Separate out the low-level stepper motor kinematics handling from the
ToolHead class into its own class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Perform all acceleration calculations and lookahead checks in
millimeters using the cartesian coordinate system of the request. The
conversion to step coordinates is now done at the time of the step
timing creation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
At high step speeds, it is possible to exit the inner scan due to
integer truncation. Always update minadd or maxadd so that the outer
loop always terminates.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit da305e6b changed the objcopy command to use the --dump-section
flag. However, the 2.24 version of avr-objcopy (which is common on
raspbian installs) does not support this flag. Avoid using
--dump-section and continue to use the -j option instead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This adds basic support for running on the Atmel SAM3x8e
micro-controllers that are found in the Arudino Due boards.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add the ARM CMSIS definitions (obtained from an Arduino copy of
libsam) in preparation for Arduino Due support.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On faster MCUs the step and unstep events may be too close for the
stepper motor driver. Add a CONFIG_NO_UNSTEP_DELAY build option and
support the case where it is not set. This allows faster MCUs to
schedule two events for each step (one for the step and one for the
unstep).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The Arduino Due uses a 1200 baud connection to signal an erase
sequence, so avoid it during normal serial resets.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce enable_tx_irq() for manipulating the AVR hardware. This
keeps the low-level hardware code together.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Default to O2 and set Os in the AVR makefile. Platforms besides AVR
are likely to produce better code with O2 so make that the default.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some architectures are faster passing regular integers than 8bit
integers. Use uint_fast8_t so that the architecture chooses the
appropriate type.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The AVR wants a uint8_t return type for irq_save(), but other
architectures will generally prefer int. Allow the board to configure
the size of the flag by introducing an irqstatus_t typedef.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Task and command handlers always run with irqs enabled, so it is not
necessary to save/restore the irq state when disabling irqs in these
handlers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some boards may not support hardware based PWM. Update the build so
that those commands do not need to be compiled if they are not
available.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some boards may not support SPI transfers. Update the build so that
those commands do not need to be compiled if they are not available.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some boards may not support the ADC hardware. Update the build so
that those commands do not need to be compiled if they are not
available.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the definitions of the readb() style functions to a new header
generic/io.h. This eliminates the dependency of stdint.h on
compiler.h.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of creating a misc.h file in each board directory, create a
generic board directory and declare misc.h there.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some AVR chips ship with a 1/8th clock divisor set. Add a compile
time option to manually clear this field at startup.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The gpio_adc_info only contains a single uint8_t field - it's simpler
to use an array of uint8_t instead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The maximum max_size value should not include MESSAGE_MIN - that is
already added by the runtime code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor