include "../osape/utils/syserror.h"
// scrape https://github.com/adafruit/ArduinoCore-samd/blob/master/cores/arduino/wiring_analog.c
// scrape https://github.com/adafruit/ArduinoCore-samd/blob/master/cores/arduino/startup.c (clock)
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/dip_ucbus_config.cpp b/firmware/osape-smoothieroll-drop-stepper/src/drivers/dip_ucbus_config.cpp
deleted file mode 100644
index e0316b389b72c91a640a75883c4f426b9e5c07cf..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/dip_ucbus_config.cpp
+++ /dev/null
@@ -1,55 +0,0 @@
-// DIPs
-
-#include "dip_ucbus_config.h"
-
-void dip_init(void){
- // set direction in,
- DIP_PORT.DIRCLR.reg = D_BM(D0_PIN) | D_BM(D1_PIN) | D_BM(D2_PIN) | D_BM(D3_PIN) | D_BM(D4_PIN) | D_BM(D5_PIN) | D_BM(D6_PIN) | D_BM(D7_PIN);
- // enable in,
- DIP_PORT.PINCFG[D0_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D1_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D2_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D3_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D4_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D5_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D6_PIN].bit.INEN = 1;
- DIP_PORT.PINCFG[D7_PIN].bit.INEN = 1;
- // enable pull,
- DIP_PORT.PINCFG[D0_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D1_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D2_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D3_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D4_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D5_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D6_PIN].bit.PULLEN = 1;
- DIP_PORT.PINCFG[D7_PIN].bit.PULLEN = 1;
- // 'pull' references the value set in the 'out' register, so to pulldown:
- DIP_PORT.OUTCLR.reg = D_BM(D0_PIN) | D_BM(D1_PIN) | D_BM(D2_PIN) | D_BM(D3_PIN) | D_BM(D4_PIN) | D_BM(D5_PIN) | D_BM(D6_PIN) | D_BM(D7_PIN);
-}
-
-uint8_t dip_read_lower_five(void){
- uint32_t bits[5] = {0,0,0,0,0};
- if(DIP_PORT.IN.reg & D_BM(D7_PIN)) { bits[0] = 1; }
- if(DIP_PORT.IN.reg & D_BM(D6_PIN)) { bits[1] = 1; }
- if(DIP_PORT.IN.reg & D_BM(D5_PIN)) { bits[2] = 1; }
- if(DIP_PORT.IN.reg & D_BM(D4_PIN)) { bits[3] = 1; }
- if(DIP_PORT.IN.reg & D_BM(D3_PIN)) { bits[4] = 1; }
- /*
- bits[0] = (DIP_PORT.IN.reg & D_BM(D7_PIN)) >> D7_PIN;
- bits[1] = (DIP_PORT.IN.reg & D_BM(D6_PIN)) >> D6_PIN;
- bits[2] = (DIP_PORT.IN.reg & D_BM(D5_PIN)) >> D5_PIN;
- bits[3] = (DIP_PORT.IN.reg & D_BM(D4_PIN)) >> D4_PIN;
- bits[4] = (DIP_PORT.IN.reg & D_BM(D3_PIN)) >> D3_PIN;
- */
- uint32_t word = 0;
- word = word | (bits[4] << 4) | (bits[3] << 3) | (bits[2] << 2) | (bits[1] << 1) | (bits[0] << 0);
- return (uint8_t)word;
-}
-
-boolean dip_read_pin_0(void){
- return DIP_PORT.IN.reg & D_BM(D0_PIN);
-}
-
-boolean dip_read_pin_1(void){
- return DIP_PORT.IN.reg & D_BM(D1_PIN);
-}
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/dip_ucbus_config.h b/firmware/osape-smoothieroll-drop-stepper/src/drivers/dip_ucbus_config.h
deleted file mode 100644
index 44eaa00d1fb1fd0f30118308ba436cd136cc344a..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/dip_ucbus_config.h
+++ /dev/null
@@ -1,24 +0,0 @@
-// DIP switch HAL macros
-// pardon the mis-labeling: on board, and in the schem, these are 1-8,
-// here they will be 0-7
-
-// note: these are 'on' hi by default, from the factory.
-// to set low, need to turn the internal pulldown on
-
-#include <Arduino.h>
-
-#define D0_PIN 5
-#define D1_PIN 4
-#define D2_PIN 3
-#define D3_PIN 2
-#define D4_PIN 1
-#define D5_PIN 0
-#define D6_PIN 31
-#define D7_PIN 30
-#define DIP_PORT PORT->Group[1]
-#define D_BM(val) ((uint32_t)(1 << val))
-
-void dip_init(void);
-uint8_t dip_read_lower_five(void);
-boolean dip_read_pin_0(void); // bus-head (hi) or bus-drop (lo)
-boolean dip_read_pin_1(void); // if bus-drop, te-enable (hi) or no (lo)
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h
index 4b4286892b6795fba07de2a4e63d9dba53059b4f..e5e5a561da588755ab2b58fbeb54423f92c9e45d 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h
+++ b/firmware/osape-smoothieroll-drop-stepper/src/drivers/step_a4950.h
@@ -19,7 +19,7 @@ is; no warranty is provided, and users accept all liability.
#include "dacs.h"
#include "indicators.h"
-#include "utils/syserror.h"
+#include "../osape/utils/syserror.h"
// C_SCALE
// 1: DACs go 0->512 (of 4096, peak current is 1.6A at 4096): 0.2A
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/ucbus_drop.cpp b/firmware/osape-smoothieroll-drop-stepper/src/drivers/ucbus_drop.cpp
deleted file mode 100644
index 657919b0a40ca4d5f2ec6a653ff6e94a9b0cf7ae..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/ucbus_drop.cpp
+++ /dev/null
@@ -1,281 +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_drop.h"
-
-UCBus_Drop* UCBus_Drop::instance = 0;
-
-UCBus_Drop* UCBus_Drop::getInstance(void){
- if(instance == 0){
- instance = new UCBus_Drop();
- }
- return instance;
-}
-
-// making this instance globally available, when built,
-// recall extern declaration in .h
-UCBus_Drop* ucBusDrop = UCBus_Drop::getInstance();
-
-UCBus_Drop::UCBus_Drop(void) {}
-
-// so, first thing, I've some confusion about what might be the best way (again) to implement
-// multiple similar drivers. I did this before w/ the cobserialport, I might again want to
-// do it, but by writing more static hardware drivers that another parent class (the bus) forwards to
-// so the init codes / etc could all be verbatim with hardware registers, instead of this infinite list of defines
-
-// yeah, this kind of stuff is morning work: focus, tracking little details. go to bed.
-
-void UCBus_Drop::init(boolean useDipPick, uint8_t ID) {
- dip_init();
- if(useDipPick){
- // set our id,
- id = dip_read_lower_five();
- } else {
- id = ID;
- }
- if(id > 14){
- id = 14;
- }
- // set driver output LO to start: tri-state
- UBD_DE_PORT.DIRSET.reg = UBD_DE_BM;
- UBD_DRIVER_DISABLE;
- // set receiver output on, forever: LO to set on
- UBD_RE_PORT.DIRSET.reg = UBD_RE_BM;
- UBD_RE_PORT.OUTCLR.reg = UBD_RE_BM;
- // termination resistor should be set only on one drop,
- // or none and physically with a 'tail' cable, or something?
- UBD_TE_PORT.DIRSET.reg = UBD_TE_BM;
- if(dip_read_pin_1()){
- UBD_TE_PORT.OUTCLR.reg = UBD_TE_BM;
- } else {
- UBD_TE_PORT.OUTSET.reg = UBD_TE_BM;
- }
- // rx pin setup
- UBD_COMPORT.DIRCLR.reg = UBD_RXBM;
- UBD_COMPORT.PINCFG[UBD_RXPIN].bit.PMUXEN = 1;
- if(UBD_RXPIN % 2){
- UBD_COMPORT.PMUX[UBD_RXPIN >> 1].reg |= PORT_PMUX_PMUXO(UBD_RXPERIPHERAL);
- } else {
- UBD_COMPORT.PMUX[UBD_RXPIN >> 1].reg |= PORT_PMUX_PMUXE(UBD_RXPERIPHERAL);
- }
- // tx
- UBD_COMPORT.DIRCLR.reg = UBD_TXBM;
- UBD_COMPORT.PINCFG[UBD_TXPIN].bit.PMUXEN = 1;
- if(UBD_TXPIN % 2){
- UBD_COMPORT.PMUX[UBD_TXPIN >> 1].reg |= PORT_PMUX_PMUXO(UBD_TXPERIPHERAL);
- } else {
- UBD_COMPORT.PMUX[UBD_TXPIN >> 1].reg |= PORT_PMUX_PMUXE(UBD_TXPERIPHERAL);
- }
- // ok, clocks, first line au manuel
- // unmask clocks
- MCLK->APBAMASK.bit.SERCOM1_ = 1;
- GCLK->GENCTRL[UBD_GCLKNUM_PICK].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
- while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(UBD_GCLKNUM_PICK));
- GCLK->PCHCTRL[UBD_SERCOM_CLK].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(UBD_GCLKNUM_PICK);
- // then, sercom
- while(UBD_SER_USART.SYNCBUSY.bit.ENABLE);
- UBD_SER_USART.CTRLA.bit.ENABLE = 0;
- while(UBD_SER_USART.SYNCBUSY.bit.SWRST);
- UBD_SER_USART.CTRLA.bit.SWRST = 1;
- while(UBD_SER_USART.SYNCBUSY.bit.SWRST);
- while(UBD_SER_USART.SYNCBUSY.bit.SWRST || UBD_SER_USART.SYNCBUSY.bit.ENABLE);
- // ok, well
- UBD_SER_USART.CTRLA.reg = SERCOM_USART_CTRLA_MODE(1) | SERCOM_USART_CTRLA_DORD;
- UBD_SER_USART.CTRLA.reg |= SERCOM_USART_CTRLA_RXPO(UBD_RXPO) | SERCOM_USART_CTRLA_TXPO(0);
- UBD_SER_USART.CTRLA.reg |= SERCOM_USART_CTRLA_FORM(1); // enable even parity
- while(UBD_SER_USART.SYNCBUSY.bit.CTRLB);
- UBD_SER_USART.CTRLB.reg = SERCOM_USART_CTRLB_RXEN | SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_CHSIZE(0);
- // enable interrupts
- NVIC_EnableIRQ(SERCOM1_2_IRQn); // rx,
- NVIC_EnableIRQ(SERCOM1_1_IRQn); // txc ?
- NVIC_EnableIRQ(SERCOM1_0_IRQn); // tx,
- // set baud
- UBD_SER_USART.BAUD.reg = UBD_BAUD_VAL;
- // and finally, a kickoff
- while(UBD_SER_USART.SYNCBUSY.bit.ENABLE);
- UBD_SER_USART.CTRLA.bit.ENABLE = 1;
- // enable rx interrupt
- UBD_SER_USART.INTENSET.bit.RXC = 1;
-}
-
-void SERCOM1_2_Handler(void){
- //ERRLIGHT_TOGGLE;
- ucBusDrop->rxISR();
-}
-
-void UCBus_Drop::rxISR(void){
- // check parity bit,
- uint16_t perr = UBD_SER_USART.STATUS.bit.PERR;
- if(perr){
- //DEBUGPIN_ON;
- uint8_t clear = UBD_SER_USART.DATA.reg;
- UBD_SER_USART.STATUS.bit.PERR = 1; // clear parity error
- return;
- }
- // cleared by reading out, but we are blind feed forward atm
- uint8_t data = UBD_SER_USART.DATA.reg;
- // for now, just running the clk, on every 0th bit
- if((data >> 7) == 0){ // timer bit, on every 0th bit, and beginning of word
- inWord[0] = data;
- timeTick ++;
- timeBlink ++;
- if(timeBlink >= blinkTime){
- CLKLIGHT_TOGGLE;
- timeBlink = 0;
- }
- onRxISR(); // on start of each word
- } else { // end of word on every 0th bit
- inWord[1] = data;
- // now decouple,
- inHeader = ((inWord[0] >> 1) & 0b00111000) | ((inWord[1] >> 4) & 0b00000111);
- inByte = ((inWord[0] << 4) & 0b11110000) | (inWord[1] & 0b00001111);
- // now check incoming data,
- if((inHeader & 0b00110000) == 0b00100000){ // has-token, CHA
- lastWordAHadToken = true;
- if(inBufferALen != 0){ // in this case, we didn't read-out of the buffer in time,
- inBufferALen = 0; // so we reset it, missing the last packet !
- inBufferARp = 0;
- }
- inBufferA[inBufferARp] = inByte;
- inBufferARp ++;
- } else if ((inHeader & 0b00110000) == 0b00000000) { // no-token, CHA
- if(lastWordAHadToken){
- inBufferALen = inBufferARp - 1;
- onPacketARx();
- }
- lastWordAHadToken = false;
- } else if ((inHeader & 0b00110000) == 0b00110000) { // has-token, CHB
- //DEBUG1PIN_ON;
- lastWordBHadToken = true;
- if(inBufferBLen != 0){
- inBufferBLen = 0;
- inBufferBRp = 0;
- }
- inBufferB[inBufferBRp] = inByte;
- inBufferBRp ++;
- } else if ((inHeader & 0b00110000) == 0b00010000) { // no-token, CHB
- if(lastWordBHadToken){
- inBufferBLen = inBufferARp - 1;
- //onPacketBRx(); // b-channel handled in loop, yah
- }
- lastWordBHadToken = false;
- }
- // now check if outgoing tick is ours,
- if((inHeader & dropIdMask) == id){
- // our transmit
- if(outBufferLen > 0){
- outByte = outBuffer[outBufferRp];
- outHeader = headerMask & (tokenWord | (id & 0b00011111));
- } else {
- outByte = 0;
- outHeader = headerMask & (noTokenWord | (id & 0b00011111));
- }
- outWord[0] = 0b00000000 | ((outHeader << 1) & 0b01110000) | (outByte >> 4);
- outWord[1] = 0b10000000 | ((outHeader << 4) & 0b01110000) | (outByte & 0b00001111);
- // now transmit,
- UBD_DRIVER_ENABLE;
- UBD_SER_USART.DATA.reg = outWord[0];
- UBD_SER_USART.INTENSET.bit.DRE = 1;
- // now do this,
- if(outBufferLen > 0){
- outBufferRp ++;
- if(outBufferRp >= outBufferLen){
- outBufferRp = 0;
- outBufferLen = 0;
- }
- }
- } else if ((inHeader & dropIdMask) == UBD_CLOCKRESET){
- // reset
- timeTick = 0;
- }
- } // end 1th bit case,
- // do every-tick stuff
-}
-
-void SERCOM1_0_Handler(void){
- ucBusDrop->dreISR();
-}
-
-void UCBus_Drop::dreISR(void){
- UBD_SER_USART.DATA.reg = outWord[1]; // tx the next word,
- UBD_SER_USART.INTENCLR.reg = SERCOM_USART_INTENCLR_DRE; // clear this interrupt
- UBD_SER_USART.INTENSET.reg = SERCOM_USART_INTENSET_TXC; // now watch transmit complete
-}
-
-void SERCOM1_1_Handler(void){
- ucBusDrop->txcISR();
-}
-
-void UCBus_Drop::txcISR(void){
- UBD_SER_USART.INTFLAG.bit.TXC = 1; // clear the flag by writing 1
- UBD_SER_USART.INTENCLR.reg = SERCOM_USART_INTENCLR_TXC; // turn off the interrupt
- UBD_DRIVER_DISABLE; // turn off the driver,
- //DEBUGPIN_TOGGLE;
-}
-
-// -------------------------------------------------------- ASYNC API
-
-boolean UCBus_Drop::ctr_a(void){
- if(inBufferALen > 0){
- return true;
- } else {
- return false;
- }
-}
-
-boolean UCBus_Drop::ctr_b(void){
- if(inBufferBLen > 0){
- return true;
- } else {
- return false;
- }
-}
-
-size_t UCBus_Drop::read_a(uint8_t *dest){
- if(!ctr_a()) return 0;
- NVIC_DisableIRQ(SERCOM1_2_IRQn);
- // copy out, irq disabled, TODO safety on missing an interrupt in this case?? clock jitter?
- memcpy(dest, inBufferA, inBufferALen);
- size_t len = inBufferALen;
- inBufferALen = 0;
- inBufferARp = 0;
- NVIC_EnableIRQ(SERCOM1_2_IRQn);
- return len;
-}
-
-size_t UCBus_Drop::read_b(uint8_t *dest){
- if(!ctr_b()) return 0;
- NVIC_DisableIRQ(SERCOM1_2_IRQn);
- memcpy(dest, inBufferB, inBufferBLen);
- size_t len = inBufferBLen;
- inBufferBLen = 0;
- inBufferBRp = 0;
- NVIC_EnableIRQ(SERCOM1_2_IRQn);
- return len;
-}
-
-boolean UCBus_Drop::cts(void){
- if(outBufferLen > 0){
- return false;
- } else {
- return true;
- }
-}
-
-void UCBus_Drop::transmit(uint8_t *data, uint16_t len){
- if(!cts()) return;
- size_t encLen = cobsEncode(data, len, outBuffer);
- outBufferLen = encLen;
- outBufferRp = 0;
-}
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/drivers/ucbus_drop.h b/firmware/osape-smoothieroll-drop-stepper/src/drivers/ucbus_drop.h
deleted file mode 100644
index de1d55eae2f771880b5f140450cf6033fa0d001c..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/src/drivers/ucbus_drop.h
+++ /dev/null
@@ -1,123 +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_DROP_H_
-#define UCBUS_DROP_H_
-
-#include <arduino.h>
-
-#include "indicators.h"
-#include "dip_ucbus_config.h"
-#include "peripheral_nums.h"
-#include "utils/syserror.h"
-#include "utils/cobs.h"
-
-#define UBD_SER_USART SERCOM1->USART
-#define UBD_SERCOM_CLK SERCOM1_GCLK_ID_CORE
-#define UBD_GCLKNUM_PICK 7
-#define UBD_COMPORT PORT->Group[0]
-#define UBD_TXPIN 16 // x-0
-#define UBD_TXBM (uint32_t)(1 << UBD_TXPIN)
-#define UBD_RXPIN 18 // x-2
-#define UBD_RXBM (uint32_t)(1 << UBD_RXPIN)
-#define UBD_RXPO 2
-#define UBD_TXPERIPHERAL PERIPHERAL_C
-#define UBD_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 UBD_BAUD_VAL 0
-
-#define UBD_DE_PIN 16 // driver output enable: set HI to enable, LO to tri-state the driver
-#define UBD_DE_BM (uint32_t)(1 << UBD_DE_PIN)
-#define UBD_DE_PORT PORT->Group[1]
-#define UBD_DRIVER_ENABLE UBD_DE_PORT.OUTSET.reg = UBD_DE_BM
-#define UBD_DRIVER_DISABLE UBD_DE_PORT.OUTCLR.reg = UBD_DE_BM
-#define UBD_RE_PIN 19 // receiver output enable, set LO to enable the RO, set HI to tri-state RO
-#define UBD_RE_BM (uint32_t)(1 << UBD_RE_PIN)
-#define UBD_RE_PORT PORT->Group[0]
-#define UBD_TE_PIN 17 // termination enable, drive LO to enable to internal termination resistor, HI to disable
-#define UBD_TE_BM (uint32_t)(1 << UBD_TE_PIN)
-#define UBD_TE_PORT PORT->Group[0]
-
-#define UBD_BUFSIZE 1024
-
-#define UBD_CLOCKRESET 15
-
-#define UB_AK_GOTOPOS 91
-#define UB_AK_SETPOS 92
-#define UB_AK_SETRPM 93
-
-class UCBus_Drop {
- private:
- // singleton-ness
- static UCBus_Drop* instance;
- // timing,
- volatile uint64_t timeBlink = 0;
- uint16_t blinkTime = 10000;
- // input buffer & word
- volatile uint8_t inWord[2];
- volatile uint8_t inHeader;
- volatile uint8_t inByte;
- volatile boolean lastWordAHadToken = false;
- uint8_t inBufferA[UBD_BUFSIZE];
- volatile uint16_t inBufferARp = 0;
- volatile uint16_t inBufferALen = 0; // writes at terminal zero,
- volatile boolean lastWordBHadToken = false;
- uint8_t inBufferB[UBD_BUFSIZE];
- volatile uint16_t inBufferBRp = 0;
- volatile uint16_t inBufferBLen = 0;
- // output,
- volatile uint8_t outWord[2];
- volatile uint8_t outHeader;
- volatile uint8_t outByte;
- uint8_t outBuffer[UBD_BUFSIZE];
- volatile uint16_t outBufferRp = 0;
- volatile uint16_t outBufferLen = 0;
- const uint8_t headerMask = 0b00111111;
- const uint8_t dropIdMask = 0b00001111;
- const uint8_t tokenWord = 0b00100000;
- const uint8_t noTokenWord = 0b00000000;
- public:
- UCBus_Drop();
- static UCBus_Drop* getInstance(void);
- // available time count,
- volatile uint16_t timeTick = 0;
- // isrs
- void rxISR(void);
- void dreISR(void);
- void txcISR(void);
- // handlers
- void onRxISR(void);
- void onPacketARx(void);
- //void onPacketBRx(void);
- // our physical bus address,
- volatile uint8_t id = 0;
- // the api, eh
- void init(boolean useDipPick, uint8_t ID);
- boolean ctr_a(void); // return true if RX complete / buffer ready
- boolean ctr_b(void);
- size_t read_a(uint8_t *dest); // ship les bytos
- size_t read_b(uint8_t *dest);
- boolean cts(void); // true if tx buffer empty,
- void transmit(uint8_t *data, uint16_t len);
-};
-
-extern UCBus_Drop* ucBusDrop;
-
-#endif
\ No newline at end of file
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
index f2090c54dec39367ef33893f879059bb584bf85a..658b290b0b2af1c20f9ca5567a89dddd67178e2c 100644
--- a/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
+++ b/firmware/osape-smoothieroll-drop-stepper/src/main.cpp
@@ -1,29 +1,12 @@
#include <Arduino.h>
#include "drivers/indicators.h"
-#include "utils/cobs.h"
-#include "osap/osap.h"
-
-OSAP* osap = new OSAP("stepper motor drop");
-
-#include "drivers/ucbus_drop.h"
#include "drivers/step_a4950.h"
+#include "osape/osap/osap.h"
+#include "osape/osap/vport_ucbus_drop.h"
-union chunk_float32 {
- uint8_t bytes[4];
- float f;
-};
-
-union chunk_float64 {
- uint8_t bytes[8];
- double f;
-};
-
-// C_SCALE
-// 1: DACs go 0->512 (of 4096, peak current is 1.6A at 4096): 0.2A
-// 2: DACs go 0->1024,
-// ...
-// 8: DACs go full width
+OSAP* osap = new OSAP("stepper motor drop");
+VPort_UCBus_Drop* vPortUcBusDrop = new VPort_UCBus_Drop();
// clank cz:
// Z: Bus Drop 5, Axis Pick 2, Invert ?, SPU 1386.6666667
@@ -32,13 +15,10 @@ union chunk_float64 {
// YR: Bus Drop 2, Invert false
// X: Bus Drop 3, Invert false
-#define BUS_DROP 3
-#define IS_LAST_DROP false
-
-#define AXIS_PICK 0 // Z: 2, Y: 1, X: 0
+#define AXIS_PICK 0 // E: 3Z: 2, Y: 1, X: 0
#define AXIS_INVERT false // Z: ?, YL: ?, YR: ?, X: ?
#define SPU 320.0F //1386.6666667F // always posiive! z: 3200, xy: 400, clank-cz: xy: 320
-#define C_SCALE 0.3F // 0-1, floating
+#define C_SCALE 0.4F // 0-1, floating
#define TICKS_PER_PACKET 20.0F
void setup() {
@@ -50,13 +30,19 @@ void setup() {
DEBUG4PIN_SETUP;
// osap
osap->description = "remote stepper drop";
- // bus
- ucBusDrop->init(IS_LAST_DROP, BUS_DROP);
+ osap->addVPort(vPortUcBusDrop);
// stepper
stepper_hw->init(AXIS_INVERT, C_SCALE);
}
-uint8_t bChPck[64];
+// have available,
+// stepper_hw->setCurrent(currentChunks[AXIS_PICK].f);
+
+void loop() {
+ osap->loop();
+ stepper_hw->dacRefresh();
+} // end loop
+
volatile float current_floating_pos = 0.0F;
volatile int32_t current_step_pos = 0;
@@ -67,55 +53,6 @@ volatile float move_counter = 0.0F;
volatile boolean setBlock = false;
-void loop() {
- DEBUG2PIN_TOGGLE;
- osap->loop();
- stepper_hw->dacRefresh();
- // do packet B grab / handle
- if(ucBusDrop->ctr_b()){
- uint16_t len = ucBusDrop->read_b(bChPck);
- uint16_t ptr = 0;
- switch(bChPck[ptr]){
- case AK_SETCURRENT: {
- // get currents
- ptr ++;
- chunk_float32 currentChunks[3];
- currentChunks[0] = { .bytes = { bChPck[ptr ++], bChPck[ptr ++], bChPck[ptr ++], bChPck[ptr ++] } };
- currentChunks[1] = { .bytes = { bChPck[ptr ++], bChPck[ptr ++], bChPck[ptr ++], bChPck[ptr ++] } };
- currentChunks[2] = { .bytes = { bChPck[ptr ++], bChPck[ptr ++], bChPck[ptr ++], bChPck[ptr ++] } };
- // set current
- stepper_hw->setCurrent(currentChunks[AXIS_PICK].f);
- break;
- }
- default:
- // noop,
- break;
- }
- }
-} // end loop
-
-void UCBus_Drop::onRxISR(void){
- if(setBlock) return;
- //DEBUG2PIN_TOGGLE;
- move_counter += vel;
- boolean move_check = (move_counter > 1.0F);
- //DEBUG2PIN_TOGGLE;
- if(move_check){
- move_counter -= 1.0F;
- if(delta_steps == 0){
- // nothing
- } else {
- //DEBUG1PIN_TOGGLE;
- stepper_hw->step();
- delta_steps --;
- if(stepper_hw->getDir()){
- current_step_pos ++;
- } else {
- current_step_pos --;
- }
- }
- }
-}
void UCBus_Drop::onPacketARx(void){
if(setBlock) return;
@@ -183,6 +120,29 @@ void UCBus_Drop::onPacketARx(void){
//DEBUG2PIN_OFF;
}
-void OSAP::handleAppPacket(uint8_t *pck, uint16_t pl, uint16_t ptr, uint16_t segsize, VPort* vp, uint16_t vpi, uint8_t pwp){
- vp->clearPacket(pwp);
+void UCBus_Drop::onRxISR(void){
+ if(setBlock) return;
+ //DEBUG2PIN_TOGGLE;
+ move_counter += vel;
+ boolean move_check = (move_counter > 1.0F);
+ //DEBUG2PIN_TOGGLE;
+ if(move_check){
+ move_counter -= 1.0F;
+ if(delta_steps == 0){
+ // nothing
+ } else {
+ //DEBUG1PIN_TOGGLE;
+ stepper_hw->step();
+ delta_steps --;
+ if(stepper_hw->getDir()){
+ current_step_pos ++;
+ } else {
+ current_step_pos --;
+ }
+ }
+ }
+}
+
+void OSAP::handleAppPacket(uint8_t *pck, uint16_t ptr, pckm_t* pckm){
+ pckm->vpa->clear(pckm->location);
}
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/osap/osap.cpp b/firmware/osape-smoothieroll-drop-stepper/src/osap/osap.cpp
deleted file mode 100644
index 4b4499c5c2cd3fbd93ca95f0f43608b0f613aa2c..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/osap/osap.h b/firmware/osape-smoothieroll-drop-stepper/src/osap/osap.h
deleted file mode 100644
index 5242ba0ae6cdc77538ef57f119a6691fb46188fa..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/osap/ts.cpp b/firmware/osape-smoothieroll-drop-stepper/src/osap/ts.cpp
deleted file mode 100644
index 1a399002651a3f22be9cb8c51e373af13d25163d..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/src/osap/ts.cpp
+++ /dev/null
@@ -1,64 +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];
-}
-
-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-drop-stepper/src/osap/ts.h b/firmware/osape-smoothieroll-drop-stepper/src/osap/ts.h
deleted file mode 100644
index 1029171322097efa534c83d8db9c2ee835024ffc..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/src/osap/ts.h
+++ /dev/null
@@ -1,100 +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_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_writeString(String val, unsigned char *buf, uint16_t *ptr);
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/osap/vport.cpp b/firmware/osape-smoothieroll-drop-stepper/src/osap/vport.cpp
deleted file mode 100644
index e064991454d718657dbc30027b4d6b0f9c8b7d8f..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/osap/vport.h b/firmware/osape-smoothieroll-drop-stepper/src/osap/vport.h
deleted file mode 100644
index b705e91a150ff544b2efa0ceba17f4f6b3b515eb..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/osap/vport_usbserial.cpp b/firmware/osape-smoothieroll-drop-stepper/src/osap/vport_usbserial.cpp
deleted file mode 100644
index ddbc9fd308439d946194f2a75364b4613bb1f2a4..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/osap/vport_usbserial.h b/firmware/osape-smoothieroll-drop-stepper/src/osap/vport_usbserial.h
deleted file mode 100644
index 4a72d1ce9462ca8bf4ee76992d56c62a8a54a0cf..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/osape b/firmware/osape-smoothieroll-drop-stepper/src/osape
new file mode 160000
index 0000000000000000000000000000000000000000..294a5dac3711b23a9cf2386355954c6610c450a3
--- /dev/null
+++ b/firmware/osape-smoothieroll-drop-stepper/src/osape
@@ -0,0 +1 @@
+Subproject commit 294a5dac3711b23a9cf2386355954c6610c450a3
diff --git a/firmware/osape-smoothieroll-drop-stepper/src/utils/clocks_d51_module.cpp b/firmware/osape-smoothieroll-drop-stepper/src/utils/clocks_d51_module.cpp
deleted file mode 100644
index 317c40390d35e1e947eab6ff27c05cb466124db8..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/utils/clocks_d51_module.h b/firmware/osape-smoothieroll-drop-stepper/src/utils/clocks_d51_module.h
deleted file mode 100644
index 084141e09bd4ca38bc56eb3505c31075358c8fb5..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/utils/cobs.cpp b/firmware/osape-smoothieroll-drop-stepper/src/utils/cobs.cpp
deleted file mode 100644
index a2d73787ba6f2626405e92aa1f72dc6da8ea43d5..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/utils/cobs.h b/firmware/osape-smoothieroll-drop-stepper/src/utils/cobs.h
deleted file mode 100644
index a9e587463dc4cfc6f8175d0ff48b53174970133c..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/utils/syserror.cpp b/firmware/osape-smoothieroll-drop-stepper/src/utils/syserror.cpp
deleted file mode 100644
index a2473fe296a6744d233b39d217bfef523aa6f776..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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-drop-stepper/src/utils/syserror.h b/firmware/osape-smoothieroll-drop-stepper/src/utils/syserror.h
deleted file mode 100644
index b421cc2a08eb1d482a9f298ed9dbefaa90531f9d..0000000000000000000000000000000000000000
--- a/firmware/osape-smoothieroll-drop-stepper/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