Commit Graph

308 Commits

Author SHA1 Message Date
Kevin O'Connor 342a7096ea basecmd: Remove unimplemented command_reset()
It's better to not have the unimplemented command defined so that the
host can detect when it is actually implemented.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-09 14:18:24 -05:00
Kevin O'Connor 60a4bda9d4 basecmd: Use oid_ prefix for the oid manipulation functions
Consistently use an "oid_" prefix on the oid functions - this makes
them similar to other functions with a common prefix.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-09 13:49:03 -05:00
Kevin O'Connor 37bac916e7 basecmd: Generalize the "move queue" runtime storage
Detect the maximum size of each "move queue" item during the
configuration phase instead of using the stepper move struct.  This
allows the stepper code to be contained entirely in stepper.c and it
allows for future run time allocations from other types of objects.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-08 13:37:51 -05:00
Kevin O'Connor affdbbf9ca sam3x8e: Fix typo in gpio_in_setup() shutdown message
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-08 13:17:45 -05:00
Kevin O'Connor c19af4fb2b serialhdl: Load the mcu's 64bit clock at start of connection
Store a full 64bit uptime in the mcu and query it at the start of each
connection.  This ensures the host's 64bit clock is always in synch
with the mcu's clock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-03 22:02:27 -05:00
Kevin O'Connor 38e9484f9f armcm_irq: Move ARM Cortex-M irq handling to new file
The irq handling in sam3x8e isn't specific to the sam3x8e proccessor -
it's generic for all armcm type machines.  So, move the definitions
into a new file generic/armcm-irq.c

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-19 11:00:46 -05:00
Kevin O'Connor fec12030a9 sam3x8e/timer: Be careful of races in timer_set_next()
It's possible for sched_del_timer() to be called on a timer that fires
just after sched_del_timer disables irqs but before the next timer is
scheduled.  In this case be sure to clear the irq pending status flag
after scheduling the next timer so that a delayed irq doesn't cause
the wrong timer to be run.  For the same reason, make sure to check
the irq pending status flag at the start of the timer irq.

Also, as a safety check, make sure timer_set_next() isn't called from
within the timer irq dispatch loop.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-14 22:15:51 -05:00
Kevin O'Connor 5beceaae5c io.h: read/write[bwl] should use barrier
Add barrier() calls to low-level read/write io calls so that their
callers don't need to.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-02 10:46:42 -05:00
Kevin O'Connor 262ccbcf30 serial: Be careful with comparison of transmit_max to transmit_pos
There is a small possibility that a shutdown could occur between
clearing transmit_max and clearing transmit_pos - so make sure to
handle the case where transmit_pos > transmit_max.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-14 12:11:30 -05:00
Kevin O'Connor 7567885115 sched: Minor change - remove unneeded header files
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-14 11:32:27 -05:00
Kevin O'Connor ed715ec437 command: No need to disable irqs in sendf reentrant check
As long as the code is careful when writing the in_sendf variable it
should be safe to update it without having to disable irqs.

Also, make sure in_sendf is cleared on shutdown.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-14 11:32:27 -05:00
Kevin O'Connor 9a44a20a9d command: Check for reentrant calls to sendf()
Allow sendf() to be called from irq and timer context - check for the
case where sendf() is called while already in sendf() and simply
discard those messages.  This makes it safe to use output() debugging
calls even in irq and timer context.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-13 12:10:00 -05:00
Kevin O'Connor 3a7a77d49e basecmd: Improve accuracy of stats "sumsq" variable
Use a base of 256 instead of 65536 when calculating the sum of the
square of the clock differences in the stats.  This makes the
calculation more accurate.  Export the new base via DECL_CONSTANT for
the host to access.  Use DIV_ROUND_UP() when adjusting for the base to
ensure no lost ticks.  Do the division after multiplication in the
common case where the time between stats_task() invocations is less
than 64K ticks.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-09 23:08:23 -05:00
Kevin O'Connor f75430e95f gpio: Fix sam38xe ADC startup check
The status register needs to be inspected, not the enable register.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-01 22:10:24 -05:00
Kevin O'Connor 618fe0e6fb sam3x8e: Add support for ADC pins
Support analog-to-digital inputs.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-23 17:06:11 -05:00
Kevin O'Connor 872b08601a mcu: Obtain the maximum adc value from the firmware
Don't assume the hardware ADC has 10bit resultion - instead have the
firmware define a constant and read that constant in the host.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-23 17:06:10 -05:00
Kevin O'Connor fe95ea221b build: Define DECL_CONSTANT mechanism for defining exported constants
Add a DECL_CONSTANT macro to allow the firmware to define constants
that are to be exported to the host during the "identify" phase.  This
replaces the existing hardcoded mechanism of scanning the Kconfig
header file for certain constants.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-23 17:06:10 -05:00
Kevin O'Connor 9ad8153d33 stepper: Reset the next step time on a stepper stop
Automatically reset the next step time to zero on a stepper_stop()
call.  This makes the host code simpler as it no longer needs to
schedule an explicit reset_step_clock command on the step after a
homing operation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 13:10:14 -05:00
Kevin O'Connor afecf7ce36 stepper: Default to a high direction pin meaning positive direction
Invert the default meaning of the stepper direction pin.  Instead of
treating a low value as position motion, treat a high value as
positive motion.  This matches what other firmwares do, and it matches
what common stepper motor drivers document.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-08 10:39:32 -05:00
Kevin O'Connor 7c8addc5c5 gpio: Merge gpio_adc_sample_time() into gpio_adc_sample()
Return the number of clock ticks to wait directly from
gpio_adc_sample().  This simplifies the ADC interface.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-02 17:36:43 -04:00
Kevin O'Connor 77d486f8d2 sam3x8e: Rework timer priority code to use time instead of event count
Rework the timer prioritization code so that is compares against the
current time instead of the number of repeat timers in a given
interrupt.  This makes the code slightly faster and it should provide
better protection against task starvation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-31 11:48:27 -04:00
Kevin O'Connor 233a90ce8b sam3x8e: Clear all bits of PSR register when clearing IRQ status
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-31 11:47:57 -04:00
Kevin O'Connor 884cee27eb sched: Improve AVR optimization of reschedule_timer()
Tweak the AVR register pressure optimization in reschedule_timer() to
optimize it further.  This improves the performance of AVR timers when
there are several pending timers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-19 13:35:48 -04:00
Kevin O'Connor 0f87493487 timer: Rework AVR timer priority code to use time instead of event count
Rework the timer prioritization code so that is compares against the
current time instead of the number of repeat timers in a given
interrupt.  This makes the code slightly faster and it should provide
better protection against task starvation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-19 13:35:48 -04:00
Kevin O'Connor 8be8cb7a91 serial: Increase AVR serial receive buffer
Increase the size of the serial receive buffer.  With transmit rates
of 250000 baud, it only takes a little over a millisecond to overflow
the existing buffer.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-18 15:01:29 -04:00
Kevin O'Connor c8ff439722 stepper: Disable "no next step" check for some count=1 queue_step commands
It's possible for a "count=1" stepper move immediately after a
set_next_step_dir or reset_step_clock command to be valid and have an
interval less than min_stop_interval.  Make sure this case does not
result in a shutdown.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-09-22 11:15:17 -04:00
Kevin O'Connor b0b2e9c4aa build: Avoid objcopy --dump-section flag
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>
2016-07-10 21:46:57 -04:00
Kevin O'Connor cc62a3dbf3 sam3x8e: Add initial support for Arduino Due boards
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>
2016-06-14 14:27:30 -04:00
Kevin O'Connor 6220cdda92 stepper: Support rescheduling of step events on faster MCUs
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>
2016-06-14 14:24:14 -04:00
Kevin O'Connor da305e6b61 build: Update declfuncs.lds.S to only use progmem sections on AVR
On non-avr platforms the declfunc stuff still needs to be in the
binary in a rodata section.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:00:57 -04:00
Kevin O'Connor e59951c8ae avr/serial: Separate out low-level hardware manipulation to its own function
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>
2016-06-14 14:00:57 -04:00
Kevin O'Connor ea5f825a91 build: Default to O2 optimization
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>
2016-06-14 14:00:57 -04:00
Kevin O'Connor b3e4ff7ef0 sched: Use 'unsigned int' instead of 'uint16_t' for shutdown reason
Use 'unsigned int' instead of 'uint16_t' as is faster on some
platforms.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:00:57 -04:00
Kevin O'Connor b0524947e5 sched: Use uint_fast8_t for return type of timers
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>
2016-06-14 14:00:53 -04:00
Kevin O'Connor fa85094cbb irq: Allow boards to define the return type of irq_save()
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>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 9dd101c26f irq: Prefer irq_disable/enable instead of irq_save/restore in cmds/tasks
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>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 4fcf5a31f5 pwmcmds: Add Kconfig option to allow boards to disable hardware PWM commands
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>
2016-06-13 23:18:59 -04:00
Kevin O'Connor c20f993747 spicmds: Add Kconfig option to allow boards to disable SPI commands
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>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 71947d6bea gpiocmds: Add Kconfig option to allow boards to disable ADC commands
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>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 220a1e4197 compiler.h: Check if __aligned and __section macros are already defined
Don't define these macros if they are already - doing so causes
compiler warnings.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 4dd3478fc1 Makefile: Move listing of directories to create to board makefiles
Rename DIRS to dirs-y and populate it in the per-board Makefile rules.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 8e1c0941b0 generic: Add new file generic/io.h and move read/writeb() to it
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>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 62f96f0911 generic: Move simulator/gpio.h to generic/gpio.h
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 73f3b0636a generic: Move simulator/irq.h to new file generic/irq.h
Move the generic irq definitions into generic/irq.h and move the
simulator irq code into main.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:58 -04:00
Kevin O'Connor 9f8817a47e generic: Move board timer.h files into generic/misc.h
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:58 -04:00
Kevin O'Connor 9971f999b3 generic: Create generic board infrastructure and move misc.h to it
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>
2016-06-13 23:18:58 -04:00
Kevin O'Connor bd07cd1193 sched: Optimize timer list handling
Rework the timer list rescheduling to be more optimized.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 15:34:56 -04:00
Kevin O'Connor a6de2184ba stepper: Optimize for case where add is zero
At high rates, the "add" field is frequently zero.  It's possible to
optimize for that case.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 15:34:56 -04:00
Kevin O'Connor e4859d2e9a gpio: Fix off-by-one bug in check for the maximum gpio port
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 15:34:23 -04:00
Kevin O'Connor 91e7807af6 avr: Add config option to clear the CPU prescaler
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>
2016-06-05 10:52:46 -04:00
Kevin O'Connor b52b65624b avr: Separate out gpio pwm pin definitions from pwm register definitions
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-05 10:52:46 -04:00
Kevin O'Connor 2a17d9457a avr: Eliminate gpio_adc_info struct in gpio adc pin definitions
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>
2016-06-05 10:52:46 -04:00
Kevin O'Connor 7531d0c678 avr: Define timer1 timers and prevent their use as PWM at runtime
Instead of commenting out the timer1 pwm definitions, detect them at
runtime.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-05 10:52:45 -04:00
Kevin O'Connor 3eafc83458 avr: Initial support for Atmel AT90USB1286 mcu
Add GPIO definitions for the AT90USB1286.  Add code for communicating
over USB port on AT90USB1286.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-05 10:52:45 -04:00
Kevin O'Connor ed103822f5 sched: Change sched_from_ms() to sched_from_us()
Some code may require micro-second precision so update sched_from_ms()
to use micro-seconds.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-02 17:52:11 -04:00
Kevin O'Connor d68cb264c4 stepper: Use stepper_stop() instead of stepper_reset() in stepper_shutdown()
The stepper_stop() function is equivalent to stepper_reset() during a
shutdown event.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-02 17:52:05 -04:00
Kevin O'Connor 45ba03efa3 timer: Move union u32_u16_u from compiler.h to avr/timer.c
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-01 09:54:13 -04:00
Kevin O'Connor f582a36e4d Initial commit of source code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-05-25 11:37:40 -04:00